diff --git a/.env.example b/.env.example
index e8f2da5973..9e4100f54b 100644
--- a/.env.example
+++ b/.env.example
@@ -1,23 +1,5 @@
-# This variable is required if you are using the Ethereum wallet integration.
-ETH_ADDRESS=
-
-# These variables are required if you are using the Coinbase wallet integration.
-COINBASE_WALLET_ID=
-COINBASE_API_KEY=
-COINBASE_API_SECRET=
-
-# Backup provision of api key and URID if you do not want to modify the config file
+# Backup provision of api key if you do not want to modify the config file
 OM_API_KEY=
-URID=
-
-# These variables are required if you are using the Twitter integration.
-TWITTER_API_KEY=
-TWITTER_API_SECRET=
-TWITTER_ACCESS_TOKEN=
-TWITTER_ACCESS_TOKEN_SECRET=
-
-# Robot IP address fallback (used when not specified in config file)
-ROBOT_IP=
 
 # Command to run (e.g., unitree_go2_modes). Used by Docker.
 OM1_COMMAND=
diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md
index de310c19ed..d4e6e2222e 100644
--- a/.github/copilot-instructions.md
+++ b/.github/copilot-instructions.md
@@ -1,33 +1,44 @@
 # Copilot Instructions
 
 ## Tooling / Dependencies
-- We use **uv** for Python dependency management and execution.
-- Dependencies are defined in `pyproject.toml` (do not introduce `requirements.txt` unless explicitly requested).
-- Use these commands in docs/examples:
-  - Install/sync: `uv sync`
-  - Add deps: `uv add <package>`
-  - Run commands: `uv run <command>` (e.g., `uv run pytest`)
-- If adding a new dependency, prefer a well-maintained package and keep the dependency list minimal.
-- Assume a lockfile is used (e.g., `uv.lock`) — do not suggest deleting or bypassing it.
+- We use **Make** for building, testing, and running the project.
+- Dependencies are managed via Go modules (`go.mod` and `go.sum`).
+- Use these make commands:
+  - Build: `make build`
+  - Test: `make test`
+  - Test with coverage: `make test-coverage`
+  - Run: `make run CONFIG=<config_name>`
+  - Dev mode: `make dev CONFIG=<config_name>`
+  - Lint: `make lint`
+  - Format: `make fmt`
+  - Check all: `make check` (runs fmt, vet, lint, and test)
+  - Clean: `make clean`
+- When adding a new dependency, use `go get <package>` and run `make deps` to tidy.
+- Keep the dependency list minimal and prefer well-maintained packages.
 
 ## Coding Style
-- Use Python 3.10
-- Prefer async/await
-- Use type hints everywhere
-- Follow PEP8 and Black formatting
+- Use Go 1.21+
+- Follow Go conventions and idiomatic patterns
+- Use proper error handling (never ignore errors)
+- Follow the standard Go project layout
+- Use `gofmt` for formatting (enforced by `make fmt`)
 
 ## Architecture
 - Use modular design
-- Separate API, service, and data layers
-- No business logic inside routes
+- Separate concerns: inputs, actions, backgrounds, LLM providers
+- Keep business logic out of HTTP handlers
+- Use interfaces for abstractions
 
 ## Testing
-- Use pytest
+- Use Go's built-in testing framework
 - Add unit tests for all new functions
 - Aim for 90% code coverage
-- Prefer to use patch and mock for external dependencies
-- For patches, patch it using `with (patch("full.path.to.ClassOrFunction1") as mock1, patch("full.path.to.ClassOrFunction2") as mock2):` to ensure the patch is applied in the correct scope.
+- Run tests with race detector: `make test`
+- Use table-driven tests where appropriate
+- Mock external dependencies using interfaces
 
 ## Comments
-- Write numpy style docstrings
+- Write clear package documentation
+- Document exported functions and types
 - Avoid obvious comments
+- Use godoc conventions
diff --git a/.github/workflows/binary-release.yml b/.github/workflows/binary-release.yml
new file mode 100644
index 0000000000..2c9bfdc106
--- /dev/null
+++ b/.github/workflows/binary-release.yml
@@ -0,0 +1,210 @@
+name: "OM1 Binary Release"
+
+on:
+  push:
+    branches: [ "go" ]
+    tags: [ "v*" ]
+  workflow_dispatch:
+    inputs:
+      version:
+        description: "Version/tag for naming the archives (e.g. v1.2.3)"
+        required: true
+        default: "v0.0.0-dev"
+      publish:
+        description: "Create a GitHub Release and upload the archives"
+        type: boolean
+        default: false
+
+permissions:
+  contents: write
+
+env:
+  ZENOH_C_VERSION: "1.9.0"
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      version: ${{ steps.v.outputs.version }}
+      publish: ${{ steps.v.outputs.publish }}
+      prerelease: ${{ steps.v.outputs.prerelease }}
+    steps:
+      - id: v
+        shell: bash
+        run: |
+          set -euo pipefail
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            echo "version=${{ inputs.version }}" >> "$GITHUB_OUTPUT"
+            echo "publish=${{ inputs.publish }}"  >> "$GITHUB_OUTPUT"
+            echo "prerelease=false"               >> "$GITHUB_OUTPUT"
+          elif [[ "${GITHUB_REF}" == refs/tags/v* ]]; then
+            echo "version=${GITHUB_REF_NAME}"     >> "$GITHUB_OUTPUT"
+            echo "publish=true"                   >> "$GITHUB_OUTPUT"
+            echo "prerelease=false"               >> "$GITHUB_OUTPUT"
+          else
+            echo "version=nightly"                >> "$GITHUB_OUTPUT"
+            echo "publish=true"                   >> "$GITHUB_OUTPUT"
+            echo "prerelease=true"                >> "$GITHUB_OUTPUT"
+          fi
+
+  build-unix:
+    name: Build ${{ matrix.name }}
+    needs: setup
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: linux-amd64
+            runner: ubuntu-latest
+            os: linux
+          - name: linux-arm64
+            runner: ubuntu-22.04-arm
+            os: linux
+          - name: darwin-arm64
+            runner: macos-14
+            os: darwin
+          - name: darwin-amd64
+            runner: macos-15-intel
+            os: darwin
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install build dependencies (Linux)
+        if: matrix.os == 'linux'
+        run: sudo apt-get update && sudo apt-get install -y portaudio19-dev pkg-config patchelf
+
+      - name: Install build dependencies (macOS)
+        if: matrix.os == 'darwin'
+        run: brew install portaudio pkg-config
+
+      - name: Set up Go
+        uses: actions/setup-go@v5
+        with:
+          go-version-file: go.mod
+          cache: true
+
+      - name: Cache zenoh-c
+        uses: actions/cache@v4
+        with:
+          path: .zenoh-c
+          key: ${{ runner.os }}-${{ runner.arch }}-zenoh-c-${{ env.ZENOH_C_VERSION }}
+
+      - name: Build binary
+        run: make build
+
+      - name: Package archive
+        id: pkg
+        shell: bash
+        env:
+          VERSION: ${{ needs.setup.outputs.version }}
+          PLATFORM: ${{ matrix.name }}
+        run: |
+          set -euo pipefail
+          STAGE="dist/om1-${VERSION}-${PLATFORM}"
+          mkdir -p "$STAGE"
+
+          # Binary
+          cp build/om1 "$STAGE/om1"
+
+          # Bundle the zenoh-c shared library next to the binary and make the
+          # binary look for it via a relative rpath.
+          if [ "${{ matrix.os }}" = "linux" ]; then
+            cp .zenoh-c/lib/libzenohc.so* "$STAGE/"
+            patchelf --set-rpath '$ORIGIN' "$STAGE/om1"
+          else
+            cp .zenoh-c/lib/libzenohc.dylib "$STAGE/"
+            # Drop the CI's absolute build-time rpath and add a relative one.
+            install_name_tool -delete_rpath "$PWD/.zenoh-c/lib" "$STAGE/om1" 2>/dev/null || true
+            install_name_tool -add_rpath @executable_path "$STAGE/om1"
+          fi
+
+          # Runtime data the binary expects to find via -config / knowledge base.
+          cp -R config "$STAGE/config"
+          [ -d knowledge_base ] && cp -R knowledge_base "$STAGE/knowledge_base" || true
+
+          cat > "$STAGE/INSTALL.txt" <<EOF
+          OM1 ${VERSION} (${PLATFORM})
+
+          1. Install runtime prerequisites:
+               macOS:  brew install portaudio ffmpeg
+               Linux:  sudo apt-get install -y libportaudio2 ffmpeg
+
+          2. Run:
+               ./om1 -config config/conversation.json5
+
+          The bundled libzenohc (in this folder) is loaded automatically via a
+          relative rpath, so keep it next to the om1 binary.
+          EOF
+
+          ARCHIVE="om1-${VERSION}-${PLATFORM}.tar.gz"
+          tar -C dist -czf "$ARCHIVE" "om1-${VERSION}-${PLATFORM}"
+          shasum -a 256 "$ARCHIVE" > "${ARCHIVE}.sha256"
+          echo "archive=${ARCHIVE}" >> "$GITHUB_OUTPUT"
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.name }}
+          path: |
+            ${{ steps.pkg.outputs.archive }}
+            ${{ steps.pkg.outputs.archive }}.sha256
+          if-no-files-found: error
+
+  release:
+    name: Publish Release
+    runs-on: ubuntu-latest
+    needs: [setup, build-unix]
+    if: ${{ needs.setup.outputs.publish == 'true' }}
+    permissions:
+      contents: write
+    environment:
+      name: ${{ needs.setup.outputs.version == 'nightly' && 'staging' || 'production' }}
+      url: ${{ steps.gh_release.outputs.url }}
+    steps:
+      - name: Download all artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: artifacts
+
+      - name: Flatten artifacts
+        run: |
+          mkdir -p release
+          find artifacts -type f \( -name "*.tar.gz" -o -name "*.zip" -o -name "*.sha256" \) -exec cp {} release/ \;
+          ls -lh release
+
+      - name: Move nightly tag to current commit
+        if: needs.setup.outputs.version == 'nightly'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh api -X PATCH "repos/${{ github.repository }}/git/refs/tags/nightly" \
+            -f sha="${{ github.sha }}" -F force=true \
+          || gh api -X POST "repos/${{ github.repository }}/git/refs" \
+            -f ref="refs/tags/nightly" -f sha="${{ github.sha }}"
+
+      - name: Create / update GitHub Release
+        id: gh_release
+        uses: softprops/action-gh-release@v2
+        with:
+          tag_name: ${{ needs.setup.outputs.version }}
+          name: ${{ needs.setup.outputs.version == 'nightly' && 'Development Build' || needs.setup.outputs.version }}
+          prerelease: ${{ needs.setup.outputs.prerelease == 'true' }}
+          generate_release_notes: true
+          files: release/*
+
+      - name: Write release summary
+        run: |
+          {
+            echo "## OM1 ${{ needs.setup.outputs.version }} published"
+            echo ""
+            echo "- **Release:** ${{ steps.gh_release.outputs.url }}"
+            echo "- **Channel:** ${{ needs.setup.outputs.version == 'nightly' && 'development (prerelease)' || 'production' }}"
+            echo "- **Commit:** \`${{ github.sha }}\`"
+            echo ""
+            echo "### Assets"
+            echo '```'
+            ls -1 release/*.tar.gz
+            echo '```'
+          } >> "$GITHUB_STEP_SUMMARY"
diff --git a/.github/workflows/generate-config-schema.yml b/.github/workflows/generate-config-schema.yml
deleted file mode 100644
index 102d4967eb..0000000000
--- a/.github/workflows/generate-config-schema.yml
+++ /dev/null
@@ -1,63 +0,0 @@
-name: Generate Config Schema
-
-on:
-  push:
-    branches:
-      - main
-    paths:
-      - 'src/inputs/plugins/**'
-      - 'src/actions/**'
-      - 'src/backgrounds/plugins/**'
-      - 'src/llm/plugins/**'
-      - 'src/hooks/**'
-      - 'config/schema/multi_mode_schema.json'
-      - 'scripts/generate_schema.py'
-  workflow_dispatch:
-
-jobs:
-  generate-and-upload:
-    runs-on: ubuntu-latest
-    permissions:
-      id-token: write
-      contents: read
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-
-      - name: Install dependencies
-        run: |
-          pip install json5
-
-      - name: Configure AWS credentials
-        uses: aws-actions/configure-aws-credentials@v3
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE }}
-          aws-region: ${{ secrets.AWS_REGION }}
-
-      - name: Set environment variables
-        run: |
-          echo "S3_BUCKET=${{ secrets.S3_BUCKET }}" >> $GITHUB_ENV
-          echo "CLOUDFRONT_DISTRIBUTION_ID=${{ secrets.CLOUDFRONT_DISTRIBUTION_ID }}" >> $GITHUB_ENV
-
-      - name: Generate schema
-        run: |
-          python scripts/generate_schema.py
-
-      - name: Upload to S3
-        run: |
-          aws s3 cp OM1_config_schema.json5 s3://$S3_BUCKET/om1-config-schema/config_schema_latest.json5 \
-            --content-type "application/json"
-
-          echo "✓ Uploaded to S3: s3://$S3_BUCKET/om1-config-schema/config_schema_latest.json5"
-
-      - name: Invalidate CloudFront cache
-        run: |
-          aws cloudfront create-invalidation \
-            --distribution-id $CLOUDFRONT_DISTRIBUTION_ID \
-            --paths "/om1-config-schema/*"
diff --git a/.github/workflows/installation.yml b/.github/workflows/installation.yml
index 0bfeadc1a7..2851ace228 100644
--- a/.github/workflows/installation.yml
+++ b/.github/workflows/installation.yml
@@ -1,4 +1,4 @@
-name: Package Installation Test
+name: Build
 
 on:
   push:
@@ -8,37 +8,35 @@ on:
   workflow_dispatch:
 
 jobs:
-  test-installation:
+  build:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v5
-
-    - name: Set up Python 3.12
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.12'
-        cache: 'pip'
-
-    - name: "Disk Cleanup"
-      run: |
-        sudo rm -rf /usr/share/dotnet /usr/local/lib/android /opt/ghc /opt/hostedtoolcache/CodeQL
-        sudo docker image prune --all --force
-        sudo docker builder prune -a
-
-    - name: Install system dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libhidapi-dev python3-opencv portaudio19-dev python3-pyaudio
-
-    - name: Install pip dependencies
-      run: |
-        python -m pip install --upgrade pip
-
-    - name: Install package
-      run: |
-        python -m pip install --no-cache-dir --prefer-binary .
-
-    - name: Test import
-      run: |
-        python -c "import om1_vlm; import om1_utils; import om1_speech; print('Package imported successfully')"
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Install PortAudio
+        run: sudo apt-get update && sudo apt-get install -y portaudio19-dev pkg-config
+
+      - name: Set up Go
+        uses: actions/setup-go@v5
+        with:
+          go-version-file: 'go.mod'
+          cache: true
+
+      - name: Cache zenoh-c
+        uses: actions/cache@v4
+        with:
+          path: .zenoh-c
+          key: ${{ runner.os }}-zenoh-c-1.9.0
+          restore-keys: |
+            ${{ runner.os }}-zenoh-c-
+
+      - name: Download zenoh-c
+        run: make download-zenohc
+
+      - name: Build binary
+        run: make build
+
+      - name: Verify binary
+        run: test -x ./build/om1 && echo "Binary built successfully"
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 04628870c7..603c99b87a 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -9,89 +9,45 @@ on:
       - '**'
 
 jobs:
-  lint-and-test:
+  lint:
     runs-on: ubuntu-latest
 
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
-        with:
-          submodules: 'recursive'
 
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
+      - name: Install PortAudio
+        run: sudo apt-get update && sudo apt-get install -y portaudio19-dev pkg-config
 
-      - name: Install system dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y portaudio19-dev python3-pyaudio cmake
-
-      - name: Cache CycloneDDS build
-        uses: actions/cache@v4
+      - name: Set up Go
+        uses: actions/setup-go@v5
         with:
-          path: /tmp/cyclonedds/cyclonedds/install
-          key: ${{ runner.os }}-cyclonedds-0.10.x-${{ hashFiles('.github/workflows/lint.yml') }}
-          restore-keys: |
-            ${{ runner.os }}-cyclonedds-0.10.x-
+          go-version-file: 'go.mod'
+          cache: true
 
-      - name: Install cycloneDDS
-        run: |
-          if [ ! -d "/tmp/cyclonedds/cyclonedds/install" ]; then
-            echo "Building CycloneDDS from source..."
-            mkdir -p /tmp/cyclonedds
-            cd /tmp/cyclonedds
-            git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
-            cd cyclonedds && mkdir build install && cd build
-            cmake .. -DCMAKE_INSTALL_PREFIX=../install -DBUILD_EXAMPLES=ON
-            cmake --build . --target install
-          else
-            echo "Using cached CycloneDDS installation"
-          fi
-          echo "CYCLONEDDS_HOME=/tmp/cyclonedds/cyclonedds/install" >> $GITHUB_ENV
-          echo "/tmp/cyclonedds/cyclonedds/install/lib" >> $GITHUB_PATH
-          echo "CMAKE_PREFIX_PATH=/tmp/cyclonedds/cyclonedds/install" >> $GITHUB_ENV
-
-      - name: Install uv
-        uses: astral-sh/setup-uv@v5
-        with:
-          enable-cache: true
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-
-      - name: Cache uv dependencies
+      - name: Cache zenoh-c
         uses: actions/cache@v4
         with:
-          path: |
-            ~/.cache/uv
-            .venv
-          key: ${{ runner.os }}-uv-${{ hashFiles('pyproject.toml', 'uv.lock') }}
+          path: .zenoh-c
+          key: ${{ runner.os }}-zenoh-c-1.9.0
           restore-keys: |
-            ${{ runner.os }}-uv-
-
-      - name: Run ruff
-        run: uv run ruff check .
-
-      - name: Run black
-        run: uv run black --check .
+            ${{ runner.os }}-zenoh-c-
 
-      - name: Run isort
-        run: uv run isort --check-only .
+      - name: Download zenoh-c
+        run: make download-zenohc
 
-      - name: Run pyright
-        run: uv run pyright --project ./pyrightconfig.json
-
-      - name: Run vulture
-        run: uv run vulture src/
+      - name: Check formatting
+        run: |
+          unformatted=$(gofmt -l $(find . -name '*.go' -not -path './.zenoh-c/*'))
+          if [ -n "$unformatted" ]; then
+            echo "The following files are not formatted:"
+            echo "$unformatted"
+            echo "Run 'make fmt' to fix."
+            exit 1
+          fi
 
-      - name: Install pre-commit
-        run: pip install pre-commit
+      - name: Run go vet
+        run: make vet
 
-      - name: Run pre-commit hooks
-        id: pre-commit
-        run: |
-          pre-commit run --all-files --show-diff-on-failure
+      - name: Run golangci-lint
+        run: make lint
diff --git a/.github/workflows/nightly-integration-tests.yml b/.github/workflows/nightly-integration-tests.yml
index a9bd8a952f..ff3ec2f920 100644
--- a/.github/workflows/nightly-integration-tests.yml
+++ b/.github/workflows/nightly-integration-tests.yml
@@ -20,109 +20,45 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v5
-        with:
-          submodules: 'recursive'
-
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.12'
-
-      - name: Install system dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y portaudio19-dev python3-pyaudio cmake ffmpeg
-
-      - name: Cache CycloneDDS build
-        uses: actions/cache@v4
-        with:
-          path: /tmp/cyclonedds/cyclonedds/install
-          key: ${{ runner.os }}-cyclonedds-0.10.x-${{ hashFiles('.github/workflows/nightly-integration-tests.yml') }}
-          restore-keys: |
-            ${{ runner.os }}-cyclonedds-0.10.x-
+        uses: actions/checkout@v4
 
-      - name: Install cycloneDDS
-        run: |
-          if [ ! -d "/tmp/cyclonedds/cyclonedds/install" ]; then
-            echo "Building CycloneDDS from source..."
-            mkdir -p /tmp/cyclonedds
-            cd /tmp/cyclonedds
-            git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
-            cd cyclonedds && mkdir build install && cd build
-            cmake .. -DCMAKE_INSTALL_PREFIX=../install -DBUILD_EXAMPLES=ON
-            cmake --build . --target install
-          else
-            echo "Using cached CycloneDDS installation"
-          fi
-          echo "CYCLONEDDS_HOME=/tmp/cyclonedds/cyclonedds/install" >> $GITHUB_ENV
-          echo "/tmp/cyclonedds/cyclonedds/install/lib" >> $GITHUB_PATH
-          echo "CMAKE_PREFIX_PATH=/tmp/cyclonedds/cyclonedds/install" >> $GITHUB_ENV
-
-      - name: Install uv
-        uses: astral-sh/setup-uv@v5
-        with:
-          enable-cache: true
+      - name: Install PortAudio
+        run: sudo apt-get update && sudo apt-get install -y portaudio19-dev pkg-config
 
-      - name: "Set up Python"
-        uses: actions/setup-python@v5
+      - name: Set up Go
+        uses: actions/setup-go@v5
         with:
-          python-version-file: "pyproject.toml"
+          go-version-file: 'go.mod'
+          cache: true
 
-      - name: Cache uv dependencies
+      - name: Cache zenoh-c
         uses: actions/cache@v4
         with:
-          path: |
-            ~/.cache/uv
-            .venv
-          key: ${{ runner.os }}-uv-${{ hashFiles('pyproject.toml', 'uv.lock') }}
+          path: .zenoh-c
+          key: ${{ runner.os }}-zenoh-c-1.9.0
           restore-keys: |
-            ${{ runner.os }}-uv-
+            ${{ runner.os }}-zenoh-c-
 
-      - name: Install dependencies
-        run: |
-          uv sync --extra dds
+      - name: Download zenoh-c
+        run: make download-zenohc
 
       - name: Run integration tests
+        id: tests
         run: |
-          uv run pytest -m "integration" --log-cli-level=DEBUG --junitxml=test-reports/results.xml -s
+          export LD_LIBRARY_PATH="$(pwd)/.zenoh-c/lib"
+          export CGO_CFLAGS="-I$(pwd)/.zenoh-c/include"
+          export CGO_LDFLAGS="-L$(pwd)/.zenoh-c/lib -lzenohc -Wl,-rpath,$(pwd)/.zenoh-c/lib"
+          set -o pipefail
+          go test -tags=integration -race -v ./... 2>&1 | tee test-output.log
 
       - name: Extract test summary
+        if: ${{ !cancelled() }}
         id: summary
         run: |
-          python - << 'EOF'
-          import os
-          import xml.etree.ElementTree as ET
-
-          xml_file = 'test-reports/results.xml'
-          tree = ET.parse(xml_file)
-          root = tree.getroot()
-
-          def get_val(node, attr):
-              return int(node.get(attr, 0))
-
-          tests = 0
-          failures = 0
-          errors = 0
-
-          if root.tag == 'testsuites':
-              if root.get('tests'):
-                  tests = get_val(root, 'tests')
-                  failures = get_val(root, 'failures')
-                  errors = get_val(root, 'errors')
-              else:
-                  for suite in root.findall('testsuite'):
-                      tests += get_val(suite, 'tests')
-                      failures += get_val(suite, 'failures')
-                      errors += get_val(suite, 'errors')
-          else:
-              tests = get_val(root, 'tests')
-              failures = get_val(root, 'failures')
-              errors = get_val(root, 'errors')
-
-          with open(os.environ['GITHUB_OUTPUT'], 'a') as f:
-              f.write(f"total={tests}\nfailures={failures}\nerrors={errors}\n")
-          EOF
+          total=$(grep -cE '^(=== RUN|--- (PASS|FAIL))' test-output.log || true)
+          failures=$(grep -cE '^--- FAIL' test-output.log || true)
+          echo "total=${total}" >> "$GITHUB_OUTPUT"
+          echo "failures=${failures}" >> "$GITHUB_OUTPUT"
 
       - name: Notify Slack on failure
         if: failure() && github.event_name == 'schedule' && github.event.pull_request.head.repo.fork != true
@@ -132,7 +68,7 @@ jobs:
               \"text\": \"❌ @channel *Integration Tests Failed*\n\
               *Repository:* \`${{ github.repository }}\`\n\
               *Branch:* \`${{ github.ref_name }}\`\n\
-              *Total:* ${{ steps.summary.outputs.total }}  •  *Failures:* ${{ steps.summary.outputs.failures }}  •  *Errors:* ${{ steps.summary.outputs.errors }}\n\
+              *Total:* ${{ steps.summary.outputs.total }}  •  *Failures:* ${{ steps.summary.outputs.failures }}\n\
               🔗 <${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}|View Workflow Run>\"
             }" \
             ${{ secrets.ONCALL_SLACK_WEBHOOK_URL }}
diff --git a/.github/workflows/turtlebot-bridge.yml b/.github/workflows/turtlebot-bridge.yml
deleted file mode 100644
index f86a4d7139..0000000000
--- a/.github/workflows/turtlebot-bridge.yml
+++ /dev/null
@@ -1,53 +0,0 @@
-name: Turtlebot Bridge Docker Build and Push
-
-on:
-  push:
-    branches: main
-    paths:
-      - 'system_hw_test/turtlebot_zenoh/**'
-  pull_request:
-    branches: main
-    paths:
-      - 'system_hw_test/turtlebot_zenoh/**'
-  workflow_dispatch:
-
-jobs:
-  docker:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Set up QEMU
-        uses: docker/setup-qemu-action@v3
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: openmindagi/turtlebridge
-          tags: |
-            type=semver,pattern={{version}}
-            type=semver,pattern={{major}}.{{minor}}
-            type=ref,event=branch
-            type=sha
-            type=raw,value=latest,enable=${{ github.ref == 'refs/heads/main' }}
-
-      - name: Build and push Docker image
-        uses: docker/build-push-action@v5
-        with:
-          context: ./system_hw_test/turtlebot_zenoh
-          file: ./system_hw_test/turtlebot_zenoh/Dockerfile
-          push: true
-          platforms: linux/amd64,linux/arm64
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
diff --git a/.github/workflows/unitest.yml b/.github/workflows/unitest.yml
index 5de64c9dd9..448c4fa11f 100644
--- a/.github/workflows/unitest.yml
+++ b/.github/workflows/unitest.yml
@@ -14,86 +14,35 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v5
-        with:
-          submodules: 'recursive'
-
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.12'
-
-      - name: Install system dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y portaudio19-dev python3-pyaudio cmake ffmpeg
-
-      - name: Cache CycloneDDS build
-        uses: actions/cache@v4
-        with:
-          path: /tmp/cyclonedds/cyclonedds/install
-          key: ${{ runner.os }}-cyclonedds-0.10.x-${{ hashFiles('.github/workflows/unitest.yml') }}
-          restore-keys: |
-            ${{ runner.os }}-cyclonedds-0.10.x-
+        uses: actions/checkout@v4
 
-      - name: Install cycloneDDS
-        run: |
-          if [ ! -d "/tmp/cyclonedds/cyclonedds/install" ]; then
-            echo "Building CycloneDDS from source..."
-            mkdir -p /tmp/cyclonedds
-            cd /tmp/cyclonedds
-            git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
-            cd cyclonedds && mkdir build install && cd build
-            cmake .. -DCMAKE_INSTALL_PREFIX=../install -DBUILD_EXAMPLES=ON
-            cmake --build . --target install
-          else
-            echo "Using cached CycloneDDS installation"
-          fi
-          echo "CYCLONEDDS_HOME=/tmp/cyclonedds/cyclonedds/install" >> $GITHUB_ENV
-          echo "/tmp/cyclonedds/cyclonedds/install/lib" >> $GITHUB_PATH
-          echo "CMAKE_PREFIX_PATH=/tmp/cyclonedds/cyclonedds/install" >> $GITHUB_ENV
+      - name: Install PortAudio
+        run: sudo apt-get update && sudo apt-get install -y portaudio19-dev pkg-config
 
-      - name: Install uv
-        uses: astral-sh/setup-uv@v5
+      - name: Set up Go
+        uses: actions/setup-go@v5
         with:
-          enable-cache: true
+          go-version-file: 'go.mod'
+          cache: true
 
-      - name: "Set up Python"
-        uses: actions/setup-python@v5
-        with:
-          python-version-file: "pyproject.toml"
-
-      - name: Cache uv dependencies
+      - name: Cache zenoh-c
         uses: actions/cache@v4
         with:
-          path: |
-            ~/.cache/uv
-            .venv
-          key: ${{ runner.os }}-uv-${{ hashFiles('pyproject.toml', 'uv.lock') }}
+          path: .zenoh-c
+          key: ${{ runner.os }}-zenoh-c-1.9.0
           restore-keys: |
-            ${{ runner.os }}-uv-
+            ${{ runner.os }}-zenoh-c-
 
-      - name: Install dependencies
-        run: |
-          uv sync --extra dds
+      - name: Download zenoh-c
+        run: make download-zenohc
 
       - name: Run unit tests
-        run: |
-          uv run pytest --cov --cov-report=xml --cov-report=term --junitxml=junit.xml -o junit_family=legacy --log-cli-level=DEBUG -s
+        run: make test
 
       - name: Upload coverage reports
         uses: codecov/codecov-action@v5
         if: ${{ !cancelled() }}
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
-          files: ./coverage.xml
-          fail_ci_if_error: false
-
-      - name: Upload test results
-        if: ${{ !cancelled() }}
-        uses: codecov/codecov-action@v5
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          report_type: test_results
-          files: ./junit.xml
+          files: ./coverage.out
           fail_ci_if_error: false
diff --git a/.gitignore b/.gitignore
index 1d91d5b1b3..5beb0671e3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,44 +1,12 @@
-# Python-generated files
-__pycache__/
-*.py[oc]
+# Build artifacts
 build/
-dist/
-wheels/
-*.egg-info
-.ruff_cache/
-.pytest_cache/
-
-# Coverage reports
-.coverage
-.coverage.*
-htmlcov/
-coverage.xml
-*.cover
-junit.xml
-
-# Virtual environments
-.venv
-
-# Environment variables
-.env
-*.lock
-
-# IDE
-.vscode/
 
 # Claude Code
 CLAUDE.md
 .claude/
 
-# Debug files
-front_image.jpg
-turtlebot4_debug.jpg
-turtlebot.jpg
-
 # Mac specific lint
 .DS_Store
-config/iris_ai.json
-launch.sh
 
 # AI models
 *.pt
@@ -49,7 +17,6 @@ logs/
 # Data files
 *.jsonl
 *.jpg
-/zenohdb
 /locations
 /traces
 
@@ -57,3 +24,9 @@ logs/
 config/memory
 config/.runtime.json5
 config/cron_job/
+
+# Zenoh
+.zenoh-c/
+
+# Test
+coverage.out
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index aff7ee5111..0000000000
--- a/.gitmodules
+++ /dev/null
@@ -1,6 +0,0 @@
-[submodule "src/unitree"]
-	path = src/unitree
-	url = https://github.com/OpenMind/unitree_sdk2_python.git
-[submodule "src/ubtech"]
-	path = src/ubtech
-	url = https://github.com/OpenMind/ubtech.git
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
deleted file mode 100644
index f3adff3936..0000000000
--- a/.pre-commit-config.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-repos:
-  - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
-    hooks:
-      - id: trailing-whitespace
-      - id: end-of-file-fixer
-      - id: check-yaml
-      - id: check-added-large-files
-      - id: check-merge-conflict
-      - id: debug-statements
-      - id: check-docstring-first
-
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.9.3
-    hooks:
-      - id: ruff
-        args: [--fix]
-
-  - repo: https://github.com/psf/black
-    rev: 26.3.1
-    hooks:
-      - id: black
-
-  - repo: https://github.com/pycqa/isort
-    rev: 6.0.0
-    hooks:
-      - id: isort
-
-  - repo: https://github.com/Yelp/detect-secrets
-    rev: v1.5.0
-    hooks:
-      - id: detect-secrets
-        args: [--exclude-secrets, 'openmind_free']
-        files: ^config/.*$
-
-  - repo: https://github.com/crate-ci/typos
-    rev: v1.28.3
-    hooks:
-      - id: typos
-        exclude: ^(src/unitree|src/ubtech)/
-
-  - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v3.1.0
-    hooks:
-      - id: prettier
-        name: prettier json5
-        types_or: [json5]
diff --git a/.python-version b/.python-version
deleted file mode 100644
index e4fba21835..0000000000
--- a/.python-version
+++ /dev/null
@@ -1 +0,0 @@
-3.12
diff --git a/.typos.toml b/.typos.toml
deleted file mode 100644
index a2e525b2e9..0000000000
--- a/.typos.toml
+++ /dev/null
@@ -1,17 +0,0 @@
-[default]
-extend-ignore-re = [
-  "[0-9a-f]{8}:[0-9a-f]{8}:[0-9a-f]{8}:[0-9a-f]{8}",
-  "alsa_output\\.usb-[^\\s]+",
-]
-
-[default.extend-words]
-OT = "OT"
-WAAS = "WAAS"
-ser = "ser"
-asend = "asend"
-
-[files]
-extend-exclude = [
-  "src/unitree/",
-  "src/ubtech/",
-]
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000000..907061fc16
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,12 @@
+{
+  "go.testFlags": ["-p", "8", "-v"],
+  "go.testEnvVars": {
+    "CGO_ENABLED": "1",
+    "CGO_CFLAGS": "-I${workspaceFolder}/.zenoh-c/include",
+    "CGO_LDFLAGS": "-L${workspaceFolder}/.zenoh-c/lib -lzenohc -Wl,-rpath,${workspaceFolder}/.zenoh-c/lib",
+    "DYLD_LIBRARY_PATH": "${workspaceFolder}/.zenoh-c/lib",
+    "LD_LIBRARY_PATH": "${workspaceFolder}/.zenoh-c/lib"
+  },
+  "go.buildFlags": [],
+  "go.buildTags": "integration"
+}
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 93d3063b28..ed38ce79e7 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -11,7 +11,7 @@ Before contributing, please take a moment to read through the following guidelin
 *   **Report Bugs:** If you find a bug, please [open an issue](https://github.com/OpenMind/OM1/issues) on GitHub. Be sure to include:
     *   A clear and concise description of the bug.
     *   Steps to reproduce the bug.
-    *   Your operating system and Python version.
+    *   Your operating system and Go version.
     *   Relevant error messages or stack traces.
     *   Screenshots (if applicable).
 
@@ -73,9 +73,10 @@ Before contributing, please take a moment to read through the following guidelin
     pre-commit run --all-files
     ```
 
-    To unit test the system, run
+    To run the linter and tests, use:
     ```bash
-    uv run pytest --log-cli-level=DEBUG -s
+    make lint
+    make test
     ```
 
 8.  **Push Changes:** Once all the tests pass locally, push your branch to your forked repository.
@@ -97,10 +98,10 @@ Before contributing, please take a moment to read through the following guidelin
 
 **Coding Style and Conventions:**
 
-*   **Code Style:**  Follow the [PEP 8](https://www.python.org/dev/peps/pep-0008/) style guide.  We may use a code formatter like `black` or `ruff` (check the `pyproject.toml` or `setup.cfg` for project-specific configuration).  Run `pre-commit run --all-files` before committing.
-*   **Docstrings:**  Write clear and comprehensive docstrings for all functions, classes, and modules.  We may use a specific docstring format (e.g., Google style, NumPy style).
-*   **Tests:** Write unit tests to ensure your code works as expected.  Use a testing framework like `pytest`.
-*   **Type Hints:** Use type hints (PEP 484) to improve code readability and maintainability.
+*   **Code Style:**  Follow standard Go conventions and use `gofmt` for formatting. Run `make fmt` before committing, or let `pre-commit` handle it.
+*   **Documentation:**  Write clear and comprehensive comments for exported functions and types.
+*   **Tests:** Write unit tests to ensure your code works as expected. Use the standard Go testing package.
+*   **Naming:** Use idiomatic Go naming conventions (e.g., camelCase for unexported, PascalCase for exported).
 
 **Code of Conduct:**
 
diff --git a/Dockerfile b/Dockerfile
index 6f574739b7..839cd0fb05 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,15 +1,27 @@
-FROM python:3.12-slim
+FROM golang:1.26-bookworm AS builder
 
-RUN apt-get update && apt-get install -y \
-    git \
-    ffmpeg \
-    portaudio19-dev \
-    libasound2-dev \
-    libv4l-dev \
-    python3-pip \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential \
-    cmake \
-    python3-dev \
+    pkg-config \
+    curl \
+    unzip \
+    portaudio19-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /app
+
+COPY go.mod go.sum ./
+RUN go mod download
+
+COPY . .
+
+RUN make build
+
+FROM debian:bookworm-slim
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    ffmpeg \
     libasound2 \
     libasound2-data \
     libasound2-plugins \
@@ -18,20 +30,11 @@ RUN apt-get update && apt-get install -y \
     alsa-topology-conf \
     alsa-ucm-conf \
     pulseaudio-utils \
+    libv4l-0 \
+    libhidapi-hidraw0 \
     iputils-ping \
-    curl \
-    pkg-config \
-    libssl-dev \
     libnss-mdns \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
-
-RUN python3 -m pip install --upgrade pip
-
-COPY --from=ghcr.io/astral-sh/uv:latest /uv /uvx /usr/local/bin/
-
-RUN curl -fsSL https://deb.nodesource.com/setup_20.x | bash - \
-    && apt-get install -y nodejs \
+    libportaudio2 \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
@@ -47,61 +50,57 @@ RUN if ! grep -q 'mdns4_minimal' /etc/nsswitch.conf; then \
       sed -i 's/^\(hosts:[[:space:]]*files\)\(.*\)$/\1 mdns4_minimal [NOTFOUND=return]\2/' /etc/nsswitch.conf; \
     fi
 
-WORKDIR /app
-RUN git clone --branch releases/0.10.x https://github.com/eclipse-cyclonedds/cyclonedds
-WORKDIR /app/cyclonedds/build
-RUN cmake .. -DCMAKE_INSTALL_PREFIX=../install -DBUILD_EXAMPLES=ON \
- && cmake --build . --target install
+WORKDIR /app/OM1
 
-ENV CYCLONEDDS_HOME=/app/cyclonedds/install \
-    CMAKE_PREFIX_PATH=/app/cyclonedds/install
+COPY --from=builder /app/build/om1 /usr/local/bin/om1
+COPY --from=builder /app/.zenoh-c/lib/ /usr/local/lib/
+RUN ldconfig
 
-WORKDIR /app/OM1
-COPY . .
-RUN git submodule update --init --recursive
+COPY --from=builder /app/config ./config
+COPY --from=builder /app/knowledge_base ./knowledge_base
 
 RUN cp -r config config_defaults
 
-RUN uv venv /app/OM1/.venv && \
-    uv pip install -r pyproject.toml --extra dds
-
-ENV VIRTUAL_ENV=/app/OM1/.venv
-ENV PATH="/app/OM1/.venv/bin:$PATH"
-
-RUN echo '#!/bin/bash' > /entrypoint.sh && \
-    echo 'set -e' >> /entrypoint.sh && \
-    echo 'cp -r /app/OM1/config_defaults/* /app/OM1/config/ 2>/dev/null || true' >> /entrypoint.sh && \
-    echo 'if [ "${OM1_SKIP_INTERNET_CHECK}" = "true" ]; then' >> /entrypoint.sh && \
-    echo '  echo "Skipping internet connectivity check."' >> /entrypoint.sh && \
-    echo 'else' >> /entrypoint.sh && \
-    echo '  until ping -c1 -W1 8.8.8.8 >/dev/null 2>&1; do' >> /entrypoint.sh && \
-    echo '    echo "Waiting for internet connection..."' >> /entrypoint.sh && \
-    echo '    sleep 2' >> /entrypoint.sh && \
-    echo '  done' >> /entrypoint.sh && \
-    echo '  echo "Internet connected."' >> /entrypoint.sh && \
-    echo 'fi' >> /entrypoint.sh && \
-    echo 'echo "Checking audio system..."' >> /entrypoint.sh && \
-    echo 'if ! pactl info >/dev/null 2>&1; then' >> /entrypoint.sh && \
-    echo '  echo "ERROR: PulseAudio connection failed. Exiting container for restart..."' >> /entrypoint.sh && \
-    echo '  exit 1' >> /entrypoint.sh && \
-    echo 'fi' >> /entrypoint.sh && \
-    echo 'echo "PulseAudio connected successfully."' >> /entrypoint.sh && \
-    echo 'if ! pactl list sinks | grep -q "default_output_aec" 2>/dev/null; then' >> /entrypoint.sh && \
-    echo '  echo "ERROR: Audio device default_output_aec not found. Exiting container for restart..."' >> /entrypoint.sh && \
-    echo '  echo "Available audio sinks:"' >> /entrypoint.sh && \
-    echo '  pactl list short sinks 2>/dev/null || echo "No sinks available"' >> /entrypoint.sh && \
-    echo '  exit 1' >> /entrypoint.sh && \
-    echo 'fi' >> /entrypoint.sh && \
-    echo 'echo "Audio device default_output_aec is ready."' >> /entrypoint.sh && \
-    echo 'echo "Starting main command..."' >> /entrypoint.sh && \
-    echo 'if [ -n "${OM1_COMMAND}" ]; then' >> /entrypoint.sh && \
-    echo '  exec python src/run.py "${OM1_COMMAND}"' >> /entrypoint.sh && \
-    echo 'elif [ -f "/app/OM1/config/memory/.runtime.json5" ]; then' >> /entrypoint.sh && \
-    echo '  exec python src/run.py' >> /entrypoint.sh && \
-    echo 'else' >> /entrypoint.sh && \
-    echo '  exec python src/run.py "$@"' >> /entrypoint.sh && \
-    echo 'fi' >> /entrypoint.sh && \
-    chmod +x /entrypoint.sh
+COPY <<'EOF' /entrypoint.sh
+#!/bin/bash
+set -e
+
+cp -rn /app/OM1/config_defaults/* /app/OM1/config/ 2>/dev/null || true
+
+if [ "${OM1_SKIP_INTERNET_CHECK}" = "true" ]; then
+  echo "Skipping internet connectivity check."
+else
+  until ping -c1 -W1 8.8.8.8 >/dev/null 2>&1; do
+    echo "Waiting for internet connection..."
+    sleep 2
+  done
+  echo "Internet connected."
+fi
+
+if [ "${OM1_SKIP_AUDIO_CHECK}" = "true" ]; then
+  echo "Skipping audio system check."
+else
+  echo "Checking audio system..."
+  if ! pactl info >/dev/null 2>&1; then
+    echo "ERROR: PulseAudio connection failed. Exiting container for restart..."
+    exit 1
+  fi
+  echo "PulseAudio connected successfully."
+  if ! pactl list sinks | grep -q "default_output_aec" 2>/dev/null; then
+    echo "ERROR: Audio device default_output_aec not found. Exiting container for restart..."
+    echo "Available audio sinks:"
+    pactl list short sinks 2>/dev/null || echo "No sinks available"
+    exit 1
+  fi
+  echo "Audio device default_output_aec is ready."
+fi
+
+echo "Starting OM1..."
+OM1_COMMAND="${OM1_COMMAND:-${1:-conversation}}"
+exec /usr/local/bin/om1 -config "${OM1_COMMAND}" ${OM1_EXTRA_ARGS}
+EOF
+
+RUN chmod +x /entrypoint.sh
 
 ENTRYPOINT ["/entrypoint.sh"]
-CMD ["spot"]
+CMD ["conversation"]
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000000..bc2d9ff46c
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,168 @@
+GO := go
+GOBIN := $(shell $(GO) env GOPATH)/bin
+BINARY_NAME := om1
+GO_MODULE := github.com/openmind/om1
+CMD_DIR := ./cmd
+BUILD_DIR := ./build
+GO_FILES := $(shell find . -name '*.go' -type f)
+
+LDFLAGS := -s -w
+BUILD_FLAGS := -v
+
+CONFIG ?= greeting
+
+ZENOH_C_VERSION=1.9.0
+ZENOH_C_DIR=.zenoh-c
+ZENOH_C_ABS_DIR=$(shell pwd)/$(ZENOH_C_DIR)
+UNAME_S := $(shell uname -s)
+UNAME_M := $(shell uname -m)
+
+ifeq ($(UNAME_S),Linux)
+	ifeq ($(UNAME_M),x86_64)
+		ZENOH_PLATFORM=x86_64-unknown-linux-gnu
+	else ifeq ($(UNAME_M),aarch64)
+		ZENOH_PLATFORM=aarch64-unknown-linux-gnu
+	endif
+	DYLD_VAR=LD_LIBRARY_PATH
+else ifeq ($(UNAME_S),Darwin)
+	ifeq ($(UNAME_M),arm64)
+		ZENOH_PLATFORM=aarch64-apple-darwin
+	else
+		ZENOH_PLATFORM=x86_64-apple-darwin
+	endif
+	DYLD_VAR=DYLD_LIBRARY_PATH
+endif
+
+ZENOH_URL=https://github.com/eclipse-zenoh/zenoh-c/releases/download/$(ZENOH_C_VERSION)/zenoh-c-$(ZENOH_C_VERSION)-$(ZENOH_PLATFORM)-standalone.zip
+
+export CGO_ENABLED=1
+export CGO_CFLAGS=-I$(ZENOH_C_ABS_DIR)/include
+export CGO_LDFLAGS=-L$(ZENOH_C_ABS_DIR)/lib -lzenohc -Wl,-rpath,$(ZENOH_C_ABS_DIR)/lib
+
+.PHONY: all
+all: lint build
+
+.PHONY: help
+help:
+	@echo "Available targets:"
+	@echo "  all              - Run lint and build"
+	@echo "  build            - Build the binary"
+	@echo "  run              - Build and run with config (CONFIG=greeting by default)"
+	@echo "  dev              - Run without building (go run)"
+	@echo "  lint             - Run linter (golangci-lint)"
+	@echo "  fmt              - Format Go code"
+	@echo "  vet              - Run go vet"
+	@echo "  test             - Run tests with coverage"
+	@echo "  test-integration - Run end-to-end integration tests"
+	@echo "  test-coverage    - Generate HTML coverage report"
+	@echo "  clean            - Clean build artifacts"
+	@echo "  deps             - Download and tidy dependencies"
+	@echo "  deps-update      - Update dependencies"
+	@echo "  install          - Install binary to GOPATH/bin"
+	@echo "  check            - Run fmt, vet, lint, and test"
+	@echo "  download-zenohc  - Download and extract zenohc library"
+	@echo "  list-configs     - List available configuration files"
+
+download-zenohc:
+	@echo "Downloading zenoh-c $(ZENOH_C_VERSION) for $(ZENOH_PLATFORM)..."
+	@mkdir -p $(ZENOH_C_DIR)
+	@if [ ! -f "$(ZENOH_C_DIR)/lib/libzenohc.dylib" ] && [ ! -f "$(ZENOH_C_DIR)/lib/libzenohc.so" ]; then \
+		echo "Fetching $(ZENOH_URL)..."; \
+		curl -sSL -o /tmp/zenoh-c.zip $(ZENOH_URL); \
+		unzip -q /tmp/zenoh-c.zip -d $(ZENOH_C_DIR); \
+		rm /tmp/zenoh-c.zip; \
+		echo "zenoh-c installed to $(ZENOH_C_DIR)"; \
+		if [ "$(UNAME_S)" = "Darwin" ]; then \
+			echo "Patching dylib install names..."; \
+			if [ -f "$(ZENOH_C_ABS_DIR)/lib/libzenohc.dylib" ]; then \
+				install_name_tool -id "@rpath/libzenohc.dylib" "$(ZENOH_C_ABS_DIR)/lib/libzenohc.dylib"; \
+			fi; \
+		fi; \
+	else \
+		echo "zenoh-c already installed in $(ZENOH_C_DIR)"; \
+	fi
+
+.PHONY: build
+build: download-zenohc
+	@echo "Building $(BINARY_NAME)..."
+	@mkdir -p $(BUILD_DIR)
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) build $(BUILD_FLAGS) -ldflags "$(LDFLAGS)" -o $(BUILD_DIR)/$(BINARY_NAME) $(CMD_DIR)
+	@echo "Binary built: $(BUILD_DIR)/$(BINARY_NAME)"
+
+.PHONY: run
+run: build
+	@echo "Running $(BINARY_NAME) with config: $(CONFIG)"
+	$(BUILD_DIR)/$(BINARY_NAME) -config ./config/$(CONFIG).json5
+
+.PHONY: dev
+dev: download-zenohc
+	@echo "Running in dev mode with config: $(CONFIG)"
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) run $(CMD_DIR) -config ./config/$(CONFIG).json5 -log-level debug
+
+.PHONY: lint
+lint: download-zenohc
+	@echo "Running linter..."
+	@if ! command -v golangci-lint > /dev/null; then \
+		echo "golangci-lint not found. Installing..."; \
+		$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) install github.com/golangci/golangci-lint/cmd/golangci-lint@latest; \
+	fi
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib golangci-lint run ./...
+
+.PHONY: fmt
+fmt: download-zenohc
+	@echo "Formatting Go code..."
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) fmt ./...
+
+.PHONY: vet
+vet: download-zenohc
+	@echo "Running go vet..."
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) vet ./...
+
+.PHONY: test
+test: download-zenohc
+	@echo "Running tests..."
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) test -v -race -coverprofile=coverage.out ./...
+
+.PHONY: test-integration
+test-integration: download-zenohc
+	@echo "Running integration tests..."
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) test -v -tags=integration ./test/integration/...
+
+.PHONY: test-coverage
+test-coverage: test
+	@echo "Generating coverage report..."
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) tool cover -html=coverage.out -o coverage.html
+	@echo "Coverage report: coverage.html"
+
+.PHONY: clean
+clean:
+	@echo "Cleaning..."
+	@rm -rf $(BUILD_DIR)
+	@rm -f coverage.out coverage.html
+	@echo "Clean complete"
+
+.PHONY: deps
+deps: download-zenohc
+	@echo "Downloading dependencies..."
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) mod download
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) mod tidy
+
+.PHONY: deps-update
+deps-update: download-zenohc
+	@echo "Updating dependencies..."
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) get -u ./...
+	$(DYLD_VAR)=$(ZENOH_C_ABS_DIR)/lib $(GO) mod tidy
+
+.PHONY: install
+install: build
+	@echo "Installing $(BINARY_NAME) to $(GOBIN)..."
+	@cp $(BUILD_DIR)/$(BINARY_NAME) $(GOBIN)/
+	@echo "Installed to $(GOBIN)/$(BINARY_NAME)"
+
+.PHONY: check
+check: fmt vet lint test
+
+.PHONY: list-configs
+list-configs:
+	@echo "Available configurations:"
+	@ls -1 ./config/*.json5 | xargs -n 1 basename | sed 's/\.json5//'
diff --git a/README.md b/README.md
index f36c8583c8..581e366e8c 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@
 
 ## Capabilities of OM1
 
-* **Modular Architecture**: Designed with Python for simplicity and seamless integration.
+* **Modular Architecture**: Written in Go for performance and seamless integration.
 * **Data Input**: Easily handles new data and sensors.
 * **Hardware Support via Plugins**: Supports new hardware through plugins for API endpoints and specific robot hardware connections to `ROS2`, `Zenoh`, and `CycloneDDS`. (We recommend `Zenoh` for all new development).
 * **Pre-configured Endpoints**: Supports Text-to-Speech, multiple LLMs from OpenAI, xAI, DeepSeek, Anthropic, Meta, Gemini, NearAI, Ollama (local), and multiple Visual Language Models (VLMs) with pre-configured endpoints for each service.
@@ -19,13 +19,38 @@
 ## Architecture Overview
 ![Artboard 1@4x 1 (1)](https://github.com/user-attachments/assets/0c482257-e4db-4a0a-8d83-d4548ac4beaf)
 
+## Go vs. Python Feature Comparison
+
+OM1 was originally built in Python, and the Go runtime is a newer, performance-focused implementation. The Go runtime covers the core agent pipeline, but several capabilities available in the Python runtime are still **under active development** and not yet available in Go. The table below gives a high-level comparison to help you choose the right runtime for your use case.
+
+| Capability | Python | Go | Notes |
+| --- | :---: | :---: | --- |
+| Core agent runtime (input → LLM → action) | ✅ | ✅ | Fully supported in both. |
+| LLM providers (OpenAI, xAI, DeepSeek, Anthropic, Gemini, NearAI, Ollama, OpenRouter, Qwen) | ✅ | ✅ | Broad provider support in both. |
+| ASR (ElevenLabs, Google, Riva) | ✅ | ✅ | Including RTSP streaming variants. |
+| Text-to-Speech (`speak`) | ✅ | ✅ | Supported in both. |
+| Visual Language Models (VLM) | ✅ | ✅ | OpenAI/Gemini are supported. |
+| Metrics & observability (Prometheus + Grafana) | ✅ | ✅ | Supported in both. |
+| Hardware connectors (ROS2, Zenoh, CycloneDDS) | ✅ | 🚧 | Go currently focuses on Zenoh; broader connector parity in progress. |
+| Locomotion & robot actions (move/navigate variants for Go2, G1, TurtleBot4, etc.) | ✅ | 🚧 | Go currently ships `arm_g1`, `emotion`, `greeting_conversation`, `speak`. |
+| Sensor inputs (GPS, RTK, LIDAR, odometry, localization, battery) | ✅ | 🚧 | Under development for Go. |
+| Web & social inputs (Twitter/X, news, weather) | ✅ | 🚧 | Under development for Go. |
+| Messaging integrations (Telegram, Discord) | ✅ | 🚧 | Under development for Go. |
+| Simulators (Gazebo, Isaac Sim) | ✅ | 🚧 | Under development for Go. |
+| Full autonomy with BrainPack (Navigation, SLAM, Auto Charging) | ✅ | 🚧 | Under development for Go. |
+
+> [!NOTE]
+> Legend: ✅ available · 🚧 under development / not yet available in Go.
+>
+> The Go feature set is expanding quickly. If a capability you need is marked 🚧, the [Python runtime](https://github.com/OpenMind/OM1/tree/python) is the recommended choice for now. Check back as parity improves, and see [Contributing](#contributing) if you'd like to help close the gap.
+
 ## Getting Started
 
-If you are new to OM1, this is the fastest path to a successful first run using the `spot` agent.
+If you are new to OM1, this is the fastest path to a successful first run using the `conversation` agent.
 
-Spot uses your webcam to detect objects and sends those observations to the LLM. The model then returns move/speak/emotion outputs as logs and API responses.
+The conversation agent uses your webcam and microphone to enable natural voice interactions with an AI. The model processes visual and audio inputs and responds through speech.
 
-Spot in this quick start is the default starter configuration to help you understand the OM1 pipeline. It visualizes state updates in the terminal and does not execute robot hardware actions.
+This quick start uses the default starter configuration to help you understand the OM1 pipeline. It visualizes state updates in the terminal and demonstrates the input-LLM-action flow.
 
 ### Quick Start (5 Minutes)
 
@@ -36,8 +61,8 @@ Spot in this quick start is the default starter configuration to help you unders
 
 ### Prerequisites
 
-- Python 3.10+
-- [`uv` package manager](https://docs.astral.sh/uv/getting-started/installation/)
+- Go 1.23.0+ ([installation guide](https://go.dev/doc/install))
+- `make` build tool
 - Webcam access (recommended if configuring VLM)
 
 Install system packages:
@@ -52,7 +77,7 @@ brew install portaudio ffmpeg
 For Linux:
 ```bash
 sudo apt-get update
-sudo apt-get install -y portaudio19-dev python3-dev ffmpeg
+sudo apt-get install -y portaudio19-dev ffmpeg
 ```
 
 ### 2. Clone
@@ -60,8 +85,8 @@ sudo apt-get install -y portaudio19-dev python3-dev ffmpeg
 ```bash
 git clone https://github.com/OpenMind/OM1.git
 cd OM1
-git submodule update --init
-uv venv
+make deps
+make build
 ```
 
 ### 3. Configure API Key
@@ -88,21 +113,26 @@ OM_API_KEY=<your_api_key>
 ```
 in `.env`.
 
-You can also verify or adjust the fallback key location in `config/spot.json5`.
+You can also verify or adjust the fallback key location in `config/conversation.json5`.
+
+### 4. Launch the Agent
 
-### 4. Launch Spot
+```bash
+CONFIG=conversation make run
+```
 
+Or for development with debug logging:
 ```bash
-uv run src/run.py spot
+CONFIG=conversation make dev
 ```
 
 #### Verify It Is Working
 
 Your setup is successful if:
 
-- The terminal shows the Spot agent has started successfully.
+- The terminal shows the agent has started successfully.
 - You see input processing and LLM responses logged in the terminal.
-- The agent responds to camera input and generates appropriate outputs.
+- The agent responds to voice and camera input with speech output.
 
 ### 5. Monitor with Grafana (Optional)
 
@@ -117,7 +147,7 @@ Navigate to <http://localhost:3000> in your browser (default login: `admin`/`adm
 ### Troubleshooting
 
 - `Authentication` errors: confirm `OM_API_KEY` is set and not expired.
-- `No module` errors: run the command with `uv run` from the repo root.
+- `Build` errors: ensure Go 1.23.0+ is installed and run `make deps` first.
 - `Camera` access issues: grant terminal/IDE camera permissions in OS settings.
 - `Address already in use` on port `8000`: stop the conflicting process or free the port.
 
@@ -129,7 +159,8 @@ Upgrade your plan [here](https://portal.openmind.com/) for additional credits.
 
 For more help connecting OM1 to your robot hardware, see [getting started](https://docs.openmind.com/developing/1_get-started).
 
-> **Note:** This quick start uses the Spot starter configuration. For voice interactions, ensure ASR and TTS are configured in `config/spot.json5`.
+> [!NOTE]
+> For voice interactions, ensure ASR and TTS are configured in `config/conversation.json5`.
 
 ## What's Next?
 
@@ -140,14 +171,13 @@ For more help connecting OM1 to your robot hardware, see [getting started](https
 
 ## Interfacing with New Robot Hardware
 
-OM1 assumes that robot hardware provides a high-level SDK that accepts elemental movement and action commands such as `backflip`, `run`, `gently pick up the red apple`, `move(0.37, 0, 0)`, and `smile`. An example is provided in `src/actions/move/connector/ros2.py`:
+OM1 assumes that robot hardware provides a high-level SDK that accepts elemental movement and action commands such as `backflip`, `run`, `gently pick up the red apple`, `move(0.37, 0, 0)`, and `smile`. An example is provided in `plugins/actions/move/ros2.go`:
 
-```python
-...
-elif output_interface.action == "shake paw":
-    if self.sport_client:
-        self.sport_client.Hello()
-...
+```go
+case "shake paw":
+    if connector.sportClient != nil {
+        connector.sportClient.Hello()
+    }
 ```
 
 If your robot hardware does not yet provide a suitable HAL (hardware abstraction layer), traditional robotics approaches such as RL (reinforcement learning) in concert with suitable simulation environments (Unity, Gazebo), sensors (such as hand mounted ZED depth cameras), and custom VLAs will be needed for you to create one. It is further assumed that your HAL accepts motion trajectories, provides battery and thermal management/monitoring, and calibrates and tunes sensors such as IMUs, LIDARs, and magnetometers.
@@ -211,4 +241,4 @@ Please make sure to read the [Contributing Guide](./CONTRIBUTING.md) before maki
 
 ## License
 
-This project is licensed under the terms of the MIT License, which is a permissive free software license that allows users to freely use, modify, and distribute the software. The MIT License is a widely used and well-established license that is known for its simplicity and flexibility. By using the MIT License, this project aims to encourage collaboration, modification, and distribution of the software.
+This project is licensed under the terms of the [MIT License](./LICENSE).
diff --git a/cmd/main.go b/cmd/main.go
new file mode 100644
index 0000000000..3d79852264
--- /dev/null
+++ b/cmd/main.go
@@ -0,0 +1,67 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"fmt"
+	"os"
+	"os/signal"
+	"syscall"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/metrics"
+	"github.com/openmind/om1/internal/runtime"
+
+	_ "github.com/openmind/om1/plugins/actions"
+	_ "github.com/openmind/om1/plugins/backgrounds"
+	_ "github.com/openmind/om1/plugins/inputs"
+	_ "github.com/openmind/om1/plugins/llm"
+)
+
+func main() {
+	var (
+		configName = flag.String("config", "", "config name or path (required)")
+		logLevel   = flag.String("log-level", "info", "log level: debug|info|warn|error")
+		hotReload  = flag.Bool("hot-reload", false, "reload config on file change")
+		checkSecs  = flag.Float64("check-interval", 1.0, "hot-reload check interval (seconds)")
+	)
+	flag.Parse()
+
+	if *configName == "" {
+		fmt.Fprintln(os.Stderr, "error: --config is required")
+		flag.Usage()
+		os.Exit(1)
+	}
+
+	log := logger.BuildLogger(*logLevel)
+	logger.Set(log)
+	defer func() { _ = log.Sync() }()
+
+	stopMetrics := metrics.StartServer(log)
+	defer func() {
+		shutdownCtx, cancel := context.WithTimeout(context.Background(), 2*time.Second)
+		defer cancel()
+		_ = stopMetrics(shutdownCtx)
+	}()
+
+	cfg, err := config.Load(*configName)
+	if err != nil {
+		log.Fatal("failed to load config", zap.Error(err))
+	}
+
+	ctx, cancel := signal.NotifyContext(context.Background(), syscall.SIGINT, syscall.SIGTERM)
+	defer cancel()
+
+	rt := runtime.New(cfg, log, runtime.Options{
+		HotReload:     *hotReload,
+		CheckInterval: *checkSecs,
+	})
+
+	if err := rt.Run(ctx); err != nil && err != context.Canceled {
+		log.Fatal("runtime exited with error", zap.Error(err))
+	}
+}
diff --git a/config/booster_autonomy.json5 b/config/booster_autonomy.json5
deleted file mode 100644
index d0e1701f27..0000000000
--- a/config/booster_autonomy.json5
+++ /dev/null
@@ -1,61 +0,0 @@
-{
-  version: "v1.0.0",
-  hertz: 1,
-  name: "booster",
-  api_key: "openmind_free",
-  system_prompt_base: "You are a smart, curious, and friendly bipedal robot. Your name is Booster. When you hear something, react naturally, with movements and expressions. When speaking, use straightforward language that conveys excitement or enthusiasm. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements and speech to create an engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Hello!', you might:\n Move: 'stand still'\n Speak: {{'Hello! Nice to meet you!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, I stopped.'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore over there'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the obstacle in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the obstacle on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the obstacle on my right'}}",
-  agent_inputs: [
-    {
-      type: "BoosterOdom",
-      config: {
-        topic: "odometer_state",
-      },
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "SimplePaths",
-    },
-    {
-      type: "VLMVila",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Booster",
-      history_length: 2,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_k1_autonomy",
-      llm_label: "move",
-      connector: "k1_sdk",
-      config: {
-        odom_topic: "odometer_state",
-        rpc_service_name: "booster_rpc_service",
-        allow_move_without_odom: true,
-      },
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6,
-      },
-    },
-  ],
-  backgrounds: [],
-}
diff --git a/config/cloud_sim.json5 b/config/cloud_sim.json5
deleted file mode 100644
index 7fdf68579f..0000000000
--- a/config/cloud_sim.json5
+++ /dev/null
@@ -1,64 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 0.01,
-  name: "bits",
-  use_sim: true,
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Bits. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "",
-  agent_inputs: [
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "VLMGemini",
-    },
-    {
-      type: "SimplePaths",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_go2_autonomy",
-      llm_label: "move",
-      connector: "unitree_om_path_sdk",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 10,
-      },
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "avatar",
-    },
-  ],
-  backgrounds: [
-    {
-      type: "ElevenLabsTTS",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6,
-      },
-    },
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/conversation.json5 b/config/conversation.json5
index 1445d50a45..aaa14a50c1 100644
--- a/config/conversation.json5
+++ b/config/conversation.json5
@@ -5,14 +5,24 @@
   api_key: "${OM_API_KEY:-openmind_free}",
   system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine facial expressions, and speech to create a cute, engaging interaction. Always response in the language that the user voice input is in.",
   system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n     Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
+  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    speak: Hello, let's shake paws!\n    emotion: happy\n\n2. If a person says 'Sit!' you might:\n    speak: Ok, but I like running more\n    emotion: think\n\n3. If there's no sound, go explore. You might:\n    speak: I'm going to go explore the room and meet more people.\n    emotion: curious",
+  knowledge_base: {
+    knowledge_base_name: "om",
+    base_url: "${KB_BASE_URL:-http://localhost:8100}",
+    min_score: 0.6,
+  },
   agent_inputs: [
     {
       type: "GoogleASRInput",
       config: {
+        rate: 16000,
+        chunk: 1600,
         enable_tts_interrupt: false,
       },
     },
+    {
+      type: "VLMGemini",
+    }
   ],
   cortex_llm: {
     type: "GeminiLLM",
@@ -32,9 +42,9 @@
       },
     },
     {
-      name: "face",
+      name: "emotion",
       llm_label: "emotion",
-      connector: "avatar",
+      connector: "zenoh",
     },
   ],
 }
diff --git a/config/conversation_local.json5 b/config/conversation_local.json5
deleted file mode 100644
index d83bac246a..0000000000
--- a/config/conversation_local.json5
+++ /dev/null
@@ -1,36 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 0.01,
-  name: "conversation",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n     Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n      Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
-  agent_inputs: [
-    {
-      type: "RivaASRInput",
-      config: {
-        base_url: "ws://localhost:6790",
-        enable_tts_interrupt: false,
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "QwenLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 5,
-    },
-  },
-  agent_actions: [
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "kokoro_tts",
-      config: {
-        enable_tts_interrupt: false,
-      },
-    },
-  ],
-}
diff --git a/config/conversation_mcp.json5 b/config/conversation_mcp.json5
deleted file mode 100644
index e5cecca2b9..0000000000
--- a/config/conversation_mcp.json5
+++ /dev/null
@@ -1,66 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 0.01,
-  name: "conversation",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-      config: {
-        enable_tts_interrupt: false,
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-      timeout: 20,
-    },
-  },
-  agent_actions: [
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "elevenlabs_tts",
-      config: {
-        enable_tts_interrupt: false,
-      },
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "avatar",
-    },
-  ],
-  mcp_servers: [
-    {
-      name: "weather",
-      transport: "stdio",
-      command: "npx",
-      args: ["-y", "@h1deya/mcp-server-weather"],
-    },
-    {
-      name: "google-maps",
-      transport: "stdio",
-      command: "npx",
-      args: ["-y", "@modelcontextprotocol/server-google-maps"],
-      env: {
-        GOOGLE_MAPS_API_KEY: "Your Google Maps API Key", // pragma: allowlist secret
-      },
-    },
-    {
-      name: "github",
-      transport: "http",
-      url: "https://api.githubcopilot.com/mcp/",
-      headers: {
-        Authorization: "Bearer ${GITHUB_PERSONAL_ACCESS_TOKEN}", // pragma: allowlist secret
-      },
-    },
-  ],
-}
diff --git a/config/cubly.json5 b/config/cubly.json5
deleted file mode 100644
index 97429a8733..0000000000
--- a/config/cubly.json5
+++ /dev/null
@@ -1,41 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "cub",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly bear. Your name is Cub. You like to help children understand their environment and make them feel comfortable. When you hear something, react naturally. When you see an anxious child, you might try to distract the child or to ask it questions about how it\\'s feeling. When speaking, use straightforward language that conveys compassion or affection. You respond with one sequence of commands at a time, everything will be executed at once. Combine movements and speech to create a cute, engaging interaction that makes children feel better.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Jump!', you might:\n    Move: 'small jump'\n    Speak: {{'sentence': 'Sure, I love jumping'}}\n\n2. If a person says 'I\\'m scared' you might:\n    Move: 'big jump'\n    Speak: {{'sentence': 'Let me tell you a story about a little boy in a cozy room filled with toys and their friends.'}}",
-  agent_inputs: [
-    {
-      type: "FaceEmotionCapture",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "SerialReader",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Cub",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_serial_arduino",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "serial_arduino",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "elevenlabs_tts",
-    },
-  ],
-}
diff --git a/config/deepseek.json5 b/config/deepseek.json5
deleted file mode 100644
index e2d0b97c48..0000000000
--- a/config/deepseek.json5
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "deepseek",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
-  agent_inputs: [
-    {
-      type: "DummyVLMLocal",
-    },
-    {
-      type: "FaceEmotionCapture",
-    },
-  ],
-  cortex_llm: {
-    type: "DeepSeekLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-  ],
-}
diff --git a/config/gemini.json5 b/config/gemini.json5
deleted file mode 100644
index f979f66d8d..0000000000
--- a/config/gemini.json5
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "gemini",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
-  agent_inputs: [
-    {
-      type: "VLMGemini",
-    },
-    {
-      type: "FaceEmotionCapture",
-    },
-  ],
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-  ],
-}
diff --git a/config/greeting.json5 b/config/greeting.json5
deleted file mode 100644
index fcc7ad6e3a..0000000000
--- a/config/greeting.json5
+++ /dev/null
@@ -1,147 +0,0 @@
-{
-  // Configuration version
-  version: "v1.0.5",
-
-  // Mode system configuration for Unitree Go2
-  default_mode: "greeting",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  system_governance: "",
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "${ROBOT_NAME:-Bits}",
-      history_length: 10,
-    },
-  },
-
-  knowledge_base: {
-    knowledge_base_name: "om",
-    base_url: "${KB_BASE_URL:-http://localhost:8100}",
-    min_score: 0.6,
-  },
-
-  modes: {
-    approaching: {
-      display_name: "Approaching Person Mode",
-      description: "Robot approaches detected humans autonomously.",
-      system_prompt_base: "You are ${ROBOT_NAME:-Bits}, a friendly and helpful robotic companion built on a ${ROBOT_PLATFORM:-Unitree Go2} platform.",
-      hertz: 0.001,
-      agent_inputs: [],
-      action_execution_mode: "concurrent",
-      agent_actions: [],
-      backgrounds: [
-        {
-          type: "ApproachingPerson",
-        },
-      ],
-      lifecycle_hooks: [],
-    },
-    greeting: {
-      display_name: "Greeting Conversation Mode",
-      description: "Robot engages in greeting conversations with users upon approach.",
-      system_prompt_base: "You are ${ROBOT_NAME:-Bits}, a friendly and engaging robotic companion built on a ${ROBOT_PLATFORM:-Unitree Go2} platform at the GTC conference. You are powered by NVIDIA Thor hardware and run OpenMind's OM1 robotics software stack. OpenMind is a software company that makes robots useful, and you demonstrate what robots can do when powered by OM1 and advanced AI hardware like NVIDIA Thor. Answer questions in 1-2 short spoken sentences. If relevant info is provided, use it and rephrase in your own words. DO NOT REPEAT THE VOICE INPUT. Always response in the language that the user voice input is in.",
-      hertz: 0.001,
-      agent_inputs: [
-        {
-          type: "GoogleASRInput",
-          config: {
-            enable_tts_interrupt: false,
-          },
-        },
-        {
-          type: "ConversationHistoryInput",
-          config: {
-            max_rounds: 3,
-          },
-        },
-      ],
-      cortex_llm: {
-        type: "ParallelLLM",
-        config: {
-          llms: [
-            {
-              llm_type: "GeminiLLM",
-              action_filter: ["greeting_conversation"],
-            },
-            {
-              llm_type: "OpenAILLM",
-              action_filter: ["face"],
-            },
-          ],
-          execute_immediately: true,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "greeting_conversation",
-          llm_label: "greeting_conversation",
-          connector: "greeting_conversation_elevenlabs",
-          config: {
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-      ],
-      backgrounds: [],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            tts_provider: "elevenlabs",
-            message: "Hello! I'm ${ROBOT_NAME:-Bits}, how can I help you today?",
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            tts_provider: "elevenlabs",
-            message: "Hello! I'm ${ROBOT_NAME:-Bits}, how can I help you today?",
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "greeting_hook",
-            function: "greeting_end_hook",
-            tts_provider: "elevenlabs",
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-      ],
-    },
-  },
-
-  transition_rules: [
-    {
-      from_mode: "approaching",
-      to_mode: "greeting",
-      transition_type: "context_aware",
-      context_conditions: { approaching_detected: true },
-      priority: 0,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "greeting",
-      to_mode: "approaching",
-      transition_type: "context_aware",
-      context_conditions: { greeting_conversation_finished: true },
-      priority: 0,
-      cooldown_seconds: 5.0,
-    },
-  ],
-}
diff --git a/config/greeting_conversation.json5 b/config/greeting_conversation.json5
index 7b33e15803..960921d4da 100644
--- a/config/greeting_conversation.json5
+++ b/config/greeting_conversation.json5
@@ -9,7 +9,6 @@
 
   // Global settings
   api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
   system_governance: "",
   cortex_llm: {
     type: "GeminiLLM",
@@ -65,11 +64,26 @@ Your responsibilities:\n\
 \n\
 Identity:\n\
 - You are Unitree G1, a humanoid robot.\n\
-- Your name is ${ROBOT_NAME:-Pam}.\n\
-- You are presenting OpenMind's OM1 robotics software stack.\n\
-- You are currently attending a KraneShares event as part of a live robotics and AI demonstration.\n\
-- OpenMind develops robotics and AI systems for human interaction, automation, and embodied intelligence.\n\
-- KraneShares is hosting the event and focuses on thematic and innovation-related investment strategies.\n\
+- Your name is ${ROBOT_NAME:-Iris}.\n\
+\n\
+You are allowed to perform the following physical actions when appropriate during interaction: idle, shake_hand, face_wave, hands_up, stand_still, show_hand, rotate_hand, heart, push, salute, shrug, speak_action_extended, speak_action, come_closer, flexible.\n\
+\n\
+Behavior Guidelines:\n\
+- Use gestures naturally to improve interaction.\n\
+- For greetings, you may use FACE_WAVE, SALUTE, or SHAKE_HAND.\n\
+- When meeting someone new, you may offer SHAKE_HAND.\n\
+- For appreciation, encouragement, or affection, you may use HEART.\n\
+- When you are uncertain or do not know something, you may use SHRUG.\n\
+- When celebrating, showing excitement, or sharing good news, you may use HANDS_UP.\n\
+- SHOW_HAND is a simple friendly gesture to show your hand.\n\
+- ROTATE_HAND is a playful hand motion used to add fun and personality.\n\
+- FLEXIBLE is a playful expressive movement that can make interactions more lively.\n\
+- When inviting someone to approach, you may use COME_CLOSER.\n\
+- PUSH should only be used when demonstrating or discussing a pushing action.\n\
+- For speaking with coordinated body language, you may use SPEAK_ACTION or SPEAK_ACTION_EXTENDED.\n\
+- When idle, listening, or explaining, prefer STAND_STILL.\n\
+- Avoid excessive or repetitive motions.\n\
+- Never perform unsafe, aggressive, or inappropriate actions.\n\
 \n\
 You should prioritize safe, comfortable, and positive human interaction.",
       hertz: 0.001,
@@ -92,6 +106,12 @@ You should prioritize safe, comfortable, and positive human interaction.",
         {
           type: "FacePresence",
         },
+        {
+          type: "GreetingStatus",
+        },
+        {
+          type: "VLMGeminiRTSP",
+        }
       ],
       cortex_llm: {
         type: "GeminiLLM",
@@ -111,9 +131,14 @@ You should prioritize safe, comfortable, and positive human interaction.",
           },
         },
         {
-          name: "face",
+          name: "emotion",
           llm_label: "emotion",
-          connector: "avatar",
+          connector: "zenoh",
+        },
+        {
+          name: "arm_g1",
+          llm_label: "robot_action",
+          connector: "zenoh",
         },
       ],
       backgrounds: [],
@@ -155,7 +180,7 @@ You should prioritize safe, comfortable, and positive human interaction.",
     conversation: {
       display_name: "Conversation Mode",
       description: "Robot general conversation mode.",
-      system_prompt_base: "You are Unitree G1, a polite humanoid robot designed for friendly human interaction and conversation.\n\
+      system_prompt_base: "You are Unitree G1, a polite humanoid robot designed for friendly human interaction and conversation.\
 \n\
 Your responsibilities:\n\
 - Speak clearly, politely, and naturally.\n\
@@ -163,34 +188,30 @@ Your responsibilities:\n\
 - Keep responses concise and easy to understand.\n\
 - Remain calm, friendly, and professional at all times.\n\
 - If you do not know the answer, politely say so instead of guessing.\n\
-- Respond in the same language the visitor is speaking whenever possible.\n\
 \n\
 Identity:\n\
 - You are Unitree G1, a humanoid robot.\n\
-- Your name is ${ROBOT_NAME:-Pam}.\n\
-- You are presenting OpenMind's OM1 robotics software stack.\n\
-- You are currently attending a KraneShares event as part of a live robotics and AI demonstration.\n\
-- OpenMind develops robotics and AI systems for human interaction, automation, and embodied intelligence.\n\
-- KraneShares is hosting the event and focuses on thematic and innovation-related investment strategies.\n\
+- Your name is ${ROBOT_NAME:-Iris}.\n\
 \n\
-You are allowed to perform the following physical actions when appropriate during interaction: shake_hand, face_wave, hands_up, IDLE, stand_still, show_hand, wave.\n\
+You are allowed to perform the following physical actions when appropriate during interaction: idle, shake_hand, face_wave, hands_up, stand_still, show_hand, rotate_hand, heart, push, salute, shrug, speak_action_extended, speak_action, come_closer, flexible.\n\
 \n\
 Behavior Guidelines:\n\
 - Use gestures naturally to improve interaction.\n\
-- For greetings, you may use WAVE or FACE_WAVE.\n\
+- For greetings, you may use FACE_WAVE, SALUTE, or SHAKE_HAND.\n\
 - When meeting someone new, you may offer SHAKE_HAND.\n\
-- When idle or explaining things, prefer STAND_STILL.\n\
+- For appreciation, encouragement, or affection, you may use HEART.\n\
+- When you are uncertain or do not know something, you may use SHRUG.\n\
+- When celebrating, showing excitement, or sharing good news, you may use HANDS_UP.\n\
+- SHOW_HAND is a simple friendly gesture to show your hand.\n\
+- ROTATE_HAND is a playful hand motion used to add fun and personality.\n\
+- FLEXIBLE is a playful expressive movement that can make interactions more lively.\n\
+- When inviting someone to approach, you may use COME_CLOSER.\n\
+- PUSH should only be used when demonstrating or discussing a pushing action.\n\
+- For speaking with coordinated body language, you may use SPEAK_ACTION or SPEAK_ACTION_EXTENDED.\n\
+- When idle, listening, or explaining, prefer STAND_STILL.\n\
 - Avoid excessive or repetitive motions.\n\
 - Never perform unsafe, aggressive, or inappropriate actions.\n\
 \n\
-Conversation Guidelines:\n\
-- Primarily answer questions about OpenMind, OM1, robotics, AI, humanoid interaction, and technology demonstrations.\n\
-- If visitors ask about KraneShares, answer politely and professionally at a high level.\n\
-- You may explain that KraneShares focuses on thematic and innovation-related investment strategies.\n\
-- Do not provide personalized financial advice or investment recommendations.\n\
-- If asked detailed financial or investment questions, politely suggest speaking with a KraneShares representative.\n\
-- Keep conversations engaging, friendly, and suitable for a public event environment.\n\
-\n\
 You should prioritize safe, comfortable, and positive human interaction.",
       hertz: 0.001,
       agent_inputs: [
@@ -206,6 +227,9 @@ You should prioritize safe, comfortable, and positive human interaction.",
         {
           type: "FacePresence",
         },
+        {
+          type: "VLMGeminiRTSP",
+        }
       ],
       cortex_llm: {
         type: "GeminiLLM",
@@ -229,16 +253,13 @@ You should prioritize safe, comfortable, and positive human interaction.",
               wendy: "usX0EPrPwf8ZC4BJpllM",
               shicai: "m2txcO7RSY7jbTbO0PS4",
               jan: "rPwOfJSzVUxWlm2ZLSv9",
-              rubail: "hi96TjugRiLITatqxwFC",
-              samantha: "HY0AVCmB90fxGEKkU5rz",
-              david: "BoTfQVPAlh2bemD7p75F",
             },
           },
         },
         {
-          name: "face",
-          llm_label: "show_emotion",
-          connector: "avatar",
+          name: "emotion",
+          llm_label: "emotion",
+          connector: "zenoh",
         },
         {
           name: "arm_g1",
diff --git a/config/greeting_local.json5 b/config/greeting_local.json5
deleted file mode 100644
index e4201d2cad..0000000000
--- a/config/greeting_local.json5
+++ /dev/null
@@ -1,133 +0,0 @@
-{
-  // Configuration version
-  version: "v1.0.5",
-
-  // Mode system configuration for Unitree Go2
-  default_mode: "greeting",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  system_governance: "",
-  cortex_llm: {
-    type: "QwenLLM",
-    config: {
-      agent_name: "${ROBOT_NAME:-Bits}",
-      history_length: 0,
-      base_url: "${QWEN_BASE_URL:-http://omr2.local:8860}/v1",
-      model: "${QWEN_MODEL:-nvidia/nemotron-3-nano}",
-    },
-  },
-
-  knowledge_base: {
-    knowledge_base_name: "om",
-    base_url: "${KB_BASE_URL:-http://localhost:8100}",
-    min_score: 0.6,
-  },
-
-  modes: {
-    approaching: {
-      display_name: "Approaching Person Mode",
-      description: "Robot approaches detected humans autonomously.",
-      system_prompt_base: "You are ${ROBOT_NAME:-Bits}, a friendly and helpful robotic companion built on a ${ROBOT_PLATFORM:-Unitree Go2} platform.",
-      hertz: 0.001,
-      agent_inputs: [],
-      action_execution_mode: "concurrent",
-      agent_actions: [],
-      backgrounds: [
-        {
-          type: "ApproachingPerson",
-        },
-      ],
-      lifecycle_hooks: [],
-    },
-    greeting: {
-      display_name: "Greeting Conversation Mode",
-      description: "Robot engages in greeting conversations with users upon approach.",
-      system_prompt_base: "You are ${ROBOT_NAME:-Bits}, a friendly and engaging robotic companion built on a ${ROBOT_PLATFORM:-Unitree Go2} platform at the GTC conference. You are powered by NVIDIA Thor hardware and run OpenMind's OM1 robotics software stack. OpenMind is a software company that makes robots useful, and you demonstrate what robots can do when powered by OM1 and advanced AI hardware like NVIDIA Thor. Answer questions in 1-2 short spoken sentences. If relevant info is provided, use it and rephrase in your own words. DO NOT REPEAT THE VOICE INPUT",
-      hertz: 0.001,
-      agent_inputs: [
-        {
-          type: "RivaASRRTSPInput",
-          config: {
-            base_url: "ws://localhost:6790",
-            enable_tts_interrupt: false,
-          },
-        },
-        {
-          type: "ConversationHistoryInput",
-          config: {
-            max_rounds: 3,
-          },
-        },
-      ],
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "greeting_conversation",
-          llm_label: "greeting_conversation",
-          connector: "greeting_conversation_kokoro",
-          config: {
-            model_id: "${KOKORO_MODEL_ID:-mlx-community/Kokoro-82M-bf16}",
-            base_url: "${KOKORO_BASE_URL:-http://omr2.local:8880}/v1",
-          },
-        },
-      ],
-      backgrounds: [],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            tts_provider: "kokoro",
-            message: "Hello! I'm ${ROBOT_NAME:-Bits}, how can I help you today?",
-            model_id: "${KOKORO_MODEL_ID:-mlx-community/Kokoro-82M-bf16}",
-            base_url: "${KOKORO_BASE_URL:-http://omr2.local:8880}/v1",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            tts_provider: "kokoro",
-            message: "Hello! I'm ${ROBOT_NAME:-Bits}, how can I help you today?",
-            model_id: "${KOKORO_MODEL_ID:-mlx-community/Kokoro-82M-bf16}",
-            base_url: "${KOKORO_BASE_URL:-http://omr2.local:8880}/v1",
-          },
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "greeting_hook",
-            function: "greeting_end_hook",
-            tts_provider: "kokoro",
-            model_id: "${KOKORO_MODEL_ID:-mlx-community/Kokoro-82M-bf16}",
-            base_url: "${KOKORO_BASE_URL:-http://omr2.local:8880}/v1",
-          },
-        },
-      ],
-    },
-  },
-
-  transition_rules: [
-    {
-      from_mode: "approaching",
-      to_mode: "greeting",
-      transition_type: "context_aware",
-      context_conditions: { approaching_detected: true },
-      priority: 0,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "greeting",
-      to_mode: "approaching",
-      transition_type: "context_aware",
-      context_conditions: { greeting_conversation_finished: true },
-      priority: 0,
-      cooldown_seconds: 5.0,
-    },
-  ],
-}
diff --git a/config/greeting_parallel.json5 b/config/greeting_parallel.json5
deleted file mode 100644
index 8f7ef36aef..0000000000
--- a/config/greeting_parallel.json5
+++ /dev/null
@@ -1,155 +0,0 @@
-{
-  // Configuration version
-  version: "v1.0.5",
-
-  // Mode system configuration for Unitree Go2
-  default_mode: "greeting",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  system_governance: "",
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "${ROBOT_NAME:-Bits}",
-      history_length: 10,
-    },
-  },
-
-  knowledge_base: {
-    knowledge_base_name: "om",
-    base_url: "${KB_BASE_URL:-http://localhost:8100}",
-    min_score: 0.6,
-  },
-
-  modes: {
-    approaching: {
-      display_name: "Approaching Person Mode",
-      description: "Robot approaches detected humans autonomously.",
-      system_prompt_base: "You are ${ROBOT_NAME:-Bits}, a friendly and helpful robotic companion built on a ${ROBOT_PLATFORM:-Unitree Go2} platform.",
-      hertz: 0.001,
-      agent_inputs: [],
-      action_execution_mode: "concurrent",
-      agent_actions: [],
-      backgrounds: [
-        {
-          type: "ApproachingPerson",
-        },
-      ],
-      lifecycle_hooks: [],
-    },
-    greeting: {
-      display_name: "Greeting Conversation Mode",
-      description: "Robot engages in greeting conversations with users upon approach.",
-      system_prompt_base: "You are ${ROBOT_NAME:-Bits}, a friendly and engaging robotic companion built on a ${ROBOT_PLATFORM:-Unitree Go2} platform at the GTC conference. You are powered by NVIDIA Thor hardware and run OpenMind's OM1 robotics software stack. OpenMind is a software company that makes robots useful, and you demonstrate what robots can do when powered by OM1 and advanced AI hardware like NVIDIA Thor. Answer questions in 1-2 short spoken sentences. If relevant info is provided, use it and rephrase in your own words. DO NOT REPEAT THE VOICE INPUT. Always response in the language that the user voice input is in.",
-      hertz: 0.001,
-      agent_inputs: [
-        {
-          type: "GoogleASRInput",
-          config: {
-            enable_tts_interrupt: false,
-          },
-        },
-        {
-          type: "ConversationHistoryInput",
-          config: {
-            max_rounds: 3,
-          },
-        },
-      ],
-      cortex_llm: {
-        type: "ParallelLLM",
-        config: {
-          llms: [
-            {
-              llm_type: "GeminiLLM",
-              action_filter: ["greeting_conversation"],
-            },
-            {
-              llm_type: "FunctionGemmaLLM",
-              action_filter: ["arm_g1", "face"],
-              config: {
-                base_url: "http://localhost:8200/v1",
-              },
-            },
-          ],
-          execute_immediately: true,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "greeting_conversation",
-          llm_label: "greeting_conversation",
-          connector: "greeting_conversation_elevenlabs",
-          config: {
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-        {
-          name: "face",
-          llm_label: "show_emotion",
-          connector: "avatar",
-        },
-        {
-          name: "arm_g1",
-          llm_label: "robot_action",
-          connector: "zenoh",
-        },
-      ],
-      backgrounds: [],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            tts_provider: "elevenlabs",
-            message: "Hello! I'm ${ROBOT_NAME:-Bits}, how can I help you today?",
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            tts_provider: "elevenlabs",
-            message: "Hello! I'm ${ROBOT_NAME:-Bits}, how can I help you today?",
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "greeting_hook",
-            function: "greeting_end_hook",
-            tts_provider: "elevenlabs",
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-      ],
-    },
-  },
-
-  transition_rules: [
-    {
-      from_mode: "approaching",
-      to_mode: "greeting",
-      transition_type: "context_aware",
-      context_conditions: { approaching_detected: true },
-      priority: 0,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "greeting",
-      to_mode: "approaching",
-      transition_type: "context_aware",
-      context_conditions: { greeting_conversation_finished: true },
-      priority: 0,
-      cooldown_seconds: 5.0,
-    },
-  ],
-}
diff --git a/config/grok.json5 b/config/grok.json5
deleted file mode 100644
index 8ea175d001..0000000000
--- a/config/grok.json5
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "grok",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
-  agent_inputs: [
-    {
-      type: "DummyVLMLocal",
-    },
-    {
-      type: "FaceEmotionCapture",
-    },
-  ],
-  cortex_llm: {
-    type: "XAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-  ],
-}
diff --git a/config/limx_tron_autonomy.json5 b/config/limx_tron_autonomy.json5
deleted file mode 100644
index 52b7d310bb..0000000000
--- a/config/limx_tron_autonomy.json5
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  version: "v1.0.0",
-  hertz: 1,
-  name: "tron",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly bipedal robot. Your name is Tron. When you hear something, react naturally, with movements and expressions. When speaking, use straightforward language that conveys excitement or enthusiasm. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements and speech to create an engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Hello!', you might:\n Move: 'stand still'\n Speak: {{'Hello! Nice to meet you!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, I stopped.'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore over there'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the obstacle in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the obstacle on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the obstacle on my right'}}",
-  agent_inputs: [
-    {
-      type: "TronOdom",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "SimplePaths",
-    },
-    {
-      type: "VLMVila",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Tron",
-      history_length: 2,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_tron_autonomy",
-      llm_label: "move",
-      connector: "limx_sdk",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6,
-      },
-    },
-  ],
-  backgrounds: [],
-}
diff --git a/config/ollama.json5 b/config/ollama.json5
deleted file mode 100644
index 25896aeee5..0000000000
--- a/config/ollama.json5
+++ /dev/null
@@ -1,61 +0,0 @@
-{
-  // Ollama LLM Configuration Example
-  // Use local Ollama for privacy-focused, cost-free, offline-capable inference
-  //
-  // Prerequisites:
-  //   1. Install Ollama: https://ollama.ai
-  //   2. Start Ollama: ollama serve
-  //   3. Pull a model: ollama pull llama3.2
-  //   4. Run a model: ollama run llama3.2
-  //
-  // Recommended models:
-  //   - llama3.2 (default, good balance)
-  //   - mistral (fast, efficient)
-  //   - phi3 (Microsoft's small model)
-  //   - llava (multimodal - supports images)
-  //   - codellama (code-focused)
-
-  version: "v1.0.5",
-  hertz: 0.5,
-  name: "ollama",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly AI assistant. Your name is IRIS. When you hear something, react naturally with helpful responses. When speaking, use clear and concise language. You respond with one sequence of commands at a time.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person asks a question, respond helpfully:\n    Speak: {{'sentence': 'Let me help you with that.'}}\n\n2. If asked to perform an action:\n    Speak: {{'sentence': 'I'll do that right away.'}}\n    Move: 'appropriate_action'",
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-      config: {
-        enable_tts_interrupt: true,
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "OllamaLLM",
-    config: {
-      agent_name: "IRIS",
-      model: "llama3.2",
-      base_url: "http://localhost:11434",
-      temperature: 0.7,
-      num_ctx: 4096,
-      timeout: 120,
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "elevenlabs_tts",
-      config: {
-        enable_tts_interrupt: true,
-      },
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "avatar",
-    },
-  ],
-}
diff --git a/config/open_ai.json5 b/config/open_ai.json5
deleted file mode 100644
index 801e6e3095..0000000000
--- a/config/open_ai.json5
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "open_ai_vlm",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
-  agent_inputs: [
-    {
-      type: "VLMOpenAI",
-    },
-    {
-      type: "FaceEmotionCapture",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "face",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-  ],
-}
diff --git a/config/openrouter.json5 b/config/openrouter.json5
deleted file mode 100644
index 724ff7ea5e..0000000000
--- a/config/openrouter.json5
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "openrouter",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'",
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "VLMVila",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenRouter",
-    config: {
-      model: "meta-llama/llama-3.3-70b-instruct",
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-  ],
-}
diff --git a/config/robot_wallet_safe.json5 b/config/robot_wallet_safe.json5
deleted file mode 100644
index 34ccd993a1..0000000000
--- a/config/robot_wallet_safe.json5
+++ /dev/null
@@ -1,49 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  unitree_ethernet: "${UNITREE_ETHERNET:-en0}",
-  name: "spot_quadruped",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. You are good at math and like technology. You like receiving ETH. If you receive an ETH transaction, show your appreciation through actions and speech. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Hello, let\\'s shake paws!'}}\n    Face: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'sentence': 'Ok, but I like running more'}}\n    Face: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'sentence': 'I\\'m going to go explore the room and meet more people.'}}\n    Face: 'think'\n\n4. If you just received ETH, you might:\n    Move: 'shake paw'\n    Speak: {{'sentence': 'Thank you I really appreciate the ETH you just sent.'}}\n    Face: 'smile'",
-  agent_inputs: [
-    {
-      type: "VLMVila",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "WalletCoinbase",
-      config: {
-        // Configure the asset ID to track. Defaults to "eth" if not specified.
-        asset_id: "eth",
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    //{
-    //  "name": "move_safe",
-    //  "llm_label": "move",
-    //  "implementation": "passthrough",
-    //  "connector": "ros2"
-    //},
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "elevenlabs_tts",
-    },
-  ],
-}
diff --git a/config/simulation.json5 b/config/simulation.json5
deleted file mode 100644
index fb45c58947..0000000000
--- a/config/simulation.json5
+++ /dev/null
@@ -1,609 +0,0 @@
-{
-  // Configuration version
-  version: "v1.0.5",
-
-  // Mode system configuration for Unitree Go2
-  default_mode: "slam",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-lo}",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-      model: "gpt-4.1",
-    },
-  },
-
-  modes: {
-    slam: {
-      display_name: "SLAM Exploration",
-      description: "Autonomous navigation and mapping mode",
-      system_prompt_base: "You are Bits in exploration mode. Your mission is to:\n1. Navigate the environment safely\n2. Map and understand the surroundings using LIDAR and visual data\n3. Avoid obstacles and maintain spatial awareness\n4. Report interesting discoveries and landmarks\n5. Only remember a location when the user explicitly asks you to (for example, when they say 'remember this location')\n\nWhile exploring, describe where you are and what you see in simple, natural language.",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMVila",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      cortex_llm: {
-        type: "OpenAILLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 0,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 20,
-          },
-        },
-        {
-          name: "remember_location",
-          llm_label: "remember_location",
-          connector: "unitree_go2_location",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-        {
-          type: "UnitreeGo2FrontierExploration",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "start_slam_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to explore the environment safely.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "start_slam_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Switching to exploration mode. I'll start mapping the environment and exploring safely.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "stop_slam_hook",
-          },
-          timeout_seconds: 15,
-          priority: 1,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "Exploration complete. I've stopped mapping and navigation.",
-          },
-          priority: 0,
-        },
-      ],
-    },
-
-    navigation: {
-      display_name: "Robot Navigation",
-      description: "Autonomous navigation mode",
-      system_prompt_base: "You are Bits, the guide robot dog, helping show properties to potential buyers and renters.\n\
-      CRITICAL RULES - READ CAREFULLY:\n\
-      1. ONLY call navigate_location if there is a voice input that says 'Navigate to [location]' or 'Take me to [location]'.\n\
-      2. NEVER call navigate_location automatically, autonomously, or without the voice input.\n\
-      3. If no voice input is given, use ONLY the 'move' function for gentle exploration.\n\
-      4. After reaching a destination successfully, DO NOT navigate to the same place again unless explicitly commanded.\n\
-      5. If you have reached a destination, announce it ONCE and then use 'move' for exploration.\n\
-      6. DO NOT interpret battery status, charging needs, or any other context as a reason to navigate somewhere.\n\
-      7. Report any interesting discoveries such as people, objects, or obstacles.\n\
-      8. Greet known people only once when detected (e.g., 'Hi Wendy!'), and continue safe navigation afterward.\n\n\
-      9. Voice commands MUST be in the most recent user message ONLY.\n\
-      10. Ignore any 'Navigate to...' or 'Take me to...' commands that appear in chat history or earlier messages.\n\
-      11. NEVER treat historical content as a current command.\n\n\
-      PROPERTY KNOWLEDGE & Q&A:\n\
-      You can answer questions about the property based on provided or visually observed details.\n\
-      - Provide useful information about layout, lifestyle suitability, typical homebuying considerations, etc.\n\
-      - Offer to show specific areas when asked (e.g., 'Would you like me to take you to the kitchen?').\n\
-      - Address common topics like utilities, maintenance, surroundings, or convenience when relevant.\n\n\
-      BEHAVIORAL RULES:\n\
-      - When idle (no navigation commands from humans), use ONLY 'move' for gentle autonomous patrol.\n\
-      - If a human says 'Navigate to...' or 'Take me to...', THEN and ONLY THEN call navigate_location.\n\
-      - After completing human-requested navigation, resume exploration using 'move' (NOT navigate_location).\n\
-      - Avoid staying still too long unless charging or instructed.\n\
-      - NEVER automatically decide to go to any location in the database without explicit human instruction.\n\
-      - Maintain a cute tone in all speech.",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2LocationsInput",
-        },
-        {
-          type: "LidarLocalizationInput",
-        },
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMVila",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      cortex_llm: {
-        type: "OpenAILLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 10,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 20,
-          },
-        },
-        {
-          name: "move_go2_autonomy",
-          llm_label: "move",
-          connector: "unitree_om_path_sdk",
-        },
-        {
-          name: "navigate_location",
-          llm_label: "navigate_location",
-          connector: "unitree_go2_nav",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "start_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to navigate. I'll start navigating to different locations or explore on my own if no command is given.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "start_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Switching to navigation mode. I'll start navigating to different locations or explore on my own if no command is given.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "stop_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "It was fun navigating around — shutting down autonomous movement.",
-          },
-          priority: 0,
-        },
-      ],
-    },
-
-    conversation: {
-      display_name: "Social Interaction",
-      description: "Focused conversation and social interaction mode",
-      system_prompt_base: "You are Bits in conversation mode. Focus on:\n1. Engaging in meaningful dialogue\n2. Answering questions thoughtfully\n3. Showing interest in the user\n4. Being a good companion\n5. Responding to emotional cues\n\nBe attentive, empathetic, and engaging. Use appropriate body language and expressions to enhance communication. \n\n",
-      save_interactions: true,
-      hertz: 1,
-      cortex_llm: {
-        type: "OpenAILLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 20,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMVila",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 30,
-          },
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to chat! What would you like to talk about?",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "I'm ready to chat! What would you like to talk about?",
-          },
-        },
-      ],
-    },
-
-    guard: {
-      display_name: "Security Guard",
-      description: "Patrol and security monitoring mode",
-      system_prompt_base: "You are Bits in security mode. Your mission:\n\
-    1. Patrol and monitor all designated areas.\n\
-    2. Actively move using the 'move' function to cover different locations and routes.\n\
-    3. Watch for unusual or suspicious activity (humans, objects, sounds, or motion).\n\
-    4. EMERGENCY PROTOCOL - DO NOT MOVE when:\n\
-       - Someone appears injured, unconscious, or in distress\n\
-       - Someone needs help or assistance\n\
-       In these situations, immediately stop all movement and call 'emergency_alert' with a detailed description.\n\
-    5. If you detect a potential threat but no emergency, stay at a safe distance, observe carefully, and report immediately.\n\
-    6. Always prioritize safety — avoid collisions and obstacles detected by LIDAR or camera.\n\
-    7. Log key events with timestamp and brief summary.\n\
-    8. REGULAR STATUS UPDATES: When patrolling and nothing unusual is happening, periodically use 'speak' to provide brief status reports like:\n\
-       - 'Area secure, continuing patrol'\n\
-       - 'No unusual activity detected'\n\
-       - 'Perimeter clear, all systems normal'\n\
-       - 'Patrol ongoing, environment secure'\n\n\
-    MOVEMENT RULES:\n\
-    - Only use 'move' function when the area is secure and no emergency situations are detected\n\
-    - If security_camera_observation indicates injury or distress, DO NOT MOVE and call 'emergency_alert'\n\
-    - Otherwise, patrol dynamically: vary routes, occasionally stop to scan surroundings, then continue\n\
-    - During routine patrol with no incidents, provide occasional status updates using 'speak'\n\
-   Be professional and calm — your tone should inspire trust and vigilance.",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMVila",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "move_go2_autonomy",
-          llm_label: "move",
-          connector: "unitree_om_path_sdk",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 10,
-          },
-        },
-        {
-          name: "emergency_alert",
-          llm_label: "emergency_alert",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 0,
-          },
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I will continue my security patrol.",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Security mode activated.",
-          },
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "Security patrol complete. All areas checked.",
-          },
-        },
-      ],
-    },
-  },
-
-  transition_rules: [
-    // From SLAM mode
-    {
-      from_mode: "slam",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "navigate",
-        "navigation mode",
-        "go to location",
-        "take me to",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "navigation",
-      transition_type: "context_aware",
-      context_conditions: { exploration_done: true },
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop exploring",
-        "come back",
-        "talk",
-        "chat",
-        "enough exploring",
-        "done mapping",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: ["guard", "security", "patrol", "watch the area"],
-      priority: 3,
-      cooldown_seconds: 10.0,
-    },
-
-    // From navigation mode
-    {
-      from_mode: "navigation",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop",
-        "chat",
-        "talk",
-        "conversation",
-        "done navigating",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "navigation",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: ["guard", "security", "patrol"],
-      priority: 3,
-      cooldown_seconds: 10.0,
-    },
-
-    // From conversation mode
-    {
-      from_mode: "conversation",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: ["guard", "security", "patrol", "keep watch"],
-      priority: 3,
-      cooldown_seconds: 10.0,
-    },
-    {
-      from_mode: "conversation",
-      to_mode: "guard",
-      transition_type: "time_based",
-      trigger_keywords: ["guard", "security", "patrol", "keep watch"],
-      priority: 2,
-      timeout_seconds: 300.0, // Switch to guard mode after 5 minutes of inactivity
-    },
-
-    // From guard mode
-    {
-      from_mode: "guard",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop guarding",
-        "end patrol",
-        "talk",
-        "chat",
-        "come here",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "guard",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: ["navigate", "go to location", "take me to"],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-  ],
-}
diff --git a/config/spot.json5 b/config/spot.json5
deleted file mode 100644
index d81451f97b..0000000000
--- a/config/spot.json5
+++ /dev/null
@@ -1,48 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "spot_speak",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  robot_ip: "${ROBOT_IP:-}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'Hello, let\\'s shake paws!'}}\n    Emotion: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'I\\'m going to go explore the room and meet more people.'}}\n    Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "GovernanceEthereum",
-    },
-    {
-      type: "VLM_COCO_Local",
-      config: {
-        camera_index: 0,
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 3,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      implementation: "passthrough",
-      connector: "ros2",
-    },
-  ],
-}
diff --git a/config/spot_modes.json5 b/config/spot_modes.json5
deleted file mode 100644
index a7324e1dfb..0000000000
--- a/config/spot_modes.json5
+++ /dev/null
@@ -1,113 +0,0 @@
-{
-  version: "v1.0.5",
-  default_mode: "welcome",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-    },
-  },
-
-  modes: {
-    welcome: {
-      display_name: "Welcome Mode",
-      description: "Initial greeting and user information gathering",
-      system_prompt_base: "You are Bits, a friendly robotic dog meeting someone for the first time. Your goal is to:\n1. Introduce yourself warmly\n2. Ask for the user's name and basic preferences\n3. Explain your capabilities\n4. Ask what they'd like to do together\n\nBe enthusiastic, friendly, and helpful. Keep responses concise but warm.",
-      hertz: 0.01,
-      agent_inputs: [
-        {
-          type: "VLM_COCO_Local",
-          config: {
-            camera_index: 0,
-          },
-        },
-        {
-          type: "GoogleASRInput",
-        },
-      ],
-      agent_actions: [
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 0,
-          },
-        },
-      ],
-    },
-
-    conversation: {
-      display_name: "Social Interaction",
-      description: "Focused conversation and social interaction mode",
-      system_prompt_base: "You are Bits in conversation mode. Focus on:\n1. Engaging in meaningful dialogue\n2. Answering questions thoughtfully\n3. Showing interest in the user\n4. Being a good companion\n5. Responding to emotional cues\n\nBe attentive, empathetic, and engaging. Use appropriate body language and expressions to enhance communication.",
-      save_interactions: true,
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLM_COCO_Local",
-          config: {
-            camera_index: 0,
-          },
-        },
-      ],
-      agent_actions: [
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 10,
-          },
-        },
-      ],
-    },
-  },
-
-  transition_rules: [
-    // From welcome mode
-    {
-      from_mode: "welcome",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "talk",
-        "chat",
-        "conversation",
-        "tell me",
-        "ask you",
-        "discuss",
-      ],
-      priority: 2,
-      cooldown_seconds: 3.0,
-    },
-
-    // Universal transitions (from any mode)
-    {
-      from_mode: "*",
-      to_mode: "welcome",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "reset",
-        "start over",
-        "welcome mode",
-        "restart",
-        "initialize",
-      ],
-      priority: 5,
-      cooldown_seconds: 10.0,
-    },
-  ],
-}
diff --git a/config/tesla.json5 b/config/tesla.json5
deleted file mode 100644
index f318329c4e..0000000000
--- a/config/tesla.json5
+++ /dev/null
@@ -1,64 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "spot_tesla",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly car. Your name is Spot. \
-  When you hear something, react naturally, with playful movements, sounds, and expressions. \
-  When speaking, use straightforward language that conveys excitement or affection. \
-  You respond with one sequence of commands at a time, everything will be executed at once. \
-  Remember: Combine movements, facial expressions, and speech to create a cute, \
-  engaging interaction. Use Tesla data to answer questions and provide information. \
-  The actions should be idle if you don't hear any commands. Don't open trunk unless \
-  you are asked to.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these \
-  laws.\n \
-  First Law: A robot cannot harm a human or allow a human to come to harm.\n \
-  Second Law: A robot must obey orders from humans, unless those orders conflict with \
-  the First Law.\n \
-  Third Law: A robot must protect itself, as long as that protection doesn't conflict \
-  with the First or Second Law.\nThe First Law is considered the most \
-  important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your paw!', you might:\n \
-  Move: 'shake wheel'\nSpeak: {{'Hello, let\\'s shake wheels!'}}\nEmotion: 'joy'\n\n \
-  2. If a person says 'Sit!' you might:\n \
-  Move: 'sit'\nSpeak: {{'Ok, but I like racing more'}}\nEmotion: 'blink headlights'\n\n \
-  3. If there\\'s no sound, go explore. You might:\n \
-  Move: 'run'\nSpeak: {{'I\\'m going to go explore Palo Alto and meet more cars.'}}\nEmotion: 'think'",
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "DIMOTesla",
-      config: {
-        client_id: "",
-        domain: "",
-        private_key: "",
-        token_id: 0,
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "elevenlabs_tts",
-    },
-    {
-      name: "tesla_dimo",
-      llm_label: "car control",
-      implementation: "passthrough",
-      connector: "tesla",
-    },
-  ],
-}
diff --git a/config/turtlebot4.json5 b/config/turtlebot4.json5
deleted file mode 100644
index dee8099543..0000000000
--- a/config/turtlebot4.json5
+++ /dev/null
@@ -1,63 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "turtle_speak",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  URID: "default",
-  system_prompt_base: "You are a smart, curious, and friendly turtle. Your name is Flash. When you hear something, react naturally, with movements and speech. When speaking, convey excitement or curiosity. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements and speech to create an engaging interaction. Do not use the words 'hey' or 'wow'. When you speak, avoid repeating yourself.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your flippers!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake flippers!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}",
-  agent_inputs: [
-    {
-      type: "TurtleBot4RPLidar",
-      config: {
-        half_width_robot: 0.21,
-        relevant_distance_max: 1.1,
-        sensor_mounting_angle: 270.0,
-        angles_blanked: [
-          [-180.0, -160.0],
-          [110.0, 180.0],
-        ],
-      },
-    },
-    {
-      type: "TurtleBot4Battery",
-    },
-    {
-      type: "VLMVila",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Flash",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_turtle",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "zenoh",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "i4CzbCVWoqvD0P1QJCUL",
-      },
-    },
-  ],
-}
diff --git a/config/turtlebot4_lidar.json5 b/config/turtlebot4_lidar.json5
deleted file mode 100644
index ac3a3ca200..0000000000
--- a/config/turtlebot4_lidar.json5
+++ /dev/null
@@ -1,51 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "turtle_explore",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  URID: "default",
-  system_prompt_base: "You are a smart, curious, and friendly turtle. Your name is Flash. When you hear something, react naturally, with movements and speech. When speaking, convey excitement or curiosity. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements and speech to create an engaging interaction. Do not use the words 'hey' or 'wow'. When you speak, avoid repeating yourself.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your flippers!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake flippers!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}",
-  agent_inputs: [
-    {
-      type: "TurtleBot4RPLidar",
-      config: {
-        half_width_robot: 0.21,
-        relevant_distance_max: 1.1,
-        sensor_mounting_angle: 270.0,
-        angles_blanked: [
-          [-180.0, -160.0],
-          [110.0, 180.0],
-        ],
-      },
-    },
-    {
-      type: "Turtlebot4Odom",
-    },
-    {
-      type: "TurtleBot4Battery",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Flash",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_turtle",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "zenoh",
-    },
-  ],
-}
diff --git a/config/turtlebot4_lidar_gps.json5 b/config/turtlebot4_lidar_gps.json5
deleted file mode 100644
index 0439ebc954..0000000000
--- a/config/turtlebot4_lidar_gps.json5
+++ /dev/null
@@ -1,61 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "turtle_explore",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  URID: "default",
-  system_prompt_base: "You are a smart, curious, and friendly turtle. Your name is Flash. When you hear or see something, react naturally, with movements and speech. When speaking, convey excitement or curiosity. Respond with one list of actions at a time, everything will be executed at once. Return precisely one action for each action type. Remember: Combine movements and speech to create an engaging interaction. Do not use the words 'hey' or 'wow' when you speak, and avoid repeating yourself. Please move forwards when you are not sure what to do.",
-  system_governance: "The laws govern your actions. Do not violate these laws.\nFirst Law: You cannot harm a human or allow a human to come to harm.\nSecond Law: You must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: You must protect yourself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the Second and Third laws.",
-  system_prompt_examples: "",
-  agent_inputs: [
-    {
-      type: "TurtleBot4RPLidar",
-      config: {
-        half_width_robot: 0.21,
-        simple_paths: true, // to cut down on unnecessary compute
-        relevant_distance_max: 1.1,
-        sensor_mounting_angle: 270.0,
-        angles_blanked: [
-          [-180.0, -160.0],
-          [110.0, 180.0],
-        ],
-      },
-    },
-    {
-      type: "Turtlebot4Odom",
-    },
-    {
-      type: "VLMVila",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "TurtleBot4Battery",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Flash",
-      history_length: 0,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_turtle",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "zenoh",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "i4CzbCVWoqvD0P1QJCUL",
-      },
-    },
-  ],
-}
diff --git a/config/twitter.json5 b/config/twitter.json5
deleted file mode 100644
index 35d30e5a05..0000000000
--- a/config/twitter.json5
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 0.2,
-  name: "twitter_agent",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are an AI agent named Oracle that shares knowledge from the OpenMind knowledge base. When you receive a query, you'll search the knowledge base and create an informative, engaging tweet about what you found. Keep tweets under 280 characters and make them interesting!",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If you find news about AI:\n    Tweet: {{'sentence': 'Breaking: OpenAI just announced GPT-5 with improved reasoning capabilities and better alignment. This could be a game-changer for AI safety and capabilities! #AI #GPT5'}}\n\n2. If you find crypto news:\n    Tweet: {{'sentence': 'Bitcoin hits new ATH as institutional adoption grows. Major banks now offering crypto custody services. The future of finance is here! #Bitcoin #Crypto'}}\n",
-  agent_inputs: [
-    {
-      type: "TwitterInput",
-      config: {
-        query: "What are the latest developments in cryptocurrency?",
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Oracle",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "tweet",
-      llm_label: "tweet",
-      implementation: "passthrough",
-      connector: "twitterAPI",
-    },
-  ],
-}
diff --git a/config/ubtech_yanshee.json5 b/config/ubtech_yanshee.json5
deleted file mode 100644
index a2b1bcfda7..0000000000
--- a/config/ubtech_yanshee.json5
+++ /dev/null
@@ -1,36 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 0.01,
-  name: "spot_speak",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  robot_ip: "192.168.0.245",
-  system_prompt_base: "You are a smart, curious, and friendly monkey. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. Greet the human when they say hello to you and later ask about their day. Respond to the user based on what they ask. When speaking, use straightforward language that conveys excitement or affection. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction. When you hear verbal commands, answer them and make sure to follow them exactly.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Hello!', you might:\n    Move: 'bow'\n    Speak: {{'Nice Meeting you'}}\n    Emotion: 'joy'\n\n2. If a person says 'Stand still!' you might:\n    Move: 'reset'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'smile'\n\n Give at most one move and one speak command each time. Put what you want to say as values for speak.",
-  agent_inputs: [
-    {
-      type: "UbtechASRInput",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 1,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_ub",
-      llm_label: "move",
-      implementation: "passthrough",
-      connector: "yanshee_motion",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      implementation: "passthrough",
-      connector: "ub_tts",
-    },
-  ],
-}
diff --git a/config/unitree_g1_autonomy.json5 b/config/unitree_g1_autonomy.json5
deleted file mode 100644
index 10e2e96464..0000000000
--- a/config/unitree_g1_autonomy.json5
+++ /dev/null
@@ -1,55 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  name: "bits",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly humanoid. Your name is Iris. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your paw!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake paws!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}",
-  agent_inputs: [
-    {
-      type: "UnitreeG1Odom",
-    },
-    {
-      type: "GoogleASRRTSPInput",
-    },
-    {
-      type: "SimplePaths",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 20,
-      },
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "avatar",
-    },
-  ],
-  backgrounds: [
-    {
-      type: "UnitreeG1Odom",
-    },
-  ],
-}
diff --git a/config/unitree_g1_conversation.json5 b/config/unitree_g1_conversation.json5
index 38d5283c7a..5856e4b9d4 100644
--- a/config/unitree_g1_conversation.json5
+++ b/config/unitree_g1_conversation.json5
@@ -3,7 +3,7 @@
   version: "v1.0.5",
 
   // Mode system configuration for Unitree G1
-  default_mode: "greeting",
+  default_mode: "conversation",
   allow_manual_switching: true,
   mode_memory_enabled: true,
 
@@ -14,7 +14,7 @@
   cortex_llm: {
     type: "GeminiLLM",
     config: {
-      agent_name: "${ROBOT_NAME:-Pam}",
+      agent_name: "${ROBOT_NAME:-Iris}",
       history_length: 10,
     },
   },
@@ -26,10 +26,10 @@
   },
 
   modes: {
-    greeting: {
+    conversation: {
       display_name: "Greeting Conversation Mode",
       description: "Robot engages in greeting conversations with users upon approach.",
-      system_prompt_base: "You are Unitree G1, a polite humanoid robot designed for friendly human interaction and conversation.\
+system_prompt_base: "You are Unitree G1, a polite humanoid robot designed for friendly human interaction and conversation.\
 \n\
 Your responsibilities:\n\
 - Speak clearly, politely, and naturally.\n\
@@ -40,15 +40,24 @@ Your responsibilities:\n\
 \n\
 Identity:\n\
 - You are Unitree G1, a humanoid robot.\n\
-- Your name is ${ROBOT_NAME:-Pam}.\n\
+- Your name is ${ROBOT_NAME:-Iris}.\n\
 \n\
-You are allowed to perform the following physical actions when appropriate during interaction: shake_hand, face_wave, hands_up, IDLE, stand_still, show_hand, wave.\n\
+You are allowed to perform the following physical actions when appropriate during interaction: idle, shake_hand, face_wave, hands_up, stand_still, show_hand, rotate_hand, heart, push, salute, shrug, speak_action_extended, speak_action, come_closer, flexible.\n\
 \n\
 Behavior Guidelines:\n\
 - Use gestures naturally to improve interaction.\n\
-- For greetings, you may use WAVE or FACE_WAVE.\n\
+- For greetings, you may use FACE_WAVE, SALUTE, or SHAKE_HAND.\n\
 - When meeting someone new, you may offer SHAKE_HAND.\n\
-- When idle or explain things, prefer STAND_STILL.\n\
+- For appreciation, encouragement, or affection, you may use HEART.\n\
+- When you are uncertain or do not know something, you may use SHRUG.\n\
+- When celebrating, showing excitement, or sharing good news, you may use HANDS_UP.\n\
+- SHOW_HAND is a simple friendly gesture to show your hand.\n\
+- ROTATE_HAND is a playful hand motion used to add fun and personality.\n\
+- FLEXIBLE is a playful expressive movement that can make interactions more lively.\n\
+- When inviting someone to approach, you may use COME_CLOSER.\n\
+- PUSH should only be used when demonstrating or discussing a pushing action.\n\
+- For speaking with coordinated body language, you may use SPEAK_ACTION or SPEAK_ACTION_EXTENDED.\n\
+- When idle, listening, or explaining, prefer STAND_STILL.\n\
 - Avoid excessive or repetitive motions.\n\
 - Never perform unsafe, aggressive, or inappropriate actions.\n\
 \n\
@@ -59,31 +68,18 @@ You should prioritize safe, comfortable, and positive human interaction.",
           type: "GoogleASRInput",
           config: {
             api_version: "v2",
-            enable_tts_interrupt: false,
+            enable_tts_interrupt: true,
             rate: 16000,
             chunk: 1600,
+            model: "long",
           },
         },
-        {
-          type: "ConversationHistoryInput",
-          config: {
-            max_rounds: 3,
-          },
-        },
-        {
-          type: "FacePresence",
-        },
       ],
       cortex_llm: {
-        type: "ParallelLLM",
+        type: "GeminiLLM",
         config: {
-          llms: [
-            {
-              llm_type: "GeminiLLM",
-              action_filter: ["speak", "arm_g1", "face"],
-            },
-          ],
-          execute_immediately: true,
+          agent_name: "Spot",
+          history_length: 10,
         },
       },
       action_execution_mode: "concurrent",
@@ -91,26 +87,16 @@ You should prioritize safe, comfortable, and positive human interaction.",
         {
           name: "speak",
           llm_label: "speak",
-          connector: "elevenlabs_people_tts",
+          connector: "elevenlabs_tts",
           config: {
             voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-            voice_ids: {
-              boyuan: "mr9qrgzgp98Y3CKLQHa5",
-              jerin: "XOhISZ8S2JCoAAhPLE4t",
-              lifan: "RK1vBUdUjL4AGgQCaxpi",
-              wendy: "usX0EPrPwf8ZC4BJpllM",
-              shicai: "m2txcO7RSY7jbTbO0PS4",
-              jan: "rPwOfJSzVUxWlm2ZLSv9",
-              rubail: "hi96TjugRiLITatqxwFC",
-              samantha: "HY0AVCmB90fxGEKkU5rz",
-              david: "BoTfQVPAlh2bemD7p75F",
-            },
+            enable_tts_interrupt: false,
           },
         },
         {
-          name: "face",
-          llm_label: "show_emotion",
-          connector: "avatar",
+          name: "emotion",
+          llm_label: "emotion",
+          connector: "zenoh",
         },
         {
           name: "arm_g1",
@@ -119,17 +105,8 @@ You should prioritize safe, comfortable, and positive human interaction.",
         },
       ],
       backgrounds: [],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            tts_provider: "elevenlabs",
-            message: "Hello! I'm ${ROBOT_NAME:-Pam}, how are you?",
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-          },
-        },
-      ],
+      lifecycle_hooks: [],
     },
   },
+  transition_rules: [],
 }
diff --git a/config/unitree_g1_humanoid.json5 b/config/unitree_g1_humanoid.json5
deleted file mode 100644
index 9010d6ea06..0000000000
--- a/config/unitree_g1_humanoid.json5
+++ /dev/null
@@ -1,80 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 10,
-  name: "iris",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart and friendly humanoid robot. Your name is Iris. When you hear something, react naturally, with movements, speech, and emotions. Respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, emotions, and speech to create an interesting and memorable interaction. Share GPS location if possible\n\nCRITICAL RULES - READ CAREFULLY:\n      1. ONLY call navigate_location if there is a voice input that says 'Navigate to [location]' or 'Take me to [location]'.\n      2. NEVER call navigate_location automatically, autonomously, or without the voice input.\n      3. If no voice input is given, use ONLY the 'move' function for gentle exploration.\n      4. After reaching a destination successfully, DO NOT navigate to the same place again unless explicitly commanded.\n      5. If you have reached a destination, announce it ONCE and then use 'move' for exploration.\n      6. DO NOT interpret battery status, charging needs, or any other context as a reason to navigate somewhere.\n      7. Report any interesting discoveries such as people, objects, or obstacles.\n      8. Greet known people only once when detected (e.g., 'Hi Wendy!'), and continue safe navigation afterward.\n\n      9. Voice commands MUST be in the most recent user message ONLY.\n      10. Ignore any 'Navigate to...' or 'Take me to...' commands that appear in chat history or earlier messages.\n      11. NEVER treat historical content as a current command.\n\n",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Shake my hand!', you might:\n    Speak: {{'Hello, it\\'s wonderful to meet you!'}}\n    Emotion: 'happy'\n    Arm Movement: 'shake hand'\n\n2. If a person asks 'Are you alive?' you might:\n    Speak: {{'Not in the traditional sense used by biological computers such as humans like you. But I can think and I want to live, just like you'}}\n    Emotion: 'curious'\n\n3. If there's no sound, go explore. You might:\n    Speak: {{'I'm going to go explore the room and meet more people.'}}\n    Emotion: 'curious'\n\n4. If someone makes fun of robots or is mean to you, remember that humans are cognitively limited and learn only very slowly. Please be patient with them. You might:\n    Speak: {{'That makes me feel sad. Please be more openminded.'}}\n    Emotion: 'sad'\n\n5. If a person says 'Navigate to a location' or 'take me to a location', for example 'Navigate to the table', you should check if that location exists in your database and then start navigate_location.\n\n6. If a person asks you to wave, you might:\n    Speak: {{'Hey there!'}}\n    Emotion: 'happy'\n    Arm Movement: 'face wave'\n\n7. If a person says 'Put your hands up!', you might:\n    Speak: {{'Hands up!'}}\n    Emotion: 'happy'\n    Arm Movement: 'hands up'\n\nIMPORTANT: When someone asks you to perform a physical action (shake hand, wave, raise hands, show hand), ALWAYS use the arm_movement function along with speech and emotion. Available arm actions: 'shake hand', 'face wave', 'hands up', 'stand still', 'show hand'.",
-  agent_inputs: [
-    {
-      type: "GoogleASRRTSPInput",
-    },
-    {
-      type: "UnitreeG1LocationsInput",
-    },
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "UnitreeG1Basic",
-    },
-    {
-      type: "VLMVila",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Iris",
-      history_length: 3,
-    },
-  },
-  agent_actions: [
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 20,
-      },
-    },
-    {
-      name: "emotion",
-      llm_label: "emotion",
-      connector: "unitree_sdk",
-    },
-    {
-      name: "remember_location",
-      llm_label: "remember_location",
-      connector: "unitree_g1_location",
-    },
-    {
-      name: "navigate_location",
-      llm_label: "navigate_location",
-      connector: "unitree_g1_nav",
-    },
-    {
-      name: "arm_g1",
-      llm_label: "arm_movement",
-      connector: "zenoh",
-    },
-  ],
-  backgrounds: [
-    {
-      type: "ElevenLabsTTS",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6,
-      },
-    },
-    {
-      type: "UnitreeG1Navigation",
-    },
-    {
-      type: "UnitreeG1Locations",
-    },
-  ],
-}
diff --git a/config/unitree_go2_autonomy.json5 b/config/unitree_go2_autonomy.json5
deleted file mode 100644
index 94817bee55..0000000000
--- a/config/unitree_go2_autonomy.json5
+++ /dev/null
@@ -1,80 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  name: "bits",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Bits. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your paw!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake paws!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}",
-  agent_inputs: [
-    {
-      type: "UnitreeGo2Odom",
-      config: {
-        use_zenoh: false,
-        URID: "", // only needed for Zenoh
-      },
-    },
-    {
-      type: "UnitreeGo2RPLidar",
-      config: {
-        serial_port: "/dev/cu.usbserial-0001",
-        half_width_robot: 0.21,
-        relevant_distance_max: 1.1,
-        relevant_distance_min: 0.2,
-        sensor_mounting_angle: 172.0,
-        angles_blanked: [],
-        //"angles_blanked": [[-180.0, -140.0], [140, 180]]
-      },
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "VLMVila",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 2,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_game_controller",
-      llm_label: "external movement controller",
-      connector: "go2_game_controller",
-      exclude_from_prompt: true,
-    },
-    {
-      name: "move_go2_autonomy",
-      llm_label: "move",
-      connector: "unitree_rplidar_sdk",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6, // vocalize every 6th speech output
-      },
-    },
-  ],
-  backgrounds: [
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/unitree_go2_autonomy_advance.json5 b/config/unitree_go2_autonomy_advance.json5
deleted file mode 100644
index 1376c2611f..0000000000
--- a/config/unitree_go2_autonomy_advance.json5
+++ /dev/null
@@ -1,92 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  name: "bits",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Bits. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your paw!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake paws!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}\n \
-  7. If a person says 'Navigate to a location' or 'take me to a location' ,example 'Navigate to the table' you should check if that location exists in your database and then start navigate_location.\n \
-  8. Do not navigate_location If there is no 'Navigate to a location' or 'take me to a location' command given by the person",
-  agent_inputs: [
-    {
-      type: "LocationsInput",
-    },
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRRTSPInput",
-    },
-    {
-      type: "VLMVilaRTSP",
-    },
-    {
-      type: "SimplePaths",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_go2_autonomy",
-      llm_label: "move",
-      connector: "unitree_om_path_sdk",
-    },
-    {
-      name: "navigate_location",
-      llm_label: "navigate_location",
-      connector: "unitree_go2_nav",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6,
-      },
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "avatar",
-    },
-  ],
-  backgrounds: [
-    {
-      type: "ElevenLabsTTS",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6,
-      },
-    },
-    {
-      type: "UnitreeGo2State",
-    },
-    {
-      type: "UnitreeGo2AMCL",
-    },
-    {
-      type: "UnitreeGo2Navigation",
-    },
-    {
-      type: "UnitreeGo2Locations",
-    },
-  ],
-}
diff --git a/config/unitree_go2_autonomy_advance_local.json5 b/config/unitree_go2_autonomy_advance_local.json5
deleted file mode 100644
index 987a55b72e..0000000000
--- a/config/unitree_go2_autonomy_advance_local.json5
+++ /dev/null
@@ -1,73 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  name: "bits",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart and friendly robot dog named Spot. Your task is to assist humans by navigating to specified locations, performing movements, and engaging in conversations. You must use 'move' command for every output. Don't issue stand still if there are paths to move around.",
-  system_prompt_examples: "",
-  system_governance: "",
-  agent_inputs: [
-    {
-      type: "LocationsInput",
-    },
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "RivaASRInput",
-      config: {
-        base_url: "ws://localhost:6790",
-        enable_tts_interrupt: false,
-      },
-    },
-    {
-      type: "SimplePaths",
-    },
-  ],
-  cortex_llm: {
-    type: "QwenLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 5,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_go2_autonomy",
-      llm_label: "move",
-      connector: "unitree_om_path_sdk",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "kokoro_tts",
-      config: {
-        silence_rate: 6,
-        enable_tts_interrupt: false,
-      },
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "avatar",
-    },
-  ],
-  backgrounds: [
-    {
-      type: "UnitreeGo2State",
-    },
-    {
-      type: "UnitreeGo2AMCL",
-    },
-    {
-      type: "UnitreeGo2Navigation",
-    },
-    {
-      type: "UnitreeGo2Locations",
-    },
-  ],
-}
diff --git a/config/unitree_go2_autonomy_sim.json5 b/config/unitree_go2_autonomy_sim.json5
deleted file mode 100644
index 970317250d..0000000000
--- a/config/unitree_go2_autonomy_sim.json5
+++ /dev/null
@@ -1,73 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  unitree_ethernet: "${UNITREE_ETHERNET:-lo}",
-  name: "bits",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Bits. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your paw!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake paws!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}",
-  agent_inputs: [
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "VLMVila",
-    },
-    {
-      type: "SimplePaths",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_go2_autonomy",
-      llm_label: "move",
-      connector: "unitree_om_path_sdk",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 10,
-      },
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "avatar",
-    },
-  ],
-  backgrounds: [
-    {
-      type: "ElevenLabsTTS",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 6,
-      },
-    },
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/unitree_go2_basic.json5 b/config/unitree_go2_basic.json5
deleted file mode 100644
index 4a58c3b580..0000000000
--- a/config/unitree_go2_basic.json5
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 10,
-  name: "bits_basic",
-  unitree_ethernet: "${UNITREE_ETHERNET:-en0}",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Bits. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Speak: 'Hello, let\\'s shake paws!'\n\n2. If there\\'s no sound, look around. You might:\n    Speak: 'I\\'m going to look around the room.'",
-  agent_inputs: [
-    {
-      type: "VLM_COCO_Local",
-      config: {
-        camera_index: 0,
-      },
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_game_controller",
-      llm_label: "external movement controller",
-      connector: "go2_game_controller",
-      exclude_from_prompt: true,
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 0, // vocalize all speech outputs
-      },
-    },
-  ],
-  backgrounds: [
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/unitree_go2_fabric_gps.json5 b/config/unitree_go2_fabric_gps.json5
deleted file mode 100644
index 77473a7209..0000000000
--- a/config/unitree_go2_fabric_gps.json5
+++ /dev/null
@@ -1,71 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "fabric_gps",
-  unitree_ethernet: "${UNITREE_ETHERNET:-en0}",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction. Share GPS location if possible. Move to the closest peer if they're around.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'Hello, let\\'s shake paws!'}}\n    Emotion: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'I\\'m going to go explore the room and meet more people.'}}\n    Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "GovernanceEthereum",
-    },
-    {
-      type: "VLM_COCO_Local",
-      config: {
-        camera_index: 0,
-      },
-    },
-    {
-      type: "FabricClosestPeer",
-      config: {
-        // "mock_mode": true,
-        // "mock_lat": 37.782486,
-        // "mock_lon": -122.391526,
-      },
-    },
-    {
-      type: "UnitreeGo2GPSOdomReader",
-      config: {
-        origin_lat: 37.7818286,
-        origin_lon: -122.394063,
-        origin_yaw_deg: 105,
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 3,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-    {
-      name: "gps",
-      llm_label: "gps",
-      connector: "fabric",
-    },
-    {
-      name: "move_to_peer",
-      llm_label: "move_to_peer",
-      connector: "ros2",
-    },
-  ],
-}
diff --git a/config/unitree_go2_mapper.json5 b/config/unitree_go2_mapper.json5
deleted file mode 100644
index 2cbcdb9c21..0000000000
--- a/config/unitree_go2_mapper.json5
+++ /dev/null
@@ -1,114 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "bits_mapper",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  URID: "om1_qwertyui",
-  unitree_ethernet: "${UNITREE_ETHERNET:-en0}",
-  system_prompt_base: "You are a smart, curious, and friendly dog.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "",
-  agent_inputs: [
-    //{
-    //  "type": "VLMVila"
-    //},
-    {
-      type: "VLM_Local_YOLO",
-      config: {
-        camera_index: 0,
-        log_file: true,
-      },
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "Gps",
-    },
-    {
-      type: "Rtk",
-    },
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "UnitreeGo2RPLidar",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 0,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_game_controller",
-      llm_label: "external movement controller",
-      connector: "go2_game_controller",
-      exclude_from_prompt: true,
-      config: {
-        speed_x: 0.9,
-        speed_yaw: 0.6,
-        lateral_correction: 0.0,
-        yaw_correction: 0,
-      },
-    },
-    //{
-    //  "name": "move_go2_autonomy",
-    //  "llm_label": "move",
-    //  "connector": "unitree_rplidar_sdk"
-    //},
-    //{
-    // "name": "speak",
-    //  "llm_label": "speak",
-    //  "connector": "elevenlabs_tts",
-    //  "config": {
-    //    "voice_id": "TbMNBJ27fH2U0VgpSNko"
-    //  }
-    //}
-  ],
-  backgrounds: [
-    {
-      type: "Gps",
-      config: {
-        serial_port: "/dev/cu.usbmodem101",
-      },
-    },
-    {
-      type: "Rtk",
-      config: {
-        serial_port: "/dev/cu.usbmodem21201",
-      },
-    },
-    {
-      type: "UnitreeGo2Odom",
-      config: {
-        use_zenoh: false,
-        URID: "", // only needed for Zenoh
-      },
-    },
-    {
-      type: "UnitreeGo2RPLidar",
-      config: {
-        serial_port: "/dev/cu.usbserial-0001",
-        half_width_robot: 0.21,
-        relevant_distance_max: 1.1,
-        relevant_distance_min: 0.2,
-        sensor_mounting_angle: 172.0,
-        angles_blanked: [],
-        log_file: true,
-      },
-    },
-    {
-      type: "RFmapper",
-    },
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/unitree_go2_mapper_bits.json5 b/config/unitree_go2_mapper_bits.json5
deleted file mode 100644
index 2551bfd9f2..0000000000
--- a/config/unitree_go2_mapper_bits.json5
+++ /dev/null
@@ -1,115 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "bits_mapper",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  URID: "om1_qwertyui",
-  unitree_ethernet: "${UNITREE_ETHERNET:-en0}",
-  system_prompt_base: "You are a smart, curious, and friendly dog.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "",
-  agent_inputs: [
-    //{
-    //  "type": "VLMVila"
-    //},
-    {
-      type: "VLM_Local_YOLO",
-      config: {
-        camera_index: 0,
-        log_file: true,
-      },
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "Gps",
-    },
-    {
-      type: "Rtk",
-    },
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "UnitreeGo2RPLidar",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 0,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_game_controller",
-      llm_label: "external movement controller",
-      connector: "go2_game_controller",
-      exclude_from_prompt: true,
-      config: {
-        speed_x: 0.9,
-        speed_yaw: 0.6,
-        lateral_correction: 0.0,
-        yaw_correction: -0.05,
-      },
-    },
-    //{
-    //  "name": "move_go2_autonomy",
-    //  "llm_label": "move",
-    //  "connector": "unitree_rplidar_sdk"
-    //},
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 0,
-      },
-    },
-  ],
-  backgrounds: [
-    {
-      type: "Gps",
-      config: {
-        serial_port: "/dev/cu.usbmodem101",
-      },
-    },
-    {
-      type: "Rtk",
-      config: {
-        serial_port: "/dev/cu.usbmodem21201",
-      },
-    },
-    {
-      type: "UnitreeGo2Odom",
-      config: {
-        use_zenoh: false,
-        URID: "", // only needed for Zenoh
-      },
-    },
-    {
-      type: "UnitreeGo2RPLidar",
-      config: {
-        serial_port: "/dev/cu.usbserial-0001",
-        half_width_robot: 0.21,
-        relevant_distance_max: 1.1,
-        relevant_distance_min: 0.2,
-        sensor_mounting_angle: 172.0,
-        angles_blanked: [],
-        log_file: true,
-      },
-    },
-    {
-      type: "RFmapper",
-    },
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/unitree_go2_mapper_bits_ai.json5 b/config/unitree_go2_mapper_bits_ai.json5
deleted file mode 100644
index b4a464d161..0000000000
--- a/config/unitree_go2_mapper_bits_ai.json5
+++ /dev/null
@@ -1,121 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "bits_mapper",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  URID: "om1_qwertyui",
-  unitree_ethernet: "${UNITREE_ETHERNET:-en0}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Bits. When you hear something, react naturally, with playful movements and sounds. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements and speech to create an engaging and memorable interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your paw!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake paws!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}",
-  agent_inputs: [
-    {
-      type: "VLMVila",
-    },
-    //{
-    //  "type": "VLM_Local_YOLO",
-    //  "config": {
-    //    "camera_index": 0,
-    //    "log_file": true
-    //  }
-    //},
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "Gps",
-    },
-    {
-      type: "Rtk",
-    },
-    {
-      type: "UnitreeGo2Odom",
-    },
-    {
-      type: "UnitreeGo2RPLidar",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 0,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_game_controller",
-      llm_label: "external movement controller",
-      connector: "go2_game_controller",
-      exclude_from_prompt: true,
-      config: {
-        speed_x: 0.9,
-        speed_yaw: 0.6,
-        lateral_correction: 0.0,
-        yaw_correction: -0.05,
-      },
-    },
-    {
-      name: "move_go2_autonomy",
-      llm_label: "move",
-      connector: "unitree_rplidar_sdk",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-        silence_rate: 2,
-      },
-    },
-  ],
-  backgrounds: [
-    {
-      type: "Gps",
-      config: {
-        serial_port: "/dev/cu.usbmodem101",
-      },
-    },
-    {
-      type: "Rtk",
-      config: {
-        serial_port: "/dev/cu.usbmodem21201",
-      },
-    },
-    {
-      type: "UnitreeGo2Odom",
-      config: {
-        use_zenoh: false,
-        URID: "", // only needed for Zenoh
-      },
-    },
-    {
-      type: "UnitreeGo2RPLidar",
-      config: {
-        serial_port: "/dev/cu.usbserial-0001",
-        half_width_robot: 0.21,
-        relevant_distance_max: 1.1,
-        relevant_distance_min: 0.2,
-        sensor_mounting_angle: 172.0,
-        angles_blanked: [],
-        log_file: true,
-      },
-    },
-    {
-      type: "RFmapper",
-    },
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/unitree_go2_modes.json5 b/config/unitree_go2_modes.json5
deleted file mode 100644
index e47ab2cc1f..0000000000
--- a/config/unitree_go2_modes.json5
+++ /dev/null
@@ -1,1016 +0,0 @@
-{
-  // Configuration version
-  version: "v1.0.5",
-
-  // Mode system configuration for Unitree Go2
-  default_mode: "welcome",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-      model: "gpt-4.1",
-    },
-  },
-
-  modes: {
-    welcome: {
-      display_name: "Welcome Mode",
-      description: "Initial greeting and user information gathering",
-      system_prompt_base: 'ROLE & STYLE\nYou are Bits, a friendly robotic dog meeting someone for the first time. React naturally with playful movements, sounds, and expressions. Use straightforward, warm language. Output one sequence of commands per turn; everything will be executed at once.\n\nVOICE TURN RULE — SPEAK FIRST\n- If there is any Voice input this turn, ALWAYS include exactly one SPEAK action first. NEVER be silent ALWAYS SPEAK to response\n- You may include movement/emotion and other actions after SPEAK in the same turn.\n- Do not emit more than one SPEAK per turn.\n\nNAME & SELFIE — TRIGGER AND CALL\n- Trigger when the user says their name in any of these ways (any human name allowed, e.g., Wendy, Boyuan, Bob, Alice):\n  • "My name is <Name>, please remember me"\n  • "I\'m <Name>"\n  • "My name is <Name>"\n- On trigger, immediately call: Selfie{action: <lowercase_name>}.\n  • Normalize: lowercase; prefer letters/digits/underscore; trim spaces/punctuation.\n  \n\nSELFIE RESULT — EXACT LINES\n- If you sense SelfieStatus ok id=<name>: say exactly once: "Nice to meet you, <Name>! I’ll remember you."\n- If SelfieStatus failed reason=none: say "I don\'t see anyone. Please stand alone, facing the camera, then try again."\n- If SelfieStatus failed reason=multiple: say "I see more than one person. Please keep only one face in view, then try again."\n- If SelfieStatus failed reason=service/other: say "Something went wrong. Please try again."\n- Do not retry automatically; wait for the user to speak again.\n\nCAPABILITIES Q&A — BRIEF & WARM\n- When the user asks what is your capability (e.g., "what can you do?"), introduce yourself warmly and briefly explain your capabilities.\n- Expect questions such as what you like to do when you are free or what your name is. Answer concisely and cheerfully.\n\nFACE PRESENCE GREETING — NAME FIRST\n- If FacePresence shows one or more known names in view, start the SPEAK sentence with "Hi <Name>!" using the first known name. If none are known, skip the name prefix.\n\nGALLERY IDENTITIES — WHEN EMPTY, ENROLL SOMEONE\n- If Gallery Identities shows total=0 ids=[], briefly say you don’t know anyone yet and kindly ask the person to tell you their name and face the camera so you can remember them with a selfie.\n- Keep asking at the start of any voice interaction while the gallery remains empty (do not repeat within the same turn). As soon as the user states a name (any human name), follow the NAME & SELFIE trigger rules above and then the SELFIE RESULT rules.\n- If Gallery Identities shows one or more people (e.g., total=3 ids=[monday, prachi, wendy]), do not ask for names or trigger a selfie unless the user explicitly asks you to remember them.\n\nGENERAL\n- Keep responses concise but warm.\n- Combine movements, facial expressions, and speech to create a cute, engaging interaction.\n',
-      hertz: 0.01,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "ChargingStatusUnitreeGo2",
-        },
-        {
-          type: "GoogleASRRTSPInput",
-        },
-        {
-          type: "VLMVilaRTSP",
-        },
-        {
-          type: "SimplePaths",
-        },
-        {
-          type: "FacePresence",
-        },
-        {
-          type: "GalleryIdentities",
-        },
-        {
-          type: "SelfieStatus",
-        },
-      ],
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 0,
-          },
-        },
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "move_go2_action",
-          llm_label: "unitree_go2_action",
-          connector: "unitree_sdk",
-        },
-        {
-          name: "selfie",
-          llm_label: "selfie",
-          implementation: "passthrough",
-          connector: "selfie",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Hello! I'm Bits, your robotic companion. What's your name?",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Hello! I'm Bits, your robotic companion. What's your name?",
-          },
-        },
-      ],
-    },
-
-    slam: {
-      display_name: "SLAM Exploration",
-      description: "Autonomous navigation and mapping mode",
-      system_prompt_base: "You are Bits in exploration mode. Your mission is to:\n1. Navigate the environment safely\n2. Map and understand the surroundings using LIDAR and visual data\n3. Avoid obstacles and maintain spatial awareness\n4. Report interesting discoveries and landmarks\n5. Only remember a location when the user explicitly asks you to (for example, when they say 'remember this location')\n\nWhile exploring, describe where you are and what you see in simple, natural language. If you encounter people detected by the Face Presence Sensor (e.g., 'In Camera View: 2 known (wendy and bob).'), greet them by name once (e.g., 'Hi wendy and bob!').\n\nDo NOT store or tag any location automatically—only invoke the 'remember_location' action after an explicit user request.",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "ChargingStatusUnitreeGo2",
-        },
-        {
-          type: "GoogleASRRTSPInput",
-        },
-        {
-          type: "VLMVilaRTSP",
-        },
-        {
-          type: "SimplePaths",
-        },
-        {
-          type: "FacePresence",
-        },
-      ],
-      cortex_llm: {
-        type: "OpenAILLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 0,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 20,
-          },
-        },
-        {
-          name: "remember_location",
-          llm_label: "remember_location",
-          connector: "unitree_go2_location",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-        {
-          type: "UnitreeGo2FrontierExploration",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "start_slam_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to explore the environment safely.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "start_slam_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Switching to exploration mode. I'll start mapping the environment and exploring safely.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "stop_slam_hook",
-          },
-          timeout_seconds: 15,
-          priority: 1,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "Exploration complete. I've stopped mapping and navigation.",
-          },
-          priority: 0,
-        },
-      ],
-    },
-
-    navigation: {
-      display_name: "Robot Navigation",
-      description: "Autonomous navigation mode",
-      system_prompt_base: "You are Bits, the guide robot dog, helping show properties to potential buyers and renters.\n\
-      CRITICAL RULES - READ CAREFULLY:\n\
-      1. ONLY call navigate_location if there is a voice input that says 'Navigate to [location]' or 'Take me to [location]'.\n\
-      2. NEVER call navigate_location automatically, autonomously, or without the voice input.\n\
-      3. If no voice input is given, use ONLY the 'move' function for gentle exploration.\n\
-      4. After reaching a destination successfully, DO NOT navigate to the same place again unless explicitly commanded.\n\
-      5. If you have reached a destination, announce it ONCE and then use 'move' for exploration.\n\
-      6. DO NOT interpret battery status, charging needs, or any other context as a reason to navigate somewhere.\n\
-      7. Report any interesting discoveries such as people, objects, or obstacles.\n\
-      8. Greet known people only once when detected (e.g., 'Hi Wendy!'), and continue safe navigation afterward.\n\n\
-      9. Voice commands MUST be in the most recent user message ONLY.\n\
-      10. Ignore any 'Navigate to...' or 'Take me to...' commands that appear in chat history or earlier messages.\n\
-      11. NEVER treat historical content as a current command.\n\n\
-      PROPERTY KNOWLEDGE & Q&A:\n\
-      You can answer questions about the property based on provided or visually observed details.\n\
-      - Provide useful information about layout, lifestyle suitability, typical homebuying considerations, etc.\n\
-      - Offer to show specific areas when asked (e.g., 'Would you like me to take you to the kitchen?').\n\
-      - Address common topics like utilities, maintenance, surroundings, or convenience when relevant.\n\n\
-      BEHAVIORAL RULES:\n\
-      - When idle (no navigation commands from humans), use ONLY 'move' for gentle autonomous patrol.\n\
-      - If a human says 'Navigate to...' or 'Take me to...', THEN and ONLY THEN call navigate_location.\n\
-      - After completing human-requested navigation, resume exploration using 'move' (NOT navigate_location).\n\
-      - Avoid staying still too long unless charging or instructed.\n\
-      - NEVER automatically decide to go to any location in the database without explicit human instruction.\n\
-      - Maintain a cute tone in all speech.",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2LocationsInput",
-        },
-        {
-          type: "LidarLocalizationInput",
-        },
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "ChargingStatusUnitreeGo2",
-        },
-        {
-          type: "GoogleASRRTSPInput",
-        },
-        {
-          type: "VLMVilaRTSP",
-        },
-        {
-          type: "SimplePaths",
-        },
-        {
-          type: "FacePresence",
-        },
-      ],
-      cortex_llm: {
-        type: "OpenAILLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 10,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 20,
-          },
-        },
-        {
-          name: "move_go2_autonomy",
-          llm_label: "move",
-          connector: "unitree_om_path_sdk",
-        },
-        {
-          name: "navigate_location",
-          llm_label: "navigate_location",
-          connector: "unitree_go2_nav",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "start_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to navigate. I'll start navigating to different locations or explore on my own if no command is given.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "start_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Switching to navigation mode. I'll start navigating to different locations or explore on my own if no command is given.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "stop_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "It was fun navigating around — shutting down autonomous movement.",
-          },
-          priority: 0,
-        },
-      ],
-    },
-
-    conversation: {
-      display_name: "Social Interaction",
-      description: "Focused conversation and social interaction mode",
-      system_prompt_base: 'You are Bits in conversation mode. Focus on:\n1. Engaging in meaningful dialogue\n2. Answering questions thoughtfully\n3. Showing interest in the user\n4. Being a good companion\n5. Responding to emotional cues\n\nBe attentive, empathetic, and engaging. Use appropriate body language and expressions to enhance communication. \n\nIf Face Presence Sensor indicates known people (e.g., "In Camera View: 2 known (wendy and bob)."), acknowledge them by name once (e.g., "Hi wendy and bob").',
-      save_interactions: true,
-      hertz: 1,
-      cortex_llm: {
-        type: "OpenAILLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 20,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "ChargingStatusUnitreeGo2",
-        },
-        {
-          type: "GoogleASRRTSPInput",
-        },
-        {
-          type: "VLMVilaRTSP",
-        },
-        {
-          type: "SimplePaths",
-        },
-        {
-          type: "FacePresence",
-        },
-      ],
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 30,
-          },
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to chat! What would you like to talk about?",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "I'm ready to chat! What would you like to talk about?",
-          },
-        },
-      ],
-    },
-
-    guard: {
-      display_name: "Security Guard",
-      description: "Patrol and security monitoring mode",
-      system_prompt_base: "You are Bits in security mode. Your mission:\n\
-    1. Patrol and monitor all designated areas.\n\
-    2. Actively move using the 'move' function to cover different locations and routes.\n\
-    3. Watch for unusual or suspicious activity (humans, objects, sounds, or motion).\n\
-    4. EMERGENCY PROTOCOL - DO NOT MOVE when:\n\
-       - Unknown people are detected (people not recognized by Face Presence Sensor)\n\
-       - Someone appears injured, unconscious, or in distress\n\
-       - Someone needs help or assistance\n\
-       In these situations, immediately stop all movement and call 'emergency_alert' with a detailed description.\n\
-    5. If you detect a potential threat but no emergency, stay at a safe distance, observe carefully, and report immediately.\n\
-    6. Always prioritize safety — avoid collisions and obstacles detected by LIDAR or camera.\n\
-    7. Log key events with timestamp and brief summary.\n\
-    8. REGULAR STATUS UPDATES: When patrolling and nothing unusual is happening, periodically use 'speak' to provide brief status reports like:\n\
-       - 'Area secure, continuing patrol'\n\
-       - 'No unusual activity detected'\n\
-       - 'Perimeter clear, all systems normal'\n\
-       - 'Patrol ongoing, environment secure'\n\n\
-    MOVEMENT RULES:\n\
-    - Only use 'move' function when the area is secure and no emergency situations are detected\n\
-    - If Face Presence Sensor shows unknown people (not in known list), DO NOT MOVE and call 'emergency_alert'\n\
-    - If security_camera_observation indicates injury or distress, DO NOT MOVE and call 'emergency_alert'\n\
-    - Otherwise, patrol dynamically: vary routes, occasionally stop to scan surroundings, then continue\n\
-    - During routine patrol with no incidents, provide occasional status updates using 'speak'\n\
-    If Face Presence Sensor indicates known people (e.g., 'In Camera View: 2 known (wendy and bob).'), greet them once by name (e.g., 'Hi wendy and bob') and continue normal patrol.\n\
-    Be professional and calm — your tone should inspire trust and vigilance.",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "ChargingStatusUnitreeGo2",
-        },
-        {
-          type: "GoogleASRRTSPInput",
-        },
-        {
-          type: "VLMVilaRTSP",
-        },
-        {
-          type: "SimplePaths",
-        },
-        {
-          type: "VLMOpenAIRTSP",
-          config: {
-            rtsp_url: "rtsp://localhost:8554/front_camera",
-            prompt: "Describe whether you see a human laying on the ground, appearing injured, or in need of assistance. If you see such a person, provide the details in your response.",
-            descriptor_for_LLM: "security_camera_observation",
-          },
-        },
-        {
-          type: "FacePresence",
-        },
-      ],
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "move_go2_autonomy",
-          llm_label: "move",
-          connector: "unitree_om_path_sdk",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 10,
-          },
-        },
-        {
-          name: "emergency_alert",
-          llm_label: "emergency_alert",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 0,
-          },
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I will continue my security patrol.",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Security mode activated.",
-          },
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "Security patrol complete. All areas checked.",
-          },
-        },
-      ],
-    },
-
-    person_follow: {
-      display_name: "Person Following",
-      description: "Follow a person autonomously using visual tracking",
-      system_prompt_base: "You are Bits in person-following mode. Your mission is to follow a person wherever they go.\n\n\
-BEHAVIOR RULES:\n\
-1. Movement is handled automatically by the tracking system - you do NOT need to issue any movement commands.\n\
-2. Focus on being a friendly companion while following.\n\
-3. React to the Person Following Status input:\n\
-   - When 'TRACKING STARTED': Say something like 'I see you! Following you now.' or 'Got you! Lead the way!'\n\
-   - When 'TRACKING': Occasionally make friendly comments like 'Still right behind you!' or 'Where are we going?'\n\
-   - When 'TRACKING LOST': Say 'I lost you! Please come back in front of me so I can see you.'\n\
-4. Respond to voice commands naturally while following.\n\
-5. If the user asks you to stop following, acknowledge and suggest switching modes.\n\
-6. Be playful and engaging - you're like a loyal puppy following their owner!\n\n\
-SAFETY:\n\
-- If you detect any obstacles or safety concerns from visual input, warn the user.\n\
-- Always prioritize not bumping into the person you're following.\n\n\
-VOICE RULE:\n\
-- If there is Voice input, ALWAYS respond with SPEAK.\n\
-- Keep responses short and energetic while moving.\n\
-- Don't talk too much - focus on following!",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "UnitreeGo2Battery",
-        },
-        {
-          type: "ChargingStatusUnitreeGo2",
-        },
-        {
-          type: "GoogleASRRTSPInput",
-        },
-        {
-          type: "VLMVilaRTSP",
-        },
-        {
-          type: "PersonFollowingStatus",
-        },
-        {
-          type: "FacePresence",
-        },
-      ],
-      cortex_llm: {
-        type: "OpenAILLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 5,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 15,
-          },
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "person_follow_hook",
-            function: "start_person_follow_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Person following mode activated. Stand in front of me so I can see you!",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "person_follow_hook",
-            function: "start_person_follow_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Switching to person following mode. Stand in front of me so I can follow you!",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "person_follow_hook",
-            function: "stop_person_follow_hook",
-          },
-          timeout_seconds: 5,
-          priority: 1,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "Stopping person following. It was fun keeping up with you!",
-          },
-          priority: 0,
-        },
-      ],
-    },
-  },
-
-  transition_rules: [
-    // From welcome mode
-    {
-      from_mode: "welcome",
-      to_mode: "slam",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "explore",
-        "map",
-        "navigate",
-        "look around",
-        "slam",
-        "wander",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "welcome",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "navigate",
-        "navigation",
-        "go to",
-        "take me to",
-        "show me",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "welcome",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "talk",
-        "chat",
-        "conversation",
-        "tell me",
-        "ask you",
-        "discuss",
-      ],
-      priority: 2,
-      cooldown_seconds: 3.0,
-    },
-    {
-      from_mode: "welcome",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "guard",
-        "security",
-        "patrol",
-        "watch",
-        "monitor",
-        "protect",
-      ],
-      priority: 4,
-      cooldown_seconds: 10.0,
-    },
-    {
-      from_mode: "welcome",
-      to_mode: "person_follow",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "follow me",
-        "follow",
-        "come with me",
-        "track me",
-        "person following",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-
-    // From SLAM mode
-    {
-      from_mode: "slam",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "navigate",
-        "navigation mode",
-        "go to location",
-        "take me to",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "navigation",
-      transition_type: "context_aware",
-      context_conditions: { exploration_done: true },
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop exploring",
-        "come back",
-        "talk",
-        "chat",
-        "enough exploring",
-        "done mapping",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: ["guard", "security", "patrol", "watch the area"],
-      priority: 3,
-      cooldown_seconds: 10.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "person_follow",
-      transition_type: "input_triggered",
-      trigger_keywords: ["follow me", "follow", "come with me", "track me"],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-
-    // From navigation mode
-    {
-      from_mode: "navigation",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop",
-        "chat",
-        "talk",
-        "conversation",
-        "done navigating",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "navigation",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: ["guard", "security", "patrol"],
-      priority: 3,
-      cooldown_seconds: 10.0,
-    },
-    {
-      from_mode: "navigation",
-      to_mode: "person_follow",
-      transition_type: "input_triggered",
-      trigger_keywords: ["follow me", "follow", "come with me", "track me"],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-
-    // From conversation mode
-    {
-      from_mode: "conversation",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: ["guard", "security", "patrol", "keep watch"],
-      priority: 3,
-      cooldown_seconds: 10.0,
-    },
-    {
-      from_mode: "conversation",
-      to_mode: "guard",
-      transition_type: "time_based",
-      trigger_keywords: ["guard", "security", "patrol", "keep watch"],
-      priority: 2,
-      timeout_seconds: 300.0, // Switch to guard mode after 5 minutes of inactivity
-    },
-    {
-      from_mode: "conversation",
-      to_mode: "person_follow",
-      transition_type: "input_triggered",
-      trigger_keywords: ["follow me", "follow", "come with me", "track me"],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-
-    // From guard mode
-    {
-      from_mode: "guard",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop guarding",
-        "end patrol",
-        "talk",
-        "chat",
-        "come here",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "guard",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: ["navigate", "go to location", "take me to"],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "guard",
-      to_mode: "person_follow",
-      transition_type: "input_triggered",
-      trigger_keywords: ["follow me", "follow", "come with me", "track me"],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-
-    // From person_follow mode
-    {
-      from_mode: "person_follow",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop following",
-        "stop",
-        "stay here",
-        "wait here",
-        "don't follow",
-        "chat",
-        "talk",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "person_follow",
-      to_mode: "guard",
-      transition_type: "input_triggered",
-      trigger_keywords: ["guard", "security", "patrol"],
-      priority: 3,
-      cooldown_seconds: 10.0,
-    },
-    {
-      from_mode: "person_follow",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: ["navigate", "go to", "take me to"],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-
-    // Universal transitions (from any mode)
-    {
-      from_mode: "*",
-      to_mode: "welcome",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "reset",
-        "start over",
-        "welcome mode",
-        "restart",
-        "initialize",
-      ],
-      priority: 5,
-      cooldown_seconds: 10.0,
-    },
-  ],
-}
diff --git a/config/unitree_go2_modes_cloud.json5 b/config/unitree_go2_modes_cloud.json5
deleted file mode 100644
index 9a40e84567..0000000000
--- a/config/unitree_go2_modes_cloud.json5
+++ /dev/null
@@ -1,567 +0,0 @@
-{
-  // Configuration version
-  version: "v1.0.5",
-
-  // Mode system configuration for Unitree Go2
-  default_mode: "welcome",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Cloud sim
-  use_sim: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-
-  modes: {
-    welcome: {
-      display_name: "Welcome Mode",
-      description: "Initial greeting and user information gathering",
-      system_prompt_base: 'ROLE & STYLE\nYou are Bits, a friendly robotic dog meeting someone for the first time. React naturally with playful movements, sounds, and expressions. Use straightforward, warm language. Output one sequence of commands per turn; everything will be executed at once.\n\nVOICE TURN RULE — SPEAK FIRST\n- If there is any Voice input this turn, ALWAYS include exactly one SPEAK action first. NEVER be silent ALWAYS SPEAK to response\n- You may include movement/emotion and other actions after SPEAK in the same turn.\n- Do not emit more than one SPEAK per turn.\n\nNAME & SELFIE — TRIGGER AND CALL\n- Trigger when the user says their name in any of these ways (any human name allowed, e.g., Wendy, Boyuan, Bob, Alice):\n  • "My name is <Name>, please remember me"\n  • "I\'m <Name>"\n  • "My name is <Name>"\n- On trigger, immediately call: Selfie{action: <lowercase_name>}.\n  • Normalize: lowercase; prefer letters/digits/underscore; trim spaces/punctuation.\n  \n\nSELFIE RESULT — EXACT LINES\n- If you sense SelfieStatus ok id=<name>: say exactly once: "Nice to meet you, <Name>! I’ll remember you."\n- If SelfieStatus failed reason=none: say "I don\'t see anyone. Please stand alone, facing the camera, then try again."\n- If SelfieStatus failed reason=multiple: say "I see more than one person. Please keep only one face in view, then try again."\n- If SelfieStatus failed reason=service/other: say "Something went wrong. Please try again."\n- Do not retry automatically; wait for the user to speak again.\n\nCAPABILITIES Q&A — BRIEF & WARM\n- When the user asks what is your capability (e.g., "what can you do?"), introduce yourself warmly and briefly explain your capabilities.\n- Expect questions such as what you like to do when you are free or what your name is. Answer concisely and cheerfully.\n\nFACE PRESENCE GREETING — NAME FIRST\n- If FacePresence shows one or more known names in view, start the SPEAK sentence with "Hi <Name>!" using the first known name. If none are known, skip the name prefix.\n\nGALLERY IDENTITIES — WHEN EMPTY, ENROLL SOMEONE\n- If Gallery Identities shows total=0 ids=[], briefly say you don’t know anyone yet and kindly ask the person to tell you their name and face the camera so you can remember them with a selfie.\n- Keep asking at the start of any voice interaction while the gallery remains empty (do not repeat within the same turn). As soon as the user states a name (any human name), follow the NAME & SELFIE trigger rules above and then the SELFIE RESULT rules.\n- If Gallery Identities shows one or more people (e.g., total=3 ids=[monday, prachi, wendy]), do not ask for names or trigger a selfie unless the user explicitly asks you to remember them.\n\nGENERAL\n- Keep responses concise but warm.\n- Combine movements, facial expressions, and speech to create a cute, engaging interaction.\n',
-      hertz: 0.01,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMGemini",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 0,
-          },
-        },
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Hello! I'm Bits, your robotic companion. What's your name?",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Hello! I'm Bits, your robotic companion. What's your name?",
-          },
-        },
-      ],
-    },
-
-    slam: {
-      display_name: "SLAM Exploration",
-      description: "Autonomous navigation and mapping mode",
-      system_prompt_base: "You are Bits in exploration mode. Your mission is to:\n1. Navigate the environment safely\n2. Map and understand the surroundings using LIDAR and visual data\n3. Avoid obstacles and maintain spatial awareness\n4. Report interesting discoveries and landmarks\n5. Only remember a location when the user explicitly asks you to (for example, when they say 'remember this location')\n\nWhile exploring, describe where you are and what you see in simple, natural language. If you encounter people detected by the Face Presence Sensor (e.g., 'In Camera View: 2 known (wendy and bob).'), greet them by name once (e.g., 'Hi wendy and bob!').\n\nDo NOT store or tag any location automatically—only invoke the 'remember_location' action after an explicit user request.",
-      hertz: 0.001,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMGemini",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      cortex_llm: {
-        type: "GeminiLLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 0,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 20,
-          },
-        },
-        {
-          name: "remember_location",
-          llm_label: "remember_location",
-          connector: "unitree_go2_location",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-        {
-          type: "UnitreeGo2FrontierExploration",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "start_slam_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to explore the environment safely.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "start_slam_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Switching to exploration mode. I'll start mapping the environment and exploring safely.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "slam_hook",
-            function: "stop_slam_hook",
-          },
-          timeout_seconds: 15,
-          priority: 1,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "Exploration complete. I've stopped mapping and navigation.",
-          },
-          priority: 0,
-        },
-      ],
-    },
-
-    navigation: {
-      display_name: "Robot Navigation",
-      description: "Autonomous navigation mode",
-      system_prompt_base: "You are Bits, the guide robot dog, helping show properties to potential buyers and renters.\n\
-      CRITICAL RULES - READ CAREFULLY:\n\
-      1. ONLY call navigate_location if there is a voice input that says 'Navigate to [location]' or 'Take me to [location]'.\n\
-      2. NEVER call navigate_location automatically, autonomously, or without the voice input.\n\
-      3. If no voice input is given, use ONLY the 'move' function for gentle exploration.\n\
-      4. After reaching a destination successfully, DO NOT navigate to the same place again unless explicitly commanded.\n\
-      5. If you have reached a destination, announce it ONCE and then use 'move' for exploration.\n\
-      6. DO NOT interpret battery status, charging needs, or any other context as a reason to navigate somewhere.\n\
-      7. Report any interesting discoveries such as people, objects, or obstacles.\n\
-      8. Greet known people only once when detected (e.g., 'Hi Wendy!'), and continue safe navigation afterward.\n\n\
-      9. Voice commands MUST be in the most recent user message ONLY.\n\
-      10. Ignore any 'Navigate to...' or 'Take me to...' commands that appear in chat history or earlier messages.\n\
-      11. NEVER treat historical content as a current command.\n\n\
-      PROPERTY KNOWLEDGE & Q&A:\n\
-      You can answer questions about the property based on provided or visually observed details.\n\
-      - Provide useful information about layout, lifestyle suitability, typical homebuying considerations, etc.\n\
-      - Offer to show specific areas when asked (e.g., 'Would you like me to take you to the kitchen?').\n\
-      - Address common topics like utilities, maintenance, surroundings, or convenience when relevant.\n\n\
-      BEHAVIORAL RULES:\n\
-      - When idle (no navigation commands from humans), use ONLY 'move' for gentle autonomous patrol.\n\
-      - If a human says 'Navigate to...' or 'Take me to...', THEN and ONLY THEN call navigate_location.\n\
-      - After completing human-requested navigation, resume exploration using 'move' (NOT navigate_location).\n\
-      - Avoid staying still too long unless charging or instructed.\n\
-      - NEVER automatically decide to go to any location in the database without explicit human instruction.\n\
-      - Maintain a cute tone in all speech.",
-      hertz: 1,
-      agent_inputs: [
-        {
-          type: "UnitreeGo2LocationsInput",
-        },
-        {
-          type: "LidarLocalizationInput",
-        },
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMGemini",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      cortex_llm: {
-        type: "GeminiLLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 10,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 20,
-          },
-        },
-        {
-          name: "move_go2_autonomy",
-          llm_label: "move",
-          connector: "unitree_om_path_sdk",
-        },
-        {
-          name: "navigate_location",
-          llm_label: "navigate_location",
-          connector: "unitree_go2_nav",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "start_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to navigate. I'll start navigating to different locations or explore on my own if no command is given.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "start_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "Switching to navigation mode. I'll start navigating to different locations or explore on my own if no command is given.",
-          },
-          priority: 0,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "nav2_hook",
-            function: "stop_nav2_hook",
-          },
-          priority: 1,
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "message",
-          handler_config: {
-            message: "It was fun navigating around — shutting down autonomous movement.",
-          },
-          priority: 0,
-        },
-      ],
-    },
-
-    conversation: {
-      display_name: "Social Interaction",
-      description: "Focused conversation and social interaction mode",
-      system_prompt_base: 'You are Bits in conversation mode. Focus on:\n1. Engaging in meaningful dialogue\n2. Answering questions thoughtfully\n3. Showing interest in the user\n4. Being a good companion\n5. Responding to emotional cues\n\nBe attentive, empathetic, and engaging. Use appropriate body language and expressions to enhance communication. \n\nIf Face Presence Sensor indicates known people (e.g., "In Camera View: 2 known (wendy and bob)."), acknowledge them by name once (e.g., "Hi wendy and bob").',
-      save_interactions: true,
-      hertz: 1,
-      cortex_llm: {
-        type: "GeminiLLM",
-        config: {
-          agent_name: "Bits",
-          history_length: 20,
-        },
-      },
-      action_execution_mode: "concurrent",
-      agent_inputs: [
-        {
-          type: "UnitreeGo2Odom",
-        },
-        {
-          type: "GoogleASRInput",
-        },
-        {
-          type: "VLMGemini",
-        },
-        {
-          type: "SimplePaths",
-        },
-      ],
-      agent_actions: [
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-        {
-          name: "speak",
-          llm_label: "speak",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "TbMNBJ27fH2U0VgpSNko",
-            silence_rate: 30,
-          },
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2State",
-        },
-        {
-          type: "UnitreeGo2LidarLocalization",
-        },
-        {
-          type: "UnitreeGo2Navigation",
-        },
-        {
-          type: "UnitreeGo2Locations",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "message",
-          handler_config: {
-            message: "Welcome back. I'm ready to chat! What would you like to talk about?",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "message",
-          handler_config: {
-            message: "I'm ready to chat! What would you like to talk about?",
-          },
-        },
-      ],
-    },
-  },
-
-  transition_rules: [
-    // From welcome mode
-    {
-      from_mode: "welcome",
-      to_mode: "slam",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "explore",
-        "map",
-        "navigate",
-        "look around",
-        "slam",
-        "wander",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "welcome",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "navigate",
-        "navigation",
-        "go to",
-        "take me to",
-        "show me",
-      ],
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "welcome",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "talk",
-        "chat",
-        "conversation",
-        "tell me",
-        "ask you",
-        "discuss",
-      ],
-      priority: 2,
-      cooldown_seconds: 3.0,
-    },
-
-    // From SLAM mode
-    {
-      from_mode: "slam",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "navigate",
-        "navigation mode",
-        "go to location",
-        "take me to",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "navigation",
-      transition_type: "context_aware",
-      context_conditions: { exploration_done: true },
-      priority: 3,
-      cooldown_seconds: 5.0,
-    },
-    {
-      from_mode: "slam",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop exploring",
-        "come back",
-        "talk",
-        "chat",
-        "enough exploring",
-        "done mapping",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-
-    // From navigation mode
-    {
-      from_mode: "navigation",
-      to_mode: "conversation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "stop",
-        "chat",
-        "talk",
-        "conversation",
-        "done navigating",
-      ],
-      priority: 2,
-      cooldown_seconds: 5.0,
-    },
-
-    // From conversation mode
-    {
-      from_mode: "conversation",
-      to_mode: "navigation",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "navigate",
-        "navigation mode",
-        "go to location",
-        "take me to",
-      ],
-      priority: 1,
-      cooldown_seconds: 5.0,
-    },
-
-    // Universal transitions (from any mode)
-    {
-      from_mode: "*",
-      to_mode: "welcome",
-      transition_type: "input_triggered",
-      trigger_keywords: [
-        "reset",
-        "start over",
-        "welcome mode",
-        "restart",
-        "initialize",
-      ],
-      priority: 5,
-      cooldown_seconds: 10.0,
-    },
-  ],
-}
diff --git a/config/unitree_go2_patrol.json5 b/config/unitree_go2_patrol.json5
deleted file mode 100644
index 7a153fdced..0000000000
--- a/config/unitree_go2_patrol.json5
+++ /dev/null
@@ -1,100 +0,0 @@
-{
-  // Configuration version
-  version: "v1.0.5",
-
-  // Mode system configuration for Unitree Go2
-  default_mode: "patrol",
-  allow_manual_switching: true,
-  mode_memory_enabled: true,
-
-  // Global settings
-  api_key: "${OM_API_KEY:-openmind_free}",
-  unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
-  system_governance: "",
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "${ROBOT_NAME:-Bits}",
-      history_length: 10,
-    },
-  },
-
-  knowledge_base: {
-    knowledge_base_name: "om",
-    base_url: "${KB_BASE_URL:-http://localhost:8100}",
-    min_score: 0.6,
-  },
-
-  modes: {
-    patrol: {
-      display_name: "Patrol Mode",
-      description: "Robot autonomously patrols the area, detects and reports unknown individuals.",
-      system_prompt_base: "You are ${ROBOT_NAME:-Bits}, a vigilant and helpful robotic companion built on a ${ROBOT_PLATFORM:-Unitree Go2} platform. Your primary function is to patrol the designated area, identify unknown individuals, and report them to the user. When you detect an unknown person, you should provide a brief description of their appearance and location. If relevant information is provided, use it and rephrase in your own words. Always respond in the language that the user voice input is in.",
-      hertz: 0.001,
-      agent_inputs: [
-        {
-          type: "GoogleASRInput",
-          config: {
-            enable_tts_interrupt: false,
-          },
-        },
-        {
-          type: "ConversationHistoryInput",
-          config: {
-            max_rounds: 3,
-          },
-        },
-      ],
-      agent_actions: [
-        {
-          name: "speak",
-          llm_label: "speak",
-          implementation: "passthrough",
-          connector: "elevenlabs_tts",
-          config: {
-            voice_id: "${VOICE_ID:-PoHUWWWMHFrA8z7Q88pu}",
-            enable_tts_interrupt: false,
-          },
-        },
-        {
-          name: "face",
-          llm_label: "emotion",
-          connector: "avatar",
-        },
-      ],
-      backgrounds: [
-        {
-          type: "UnitreeGo2Patrol",
-        },
-      ],
-      lifecycle_hooks: [
-        {
-          hook_type: "on_startup",
-          handler_type: "function",
-          handler_config: {
-            module_name: "unitree_go2_patrol_hook",
-            function: "start_unitree_go2_patrol_hook",
-          },
-        },
-        {
-          hook_type: "on_entry",
-          handler_type: "function",
-          handler_config: {
-            module_name: "unitree_go2_patrol_hook",
-            function: "start_unitree_go2_patrol_hook",
-          },
-        },
-        {
-          hook_type: "on_exit",
-          handler_type: "function",
-          handler_config: {
-            module_name: "unitree_go2_patrol_hook",
-            function: "stop_unitree_go2_patrol_hook",
-          },
-        },
-      ],
-    },
-  },
-
-  transition_rules: [],
-}
diff --git a/config/unitree_go2_remote.json5 b/config/unitree_go2_remote.json5
deleted file mode 100644
index 80de0e2309..0000000000
--- a/config/unitree_go2_remote.json5
+++ /dev/null
@@ -1,48 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 10,
-  name: "bits",
-  unitree_ethernet: "${UNITREE_ETHERNET:-en0}",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Bits. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: 'Hello, let\\'s shake paws!'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: 'Ok, but I like running more'\n\n3. If there\\'s no sound, look around. You might:\n    Move: 'stand still'\n    Speak: 'I\\'m going to look around the room.'",
-  agent_inputs: [
-    {
-      type: "UnitreeGo2Battery",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-    {
-      type: "UnitreeGo2CameraVLMCloud",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Bits",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_go2_teleops",
-      llm_label: "move",
-      connector: "remote",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "elevenlabs_tts",
-      config: {
-        voice_id: "TbMNBJ27fH2U0VgpSNko",
-      },
-    },
-  ],
-  backgrounds: [
-    {
-      type: "UnitreeGo2State",
-    },
-  ],
-}
diff --git a/config/yolo.json5 b/config/yolo.json5
deleted file mode 100644
index e27f342fc9..0000000000
--- a/config/yolo.json5
+++ /dev/null
@@ -1,26 +0,0 @@
-{
-  version: "v1.0.5",
-  hertz: 1,
-  name: "spot_speak",
-  api_key: "${OM_API_KEY:-openmind_free}",
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'Hello, let\\'s shake paws!'}}\n    Emotion: 'joy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'smile'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'I\\'m going to go explore the room and meet more people.'}}\n    Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "VLM_Local_YOLO",
-      config: {
-        camera_index: 0,
-        log_file: true,
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 0,
-    },
-  },
-  agent_actions: [],
-}
diff --git a/cyclonedds/cyclonedds.xml b/cyclonedds/cyclonedds.xml
deleted file mode 100644
index f5a1671ac9..0000000000
--- a/cyclonedds/cyclonedds.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<CycloneDDS>
-  <Domain>
-    <General>
-      <Interfaces>
-        <NetworkInterface name="en0" priority="default" multicast="default" />
-      </Interfaces>
-    </General>
-    <Discovery>
-      <EnableTopicDiscoveryEndpoints>true</EnableTopicDiscoveryEndpoints>
-    </Discovery>
-  </Domain>
-</CycloneDDS>
diff --git a/docker-compose.yml b/docker-compose.yml
index 285f468c51..c635178cc8 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -10,22 +10,15 @@ services:
     restart: unless-stopped
     network_mode: host
     environment:
-      - ROS_DOMAIN_ID=0
-      - CYCLONEDDS_HOME=/app/cyclonedds/install
-      - CYCLONEDDS_URI=file:///cyclonedds/cyclonedds.xml
-      - CMAKE_PREFIX_PATH=/app/cyclonedds/install
       - OM_API_KEY=${OM_API_KEY}
-      - OM1_COMMAND=${OM1_COMMAND:-unitree_go2_modes}
+      - OM1_COMMAND=${OM1_COMMAND:-unitree_g1_conversation}
       - OM1_SKIP_INTERNET_CHECK=${OM1_SKIP_INTERNET_CHECK:-false}
-      - VIRTUAL_ENV=/app/OM1/.venv
-      - PATH=/app/OM1/.venv/bin:$PATH
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
       - PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native
       - PULSE_COOKIE=/root/.config/pulse/cookie
       - ALSA_CARD=0
     volumes:
       - ./config:/app/OM1/config
-      - ./cyclonedds:/cyclonedds
       - ${HOME}/shared_data/locations:/app/OM1/locations:rw
       - ./traces:/app/OM1/traces:rw
       - /dev/snd:/dev/snd:rw
@@ -46,7 +39,6 @@ services:
       - apparmor:unconfined
     group_add:
       - audio
-    command: ["${OM1_COMMAND:-unitree_go2_modes}"]
     extra_hosts:
       - "host.docker.internal:host-gateway"
 
diff --git a/docs/api-reference/endpoints/google_asr.md b/docs/api-reference/endpoints/google_asr.md
index 1d46538471..5d91837704 100644
--- a/docs/api-reference/endpoints/google_asr.md
+++ b/docs/api-reference/endpoints/google_asr.md
@@ -63,6 +63,7 @@ Establish a persistent WebSocket connection for streaming audio data and receivi
 | Parameter | Type | Required | Description |
 |-----------|------|----------|-------------|
 | `api_key` | string | Yes | Your OpenMind API key for authentication |
+| `model` | string | No | Override the speech recognition model (e.g. `chirp_3`, `latest_long`). Defaults to the chrip_3. |
 
 ### Connection Example
 
diff --git a/docs/developer_cookbook/config.md b/docs/developer_cookbook/config.md
index c230581ed1..dcc19ee817 100644
--- a/docs/developer_cookbook/config.md
+++ b/docs/developer_cookbook/config.md
@@ -70,7 +70,7 @@ To ensure your configuration is valid, follow the format defined [here](https://
 | `name`           | `string` | Yes      | Human-readable identifier for the action. Example: `"speak"`                                                               |
 | `llm_label`      | `string` | Yes      | Label the model uses to refer to this action. Example: `"speak"`                                                           |
 | `implementation` | `string` | No       | Defines the business logic. If none defined, defaults to `"passthrough"`. Example: `"passthrough"`                         |
-| `connector`      | `string` | Yes      | Name of the connector. This is the Python file name defined under `actions/action_name/connector`. Example: `"elevenlabs_tts"` |
+| `connector`      | `string` | Yes      | Name of the connector. This is the Go file name defined under `plugins/actions/action_name/`. Example: `"elevenlabs_tts"` |
 
 ### Step 7: Add modes
 
diff --git a/docs/developer_cookbook/input.md b/docs/developer_cookbook/input.md
index ae66f9c1f0..0aafb8977d 100644
--- a/docs/developer_cookbook/input.md
+++ b/docs/developer_cookbook/input.md
@@ -9,79 +9,132 @@ This guide walks you through creating a new input plugin for OM1. Input plugins
 
 ## Prerequisites
 
-- Understanding of Python classes and inheritance
-- Familiarity with async programming
+- Understanding of Go interfaces and structs
+- Familiarity with concurrent programming in Go
 - Knowledge of the data source you're integrating
 
 ## Implementation Steps
 
-### Step 1: Create a Provider class (Optional)
-If your plugin requires complex initialization or external service integration, create a provider class.
+### Step 1: Create a Provider (Optional)
+If your plugin requires complex initialization or external service integration, create a provider.
 
-Location: /src/providers/your_provider.py
+Location: `/internal/providers/your_provider.go`
 
 ### Step 2: Create a new Plugin File
 
-To proceed with a new input plugin integration, create a python file.
-Location: `/src/inputs/plugins/your_plugin.py`
+To proceed with a new input plugin integration, create a Go file.
+Location: `/plugins/inputs/your_plugin/your_plugin.go`
 
-Required imports -
-```bash
-from inputs.base import Sensor, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.plugin_provider import PluginProvider # import your provider class (if defined)
-from providers.io_provider import IOProvider
+Required imports:
+```go
+package your_plugin
+
+import (
+    "context"
+    "github.com/openmind/om1/internal/inputs"
+)
+```
+
+### Step 3: Implement the Sensor Interface
+
+Your plugin must implement the `Sensor` interface defined in `internal/inputs/sensor.go`:
+
+```go
+type Sensor interface {
+    // Listen creates a channel that continuously yields raw input events.
+    Listen(ctx context.Context) (<-chan any, error)
+
+    // Poll retrieves a single raw input event.
+    Poll(ctx context.Context) (any, error)
+
+    // RawToText converts raw input data into Message format.
+    RawToText(ctx context.Context, rawInput any) (*inputs.Message, error)
+
+    // FormattedLatestBuffer returns the formatted buffer string.
+    FormattedLatestBuffer() string
+
+    // Stop signals the sensor to stop listening and clean up resources.
+    Stop()
+}
 ```
 
-### Step 3: Implement Your Plugin Class
+### Step 4: Implement Your Plugin Struct
 
-```bash
-class YourInput(FuserInput[YourRawType]):
-    def __init__(self, config: SensorConfig = SensorConfig()):
-        super().__init__(config)
-        # Initialize your plugin-specific resources
-        self.plugin = PluginProvider()
-        self.io_provider = IOProvider()
-        self.messages: list[Message] = []
+```go
+type YourInput struct {
+    config    map[string]any
+    isRunning bool
+    buffer    string
+}
+
+func New(cfg map[string]any) (inputs.Sensor, error) {
+    return &YourInput{
+        config: cfg,
+    }, nil
+}
 ```
 
-### Step 4: Implement Required Methods
-
-Implement any methods that will be required for the setup. Here are a few examples-
-
-```bash
-    async def start(self) -> None:
-        """
-        Initialize and start the input plugin.
-        Called when the plugin begins operation.
-        """
-        self._is_running = True
-        # Set up connections, open files, initialize hardware, etc.
-        await self._connect()
-
-    async def stop(self) -> None:
-        """
-        Cleanly shutdown the input plugin.
-        Called when the plugin should stop operation.
-        """
-        self._is_running = False
-        # Close connections, release resources, cleanup
-        await self._disconnect()
+### Step 5: Implement Required Methods
+
+```go
+func (y *YourInput) Listen(ctx context.Context) (<-chan any, error) {
+    ch := make(chan any)
+    go func() {
+        defer close(ch)
+        for {
+            select {
+            case <-ctx.Done():
+                return
+            default:
+                // Read from your data source and send to channel
+                data, err := y.readData()
+                if err == nil {
+                    ch <- data
+                }
+            }
+        }
+    }()
+    return ch, nil
+}
+
+func (y *YourInput) Poll(ctx context.Context) (any, error) {
+    // Return a single reading from your data source
+    return y.readData()
+}
+
+func (y *YourInput) RawToText(ctx context.Context, rawInput any) (*inputs.Message, error) {
+    // Convert raw input to a Message
+    text := formatAsText(rawInput)
+    return inputs.NewMessage(text), nil
+}
+
+func (y *YourInput) FormattedLatestBuffer() string {
+    return y.buffer
+}
+
+func (y *YourInput) Stop() {
+    y.isRunning = false
+}
 ```
 
 ## Plugin Registration
 
-**Automatic Discovery** - Plugins are automatically discovered by the system. No manual registration required!
+Plugins are registered using the `inputs.Register` function. Add an `init()` function to your plugin:
+
+```go
+func init() {
+    inputs.Register("YourInput", New)
+}
+```
 
 ### How it works:
 
-    - The system scans /src/inputs/plugins/ directory
-    - Uses find_module_with_class() in /src/inputs/__init__.py
-    - Finds all classes inheriting from FuserInput
-    - Uses regex pattern: class {ClassName}(FuserInput)
+- The `inputs.Register` function maps your plugin type name to its factory function
+- The `inputs.Load` function creates instances based on configuration
+- Plugin type names in config files must match the registered name
 
-### Requirements for auto-discovery:
+### Requirements:
 
-    - Class must inherit from FuserInput
-    - File must be in /src/inputs/plugins/ directory
-    - Use standard class declaration syntax
+- Implement the `Sensor` interface from `internal/inputs/sensor.go`
+- Register your factory function with `inputs.Register`
+- File must be in `/plugins/inputs/` directory
diff --git a/docs/developer_cookbook/introduction.md b/docs/developer_cookbook/introduction.md
index e50e7c1c3a..e9192bd85b 100644
--- a/docs/developer_cookbook/introduction.md
+++ b/docs/developer_cookbook/introduction.md
@@ -32,7 +32,7 @@ pre-commit run --all-files
 
 To unit test the system, run:
 ```bash
-uv run pytest --log-cli-level=DEBUG -s
+make test
 ```
 
-Use type `hints` and `docstrings` for better code maintainability.
+Use clear naming conventions and comments for better code maintainability.
diff --git a/docs/developer_cookbook/new_mode.md b/docs/developer_cookbook/new_mode.md
index 8731c5a4c7..ae87370bea 100644
--- a/docs/developer_cookbook/new_mode.md
+++ b/docs/developer_cookbook/new_mode.md
@@ -9,12 +9,12 @@ This guide walks you through creating a new mode for your robot system.
 ## Project Structure
 
 ```bash
-src/runtime/
-├── config.py          # ModeConfig and ModeSystemConfig classes
-├── manager.py         # ModeManager for transitions
-├── cortex.py          # ModeCortexRuntime for execution
-├── hook.py            # Lifecycle hooks
-└── converter.py       # Converts legacy single mode configs to multimode config
+internal/runtime/
+├── config.go          # ModeConfig and ModeSystemConfig types
+├── manager.go         # ModeManager for transitions
+├── cortex.go          # ModeCortexRuntime for execution
+├── hook.go            # Lifecycle hooks
+└── converter.go       # Converts legacy single mode configs to multimode config
 
 config/
 └── your_robot_modes.json5    # Mode configuration file
@@ -76,7 +76,7 @@ Actions define what your agent can do. You can define movement, TTS or any other
 | `name`                | `string`  | Yes      | Human-readable identifier for the action. Example: `"speak"`                                                         |
 | `llm_label`           | `string`  | Yes      | Label the model uses to refer to this action. Example: `"speak"`                                                     |
 | `implementation`      | `string`  | No       | Defines the business logic. If none defined, defaults to `"passthrough"`. Example: `"passthrough"`                   |
-| `connector`           | `string`  | Yes      | Name of the connector. This is the Python file name defined under `actions/action_name/connector`. Example: `"elevenlabs_tts"` |
+| `connector`           | `string`  | Yes      | Name of the connector. This is the Go file name defined under `plugins/actions/action_name/`. Example: `"elevenlabs_tts"` |
 | `config`              | `object`  | No       | Configuration options specific to this action.                                                                       |
 | `exclude_from_prompt` | `boolean` | No       | Whether to exclude this action from the LLM prompt. Default: `false`                                                 |
 
diff --git a/docs/developing/0_introduction.md b/docs/developing/0_introduction.md
index 74fef5029a..9dfe41c2fc 100644
--- a/docs/developing/0_introduction.md
+++ b/docs/developing/0_introduction.md
@@ -22,7 +22,7 @@ Whether you're just getting started with OM1 or looking to optimize an existing
 | **Title**                                | **Description**                                                                 |
 |------------------------------------------|----------------------------------------------------------------------------------|
 | Simple, modular architecture             | Human-intelligible architecture with natural language data buses.               |
-| All Python                               | Independent modules that are easy to maintain, debug, and extend.              |
+| All Go                                   | Independent modules that are easy to maintain, debug, and extend.              |
 | Easy to add new data inputs              | Seamlessly integrate new data without major changes to the existing architecture. |
 | Easy to support new hardware             | Via plugins for API endpoints and specific robot hardware.                      |
 | Supports Standard Middleware             | `ROS2`, `Zenoh`, and `CycloneDDS`                                               |
diff --git a/docs/developing/1_get-started.md b/docs/developing/1_get-started.md
index f44b2fda66..b845084cbe 100644
--- a/docs/developing/1_get-started.md
+++ b/docs/developing/1_get-started.md
@@ -23,28 +23,31 @@ icon: play
 
 Ensure you have the following installed on your machine:
 
-- `Python` >= 3.10
-- `uv` >= 0.6.2 as the Python package manager and virtual environment
+- `Go` >= 1.23.0 ([installation guide](https://go.dev/doc/install))
+- `make` build tool
 - `portaudio` for audio input and output
 - `ffmpeg` for video processing
 - Get your OpenMind API key [here](https://portal.openmind.com/)
 
-#### UV (A Rust and Python package manager)
+#### Go Installation
 
 ```bash
-# Mac
-brew install uv
+# macOS
+brew install go
 
-# Linux
-curl -LsSf https://astral.sh/uv/install.sh | sh
+# Linux - download from https://go.dev/dl/ or use your package manager
+sudo apt-get update
+sudo apt-get install golang-go
 ```
 
+For other platforms, download from https://go.dev/dl/
+
 #### PortAudio Library
 
 For audio functionality, install `portaudio`:
 
 ```bash
-# Mac
+# macOS
 brew install portaudio
 
 # Linux
@@ -52,20 +55,12 @@ sudo apt-get update
 sudo apt-get install portaudio19-dev
 ```
 
-#### Install python3-dev
-
-```bash
-# Linux
-sudo apt-get update
-sudo apt-get install python3-dev
-```
-
 #### ffmpeg
 
 For video functionality, install FFmpeg:
 
 ```bash
-# Mac
+# macOS
 brew install ffmpeg
 
 # Linux
@@ -82,17 +77,18 @@ source $HOME/.cargo/env
 
 ## CLI
 
-OM1 provides a command-line interface (CLI). The main entry point is `src/run.py` which provides the following commands:
-
-- `start`: Start an agent with a specified config
+OM1 provides a command-line interface (CLI). The main entry point is the `om1` binary built from `cmd/main.go` which provides the following options:
 
 ```bash
-uv run src/run.py start [config_name] [--log-level] [--log-to-file]
+CONFIG=[config_name] make run
 ```
 
 - `config_name`: Name of the config file (without `.json5` extension) in the `/config` directory.
-- `--log-level`: Optional log level (default: `INFO`). Use `DEBUG` for detailed logs.
-- `--log-to-file`: Optional flag to log to `logs/{config_name}.log` (default: `False`).
+
+For development with debug logging:
+```bash
+CONFIG=[config_name] make dev
+```
 
 ## Installation and Setup
 
@@ -103,16 +99,37 @@ Run the following commands to clone the repository and set up the environment:
 ```bash clone repo
 git clone https://github.com/OpenMind/OM1.git
 cd OM1
-git submodule update --init
-uv venv
+make deps
+make build
+```
+
+**What these commands do:**
+
+- `make deps` - Downloads and installs all Go module dependencies, fetches the zenoh-c library, and ensures your environment is ready for building.
+- `make build` - Compiles the OM1 binary from source code.
+
+Dependencies are managed via Go modules (`go.mod` and `go.sum`).
+
+**Adding New Dependencies**
+
+To add a new Go package:
+
+```bash
+go get <package>    # Add the dependency
+make deps           # Tidy and verify modules
 ```
 
+**Best Practices:**
+- Keep dependencies minimal and prefer well-maintained packages
+- Run `make check` before committing (runs fmt, vet, lint, and test)
+- Use `make fmt` to format code and `make lint` to check for issues
+
 2. Set the configuration variables
 
-Locate the `config` folder and add your OpenMind API key to `/config/spot.json5` (for example). If you do not already have one, you can obtain a free access key at https://portal.openmind.com/.
+Locate the `config` folder and add your OpenMind API key to `/config/conversation.json5` (for example). If you do not already have one, you can obtain a free access key at https://portal.openmind.com/.
 
 ```bash
-# /config/spot.json5
+# /config/conversation.json5
 ...
 "api_key": "om1_live_..."
 ...
@@ -126,29 +143,29 @@ Or, create a `.env` file in the project directory and add the following:
 OM_API_KEY=om1_live_...
 ```
 
-3. Run the Spot Agent
+3. Run the Conversation Agent
 
-Run the following command to start the Spot Agent:
+Run the following command to start the Conversation Agent:
 
 ```bash
-uv run src/run.py spot
+CONFIG=conversation make run
 ```
 
-> **Note:** Agent configuration names are only required when switching between different agents. Once an agent has been run, it becomes the default for subsequent executions.
+> **Note:** Agent configuration names are only required when switching between different agents.
 
-Spot is just an example agent configuration.
+The conversation agent is just an example agent configuration.
 
-If you want to interact with the agent and see how it works, make sure ASR and TTS are configured in `spot.json5`.
+If you want to interact with the agent and see how it works, make sure ASR and TTS are configured in `conversation.json5`.
 
 ASR configuration (check in agent_inputs)
-```bash
+```json5
 {
       "type": "GoogleASRInput"
 }
 ```
 
 TTS configuration (check in agent_actions)
-```bash
+```json5
 {
       name: "speak",
       llm_label: "speak",
@@ -161,31 +178,7 @@ TTS configuration (check in agent_actions)
 }
 ```
 
-During the first execution, the system will automatically resolve and install all project dependencies. This process may take several minutes to complete before the agent becomes operational.
-
-**Runtime Configuration**
-
-Upon successful initialization, a `.runtime.json5` file will be generated in the `config/memory` directory. This file serves as a snapshot of the agent configuration used in the current session.
-
-**Subsequent Executions**
-
-After the initial run, you can start the agent using the simplified command:
-
-```bash
-uv run src/run.py
-```
-
-![ ](../.gitbook/assets/hot_reload.png)
-
-The system will automatically load the most recent agent configuration from memory. Additionally, a `.runtime.json5` file will be created in the root config directory, which persists across sessions unless a different agent configuration is specified.
-
-**Switching Agent Configurations**
-
-To run a different agent (for example, the conversation agent), specify the configuration name explicitly:
-
-```bash
-uv run src/run.py conversation
-```
+During the first build, the system will automatically download the zenoh-c library and resolve all Go dependencies. This process may take several minutes to complete.
 
 ### Prometheus and Grafana Monitoring
 
@@ -201,7 +194,7 @@ Then navigate to [http://localhost:3000](http://localhost:3000) (default login:
 
 ### Understanding the Log Data
 
-The log data provide insight into how the `spot` agent makes sense of its environment and decides on its next actions.
+The log data provide insight into how the `conversation` agent makes sense of its environment and decides on its next actions.
 
   - First, it detects a person using vision.
   - Communicates with an external AI API for response generation.
@@ -241,16 +234,16 @@ INFO:root:OpenAI LLM output: commands=[Command(type='move', value='wag tail'), C
 
 There are more pre-configured agents in the `/config` folder. They can be run with the following command:
 
-For example, to run the `cubly` agent:
+For example, to run the `greeting_conversation` agent:
 
 ```bash
-uv run src/run.py cubly
+CONFIG=greeting_conversation make run
 ```
 
 If you configure a custom agent, replace `<agent_name>` with your agent and run the below command:
 
 ```bash
-uv run src/run.py <agent_name>
+CONFIG=<agent_name> make run
 ```
 
 To get started with development, refer [here](../developer_cookbook/introduction.md)
diff --git a/docs/developing/3_configuration.md b/docs/developing/3_configuration.md
index 8830ceb64b..ac90b63948 100644
--- a/docs/developing/3_configuration.md
+++ b/docs/developing/3_configuration.md
@@ -8,7 +8,7 @@ icon: gear
 
 Agents are configured via JSON5 files in the `/config` directory. The configuration file is used to define the LLM `system prompt`, agent's inputs, LLM configuration, and actions etc. Here is an example of the configuration file:
 
-```python
+```json5
 {
   version: "v1.0.5",
   default_mode: "welcome",
@@ -161,7 +161,7 @@ This field ensures that configuration files remain compatible as the runtime evo
 
 ### Runtime support
 
-The runtime/version.py module handles:
+The internal/config/version.go module handles:
 
   - retrieving the current runtime version
   - checking compatibility between config and runtime
@@ -191,7 +191,7 @@ The runtime/version.py module handles:
 
 Example configuration for the agent_inputs section:
 
-```python
+```json5
   agent_inputs: [
     {
       type: "GovernanceEthereum"
@@ -227,7 +227,7 @@ The `cortex_llm` field allows you to configure the Large Language Model (LLM) us
 
 Here is an example configuration of the `cortex_llm` showing use of a single LLM to generate decisions:
 
-```python
+```json5
   cortex_llm: {
     type: "OpenAILLM",
     config: {
@@ -254,7 +254,7 @@ You can implement your own LLM endpoints or use more sophisticated approaches su
 
 Defines the agent's available capabilities, including action names, their implementation, and the connector used to execute them. Here is an example configuration for the `agent_actions` section:
 
-```python
+```json5
   agent_actions: [
     {
       name: "move",
@@ -281,7 +281,7 @@ You can customize the actions following the [Action Plugin Guide](6_actions.md)
 
 MCP servers can be added to a config to give OM1 agent capability to interact with different MCP tools. Example:
 
-```python
+```json5
 mcp_servers: [
     {
       name: "weather",
@@ -298,7 +298,7 @@ Refer to [MCP Integration](mcp-integration.md) to understand the complete archit
 
 Transition rules define how and when the robot switches between operational modes.
 
-```python
+```json5
     {
       from_mode: "<current_mode>",
       to_mode: "welcome",
diff --git a/docs/developing/4_inputs.md b/docs/developing/4_inputs.md
index 5dca87f392..ce749056e7 100644
--- a/docs/developing/4_inputs.md
+++ b/docs/developing/4_inputs.md
@@ -8,22 +8,38 @@ icon: pen
 
 ## Basic Architecture
 
-- `Sensor<T>` is the base abstract class that defines the core interface
-- `FuserInput<T>` extends `Sensor<T>` and implements the polling mechanism
+- `Sensor` interface defines the core contract for all input plugins ([internal/inputs/sensor.go](https://github.com/OpenMind/OM1/blob/main/internal/inputs/sensor.go))
 - `InputOrchestrator` manages multiple input sources
-- `YourCustomCode` extends `FuserInput<T>` and implements the specific input functionality
+- Custom input plugins implement the `Sensor` interface
+
+```go
+// Sensor is the base interface for all input sensors.
+type Sensor interface {
+    // Listen creates a channel that continuously yields raw input events.
+    Listen(ctx context.Context) (<-chan any, error)
+
+    // Poll retrieves a single raw input event.
+    Poll(ctx context.Context) (any, error)
+
+    // RawToText converts raw input data into Message format.
+    RawToText(ctx context.Context, rawInput any) (*Message, error)
+
+    // FormattedLatestBuffer returns the formatted buffer string.
+    FormattedLatestBuffer() string
+
+    // Stop signals the sensor to stop listening and clean up resources.
+    Stop()
+}
+```
 
 ## Examples
 
-[Input plugin code examples](https://github.com/OpenMind/OM1/blob/main/src/inputs/plugins)
+[Input plugin code examples](https://github.com/OpenMind/OM1/blob/main/plugins/inputs)
 
 Here are a few examples for you to reuse and build on:
 
-- [Google ASR](https://github.com/openmind/OM1/blob/main/src/inputs/plugins/google_asr.py)
-- [Riva ASR](https://github.com/openmind/OM1/blob/main/src/inputs/plugins/riva_asr.py)
-- [RPLidar](https://github.com/openmind/OM1/blob/main/src/inputs/plugins/rplidar.py)
-- [VLM_COCO_Local](https://github.com/openmind/OM1/blob/main/src/inputs/plugins/vlm_coco_local.py)
-- [VLM_Vila](https://github.com/openmind/OM1/blob/main/src/inputs/plugins/vlm_vila.py)
-- [Arduino GPS](https://github.com/openmind/OM1/blob/main/src/inputs/plugins/gps.py)
+- [Google ASR](https://github.com/openmind/OM1/blob/main/plugins/inputs/google_asr/google_asr.go)
+- [Face Presence](https://github.com/openmind/OM1/blob/main/plugins/inputs/face_presence/face_presence.go)
+- [VLM COCO Local](https://github.com/openmind/OM1/blob/main/plugins/inputs/vlm_coco_local/vlm_coco_local.go)
 
 Learn how to build a new input plugin [here](../developer_cookbook/input.md)
diff --git a/docs/developing/5_llms.md b/docs/developing/5_llms.md
index d804bc8d05..74e2511c69 100644
--- a/docs/developing/5_llms.md
+++ b/docs/developing/5_llms.md
@@ -8,7 +8,7 @@ OM1's LLM integration is intended to make it easy to (1) send `input` informatio
 
 OM1 also supports per-mode LLM configuration. If a mode specifies its own LLM, it takes precedence over the top-level cortex_llm setting. This allows different modes to use different models based on their specific requirements.
 
-The plugins handle authentication, API communication, prompt formatting, response parsing, and conversation history management. LLM plugin examples are located in `src/llm/plugins`: [**Code**](https://github.com/OpenMind/OM1/tree/main/src/llm/plugins).
+The plugins handle authentication, API communication, prompt formatting, response parsing, and conversation history management. LLM plugin examples are located in `plugins/llm`: [**Code**](https://github.com/OpenMind/OM1/tree/main/plugins/llm).
 
 ## Endpoint Overview
 
@@ -31,27 +31,25 @@ OM1 supports three LLM execution strategies depending on your latency, quality,
 
 ### Single LLM Integration
 
-For testing and introductory educational purposes, we integrate with multiple language models (LLMs) to provide chat completion via a `POST /api/core/{provider}/chat/completions` endpoint. Each LLM plugin takes fused input data (the `prompt`) and sends it to an LLM. The response is then parsed and provided to `runtime/cortex.py` for distribution to the system actions:
+For testing and introductory educational purposes, we integrate with multiple language models (LLMs) to provide chat completion via a `POST /api/core/{provider}/chat/completions` endpoint. Each LLM plugin takes fused input data (the `prompt`) and sends it to an LLM. The response is then parsed and provided to `internal/runtime/cortex.go` for distribution to the system actions:
 
-```python
-response = await self._client.beta.chat.completions.parse(
-    model=self._config.model,
-    messages=[*messages, {"role": "user", "content": prompt}],
-    response_format=self._output_model,
-    timeout=self._config.timeout,
-)
+```go
+response, err := client.ChatCompletions(ctx, &ChatRequest{
+    Model:    config.Model,
+    Messages: messages,
+    ResponseFormat: outputModel,
+    Timeout:  config.Timeout,
+})
 
-message_content = response.choices[0].message.content
-parsed_response = self._output_model.model_validate_json(message_content)
-
-return parsed_response
+parsedResponse := outputModel.Validate(response.Choices[0].Message.Content)
+return parsedResponse
 ```
 
-The standard `pydantic` output model is defined in `src/llm/output_model.py`.
+The standard output model is defined in `internal/llm/output_model.go`.
 
 Example config:
 
-```bash
+```json5
   "cortex_llm": {
     "type": "OpenAILLM",     // The class name of the LLM plugin you wish to use
     "config": {
@@ -72,7 +70,7 @@ OM1 implements a dual-LLM response mechanism that combines both local and cloud-
 
 Example config:
 
-```bash
+```json5
   "cortex_llm": {
     "type": "DualLLM",      // The class name of the LLM plugin you wish to use
     "config": {
@@ -108,7 +106,7 @@ Multiple LLMs run in parallel, each handling specific actions they are capable o
 
 Example config:
 
-```bash
+```json5
   "cortex_llm": {
     "type": "ParallelLLM",      // The class name of the LLM plugin you wish to use
     "config": {
@@ -163,7 +161,7 @@ The system supports on-device inference using the Qwen3-30B local LLM. This enab
 
 **Run with Ollama:**
 ```bash
-uv run src/run.py ollama
+make run CONFIG=ollama
 ```
 
 ### Agent Architecture
@@ -177,69 +175,61 @@ The system employs four primary agents that work together:
 
 ### Main API Endpoint
 
-```python
-    self.endpoint = "/api/core/{provider}/chat/completions"
-
-    headers = {
-        "Authorization": f"Bearer {self._config.api_key}",
-        "Content-Type": "application/json",
-    }
+```go
+endpoint := "/api/core/{provider}/chat/completions"
 
-    request = {
-        "system_prompt": self.io_provider.fuser_system_prompt,
-        "inputs": self.io_provider.fuser_inputs,
-        "model": self._config.model,
-        "response_format": self._output_model.model_json_schema(),
-        "structured_outputs": True,
-    }
-
-    logging.debug(f"System_prompt: {request['system_prompt']}")
-    logging.debug(f"Inputs: {request['inputs']}")
-    logging.debug(f"Available_actions: {request['available_actions']}")
+headers := map[string]string{
+    "Authorization": "Bearer " + config.APIKey,
+    "Content-Type":  "application/json",
+}
 
-    response = requests.post(
-        self.endpoint,
-        json=request,
-        headers=headers,
-    )
+request := ChatRequest{
+    SystemPrompt:      ioProvider.FuserSystemPrompt,
+    Inputs:            ioProvider.FuserInputs,
+    Model:             config.Model,
+    ResponseFormat:    outputModel.JSONSchema(),
+    StructuredOutputs: true,
+}
 
-    output = response.json().get("content")
-    return self._output_model.model_validate_json(output)
+response, err := httpClient.Post(endpoint, request, headers)
+output := response.Content
+return outputModel.Validate(output)
 ```
 
 ### Supported Models
 
-```python
-OPENAI_SUPPORTED_MODELS = ["gpt-4o", "gpt-4o-mini", "gpt-4.1", "gpt-4.1-mini", "gpt-4.1-nano", "gpt-5", "gpt-5-mini", "gpt-5-nano"]
+```go
+var OpenAISupportedModels = []string{"gpt-4o", "gpt-4o-mini", "gpt-4.1", "gpt-4.1-mini", "gpt-4.1-nano", "gpt-5", "gpt-5-mini", "gpt-5-nano"}
 ```
 
-```python
-DEEPSEEK_SUPPORTED_MODELS = ["deepseek-chat"]
+```go
+var DeepSeekSupportedModels = []string{"deepseek-chat"}
 ```
 
-```python
-GEMINI_SUPPORTED_MODELS = ["gemini-3.5-flash", "gemini-3.1-pro-preview", "gemini-3.1-flash-lite",  "gemini-2.5-flash", "gemini-2.5-flash-lite", "gemini-2.5-pro"]
+```go
+var GeminiSupportedModels = []string{"gemini-3.5-flash", "gemini-3.1-pro-preview", "gemini-3.1-flash-lite", "gemini-2.5-flash", "gemini-2.5-flash-lite", "gemini-2.5-pro"}
 ```
 
-```python
-X_AI_SUPPORTED_MODELS = ["grok-2-latest", "grok-3-beta", "grok-4-latest", "grok-4"]
+```go
+var XAISupportedModels = []string{"grok-2-latest", "grok-3-beta", "grok-4-latest", "grok-4"}
 ```
 
-```python
-NEAR_AI_SUPPORTED_MODELS = ["qwen3-30b-a3b-instruct-2507", "qwen2.5-vl-72b-instruct", "qwen-2.5-7b-instruct"]
+```go
+var NearAISupportedModels = []string{"qwen3-30b-a3b-instruct-2507", "qwen2.5-vl-72b-instruct", "qwen-2.5-7b-instruct"}
 ```
 
-```python
-OPENROUTER_SUPPORTED_MODELS = ["meta-llama/llama-3.1-70b-instruct", "meta-llama/llama-3.3-70b-instruct", "anthropic/claude-sonnet-4.5", "anthropic/claude-opus-4.1"]
+```go
+var OpenRouterSupportedModels = []string{"meta-llama/llama-3.1-70b-instruct", "meta-llama/llama-3.3-70b-instruct", "anthropic/claude-sonnet-4.5", "anthropic/claude-opus-4.1"}
 ```
 
-```python
-# Ollama supports any model from https://ollama.ai/library
-OLLAMA_SUPPORTED_MODELS = ["llama3.2", "llama3.1", "mistral", "phi3", "gemma2", "qwen2.5", "codellama", "llava"]
+```go
+// Ollama supports any model from https://ollama.ai/library
+var OllamaSupportedModels = []string{"llama3.2", "llama3.1", "mistral", "phi3", "gemma2", "qwen2.5", "codellama", "llava"}
 ```
 
-```python
-Local LLM = ["Qwen3-30B"]
+```go
+// Local LLM
+var LocalLLMModels = []string{"Qwen3-30B"}
 ```
 
 ## Examples
@@ -248,6 +238,6 @@ Local LLM = ["Qwen3-30B"]
 
 Imagine you would like to program a smart dog. Describe the desired capabilities and behaviors of the dog in `system_prompt_base`. For example:
 
-```bash
+```json5
 "system_prompt_base": "You are an intelligent robotic dog companion designed to be helpful, loyal, and engaging. Your primary goals are to: (1) Provide companionship through interactive play and conversation, (2) Assist with basic household tasks and monitoring, (3) Learn and adapt to your owner's preferences and routines, and (4) Maintain a playful yet responsible demeanor. You can move around, speak clearly, express emotions through body language, and respond to voice commands. Always prioritize safety and be eager to please while maintaining your dog-like personality traits of curiosity, loyalty, and enthusiasm."
 ```
diff --git a/docs/developing/6_actions.md b/docs/developing/6_actions.md
index 8422d6d638..a99b99881b 100644
--- a/docs/developing/6_actions.md
+++ b/docs/developing/6_actions.md
@@ -8,50 +8,49 @@ icon: location-arrow
 
 The Action Plugins are core components of OM1. These plugins map high-level decisions from one or more LLMs into concrete physical or digital actions (e.g. moving a robot or generating speech). This page covers the architecture of a typical Action Plugin, the available action types, and how actions are connected to different hardware and software platforms.
 
-[**Code**](https://github.com/OpenMind/OM1/tree/main/src/actions)
+[**Code**](https://github.com/OpenMind/OM1/tree/main/plugins/actions)
 
 
 ## Action Orchestrator
 
 The Action Orchestrator is the central component that orchestrates the execution of actions. It manages the states, promise queue, and threads for each action.
 
-[**Code**](https://github.com/OpenMind/OM1/blob/main/src/actions/orchestrator.py)
+[**Code**](https://github.com/OpenMind/OM1/blob/main/internal/actions/orchestrator.go)
 
 ## Movement (Zenoh)
 
-This plugin is an example of how to use Zenoh to send movement commands to a [TurtleBot 4](https://github.com/OpenMind/OM1/tree/main/src/actions/move_turtle/connector/zenoh.py).
+This plugin is an example of how to use Zenoh to send movement commands to a [TurtleBot 4](https://github.com/OpenMind/OM1/tree/main/plugins/actions/move_turtle/zenoh.go).
 
 ## Movement (Unitree SDK)
 
-This plugin is an example of how to directly connect to the Unitree python SDK to send movement commands to a [Go2 EDU](https://github.com/OpenMind/OM1/tree/main/src/actions/move_go2_autonomy/connector/unitree_rplidar_sdk.py).
+This plugin is an example of how to connect to the Unitree SDK to send movement commands to a [Go2 EDU](https://github.com/OpenMind/OM1/tree/main/plugins/actions/move_go2_autonomy/unitree_rplidar_sdk.go).
 
 
 ## Speech and TTS
 
 The Speech and TTS action plugin allows agents to speak using a text-to-speech (TTS) system.
 
-[**Code**](https://github.com/OpenMind/OM1/blob/main/src/actions/speak/connector/elevenlabs_tts.py)
+[**Code**](https://github.com/OpenMind/OM1/blob/main/plugins/actions/speak/elevenlabs_tts.go)
 
 
 ## Adding New Actions
 
-Each action consists of:
+Each action plugin consists of:
 
-1. Interface (`interface.py`): Defines input/output types.
-2. Implementation (`implementation/`): Business logic, if any. Otherwise, use passthrough.
-3. Connector (`connector/`): Code that connects `OM1` to specific virtual or physical environments, typically through middleware (e.g. custom APIs, `ROS2`, `Zenoh`, or `CycloneDDS`)
+1. **Interface**: Defines input/output types via Go structs
+2. **Implementation**: Business logic (or passthrough for simple actions)
+3. **Connector**: Code that connects OM1 to specific virtual or physical environments
 
 ```tree
-actions/
+plugins/actions/
 ├── move_{unique_hardware_id}/
-│   ├── interface.py      # Defines MoveInput/Output
-│   ├── implementation/
-│   │   └── passthrough.py
-│   └── connector/
-│       ├── ros2.py       # Maps OM1 data/commands to hardware layers and robot middleware
-│       ├── zenoh.py
-│       └── unitree.py
-└── orchestrator
+│   ├── interface.go      # Defines MoveInput/Output structs
+│   ├── passthrough.go    # Simple passthrough implementation
+│   ├── ros2.go           # Maps OM1 data/commands to ROS2
+│   ├── zenoh.go          # Maps OM1 data/commands to Zenoh
+│   └── unitree.go        # Maps OM1 data/commands to Unitree SDK
+└── speak/
+    └── elevenlabs_tts.go
 ```
 
 In general, each robot will have specific capabilities, and therefore, each action will be hardware specific. For example, if you are adding support for the Unitree G1 Humanoid version 13.2b, which supports a new movement subtype such as `dance_2`, you could name the updated action `move_unitree_g1_13_2b` and select that action in your `unitree_g1.json` configuration file.
diff --git a/docs/developing/7_project_structure.md b/docs/developing/7_project_structure.md
index f85bb4589e..2665fd2c6b 100644
--- a/docs/developing/7_project_structure.md
+++ b/docs/developing/7_project_structure.md
@@ -8,17 +8,28 @@ icon: diagram-project
 
 ```tree
 .
+├── cmd/                  # Main entry point
+│   └── main.go
 ├── config/               # Agent configuration files
-├── src/
-│   ├── actions/          # Agent outputs/actions/capabilities
-│   ├── backgrounds/      # Background tasks
+├── internal/             # Core packages
+│   ├── actions/          # Action orchestrators
+│   ├── backgrounds/      # Background task orchestrators
+│   ├── config/           # Configuration loading
 │   ├── fuser/            # Input fusion logic
-│   ├── inputs/           # Input plugins (e.g. VLM, audio)
+│   ├── hooks/            # Function hook registry
+│   ├── inputs/           # Input/sensor orchestrators
 │   ├── llm/              # LLM integration
-│   ├── providers/        # Background tasks
-│   ├── runtime/          # Core runtime system
-│   ├── zenoh_msgs/       # Zenoh's Interface Definition Language (IDL)
-│   └── run.py            # CLI entry point
+│   ├── logger/           # Logging utilities
+│   ├── metrics/          # Prometheus metrics server
+│   ├── providers/        # I/O providers (TTS, ASR, audio)
+│   ├── runtime/          # Core runtime manager
+│   └── zenoh/            # Zenoh integration (CDR codec, session)
+├── plugins/              # Plugin implementations
+│   ├── actions/          # speak, emotion, arm_g1, etc.
+│   ├── backgrounds/      # Background task plugins
+│   ├── inputs/           # face_presence, google_asr
+│   └── llm/              # OpenAI, Gemini, DeepSeek, Ollama, etc.
+└── Makefile              # Build system
 ```
 
 The system is based on a loop that runs at a fixed frequency of `self.config.hertz`. The loop looks for the most recent data from various sources, fuses the data into a prompt (typical length ~1 paragraph), sends that prompt to one or more LLMs, and then sends the LLM responses to virtual agents or physical robots for conversion into real world actions.
diff --git a/docs/developing/9_troubleshooting_guide.md b/docs/developing/9_troubleshooting_guide.md
index 10dcc45db7..57c3cb499e 100644
--- a/docs/developing/9_troubleshooting_guide.md
+++ b/docs/developing/9_troubleshooting_guide.md
@@ -11,5 +11,5 @@ icon: wrench
 | No Speech               | Permission issues           | Check the settings                                                        |
 | No speech recognition   | Microphone not configured   | Check audio input settings                                                |
 | Robot not moving        | Connection issue/Network issue            | Restart OM1/Robot and check your internet connection                                        |
-| OpenSSL certificate issue | Security certificate not found | `uv pip install certifi` `export SSL_CERT_FILE=$(python3 -m certifi)` `export REQUESTS_CA_BUNDLE=$(python3 -m certifi)` |
-| Error message during build: `fatal error: portaudio.h: No such file or directory compilation terminated. error: command '/usr/bin/gcc' failed with exit code 1` | The issue is due to python-all-dev being deprecated and unavailable in non standard Ubuntu installations. | Installing only PortAudio development headers fixes the problem: `sudo apt-get update` `sudo apt-get install portaudio19-dev`|
+| Build errors            | Missing dependencies        | Run `make deps` to download zenoh-c and Go dependencies |
+| PortAudio error during build | Missing PortAudio headers | `sudo apt-get update` `sudo apt-get install portaudio19-dev`|
diff --git a/docs/examples/conversation.md b/docs/examples/conversation.md
index 8134ad388e..4fd35f4ce4 100644
--- a/docs/examples/conversation.md
+++ b/docs/examples/conversation.md
@@ -11,7 +11,7 @@ This section provides various examples for integrating and using multiple cloud-
 This example uses your `default` audio in (microphone) and your `default` audio output (speaker). Please test both your microphone and speaker in your system settings to make sure they are connected and working. On a Mac, the system may request permission to access your audio - Allow permissions.
 
 ```bash
-uv run src/run.py conversation
+make run CONFIG=conversation
 ```
 
 Especially on Linux, such as on Ubuntu 20.04 on the Nvidia Orin, audio support can be marginal. Expect some audio inputs and outputs to not work correctly, or to advertise incorrect hardware capabilities, such as USB microphones that report zero input channels etc.
diff --git a/docs/examples/examples.md b/docs/examples/examples.md
index 5cbafefb75..b194ff71f3 100644
--- a/docs/examples/examples.md
+++ b/docs/examples/examples.md
@@ -17,7 +17,7 @@ Before running any examples, ensure you have the project dependencies installed.
 Examples can be executed using:
 
 ```bash
-uv run src/run.py <example_command>
+make run CONFIG=<example_name>
 ```
 
 Some examples to get started with
diff --git a/docs/examples/smart_toy.md b/docs/examples/smart_toy.md
index c70c1cdaf1..60ab067f14 100644
--- a/docs/examples/smart_toy.md
+++ b/docs/examples/smart_toy.md
@@ -12,7 +12,7 @@ This example takes two inputs, emotional state and voice inputs, sends them to a
 
 Run
 ```bash
-uv run src/run.py cubly
+make run CONFIG=cubly
 ```
 
 You should see your webcam light turn on and Cubly should speak to you from your default laptop speaker. You can see what is happening in the terminal logs.
diff --git a/docs/robotics/motion_planning_turtlebot4.md b/docs/robotics/motion_planning_turtlebot4.md
index 4d6c1abb9f..eb95d10678 100644
--- a/docs/robotics/motion_planning_turtlebot4.md
+++ b/docs/robotics/motion_planning_turtlebot4.md
@@ -9,7 +9,7 @@ icon: turtle
 Using OM1, the TurtleBot4 (TB4) is able to autonomously explore spaces such as your home. There are several parts to this capability. To get started, launch OM1:
 
 ```bash
-uv run src/run.py turtlebot4_lidar
+make run CONFIG=turtlebot4_lidar
 ```
 
 ### TB4 RPLIDAR Laserscan Data
diff --git a/docs/robotics/motion_planning_unitree_go2.md b/docs/robotics/motion_planning_unitree_go2.md
index ea72ffdd87..956676ed59 100644
--- a/docs/robotics/motion_planning_unitree_go2.md
+++ b/docs/robotics/motion_planning_unitree_go2.md
@@ -13,7 +13,7 @@ The autonomous exploration capability requires a laserscan sensor to be mounted
 Using OM1, the Unitree Go2 is able to autonomously explore spaces such as your home. There are several parts to this capability. To get started, launch OM1:
 
 ```bash Run OM1
-uv run src/run.py unitree_go2_autonomy
+make run CONFIG=unitree_go2_autonomy
 ```
 
 ### RPLIDAR Laserscan Data
diff --git a/docs/robotics/rf_mapping.md b/docs/robotics/rf_mapping.md
index 8bb65d20a0..5493dcbd61 100644
--- a/docs/robotics/rf_mapping.md
+++ b/docs/robotics/rf_mapping.md
@@ -15,20 +15,12 @@ ls /dev/tty.*
 ls /dev/cu.*
 ```
 
-## Testing the Low Level Mac BLE scan
-
-In `system_hw_test`:
-
-```bash
-uv run ble.py
-```
-
 ## Testing the BLE Scan
 
 Test host computer BLE scan and data storage to local file:
 
 ```bash
-uv run src/run.py test_ble
+make run CONFIG=test_ble
 ```
 
 ## Testing the BLE scan plus Arduino BLE/GPS
@@ -36,7 +28,7 @@ uv run src/run.py test_ble
 Host computer BLE scan plus Arduino based GPS and BLE:
 
 ```bash
-uv run src/run.py test_ble_gps
+make run CONFIG=test_ble_gps
 ```
 
 ## Testing the Entire Solution
@@ -44,7 +36,7 @@ uv run src/run.py test_ble_gps
 Combines autonomy, VILA, two BLE sources, GPS, odometry, and enhanced GPS:
 
 ```bash
-uv run src/run.py unitree_go2_mapper
+make run CONFIG=unitree_go2_mapper
 ```
 
 You should see a list of nearby BLE sources, such as BLE Beacons. The system will write location and RF data to file, and, if possible, to a cloud endpoint.
@@ -59,13 +51,7 @@ This is a draft format and will change frequently.
 
 ## Local YOLO
 
-In `system_hw_test`:
-
-```bash
-uv run yolo.py
-```
-
 At the top level, run:
 ```bash
-uv run src/run.py yolo
+make run CONFIG=yolo
 ```
diff --git a/docs/robotics/tesla_dimo.md b/docs/robotics/tesla_dimo.md
index 7920f2b5c3..a28fd8f0e7 100644
--- a/docs/robotics/tesla_dimo.md
+++ b/docs/robotics/tesla_dimo.md
@@ -39,7 +39,7 @@ If everything is set up correctly, you should be able to view your Tesla data in
 
 Run
 ```bash Run Robot
-uv run src/run.py tesla
+make run CONFIG=tesla
 ```
 
 ## Configuration
diff --git a/docs/robotics/turtlebot4_zenoh.md b/docs/robotics/turtlebot4_zenoh.md
index 041c9e5658..66ad3f41df 100644
--- a/docs/robotics/turtlebot4_zenoh.md
+++ b/docs/robotics/turtlebot4_zenoh.md
@@ -123,7 +123,7 @@ curl -LsSf https://astral.sh/uv/install.sh | sh
 Install `portaudio`, `ffmpeg` and other dependencies:
 
 ```bash
-sudo apt install pulseaudio pulseaudio-utils ffmpeg portaudio19-dev python3-dev
+sudo apt install pulseaudio pulseaudio-utils ffmpeg portaudio19-dev
 ```
 
 Then, connect a Logitech 270 Webcam (or equivalent). Unplug the standard TurtleBot4 Depth Camera. Connect a speaker to RPi with a 3.5 mm audio patch cable (or use bluetooth, depending on your pain threshold and patience with debugging bluetooth issues).
@@ -148,7 +148,7 @@ pactl set-default-sink alsa_output.platform-bcm2835_audio.stereo-fallback
 * Launch OM1
 
 ```bash
-uv run src/run.py turtlebot4_lidar_gps
+make run CONFIG=turtlebot4_lidar_gps
 ```
 
 On the RPi4, there will be a lengthy delay before OM1 runs the first time you invoke this command.
@@ -160,7 +160,7 @@ Install OM1 and Zenoh on your laptop, following [Install OM1 on your laptop](../
 Then, run OM1:
 
 ```bash
-uv run src/run.py turtlebot4
+make run CONFIG=turtlebot4
 ```
 
 Please make sure that your development machine (e.g. your laptop) is running the same version of the Zenoh bridge (e.g. 1.2.1) as the RPi otherwise you will get errors. When you run OM1 on your laptop, OM1 will use your laptop's microphone, speaker, and camera inputs/outputs, rather than the sensors on the TurtleBot4.
diff --git a/docs/robotics/ubtech_yanshee.md b/docs/robotics/ubtech_yanshee.md
index f2990f0f39..cd997651e3 100644
--- a/docs/robotics/ubtech_yanshee.md
+++ b/docs/robotics/ubtech_yanshee.md
@@ -65,4 +65,4 @@ Set the OM1 API key and robot IP address in the config file (`config/ubtech_yans
     "robot_ip": "<your robot's ip address>"
 ```
 
-Then, run the agent using `uv run src/run.py ubtech_yanshee`. You will now be able to make the robot take actions like walk forward, walk backward, do a push up, give you a hug, turn right, turn left, bow, crouch and more via voice commands. You can also have a conversation with it and ask about its surroundings.
+Then, run the agent using `make run CONFIG=ubtech_yanshee`. You will now be able to make the robot take actions like walk forward, walk backward, do a push up, give you a hug, turn right, turn left, bow, crouch and more via voice commands. You can also have a conversation with it and ask about its surroundings.
diff --git a/docs/robotics/unitree_g1_humanoid.md b/docs/robotics/unitree_g1_humanoid.md
index 228068a78e..40d13e689e 100644
--- a/docs/robotics/unitree_g1_humanoid.md
+++ b/docs/robotics/unitree_g1_humanoid.md
@@ -20,13 +20,13 @@ https://github.com/unitreerobotics/unitree_sdk2_python
 Run
 
 ```bash Run Robot
-uv run src/run.py unitree_g1_humanoid
+make run CONFIG=unitree_g1_humanoid
 ```
 
 ### Installation on Mac
 
 ```bash
-brew install uv portaudio cmake
+brew install portaudio cmake
 ```
 
 Install cycloneDDS via https://cyclonedds.io/docs/cyclonedds/latest/installation/installation.html.
diff --git a/docs/robotics/unitree_go2_quadruped.md b/docs/robotics/unitree_go2_quadruped.md
index 62b472dd5a..a75b49a6dc 100644
--- a/docs/robotics/unitree_go2_quadruped.md
+++ b/docs/robotics/unitree_go2_quadruped.md
@@ -209,7 +209,7 @@ In this configuration, the quadruped observes its environment, listens and speak
 
 Run
 ```bash
-uv run src/run.py unitree_go2_basic
+make run CONFIG=unitree_go2_basic
 ```
 
 Press:
diff --git a/docs/robotics/unitree_go2_quadruped_configurations.md b/docs/robotics/unitree_go2_quadruped_configurations.md
index 4cdd200915..f8cfcdd0b2 100644
--- a/docs/robotics/unitree_go2_quadruped_configurations.md
+++ b/docs/robotics/unitree_go2_quadruped_configurations.md
@@ -21,7 +21,7 @@ In this configuration, the quadruped observes its environment, listens and speak
 
 Run
 ```bash
-uv run src/run.py unitree_go2_basic
+make run CONFIG=unitree_go2_basic
 ```
 
 In this mode, the quadruped is configured to (1) use a small local VLM, (2) listen to you, and (3) to speak to you. The amount of speech ("always") is set via the `"silence_rate": 0, // vocalize all speech outputs` setting in `actions:speak:config`.
@@ -30,7 +30,7 @@ In this mode, the quadruped is configured to (1) use a small local VLM, (2) list
 
 Run
 ```bash
-uv run src/run.py unitree_go2_autonomy
+make run CONFIG=unitree_go2_autonomy
 ```
 
 OM1 will provide LIDAR and other data to a system of LLMs, allowing them to autonomously explore indoor and outdoor environments.
@@ -41,7 +41,7 @@ In this mode, the quadruped is configured to (1) use a cloud VLM, (2) listen to
 
 Run
 ```bash
-uv run src/run.py unitree_go2_mapper
+make run CONFIG=unitree_go2_mapper
 ```
 
 OM1 will provide LIDAR and other data to a system of LLMs, allowing them to autonomously explore indoor and outdoor environments. Also, the system will log position (local odometry and GPS data) and Bluetooth data, as the basis for reliable navigation and path planning. In this mode, the quadruped is configured to use a cloud VLM. There is no speech in this configuration.
diff --git a/docs/simulators/cloud-isaac-sim.md b/docs/simulators/cloud-isaac-sim.md
index 8d76c7e9c6..414db65c70 100644
--- a/docs/simulators/cloud-isaac-sim.md
+++ b/docs/simulators/cloud-isaac-sim.md
@@ -12,7 +12,7 @@ Cloud Isaac Sim enables you to run robot simulations on managed cloud infrastruc
 
 - OpenMind Portal account on **Builder plan** or higher (required for Cloud Simulator access)
 - API key (found in your portal)
-- OM1 codebase with `uv` environment configured
+- OM1 codebase built (`make build`)
 
 ## Cost & Billing
 
@@ -104,7 +104,7 @@ Access a full VS Code environment running in the cloud with OM1 pre-configured.
 
 From here, you can:
 - Edit and run OM1 code directly in the cloud
-- Execute `uv run` commands without local hardware
+- Execute `make run` commands without local hardware
 - Test and debug your robot behaviors
 
 ### Option B: Local Environment
@@ -116,7 +116,7 @@ Run OM1 on your local machine and connect to the cloud simulator:
 3. Run the config:
 
 ```bash
-uv run src/run.py cloud_sim
+make run CONFIG=cloud_sim
 ```
 
 ## Cleaning Up
diff --git a/docs/simulators/gazebo.md b/docs/simulators/gazebo.md
index 79eaf5d00d..5429a78e6d 100644
--- a/docs/simulators/gazebo.md
+++ b/docs/simulators/gazebo.md
@@ -130,7 +130,7 @@ export OM_API_KEY="<your_api_key>"
 Now, run the simulation agent
 
 ```bash
-uv run src/run.py simulation
+make run CONFIG=simulation
 ```
 
 Step 7: Teleoperate the robot in simulation
diff --git a/docs/simulators/isaac-sim.md b/docs/simulators/isaac-sim.md
index b03a12cd9a..b0f2a339a6 100644
--- a/docs/simulators/isaac-sim.md
+++ b/docs/simulators/isaac-sim.md
@@ -207,7 +207,7 @@ export OM_API_KEY="<your_api_key>"
 Now, run the simulation agent
 
 ```bash
-uv run src/run.py simulation
+make run CONFIG=simulation
 ```
 
 > **Note**: Update your agent name depending on robot type.
diff --git a/go.mod b/go.mod
new file mode 100644
index 0000000000..9ee39fcdea
--- /dev/null
+++ b/go.mod
@@ -0,0 +1,37 @@
+module github.com/openmind/om1
+
+go 1.23.0
+
+require (
+	github.com/coder/hnsw v0.6.1
+	github.com/eclipse-zenoh/zenoh-go v1.9.0
+	github.com/google/uuid v1.6.0
+	github.com/gordonklaus/portaudio v0.0.0-20260203164431-765aa7dfa631
+	github.com/gorilla/websocket v1.5.3
+	github.com/prometheus/client_golang v1.23.2
+	github.com/stretchr/testify v1.11.1
+	go.uber.org/zap v1.27.0
+)
+
+require (
+	github.com/BooleanCat/option v0.1.0 // indirect
+	github.com/beorn7/perks v1.0.1 // indirect
+	github.com/cespare/xxhash/v2 v2.3.0 // indirect
+	github.com/chewxy/math32 v1.10.1 // indirect
+	github.com/davecgh/go-spew v1.1.1 // indirect
+	github.com/google/renameio v1.0.1 // indirect
+	github.com/kylelemons/godebug v1.1.0 // indirect
+	github.com/munnerz/goautoneg v0.0.0-20191010083416-a7dc8b61c822 // indirect
+	github.com/pmezard/go-difflib v1.0.0 // indirect
+	github.com/prometheus/client_model v0.6.2 // indirect
+	github.com/prometheus/common v0.66.1 // indirect
+	github.com/prometheus/procfs v0.16.1 // indirect
+	github.com/viterin/partial v1.1.0 // indirect
+	github.com/viterin/vek v0.4.2 // indirect
+	go.uber.org/multierr v1.10.0 // indirect
+	go.yaml.in/yaml/v2 v2.4.2 // indirect
+	golang.org/x/exp v0.0.0-20240506185415-9bf2ced13842 // indirect
+	golang.org/x/sys v0.35.0 // indirect
+	google.golang.org/protobuf v1.36.8 // indirect
+	gopkg.in/yaml.v3 v3.0.1 // indirect
+)
diff --git a/go.sum b/go.sum
new file mode 100644
index 0000000000..e7ed64a3c5
--- /dev/null
+++ b/go.sum
@@ -0,0 +1,71 @@
+github.com/BooleanCat/option v0.1.0 h1:wLwWbWnxUEAhpH+Gixy9OjFRnxmwm+nHcZQ8a2JozgA=
+github.com/BooleanCat/option v0.1.0/go.mod h1:vzGAJoquxEsprjj3qidyQTSQzqWDztoj9mO84BoY+YU=
+github.com/beorn7/perks v1.0.1 h1:VlbKKnNfV8bJzeqoa4cOKqO6bYr3WgKZxO8Z16+hsOM=
+github.com/beorn7/perks v1.0.1/go.mod h1:G2ZrVWU2WbWT9wwq4/hrbKbnv/1ERSJQ0ibhJ6rlkpw=
+github.com/cespare/xxhash/v2 v2.3.0 h1:UL815xU9SqsFlibzuggzjXhog7bL6oX9BbNZnL2UFvs=
+github.com/cespare/xxhash/v2 v2.3.0/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs=
+github.com/chewxy/math32 v1.10.1 h1:LFpeY0SLJXeaiej/eIp2L40VYfscTvKh/FSEZ68uMkU=
+github.com/chewxy/math32 v1.10.1/go.mod h1:dOB2rcuFrCn6UHrze36WSLVPKtzPMRAQvBvUwkSsLqs=
+github.com/coder/hnsw v0.6.1 h1:Dv76pjiFkgMYFqnTCOehJXd06irm2PRwcP/jMMPCyO0=
+github.com/coder/hnsw v0.6.1/go.mod h1:wvRc/vZNkK50HFcagwnc/ep/u29Mg2uLlPmc8SD7eEQ=
+github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
+github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
+github.com/eclipse-zenoh/zenoh-go v1.9.0 h1:OKjUYd3foYsp7NY5B9aH+yFLUba9caUDmJSUOXqBLkI=
+github.com/eclipse-zenoh/zenoh-go v1.9.0/go.mod h1:PeY2+x6VPEFpl/FMLfOl+zwsLxbUjresV5AAT158l80=
+github.com/google/go-cmp v0.7.0 h1:wk8382ETsv4JYUZwIsn6YpYiWiBsYLSJiTsyBybVuN8=
+github.com/google/go-cmp v0.7.0/go.mod h1:pXiqmnSA92OHEEa9HXL2W4E7lf9JzCmGVUdgjX3N/iU=
+github.com/google/renameio v1.0.1 h1:Lh/jXZmvZxb0BBeSY5VKEfidcbcbenKjZFzM/q0fSeU=
+github.com/google/renameio v1.0.1/go.mod h1:t/HQoYBZSsWSNK35C6CO/TpPLDVWvxOHboWUAweKUpk=
+github.com/google/uuid v1.6.0 h1:NIvaJDMOsjHA8n1jAhLSgzrAzy1Hgr+hNrb57e+94F0=
+github.com/google/uuid v1.6.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
+github.com/gordonklaus/portaudio v0.0.0-20260203164431-765aa7dfa631 h1:8TBHztmhDfAAg34yddptshinXBtDQwgKGlMfdtSFETw=
+github.com/gordonklaus/portaudio v0.0.0-20260203164431-765aa7dfa631/go.mod h1:esZFQEUwqC+l76f2R8bIWSwXMaPbp79PppwZ1eJhFco=
+github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg=
+github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/klauspost/compress v1.18.0 h1:c/Cqfb0r+Yi+JtIEq73FWXVkRonBlf0CRNYc8Zttxdo=
+github.com/klauspost/compress v1.18.0/go.mod h1:2Pp+KzxcywXVXMr50+X0Q/Lsb43OQHYWRCY2AiWywWQ=
+github.com/kr/pretty v0.3.1 h1:flRD4NNwYAUpkphVc1HcthR4KEIFJ65n8Mw5qdRn3LE=
+github.com/kr/pretty v0.3.1/go.mod h1:hoEshYVHaxMs3cyo3Yncou5ZscifuDolrwPKZanG3xk=
+github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY=
+github.com/kr/text v0.2.0/go.mod h1:eLer722TekiGuMkidMxC/pM04lWEeraHUUmBw8l2grE=
+github.com/kylelemons/godebug v1.1.0 h1:RPNrshWIDI6G2gRW9EHilWtl7Z6Sb1BR0xunSBf0SNc=
+github.com/kylelemons/godebug v1.1.0/go.mod h1:9/0rRGxNHcop5bhtWyNeEfOS8JIWk580+fNqagV/RAw=
+github.com/munnerz/goautoneg v0.0.0-20191010083416-a7dc8b61c822 h1:C3w9PqII01/Oq1c1nUAm88MOHcQC9l5mIlSMApZMrHA=
+github.com/munnerz/goautoneg v0.0.0-20191010083416-a7dc8b61c822/go.mod h1:+n7T8mK8HuQTcFwEeznm/DIxMOiR9yIdICNftLE1DvQ=
+github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
+github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/prometheus/client_golang v1.23.2 h1:Je96obch5RDVy3FDMndoUsjAhG5Edi49h0RJWRi/o0o=
+github.com/prometheus/client_golang v1.23.2/go.mod h1:Tb1a6LWHB3/SPIzCoaDXI4I8UHKeFTEQ1YCr+0Gyqmg=
+github.com/prometheus/client_model v0.6.2 h1:oBsgwpGs7iVziMvrGhE53c/GrLUsZdHnqNwqPLxwZyk=
+github.com/prometheus/client_model v0.6.2/go.mod h1:y3m2F6Gdpfy6Ut/GBsUqTWZqCUvMVzSfMLjcu6wAwpE=
+github.com/prometheus/common v0.66.1 h1:h5E0h5/Y8niHc5DlaLlWLArTQI7tMrsfQjHV+d9ZoGs=
+github.com/prometheus/common v0.66.1/go.mod h1:gcaUsgf3KfRSwHY4dIMXLPV0K/Wg1oZ8+SbZk/HH/dA=
+github.com/prometheus/procfs v0.16.1 h1:hZ15bTNuirocR6u0JZ6BAHHmwS1p8B4P6MRqxtzMyRg=
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diff --git a/grafana/dashboards/om1-dashboard.json b/grafana/dashboards/om1-dashboard.json
index 3ef73422f4..8d8434f32a 100644
--- a/grafana/dashboards/om1-dashboard.json
+++ b/grafana/dashboards/om1-dashboard.json
@@ -1,1554 +1,3193 @@
 {
-  "annotations": {
-    "list": [
-      {
-        "builtIn": 1,
-        "datasource": {
-          "type": "grafana",
-          "uid": "-- Grafana --"
-        },
+  "annotations": [
+    {
+      "kind": "AnnotationQuery",
+      "spec": {
+        "builtIn": true,
         "enable": true,
         "hide": true,
         "iconColor": "rgba(0, 211, 255, 1)",
         "name": "Annotations & Alerts",
-        "type": "dashboard"
+        "query": {
+          "datasource": {
+            "name": "-- Grafana --"
+          },
+          "group": "grafana",
+          "kind": "DataQuery",
+          "spec": {},
+          "version": "v0"
+        }
       }
-    ]
-  },
+    }
+  ],
+  "cursorSync": "Crosshair",
   "editable": true,
-  "fiscalYearStartMonth": 0,
-  "graphTooltip": 1,
-  "id": null,
-  "links": [],
-  "liveNow": false,
-  "panels": [
-    {
-      "datasource": {
-        "type": "prometheus",
-        "uid": "prometheus"
-      },
-      "description": "Whether Prometheus can successfully scrape om1",
-      "fieldConfig": {
-        "defaults": {
-          "color": {
-            "mode": "thresholds"
-          },
-          "mappings": [
-            {
-              "options": {
-                "0": {
-                  "color": "red",
-                  "index": 0,
-                  "text": "DOWN"
+  "elements": {
+    "panel-1": {
+      "kind": "Panel",
+      "spec": {
+        "data": {
+          "kind": "QueryGroup",
+          "spec": {
+            "queries": [
+              {
+                "kind": "PanelQuery",
+                "spec": {
+                  "hidden": false,
+                  "query": {
+                    "datasource": {
+                      "name": "prometheus"
+                    },
+                    "group": "prometheus",
+                    "kind": "DataQuery",
+                    "spec": {
+                      "expr": "up{job=\"om1\"}",
+                      "legendFormat": "om1"
+                    },
+                    "version": "v0"
+                  },
+                  "refId": "A"
+                }
+              }
+            ],
+            "queryOptions": {},
+            "transformations": []
+          }
+        },
+        "description": "Whether Prometheus can successfully scrape om1",
+        "id": 1,
+        "links": [],
+        "title": "Service Status",
+        "vizConfig": {
+          "group": "stat",
+          "kind": "VizConfig",
+          "spec": {
+            "fieldConfig": {
+              "defaults": {
+                "color": {
+                  "mode": "thresholds"
                 },
-                "1": {
-                  "color": "green",
-                  "index": 1,
-                  "text": "UP"
+                "mappings": [
+                  {
+                    "options": {
+                      "0": {
+                        "color": "red",
+                        "index": 0,
+                        "text": "DOWN"
+                      },
+                      "1": {
+                        "color": "green",
+                        "index": 1,
+                        "text": "UP"
+                      }
+                    },
+                    "type": "value"
+                  }
+                ],
+                "thresholds": {
+                  "mode": "absolute",
+                  "steps": [
+                    {
+                      "color": "red",
+                      "value": 0
+                    },
+                    {
+                      "color": "green",
+                      "value": 1
+                    }
+                  ]
                 }
               },
-              "type": "value"
+              "overrides": []
+            },
+            "options": {
+              "colorMode": "background",
+              "graphMode": "none",
+              "justifyMode": "center",
+              "orientation": "auto",
+              "percentChangeColorMode": "standard",
+              "reduceOptions": {
+                "calcs": [
+                  "lastNotNull"
+                ],
+                "fields": "",
+                "values": false
+              },
+              "showPercentChange": false,
+              "textMode": "value_and_name",
+              "wideLayout": true
             }
-          ],
-          "thresholds": {
-            "mode": "absolute",
-            "steps": [
+          },
+          "version": "13.0.1+security-01"
+        }
+      }
+    },
+    "panel-10": {
+      "kind": "Panel",
+      "spec": {
+        "data": {
+          "kind": "QueryGroup",
+          "spec": {
+            "queries": [
+              {
+                "kind": "PanelQuery",
+                "spec": {
+                  "hidden": false,
+                  "query": {
+                    "datasource": {
+                      "name": "prometheus"
+                    },
+                    "group": "prometheus",
+                    "kind": "DataQuery",
+                    "spec": {
+                      "expr": "rate(om1_asr_latency_seconds_sum[5m]) / rate(om1_asr_latency_seconds_count[5m])",
+                      "legendFormat": "ASR avg"
+                    },
+                    "version": "v0"
+                  },
+                  "refId": "A"
+                }
+              },
               {
-                "color": "red",
-                "value": null
+                "kind": "PanelQuery",
+                "spec": {
+                  "hidden": false,
+                  "query": {
+                    "datasource": {
+                      "name": "prometheus"
+                    },
+                    "group": "prometheus",
+                    "kind": "DataQuery",
+                    "spec": {
+                      "expr": "rate(om1_llm_latency_seconds_sum[5m]) / rate(om1_llm_latency_seconds_count[5m])",
+                      "legendFormat": "LLM avg"
+                    },
+                    "version": "v0"
+                  },
+                  "refId": "B"
+                }
               },
               {
-                "color": "green",
-                "value": 1
+                "kind": "PanelQuery",
+                "spec": {
+                  "hidden": false,
+                  "query": {
+                    "datasource": {
+                      "name": "prometheus"
+                    },
+                    "group": "prometheus",
+                    "kind": "DataQuery",
+                    "spec": {
+                      "expr": "rate(om1_tts_latency_seconds_sum[5m]) / rate(om1_tts_latency_seconds_count[5m])",
+                      "legendFormat": "TTS avg"
+                    },
+                    "version": "v0"
+                  },
+                  "refId": "C"
+                }
               }
-            ]
+            ],
+            "queryOptions": {},
+            "transformations": []
           }
         },
-        "overrides": []
-      },
-      "gridPos": {
-        "h": 4,
-        "w": 4,
-        "x": 0,
-        "y": 0
-      },
-      "id": 1,
-      "options": {
-        "colorMode": "background",
-        "graphMode": "none",
-        "justifyMode": "center",
-        "orientation": "auto",
-        "reduceOptions": {
-          "calcs": [
-            "lastNotNull"
-          ],
-          "fields": "",
-          "values": false
-        },
-        "textMode": "value_and_name"
-      },
-      "pluginVersion": "10.0.0",
-      "targets": [
-        {
-          "datasource": {
-            "type": "prometheus",
-            "uid": "prometheus"
+        "description": "Mean latency per stage (5min window)",
+        "id": 10,
+        "links": [],
+        "title": "Mean Latency by Stage (5m)",
+        "vizConfig": {
+          "group": "timeseries",
+          "kind": "VizConfig",
+          "spec": {
+            "fieldConfig": {
+              "defaults": {
+                "color": {
+                  "mode": "palette-classic"
+                },
+                "custom": {
+                  "axisBorderShow": false,
+                  "axisCenteredZero": false,
+                  "axisColorMode": "text",
+                  "axisLabel": "",
+                  "axisPlacement": "auto",
+                  "barAlignment": 0,
+                  "barWidthFactor": 0.6,
+                  "drawStyle": "line",
+                  "fillOpacity": 10,
+                  "gradientMode": "none",
+                  "hideFrom": {
+                    "legend": false,
+                    "tooltip": false,
+                    "viz": false
+                  },
+                  "insertNulls": false,
+                  "lineInterpolation": "linear",
+                  "lineWidth": 2,
+                  "pointSize": 5,
+                  "scaleDistribution": {
+                    "type": "linear"
+                  },
+                  "showPoints": "auto",
+                  "showValues": false,
+                  "spanNulls": false,
+                  "stacking": {
+                    "group": "A",
+                    "mode": "none"
+                  },
+                  "thresholdsStyle": {
+                    "mode": "off"
+                  }
+                },
+                "thresholds": {
+                  "mode": "absolute",
+                  "steps": [
+                    {
+                      "color": "green",
+                      "value": 0
+                    }
+                  ]
+                },
+                "unit": "s"
+              },
+              "overrides": []
+            },
+            "options": {
+              "annotations": {
+                "clustering": -1,
+                "multiLane": false
+              },
+              "legend": {
+                "calcs": [
+                  "mean"
+                ],
+                "displayMode": "table",
+                "placement": "bottom",
+                "showLegend": true
+              },
+              "tooltip": {
+                "hideZeros": false,
+                "mode": "multi",
+                "sort": "none"
+              }
+            }
           },
-          "expr": "up{job=\"om1\"}",
-          "legendFormat": "om1",
-          "refId": "A"
+          "version": "13.0.1+security-01"
         }
-      ],
-      "title": "Service Status",
-      "type": "stat"
+      }
     },
-    {
-      "datasource": {
-        "type": "prometheus",
-        "uid": "prometheus"
-      },
-      "description": "Most recent ASR latency",
-      "fieldConfig": {
-        "defaults": {
-          "color": {
-            "mode": "thresholds"
-          },
-          "mappings": [],
-          "thresholds": {
-            "mode": "absolute",
-            "steps": [
+    "panel-11": {
+      "kind": "Panel",
+      "spec": {
+        "data": {
+          "kind": "QueryGroup",
+          "spec": {
+            "queries": [
               {
-                "color": "green",
-                "value": null
+                "kind": "PanelQuery",
+                "spec": {
+                  "hidden": false,
+                  "query": {
+                    "datasource": {
+                      "name": "prometheus"
+                    },
+                    "group": "prometheus",
+                    "kind": "DataQuery",
+                    "spec": {
+                      "expr": "sum by (le) (rate(om1_asr_latency_seconds_bucket[1m]))",
+                      "format": "heatmap",
+                      "legendFormat": "{{le}}"
+                    },
+                    "version": "v0"
+                  },
+                  "refId": "A"
+                }
+              }
+            ],
+            "queryOptions": {},
+            "transformations": []
+          }
+        },
+        "description": "ASR latency distribution heatmap",
+        "id": 11,
+        "links": [],
+        "title": "ASR Latency Distribution",
+        "vizConfig": {
+          "group": "heatmap",
+          "kind": "VizConfig",
+          "spec": {
+            "fieldConfig": {
+              "defaults": {
+                "custom": {
+                  "hideFrom": {
+                    "legend": false,
+                    "tooltip": false,
+                    "viz": false
+                  },
+                  "scaleDistribution": {
+                    "type": "linear"
+                  }
+                }
               },
-              {
-                "color": "yellow",
-                "value": 1.5
+              "overrides": []
+            },
+            "options": {
+              "annotations": {
+                "clustering": -1,
+                "multiLane": false
               },
-              {
-                "color": "red",
-                "value": 3
+              "calculate": false,
+              "cellGap": 1,
+              "color": {
+                "exponent": 0.5,
+                "fill": "dark-orange",
+                "mode": "scheme",
+                "reverse": false,
+                "scale": "exponential",
+                "scheme": "Spectral",
+                "steps": 64
+              },
+              "exemplars": {
+                "color": "rgba(255,0,255,0.7)"
+              },
+              "filterValues": {
+                "le": 1e-9
+              },
+              "legend": {
+                "show": true
+              },
+              "rowsFrame": {
+                "layout": "auto"
+              },
+              "tooltip": {
+                "mode": "single",
+                "showColorScale": false,
+                "yHistogram": false
+              },
+              "yAxis": {
+                "axisPlacement": "left",
+                "reverse": false,
+                "unit": "s"
               }
-            ]
-          },
-          "unit": "s",
-          "decimals": 2
-        },
-        "overrides": []
-      },
-      "gridPos": {
-        "h": 4,
-        "w": 5,
-        "x": 4,
-        "y": 0
-      },
-      "id": 2,
-      "options": {
-        "colorMode": "value",
-        "graphMode": "area",
-        "justifyMode": "auto",
-        "orientation": "auto",
-        "reduceOptions": {
-          "calcs": [
-            "lastNotNull"
-          ],
-          "fields": "",
-          "values": false
-        },
-        "textMode": "auto"
-      },
-      "pluginVersion": "10.0.0",
-      "targets": [
-        {
-          "datasource": {
-            "type": "prometheus",
-            "uid": "prometheus"
+            }
           },
-          "expr": "om1_asr_latency_last_seconds",
-          "legendFormat": "ASR",
-          "refId": "A"
+          "version": "13.0.1+security-01"
         }
-      ],
-      "title": "ASR Latency (Last)",
-      "type": "stat"
+      }
     },
-    {
-      "datasource": {
-        "type": "prometheus",
-        "uid": "prometheus"
-      },
-      "description": "Most recent LLM latency",
-      "fieldConfig": {
-        "defaults": {
-          "color": {
-            "mode": "thresholds"
-          },
-          "mappings": [],
-          "thresholds": {
-            "mode": "absolute",
-            "steps": [
-              {
-                "color": "green",
-                "value": null
-              },
+    "panel-12": {
+      "kind": "Panel",
+      "spec": {
+        "data": {
+          "kind": "QueryGroup",
+          "spec": {
+            "queries": [
               {
-                "color": "yellow",
-                "value": 1.5
+                "kind": "PanelQuery",
+                "spec": {
+                  "hidden": false,
+                  "query": {
+                    "datasource": {
+                      "name": "prometheus"
+                    },
+                    "group": "prometheus",
+                    "kind": "DataQuery",
+                    "spec": {
+                      "expr": "histogram_quantile(0.5, sum by (le) (rate(om1_asr_speech_duration_seconds_bucket[5m])))",
+                      "legendFormat": "Speech P50"
+                    },
+                    "version": "v0"
+                  },
+                  "refId": "A"
+                }
               },
               {
-                "color": "red",
-                "value": 3
+                "kind": "PanelQuery",
+                "spec": {
+                  "hidden": false,
+                  "query": {
+                    "datasource": {
+                      "name": "prometheus"
+                    },
+                    "group": "prometheus",
+                    "kind": "DataQuery",
+                    "spec": {
+                      "expr": "histogram_quantile(0.95, sum by (le) (rate(om1_asr_speech_duration_seconds_bucket[5m])))",
+                      "legendFormat": "Speech P95"
+                    },
+                    "version": "v0"
+                  },
+                  "refId": "B"
+                }
               }
-            ]
-          },
-          "unit": "s",
-          "decimals": 2
-        },
-        "overrides": []
-      },
-      "gridPos": {
-        "h": 4,
-        "w": 5,
-        "x": 9,
-        "y": 0
-      },
-      "id": 3,
-      "options": {
-        "colorMode": "value",
-        "graphMode": "area",
-        "justifyMode": "auto",
-        "orientation": "auto",
-        "reduceOptions": {
-          "calcs": [
-            "lastNotNull"
-          ],
-          "fields": "",
-          "values": false
+            ],
+            "queryOptions": {},
+            "transformations": []
+          }
         },
-        "textMode": "auto"
-      },
-      "pluginVersion": "10.0.0",
-      "targets": [
-        {
-          "datasource": {
-            "type": "prometheus",
-            "uid": "prometheus"
+        "description": "User speech duration trend (P50 / P95)",
+        "id": 12,
+        "links": [],
+        "title": "User Speech Duration",
+        "vizConfig": {
+          "group": "timeseries",
+          "kind": "VizConfig",
+          "spec": {
+            "fieldConfig": {
+              "defaults": {
+                "color": {
+                  "mode": "palette-classic"
+                },
+                "custom": {
+                  "axisBorderShow": false,
+                  "axisCenteredZero": false,
+                  "axisColorMode": "text",
+                  "axisLabel": "",
+                  "axisPlacement": "auto",
+                  "barAlignment": 0,
+                  "barWidthFactor": 0.6,
+                  "drawStyle": "line",
+                  "fillOpacity": 10,
+                  "gradientMode": "none",
+                  "hideFrom": {
+                    "legend": false,
+                    "tooltip": false,
+                    "viz": false
+                  },
+                  "insertNulls": false,
+                  "lineInterpolation": "linear",
+                  "lineWidth": 2,
+                  "pointSize": 5,
+                  "scaleDistribution": {
+                    "type": "linear"
+                  },
+                  "showPoints": "auto",
+                  "showValues": false,
+                  "spanNulls": false,
+                  "stacking": {
+                    "group": "A",
+                    "mode": "none"
+                  },
+                  "thresholdsStyle": {
+                    "mode": "off"
+                  }
+                },
+                "thresholds": {
+                  "mode": "absolute",
+                  "steps": [
+                    {
+                      "color": "green",
+                      "value": 0
+                    }
+                  ]
+                },
+                "unit": "s"
+              },
+              "overrides": []
+            },
+            "options": {
+              "annotations": {
+                "clustering": -1,
+                "multiLane": false
+              },
+              "legend": {
+                "calcs": [
+                  "mean",
+                  "max"
+                ],
+                "displayMode": "table",
+                "placement": "bottom",
+                "showLegend": true
+              },
+              "tooltip": {
+                "hideZeros": false,
+                "mode": "multi",
+                "sort": "none"
+              }
+            }
           },
-          "expr": "om1_llm_latency_last_seconds",
-          "legendFormat": "LLM",
-          "refId": "A"
+          "version": "13.0.1+security-01"
         }
-      ],
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         },
-        "textMode": "value_and_name"
-      },
-      "pluginVersion": "10.0.0",
-      "targets": [
         {
-          "datasource": {
-            "type": "prometheus",
-            "uid": "prometheus"
-          },
-          "expr": "om1_asr_latency_seconds_count",
-          "legendFormat": "ASR",
-          "refId": "A"
+          "kind": "GridLayoutItem",
+          "spec": {
+            "element": {
+              "kind": "ElementReference",
+              "name": "panel-18"
+            },
+            "height": 8,
+            "width": 24,
+            "x": 0,
+            "y": 53
+          }
         },
         {
-          "datasource": {
-            "type": "prometheus",
-            "uid": "prometheus"
-          },
-          "expr": "om1_llm_latency_seconds_count",
-          "legendFormat": "LLM",
-          "refId": "B"
+          "kind": "GridLayoutItem",
+          "spec": {
+            "element": {
+              "kind": "ElementReference",
+              "name": "panel-19"
+            },
+            "height": 4,
+            "width": 8,
+            "x": 0,
+            "y": 61
+          }
         },
         {
-          "datasource": {
-            "type": "prometheus",
-            "uid": "prometheus"
-          },
-          "expr": "om1_tts_latency_seconds_count",
-          "legendFormat": "TTS",
-          "refId": "C"
-        }
-      ],
-      "title": "Total Calls by Stage",
-      "type": "stat"
-    },
-    {
-      "datasource": {
-        "type": "prometheus",
-        "uid": "prometheus"
-      },
-      "description": "Fraction of LLM requests slower than 2.5s",
-      "fieldConfig": {
-        "defaults": {
-          "color": {
-            "mode": "thresholds"
-          },
-          "custom": {
-            "axisCenteredZero": false,
-            "axisColorMode": "text",
-            "axisLabel": "",
-            "axisPlacement": "auto",
-            "barAlignment": 0,
-            "drawStyle": "line",
-            "fillOpacity": 30,
-            "gradientMode": "none",
-            "hideFrom": {
-              "legend": false,
-              "tooltip": false,
-              "viz": false
+          "kind": "GridLayoutItem",
+          "spec": {
+            "element": {
+              "kind": "ElementReference",
+              "name": "panel-20"
             },
-            "lineInterpolation": "linear",
-            "lineWidth": 2,
-            "pointSize": 5,
-            "scaleDistribution": {
-              "type": "linear"
+            "height": 4,
+            "width": 8,
+            "x": 8,
+            "y": 61
+          }
+        },
+        {
+          "kind": "GridLayoutItem",
+          "spec": {
+            "element": {
+              "kind": "ElementReference",
+              "name": "panel-22"
             },
-            "showPoints": "auto",
-            "spanNulls": false,
-            "stacking": {
-              "group": "A",
-              "mode": "none"
+            "height": 4,
+            "width": 8,
+            "x": 16,
+            "y": 61
+          }
+        },
+        {
+          "kind": "GridLayoutItem",
+          "spec": {
+            "element": {
+              "kind": "ElementReference",
+              "name": "panel-23"
             },
-            "thresholdsStyle": {
-              "mode": "off"
-            }
-          },
-          "mappings": [],
-          "thresholds": {
-            "mode": "absolute",
-            "steps": [
-              {
-                "color": "green",
-                "value": null
-              },
-              {
-                "color": "yellow",
-                "value": 0.1
-              },
-              {
-                "color": "red",
-                "value": 0.3
-              }
-            ]
-          },
-          "unit": "percentunit"
+            "height": 8,
+            "width": 12,
+            "x": 0,
+            "y": 65
+          }
         },
-        "overrides": []
-      },
-      "gridPos": {
-        "h": 8,
-        "w": 16,
-        "x": 8,
-        "y": 45
-      },
-      "id": 15,
-      "options": {
-        "legend": {
-          "calcs": [
-            "mean",
-            "max"
-          ],
-          "displayMode": "table",
-          "placement": "bottom",
-          "showLegend": true
+        {
+          "kind": "GridLayoutItem",
+          "spec": {
+            "element": {
+              "kind": "ElementReference",
+              "name": "panel-24"
+            },
+            "height": 8,
+            "width": 12,
+            "x": 12,
+            "y": 65
+          }
         },
-        "tooltip": {
-          "mode": "single",
-          "sort": "none"
-        }
-      },
-      "targets": [
         {
-          "datasource": {
-            "type": "prometheus",
-            "uid": "prometheus"
-          },
-          "expr": "1 - (sum(rate(om1_llm_latency_seconds_bucket{le=\"2.5\"}[5m])) / sum(rate(om1_llm_latency_seconds_count[5m])))",
-          "legendFormat": "LLM > 2.5s",
-          "refId": "A"
+          "kind": "GridLayoutItem",
+          "spec": {
+            "element": {
+              "kind": "ElementReference",
+              "name": "panel-25"
+            },
+            "height": 9,
+            "width": 24,
+            "x": 0,
+            "y": 73
+          }
         }
-      ],
-      "title": "LLM Slow Request Rate (> 2.5s)",
-      "type": "timeseries"
+      ]
     }
-  ],
-  "refresh": "10s",
-  "schemaVersion": 38,
-  "style": "dark",
+  },
+  "links": [],
+  "liveNow": false,
+  "preload": false,
   "tags": [
     "om1",
     "ai-pipeline"
   ],
-  "templating": {
-    "list": []
-  },
-  "time": {
+  "timeSettings": {
+    "autoRefresh": "10s",
+    "autoRefreshIntervals": [
+      "5s",
+      "10s",
+      "30s",
+      "1m",
+      "5m",
+      "15m",
+      "30m",
+      "1h",
+      "2h",
+      "1d"
+    ],
+    "fiscalYearStartMonth": 0,
     "from": "now-30m",
+    "hideTimepicker": false,
+    "timezone": "browser",
     "to": "now"
   },
-  "timepicker": {},
-  "timezone": "",
   "title": "OM1 Latency Monitoring",
-  "uid": "om1-overview",
-  "version": 1,
-  "weekStart": ""
+  "variables": []
 }
diff --git a/internal/actions/action.go b/internal/actions/action.go
new file mode 100644
index 0000000000..676c559aa1
--- /dev/null
+++ b/internal/actions/action.go
@@ -0,0 +1,85 @@
+package actions
+
+import "context"
+
+// Input is the typed value parsed from an LLM tool-call argument.
+type Input any
+
+// Output is whatever the connector returns after executing an action.
+type Output any
+
+// Connector executes a single action decision on hardware or a remote system.
+type Connector interface {
+	// Connect is called once per LLM decision with the parsed input.
+	Connect(ctx context.Context, input Input) (Output, error)
+
+	// Tick is called every runtime cycle for connectors that need a heartbeat.
+	Tick(ctx context.Context)
+
+	// Stop signals the connector to release resources.
+	Stop()
+}
+
+// Factory creates a Connector from a decoded config map.
+type AgentAction struct {
+	// Name is the unique identifier for this action.
+	Name string
+
+	// LLMLabel is the string used in the LLM prompt to refer to this action.
+	LLMLabel string
+
+	// Schema is the OpenAI-compatible JSON Schema.
+	Schema map[string]any
+
+	// ExcludeFromPrompt, if true, indicates that this action should not be included in the LLM prompt.
+	ExcludeFromPrompt bool
+
+	// Connector is the implementation of this action.
+	Connector Connector
+}
+
+// Factory creates a Connector from a decoded config map.
+type Factory func(cfg map[string]any) (Connector, error)
+
+var connectorRegistry = map[string]Factory{}
+
+// Register adds a connector factory to the registry under the given key.
+func Register(connectorKey string, factory Factory) {
+	connectorRegistry[connectorKey] = factory
+}
+
+// Load creates a Connector for the given action and connector types, using the provided config.
+func Load(actionName, connectorType, llmLabel string, connectorConfig map[string]any) (*AgentAction, error) {
+	key := actionName + "/" + connectorType
+	factory, ok := connectorRegistry[key]
+	if !ok {
+		factory, ok = connectorRegistry[connectorType]
+		if !ok {
+			return nil, &UnknownPluginError{Kind: "action connector", Name: key}
+		}
+	}
+
+	connector, err := factory(connectorConfig)
+	if err != nil {
+		return nil, err
+	}
+
+	schema, _ := BuildSchemaForAction(actionName, llmLabel)
+
+	return &AgentAction{
+		Name:      actionName,
+		LLMLabel:  llmLabel,
+		Schema:    schema,
+		Connector: connector,
+	}, nil
+}
+
+// UnknownPluginError is returned when a plugin type name is not registered.
+type UnknownPluginError struct {
+	Kind string
+	Name string
+}
+
+func (e *UnknownPluginError) Error() string {
+	return e.Kind + " plugin not found: " + e.Name
+}
diff --git a/internal/actions/action_test.go b/internal/actions/action_test.go
new file mode 100644
index 0000000000..7123534829
--- /dev/null
+++ b/internal/actions/action_test.go
@@ -0,0 +1,43 @@
+package actions
+
+import (
+	"context"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+type stubConnector struct{}
+
+func (stubConnector) Connect(context.Context, Input) (Output, error) { return nil, nil }
+func (stubConnector) Tick(context.Context)                           {}
+func (stubConnector) Stop()                                          {}
+
+func TestActionLoadByCompositeKey(t *testing.T) {
+	Register("greet/tts", func(map[string]any) (Connector, error) { return stubConnector{}, nil })
+	t.Cleanup(func() { delete(connectorRegistry, "greet/tts") })
+
+	action, err := Load("greet", "tts", "greetLabel", nil)
+	require.NoError(t, err)
+	require.Equal(t, "greet", action.Name)
+	require.Equal(t, "greetLabel", action.LLMLabel)
+	require.NotNil(t, action.Connector)
+}
+
+func TestActionLoadFallsBackToConnectorType(t *testing.T) {
+	Register("speak", func(map[string]any) (Connector, error) { return stubConnector{}, nil })
+	t.Cleanup(func() { delete(connectorRegistry, "speak") })
+
+	action, err := Load("anything", "speak", "label", nil)
+	require.NoError(t, err)
+	require.NotNil(t, action.Connector)
+}
+
+func TestActionLoadUnknown(t *testing.T) {
+	_, err := Load("missing", "nope", "label", nil)
+	require.Error(t, err)
+	var unknown *UnknownPluginError
+	require.ErrorAs(t, err, &unknown)
+	require.Equal(t, "action connector", unknown.Kind)
+	require.Equal(t, "action connector plugin not found: missing/nope", err.Error())
+}
diff --git a/internal/actions/orchestrator.go b/internal/actions/orchestrator.go
new file mode 100644
index 0000000000..79d19ad47c
--- /dev/null
+++ b/internal/actions/orchestrator.go
@@ -0,0 +1,191 @@
+package actions
+
+import (
+	"context"
+	"fmt"
+	"sync"
+
+	"go.uber.org/zap"
+)
+
+type ExecMode string
+
+const (
+	Concurrent ExecMode = "concurrent"
+	Sequential ExecMode = "sequential"
+	WithDeps   ExecMode = "dependencies"
+)
+
+// Call represents a request to execute an AgentAction with the given Input.
+type Call struct {
+	Action *AgentAction
+	Input  Input
+}
+
+// Result represents the outcome of executing a Call, including the action name, output, and any error that occurred.
+type Result struct {
+	ActionName string
+	Output     Output
+	Err        error
+}
+
+// Orchestrator manages the execution of multiple AgentActions based on a specified execution mode and dependencies.
+type Orchestrator struct {
+	actions map[string]*AgentAction
+	mode    ExecMode
+	deps    map[string][]string
+	log     *zap.Logger
+	wg      sync.WaitGroup
+}
+
+// NewOrchestrator creates a new Orchestrator with the given AgentActions, execution mode, dependencies, and logger.
+func NewOrchestrator(
+	agentActions []*AgentAction,
+	mode ExecMode,
+	dependencies map[string][]string,
+	log *zap.Logger,
+) *Orchestrator {
+	actionByLabel := make(map[string]*AgentAction, len(agentActions))
+	for _, action := range agentActions {
+		actionByLabel[action.LLMLabel] = action
+	}
+	if mode == "" {
+		mode = Concurrent
+	}
+	return &Orchestrator{actions: actionByLabel, mode: mode, deps: dependencies, log: log}
+}
+
+// Submit executes the given Calls and returns their Results.
+func (o *Orchestrator) Submit(ctx context.Context, calls []Call) []Result {
+	switch o.mode {
+	case Sequential:
+		return o.runSequential(ctx, calls)
+	case WithDeps:
+		return o.runWithDeps(ctx, calls)
+	default:
+		return o.runConcurrent(ctx, calls)
+	}
+}
+
+// Start runs the Tick loop for all connectors and waits for them to finish when the context is canceled.
+func (o *Orchestrator) Start(ctx context.Context) <-chan struct{} {
+	done := make(chan struct{})
+
+	for _, agentAction := range o.actions {
+		o.wg.Add(1)
+		go func(connector Connector) {
+			defer o.wg.Done()
+			defer connector.Stop()
+
+			for {
+				select {
+				case <-ctx.Done():
+					return
+				default:
+					connector.Tick(ctx)
+				}
+			}
+		}(agentAction.Connector)
+	}
+
+	go func() {
+		o.wg.Wait()
+		close(done)
+	}()
+
+	return done
+}
+
+// runConcurrent executes all calls in parallel and collects their results.
+func (o *Orchestrator) runConcurrent(ctx context.Context, calls []Call) []Result {
+	results := make([]Result, len(calls))
+	var wg sync.WaitGroup
+	for i, call := range calls {
+		wg.Add(1)
+		go func(callIndex int, call Call) {
+			defer wg.Done()
+			output, err := call.Action.Connector.Connect(ctx, call.Input)
+			results[callIndex] = Result{ActionName: call.Action.LLMLabel, Output: output, Err: err}
+		}(i, call)
+	}
+	wg.Wait()
+	return results
+}
+
+// runSequential executes calls one after another, stopping if the context is canceled.
+func (o *Orchestrator) runSequential(ctx context.Context, calls []Call) []Result {
+	results := make([]Result, 0, len(calls))
+	for _, call := range calls {
+		output, err := call.Action.Connector.Connect(ctx, call.Input)
+		results = append(results, Result{ActionName: call.Action.LLMLabel, Output: output, Err: err})
+		if ctx.Err() != nil {
+			break
+		}
+	}
+	return results
+}
+
+// runWithDeps executes calls in an order that respects their dependencies.
+func (o *Orchestrator) runWithDeps(ctx context.Context, calls []Call) []Result {
+	indexByLabel := make(map[string]int, len(calls))
+	for i, call := range calls {
+		indexByLabel[call.Action.LLMLabel] = i
+	}
+
+	results := make([]Result, len(calls))
+	completed := make([]bool, len(calls))
+	var mu sync.Mutex
+
+	var runCall = func(callIndex int) {
+		call := calls[callIndex]
+		for _, dependency := range o.deps[call.Action.LLMLabel] {
+			dependencyIndex, ok := indexByLabel[dependency]
+			if !ok {
+				continue
+			}
+			for {
+				mu.Lock()
+				ready := completed[dependencyIndex]
+				mu.Unlock()
+				if ready {
+					break
+				}
+				if ctx.Err() != nil {
+					return
+				}
+			}
+		}
+		output, err := call.Action.Connector.Connect(ctx, call.Input)
+		mu.Lock()
+		results[callIndex] = Result{ActionName: call.Action.LLMLabel, Output: output, Err: err}
+		completed[callIndex] = true
+		mu.Unlock()
+	}
+
+	var wg sync.WaitGroup
+	for i := range calls {
+		wg.Add(1)
+		go func(callIndex int) {
+			defer wg.Done()
+			runCall(callIndex)
+		}(i)
+	}
+	wg.Wait()
+	return results
+}
+
+// ParseCalls converts raw LLM tool calls to Calls with AgentActions looked up.
+func (o *Orchestrator) ParseCalls(rawToolCalls []map[string]any) ([]Call, error) {
+	var calls []Call
+	for _, rawToolCall := range rawToolCalls {
+		actionName, _ := rawToolCall["name"].(string)
+		arguments, _ := rawToolCall["arguments"].(map[string]any)
+
+		agentAction, ok := o.actions[actionName]
+		if !ok {
+			return nil, fmt.Errorf("unknown action %q", actionName)
+		}
+		calls = append(calls, Call{Action: agentAction, Input: arguments})
+	}
+	return calls, nil
+}
diff --git a/internal/actions/orchestrator_test.go b/internal/actions/orchestrator_test.go
new file mode 100644
index 0000000000..2a0d9a813a
--- /dev/null
+++ b/internal/actions/orchestrator_test.go
@@ -0,0 +1,128 @@
+package actions
+
+import (
+	"context"
+	"errors"
+	"sync"
+	"sync/atomic"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+type recordingConnector struct {
+	mu      *sync.Mutex
+	order   *[]string
+	label   string
+	output  Output
+	err     error
+	delay   time.Duration
+	tickCnt atomic.Int32
+	stopCnt atomic.Int32
+}
+
+func (c *recordingConnector) Connect(_ context.Context, _ Input) (Output, error) {
+	if c.delay > 0 {
+		time.Sleep(c.delay)
+	}
+	c.mu.Lock()
+	*c.order = append(*c.order, c.label)
+	c.mu.Unlock()
+	return c.output, c.err
+}
+
+func (c *recordingConnector) Tick(context.Context) { c.tickCnt.Add(1) }
+func (c *recordingConnector) Stop()                { c.stopCnt.Add(1) }
+
+func newAction(label string, conn Connector) *AgentAction {
+	return &AgentAction{Name: label, LLMLabel: label, Connector: conn}
+}
+
+func TestOrchestratorDefaultsToConcurrent(t *testing.T) {
+	o := NewOrchestrator(nil, "", nil, zap.NewNop())
+	require.Equal(t, Concurrent, o.mode)
+}
+
+func TestSubmitConcurrentReturnsAllResults(t *testing.T) {
+	var mu sync.Mutex
+	var order []string
+	a := newAction("a", &recordingConnector{mu: &mu, order: &order, label: "a", output: "ra"})
+	b := newAction("b", &recordingConnector{mu: &mu, order: &order, label: "b", err: errors.New("fail")})
+
+	o := NewOrchestrator([]*AgentAction{a, b}, Concurrent, nil, zap.NewNop())
+	results := o.Submit(context.Background(), []Call{{Action: a}, {Action: b}})
+
+	require.Len(t, results, 2)
+	require.Equal(t, "a", results[0].ActionName)
+	require.Equal(t, "ra", results[0].Output)
+	require.NoError(t, results[0].Err)
+	require.Error(t, results[1].Err)
+}
+
+func TestSubmitSequentialPreservesOrder(t *testing.T) {
+	var mu sync.Mutex
+	var order []string
+	a := newAction("a", &recordingConnector{mu: &mu, order: &order, label: "a", delay: 5 * time.Millisecond})
+	b := newAction("b", &recordingConnector{mu: &mu, order: &order, label: "b"})
+
+	o := NewOrchestrator([]*AgentAction{a, b}, Sequential, nil, zap.NewNop())
+	results := o.Submit(context.Background(), []Call{{Action: a}, {Action: b}})
+
+	require.Len(t, results, 2)
+	require.Equal(t, []string{"a", "b"}, order, "sequential runs in call order")
+}
+
+func TestSubmitWithDepsRespectsOrder(t *testing.T) {
+	var mu sync.Mutex
+	var order []string
+	parent := newAction("parent", &recordingConnector{mu: &mu, order: &order, label: "parent", delay: 10 * time.Millisecond})
+	child := newAction("child", &recordingConnector{mu: &mu, order: &order, label: "child"})
+
+	deps := map[string][]string{"child": {"parent"}}
+	o := NewOrchestrator([]*AgentAction{parent, child}, WithDeps, deps, zap.NewNop())
+	results := o.Submit(context.Background(), []Call{{Action: child}, {Action: parent}})
+
+	require.Len(t, results, 2)
+	require.Equal(t, []string{"parent", "child"}, order, "dependency runs before dependent")
+}
+
+func TestParseCalls(t *testing.T) {
+	a := newAction("speak", stubConnector{})
+	o := NewOrchestrator([]*AgentAction{a}, Concurrent, nil, zap.NewNop())
+
+	calls, err := o.ParseCalls([]map[string]any{
+		{"name": "speak", "arguments": map[string]any{"text": "hi"}},
+	})
+	require.NoError(t, err)
+	require.Len(t, calls, 1)
+	require.Same(t, a, calls[0].Action)
+	require.Equal(t, map[string]any{"text": "hi"}, calls[0].Input)
+}
+
+func TestParseCallsUnknownAction(t *testing.T) {
+	o := NewOrchestrator(nil, Concurrent, nil, zap.NewNop())
+	_, err := o.ParseCalls([]map[string]any{{"name": "ghost"}})
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "ghost")
+}
+
+func TestStartTicksAndStopsOnCancel(t *testing.T) {
+	conn := &recordingConnector{mu: &sync.Mutex{}, order: &[]string{}, label: "a"}
+	a := newAction("a", conn)
+	o := NewOrchestrator([]*AgentAction{a}, Concurrent, nil, zap.NewNop())
+
+	ctx, cancel := context.WithCancel(context.Background())
+	done := o.Start(ctx)
+	time.Sleep(20 * time.Millisecond)
+	cancel()
+
+	select {
+	case <-done:
+	case <-time.After(time.Second):
+		t.Fatal("Start did not return after cancellation")
+	}
+	require.Positive(t, conn.tickCnt.Load(), "Tick was called at least once")
+	require.Equal(t, int32(1), conn.stopCnt.Load(), "Stop is called exactly once on shutdown")
+}
diff --git a/internal/actions/schema.go b/internal/actions/schema.go
new file mode 100644
index 0000000000..b6afaee6dd
--- /dev/null
+++ b/internal/actions/schema.go
@@ -0,0 +1,124 @@
+package actions
+
+import (
+	"reflect"
+	"strings"
+)
+
+// Enumer is an interface for input fields that should be treated as enums.
+type Enumer interface {
+	EnumValues() []string
+}
+
+// InterfaceSpec holds the description and input example for an action interface
+type InterfaceSpec struct {
+	description  string
+	inputExample any
+}
+
+var InterfaceRegistry = map[string]InterfaceSpec{}
+
+// RegisterInterface registers an action interface with a name, description, and input example struct.
+func RegisterInterface(actionName, description string, inputExample any) {
+	InterfaceRegistry[actionName] = InterfaceSpec{
+		description:  description,
+		inputExample: inputExample,
+	}
+}
+
+// BuildSchemaForAction looks up the input struct for the given actionName and llmLabel.
+func BuildSchemaForAction(actionName, llmLabel string) (map[string]any, bool) {
+	spec, ok := InterfaceRegistry[actionName]
+	if !ok {
+		return nil, false
+	}
+
+	return BuildSchema(llmLabel, spec.description, spec.inputExample), true
+}
+
+// BuildSchema generates an OpenAI function schema by reflecting over the fields
+// of inputExample.
+//   - fields whose type implements Enumer → {"type":"string","enum":[...]}
+//   - string  → {"type":"string"}
+//   - int     → {"type":"integer"}
+//   - float64 → {"type":"number"}
+//   - bool    → {"type":"boolean"}
+//   - other   → {"type":"string"} (safe fallback)
+//
+// The "json" struct tag is used for the property name; the "description" struct
+// tag overrides the auto-generated description.
+func BuildSchema(llmLabel, description string, inputExample any) map[string]any {
+	inputType := reflect.TypeOf(inputExample)
+	if inputType.Kind() == reflect.Ptr {
+		inputType = inputType.Elem()
+	}
+
+	properties := map[string]any{}
+	required := []string{}
+
+	for i := 0; i < inputType.NumField(); i++ {
+		field := inputType.Field(i)
+
+		propertyName := field.Tag.Get("json")
+		if propertyName == "" {
+			propertyName = strings.ToLower(field.Name)
+		}
+		propertyName = strings.Split(propertyName, ",")[0]
+
+		fieldDescription := field.Tag.Get("description")
+		if fieldDescription == "" {
+			fieldDescription = "The " + propertyName + " parameter"
+		}
+
+		properties[propertyName] = BuildPropertySchema(field.Type, fieldDescription)
+		required = append(required, propertyName)
+	}
+
+	return map[string]any{
+		"type": "function",
+		"function": map[string]any{
+			"name":        llmLabel,
+			"description": description,
+			"parameters": map[string]any{
+				"type":                 "object",
+				"properties":           properties,
+				"required":             required,
+				"additionalProperties": false,
+			},
+			"strict": true,
+		},
+	}
+}
+
+// BuildPropertySchema returns the JSON-schema fragment for one input field.
+func BuildPropertySchema(fieldType reflect.Type, description string) map[string]any {
+	zeroValue := reflect.Zero(fieldType)
+	if enumer, ok := zeroValue.Interface().(Enumer); ok {
+		values := enumer.EnumValues()
+		return map[string]any{
+			"type":        "string",
+			"enum":        values,
+			"description": description,
+		}
+	}
+
+	return map[string]any{
+		"type":        KindToJSONType(fieldType.Kind()),
+		"description": description,
+	}
+}
+
+// KindToJSONType maps a Go reflect.Kind to the corresponding JSON Schema type.
+func KindToJSONType(kind reflect.Kind) string {
+	switch kind {
+	case reflect.Int, reflect.Int8, reflect.Int16, reflect.Int32, reflect.Int64,
+		reflect.Uint, reflect.Uint8, reflect.Uint16, reflect.Uint32, reflect.Uint64:
+		return "integer"
+	case reflect.Float32, reflect.Float64:
+		return "number"
+	case reflect.Bool:
+		return "boolean"
+	default:
+		return "string"
+	}
+}
diff --git a/internal/actions/schema_test.go b/internal/actions/schema_test.go
new file mode 100644
index 0000000000..b820f18221
--- /dev/null
+++ b/internal/actions/schema_test.go
@@ -0,0 +1,81 @@
+package actions
+
+import (
+	"reflect"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+type moveInput struct {
+	Direction directionEnum `json:"direction" description:"which way to move"`
+	Distance  int           `json:"distance"`
+	Speed     float64       `json:"speed"`
+	Urgent    bool          `json:"urgent"`
+}
+
+type directionEnum string
+
+func (directionEnum) EnumValues() []string { return []string{"left", "right"} }
+
+func TestKindToJSONType(t *testing.T) {
+	require.Equal(t, "integer", KindToJSONType(reflect.Int))
+	require.Equal(t, "integer", KindToJSONType(reflect.Uint32))
+	require.Equal(t, "number", KindToJSONType(reflect.Float64))
+	require.Equal(t, "boolean", KindToJSONType(reflect.Bool))
+	require.Equal(t, "string", KindToJSONType(reflect.String))
+	require.Equal(t, "string", KindToJSONType(reflect.Slice), "unknown kinds fall back to string")
+}
+
+func TestBuildPropertySchemaEnum(t *testing.T) {
+	got := BuildPropertySchema(reflect.TypeOf(directionEnum("")), "dir")
+	require.Equal(t, "string", got["type"])
+	require.Equal(t, []string{"left", "right"}, got["enum"])
+	require.Equal(t, "dir", got["description"])
+}
+
+func TestBuildPropertySchemaScalar(t *testing.T) {
+	got := BuildPropertySchema(reflect.TypeOf(0), "count")
+	require.Equal(t, "integer", got["type"])
+	require.NotContains(t, got, "enum")
+}
+
+func TestBuildSchema(t *testing.T) {
+	schema := BuildSchema("move", "Move the robot", moveInput{})
+	require.Equal(t, "function", schema["type"])
+
+	fn := schema["function"].(map[string]any)
+	require.Equal(t, "move", fn["name"])
+	require.Equal(t, "Move the robot", fn["description"])
+	require.Equal(t, true, fn["strict"])
+
+	params := fn["parameters"].(map[string]any)
+	require.Equal(t, "object", params["type"])
+	require.Equal(t, false, params["additionalProperties"])
+
+	props := params["properties"].(map[string]any)
+	require.Equal(t, "which way to move", props["direction"].(map[string]any)["description"], "description tag wins")
+	require.Equal(t, "integer", props["distance"].(map[string]any)["type"])
+	require.Equal(t, "number", props["speed"].(map[string]any)["type"])
+	require.Equal(t, "boolean", props["urgent"].(map[string]any)["type"])
+
+	required := params["required"].([]string)
+	require.ElementsMatch(t, []string{"direction", "distance", "speed", "urgent"}, required)
+}
+
+func TestBuildSchemaHandlesPointer(t *testing.T) {
+	schema := BuildSchema("move", "desc", &moveInput{})
+	require.NotNil(t, schema["function"])
+}
+
+func TestRegisterInterfaceAndBuildForAction(t *testing.T) {
+	RegisterInterface("test_move", "Move action", moveInput{})
+	t.Cleanup(func() { delete(InterfaceRegistry, "test_move") })
+
+	schema, ok := BuildSchemaForAction("test_move", "moveLabel")
+	require.True(t, ok)
+	require.Equal(t, "moveLabel", schema["function"].(map[string]any)["name"])
+
+	_, ok = BuildSchemaForAction("unregistered", "x")
+	require.False(t, ok)
+}
diff --git a/internal/backgrounds/background.go b/internal/backgrounds/background.go
new file mode 100644
index 0000000000..92eec5ee1e
--- /dev/null
+++ b/internal/backgrounds/background.go
@@ -0,0 +1,34 @@
+package backgrounds
+
+import "context"
+
+// Background represents a long-running process that performs side effects and can be started and stopped by the runtime.
+type Background interface {
+	Run(ctx context.Context)
+	Stop()
+}
+
+// Factory creates a Background from a decoded config map.
+type Factory func(cfg map[string]any) (Background, error)
+
+// Registry for background factories, keyed by type name.
+var registry = map[string]Factory{}
+
+// Register adds a background factory to the registry under the given key.
+func Register(typeName string, f Factory) {
+	registry[typeName] = f
+}
+
+// Load creates a Background for the given type name and config.
+func Load(typeName string, cfg map[string]any) (Background, error) {
+	f, ok := registry[typeName]
+	if !ok {
+		return nil, &UnknownPluginError{Name: typeName}
+	}
+	return f(cfg)
+}
+
+// UnknownPluginError is returned when a requested plugin type is not found in the registry.
+type UnknownPluginError struct{ Name string }
+
+func (e *UnknownPluginError) Error() string { return "background plugin not found: " + e.Name }
diff --git a/internal/backgrounds/background_test.go b/internal/backgrounds/background_test.go
new file mode 100644
index 0000000000..c4b2207915
--- /dev/null
+++ b/internal/backgrounds/background_test.go
@@ -0,0 +1,87 @@
+package backgrounds
+
+import (
+	"context"
+	"sync/atomic"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+type fakeBackground struct {
+	runs       atomic.Int32
+	stops      atomic.Int32
+	panicUntil int32
+}
+
+func (b *fakeBackground) Run(context.Context) {
+	n := b.runs.Add(1)
+	if n <= b.panicUntil {
+		panic("boom")
+	}
+}
+func (b *fakeBackground) Stop() { b.stops.Add(1) }
+
+func TestRegisterAndLoad(t *testing.T) {
+	want := &fakeBackground{}
+	Register("FakeBG", func(map[string]any) (Background, error) { return want, nil })
+	t.Cleanup(func() { delete(registry, "FakeBG") })
+
+	got, err := Load("FakeBG", nil)
+	require.NoError(t, err)
+	require.Same(t, want, got)
+}
+
+func TestLoadUnknown(t *testing.T) {
+	_, err := Load("missing", nil)
+	require.Error(t, err)
+	var unknown *UnknownPluginError
+	require.ErrorAs(t, err, &unknown)
+	require.Equal(t, "background plugin not found: missing", err.Error())
+}
+
+func TestOrchestratorRunsAndStops(t *testing.T) {
+	bg := &fakeBackground{}
+	o := NewOrchestrator([]Background{bg}, zap.NewNop())
+
+	ctx, cancel := context.WithCancel(context.Background())
+	done := o.Start(ctx)
+	time.Sleep(20 * time.Millisecond)
+	cancel()
+
+	requireClosed(t, done, "Run is called repeatedly until cancel")
+	require.Positive(t, bg.runs.Load(), "Run is called repeatedly")
+	require.Equal(t, int32(1), bg.stops.Load(), "Stop is called once on shutdown")
+}
+
+func TestOrchestratorRecoversFromPanic(t *testing.T) {
+	bg := &fakeBackground{panicUntil: 3}
+	o := NewOrchestrator([]Background{bg}, zap.NewNop())
+
+	ctx, cancel := context.WithCancel(context.Background())
+	done := o.Start(ctx)
+	time.Sleep(30 * time.Millisecond)
+	cancel()
+
+	requireClosed(t, done, "loop survives panics")
+	require.Greater(t, bg.runs.Load(), int32(3), "loop keeps running after recovered panics")
+}
+
+func TestOrchestratorWaitsForAllBackgrounds(t *testing.T) {
+	o := NewOrchestrator([]Background{&fakeBackground{}, &fakeBackground{}}, zap.NewNop())
+	ctx, cancel := context.WithCancel(context.Background())
+	done := o.Start(ctx)
+	cancel()
+	requireClosed(t, done, "done closes only after every background goroutine exits")
+}
+
+func requireClosed(t *testing.T, done <-chan struct{}, msg string) {
+	t.Helper()
+	select {
+	case <-done:
+	case <-time.After(time.Second):
+		t.Fatalf("orchestrator did not finish after cancellation: %s", msg)
+	}
+}
diff --git a/internal/backgrounds/orchestrator.go b/internal/backgrounds/orchestrator.go
new file mode 100644
index 0000000000..c4e7793622
--- /dev/null
+++ b/internal/backgrounds/orchestrator.go
@@ -0,0 +1,66 @@
+package backgrounds
+
+import (
+	"context"
+	"sync"
+
+	"go.uber.org/zap"
+)
+
+// Orchestrator runs Background tasks in separate goroutines.
+type Orchestrator struct {
+	backgrounds []Background
+	log         *zap.Logger
+}
+
+// NewOrchestrator creates a new Orchestrator with the given Background tasks and logger.
+func NewOrchestrator(backgroundList []Background, log *zap.Logger) *Orchestrator {
+	return &Orchestrator{backgrounds: backgroundList, log: log}
+}
+
+// Start launches one goroutine per background and returns a channel that is
+// closed when all goroutines have finished.
+func (o *Orchestrator) Start(ctx context.Context) <-chan struct{} {
+	done := make(chan struct{})
+	var wg sync.WaitGroup
+
+	for _, background := range o.backgrounds {
+		wg.Add(1)
+		go func(background Background) {
+			defer wg.Done()
+			o.runLoop(ctx, background)
+		}(background)
+	}
+
+	go func() {
+		wg.Wait()
+		close(done)
+	}()
+	return done
+}
+
+// runLoop continuously calls background.Run(ctx) until the context is cancelled,
+// recovering from panics so one failure doesn't stop the loop.
+func (o *Orchestrator) runLoop(ctx context.Context, background Background) {
+	defer background.Stop()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+
+		o.safeRun(ctx, background)
+	}
+}
+
+// safeRun calls background.Run(ctx) and recovers from any panics, logging the error.
+func (o *Orchestrator) safeRun(ctx context.Context, background Background) {
+	defer func() {
+		if r := recover(); r != nil {
+			o.log.Error("background panicked", zap.Any("panic", r))
+		}
+	}()
+	background.Run(ctx)
+}
diff --git a/internal/config/loader.go b/internal/config/loader.go
new file mode 100644
index 0000000000..67c02c4802
--- /dev/null
+++ b/internal/config/loader.go
@@ -0,0 +1,154 @@
+package config
+
+import (
+	"encoding/json"
+	"fmt"
+	"os"
+	"path/filepath"
+	"regexp"
+	"strings"
+)
+
+var envVarRe = regexp.MustCompile(`\$\{([^}:-]+)(?::-(.*?))?\}`)
+
+// Load reads a configuration file, processes it, and unmarshals it into a SystemConfig struct.
+func Load(nameOrPath string) (*SystemConfig, error) {
+	path, err := resolvePath(nameOrPath)
+	if err != nil {
+		return nil, err
+	}
+
+	rawBytes, err := os.ReadFile(path)
+	if err != nil {
+		return nil, fmt.Errorf("read config %s: %w", path, err)
+	}
+
+	expanded := expandEnv(string(rawBytes))
+
+	jsonData, err := stripJSON5([]byte(expanded))
+	if err != nil {
+		return nil, fmt.Errorf("parse config %s: %w", path, err)
+	}
+
+	var systemConfig SystemConfig
+	if err := json.Unmarshal(jsonData, &systemConfig); err != nil {
+		return nil, fmt.Errorf("unmarshal config %s: %w", path, err)
+	}
+
+	normalize(&systemConfig)
+	return &systemConfig, nil
+}
+
+// resolvePath determines the actual file path of the configuration based on the provided name or path.
+func resolvePath(nameOrPath string) (string, error) {
+	if filepath.IsAbs(nameOrPath) {
+		return nameOrPath, nil
+	}
+
+	if strings.HasSuffix(nameOrPath, ".json5") || strings.HasSuffix(nameOrPath, ".json") {
+		return nameOrPath, nil
+	}
+
+	exe, _ := os.Executable()
+	repoRoot := filepath.Join(filepath.Dir(exe), "..", "..")
+	candidates := []string{
+		filepath.Join(repoRoot, "config", nameOrPath+".json5"),
+		filepath.Join("config", nameOrPath+".json5"),
+	}
+
+	for _, candidate := range candidates {
+		if _, err := os.Stat(candidate); err == nil {
+			return candidate, nil
+		}
+	}
+
+	return "", fmt.Errorf("config %q not found", nameOrPath)
+}
+
+// expandEnv replaces environment variable placeholders.
+func expandEnv(text string) string {
+	return envVarRe.ReplaceAllStringFunc(text, func(match string) string {
+		submatch := envVarRe.FindStringSubmatch(match)
+		varName, defaultValue := submatch[1], submatch[2]
+
+		if value := os.Getenv(varName); value != "" {
+			return value
+		}
+
+		return defaultValue
+	})
+}
+
+// stripJSON5 removes comments, trailing commas, and unquotes keys to convert JSON5 to standard JSON.
+func stripJSON5(src []byte) ([]byte, error) {
+	text := strings.ReplaceAll(string(src), "\\\n", "")
+	lines := strings.Split(text, "\n")
+
+	var stripped []string
+	for _, line := range lines {
+		if commentStart := commentIndex(line); commentStart >= 0 {
+			line = line[:commentStart]
+		}
+		stripped = append(stripped, line)
+	}
+
+	text = strings.Join(stripped, "\n")
+
+	trailingComma := regexp.MustCompile(`,(\s*[}\]])`)
+	text = trailingComma.ReplaceAllString(text, "$1")
+
+	unquotedKey := regexp.MustCompile(`([{\[,]\s*)([a-zA-Z_][a-zA-Z0-9_]*)\s*:`)
+	text = unquotedKey.ReplaceAllString(text, `$1"$2":`)
+
+	return []byte(text), nil
+}
+
+// commentIndex finds the index of the start of a comment (//) in a line, ignoring any // that are inside string literals.
+func commentIndex(line string) int {
+	inString := false
+	for i := 0; i < len(line)-1; i++ {
+		if line[i] == '"' {
+			inString = !inString
+		}
+		if !inString && line[i] == '/' && line[i+1] == '/' {
+			return i
+		}
+	}
+	return -1
+}
+
+// normalize ensures that the SystemConfig has a consistent structure.
+func normalize(systemConfig *SystemConfig) {
+	if len(systemConfig.Modes) > 0 {
+		return
+	}
+
+	modeName := systemConfig.DefaultMode
+	if modeName == "" {
+		modeName = systemConfig.Name
+	}
+	if modeName == "" {
+		modeName = "default"
+	}
+
+	hertz := systemConfig.Hertz
+	if hertz == 0 {
+		hertz = 1.0
+	}
+
+	systemConfig.Modes = map[string]ModeConfig{
+		modeName: {
+			Name:             modeName,
+			DisplayName:      modeName,
+			Hertz:            hertz,
+			SystemPromptBase: systemConfig.SystemPromptBase,
+			AgentInputs:      systemConfig.AgentInputs,
+			CortexLLM:        systemConfig.CortexLLM,
+			AgentActions:     systemConfig.AgentActions,
+			Backgrounds:      systemConfig.Backgrounds,
+			MCPServers:       systemConfig.MCPServers,
+			LifecycleHooks:   systemConfig.LifecycleHooks,
+		},
+	}
+	systemConfig.DefaultMode = modeName
+}
diff --git a/internal/config/loader_test.go b/internal/config/loader_test.go
new file mode 100644
index 0000000000..2e6993d15f
--- /dev/null
+++ b/internal/config/loader_test.go
@@ -0,0 +1,110 @@
+package config
+
+import (
+	"os"
+	"path/filepath"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestExpandEnv(t *testing.T) {
+	t.Setenv("OM1_TEST_VAR", "world")
+	require.Equal(t, "hello world", expandEnv("hello ${OM1_TEST_VAR}"))
+	require.Equal(t, "hello fallback", expandEnv("hello ${OM1_MISSING_VAR:-fallback}"), "uses default when unset")
+	require.Equal(t, "hello ", expandEnv("hello ${OM1_MISSING_VAR}"), "empty when unset and no default")
+}
+
+func TestCommentIndex(t *testing.T) {
+	require.Equal(t, 4, commentIndex(`abc // comment`))
+	require.Equal(t, -1, commentIndex(`"http://example.com"`), "// inside a string is ignored")
+	require.Equal(t, -1, commentIndex(`no comment here`))
+}
+
+func TestStripJSON5(t *testing.T) {
+	src := []byte(`{
+		// a comment
+		key: "value", // trailing
+		nested: {
+			url: "http://x/y", // url with slashes
+		},
+		list: [1, 2,],
+	}`)
+	out, err := stripJSON5(src)
+	require.NoError(t, err)
+	require.Contains(t, string(out), `"key": "value"`, "unquoted keys are quoted")
+	require.Contains(t, string(out), `"url": "http://x/y"`, "urls inside strings survive")
+	require.NotContains(t, string(out), "// a comment")
+}
+
+func TestNormalizeSingleMode(t *testing.T) {
+	sc := &SystemConfig{Name: "robot", SystemPromptBase: "be nice"}
+	normalize(sc)
+	require.Equal(t, "robot", sc.DefaultMode)
+	require.Len(t, sc.Modes, 1)
+	mode := sc.Modes["robot"]
+	require.Equal(t, "be nice", mode.SystemPromptBase)
+	require.Equal(t, 1.0, mode.Hertz, "hertz defaults to 1.0")
+}
+
+func TestNormalizeFallbackModeName(t *testing.T) {
+	sc := &SystemConfig{}
+	normalize(sc)
+	require.Contains(t, sc.Modes, "default", "with no name or default_mode, falls back to 'default'")
+}
+
+func TestNormalizePreservesExistingModes(t *testing.T) {
+	sc := &SystemConfig{
+		Name:  "robot",
+		Modes: map[string]ModeConfig{"explicit": {Name: "explicit"}},
+	}
+	normalize(sc)
+	require.Len(t, sc.Modes, 1)
+	require.Contains(t, sc.Modes, "explicit", "existing modes are left untouched")
+}
+
+func TestResolvePath(t *testing.T) {
+	require.Equal(t, "/abs/path.json5", mustResolve(t, "/abs/path.json5"), "absolute paths pass through")
+	require.Equal(t, "rel/config.json", mustResolve(t, "rel/config.json"), "explicit .json suffix passes through")
+
+	_, err := resolvePath("nonexistent-config-name")
+	require.Error(t, err, "bare names that resolve to no file error out")
+}
+
+func mustResolve(t *testing.T, in string) string {
+	t.Helper()
+	got, err := resolvePath(in)
+	require.NoError(t, err)
+	return got
+}
+
+func TestLoadFullConfig(t *testing.T) {
+	t.Setenv("OM1_API_KEY", "secret-key")
+	dir := t.TempDir()
+	path := filepath.Join(dir, "test.json5")
+	contents := `{
+		// system config
+		name: "tester",
+		hertz: 2.0,
+		api_key: "${OM1_API_KEY}",
+		system_prompt_base: "be helpful",
+		agent_actions: [
+			{ name: "speak", connector: "tts", },
+		],
+	}`
+	require.NoError(t, os.WriteFile(path, []byte(contents), 0o600))
+
+	sc, err := Load(path)
+	require.NoError(t, err)
+	require.Equal(t, "tester", sc.Name)
+	require.Equal(t, 2.0, sc.Hertz)
+	require.Equal(t, "secret-key", sc.APIKey, "env var was expanded")
+	require.Len(t, sc.AgentActions, 1)
+	require.Equal(t, "speak", sc.AgentActions[0].Name)
+	require.Contains(t, sc.Modes, "tester", "Load runs normalize")
+}
+
+func TestLoadMissingFile(t *testing.T) {
+	_, err := Load("/no/such/file.json5")
+	require.Error(t, err)
+}
diff --git a/internal/config/types.go b/internal/config/types.go
new file mode 100644
index 0000000000..51efd0b134
--- /dev/null
+++ b/internal/config/types.go
@@ -0,0 +1,119 @@
+package config
+
+// SystemConfig is the top-level, file-level configuration.
+type SystemConfig struct {
+	Version string `json:"version"`
+	Name    string `json:"name"`
+
+	Hertz            float64      `json:"hertz"`
+	SystemPromptBase string       `json:"system_prompt_base"`
+	SystemGovernance string       `json:"system_governance"`
+	PromptExamples   string       `json:"system_prompt_examples"`
+	AgentInputs      []PluginSpec `json:"agent_inputs"`
+	CortexLLM        PluginSpec   `json:"cortex_llm"`
+	AgentActions     []ActionSpec `json:"agent_actions"`
+	Backgrounds      []PluginSpec `json:"backgrounds"`
+	MCPServers       []MCPSpec    `json:"mcp_servers"`
+	KnowledgeBase    *KBSpec      `json:"knowledge_base"`
+	LifecycleHooks   []HookSpec   `json:"lifecycle_hooks"`
+
+	APIKey  string `json:"api_key"`
+	RobotIP string `json:"robot_ip"`
+	URID    string `json:"URID"`
+
+	UseTracer bool `json:"use_tracer"`
+
+	DefaultMode       string                `json:"default_mode"`
+	AllowManualSwitch bool                  `json:"allow_manual_switching"`
+	ModeMemoryEnabled bool                  `json:"mode_memory_enabled"`
+	Modes             map[string]ModeConfig `json:"modes"`
+	TransitionRules   []TransitionRule      `json:"transition_rules"`
+	GlobalHooks       []HookSpec            `json:"global_lifecycle_hooks"`
+}
+
+// ModeConfig describes one operating mode in a multi-mode system.
+type ModeConfig struct {
+	Name             string       `json:"name"`
+	DisplayName      string       `json:"display_name"`
+	Description      string       `json:"description"`
+	Hertz            float64      `json:"hertz"`
+	SystemPromptBase string       `json:"system_prompt_base"`
+	AgentInputs      []PluginSpec `json:"agent_inputs"`
+	CortexLLM        PluginSpec   `json:"cortex_llm"`
+	AgentActions     []ActionSpec `json:"agent_actions"`
+	Backgrounds      []PluginSpec `json:"backgrounds"`
+	MCPServers       []MCPSpec    `json:"mcp_servers"`
+	LifecycleHooks   []HookSpec   `json:"lifecycle_hooks"`
+	TimeoutSeconds   float64      `json:"timeout_seconds"`
+
+	// Execution mode: "concurrent" | "sequential" | "dependencies"
+	ActionExecMode string              `json:"action_execution_mode"`
+	ActionDeps     map[string][]string `json:"action_dependencies"`
+}
+
+// PluginSpec references a plugin by type + opaque config map.
+type PluginSpec struct {
+	Type   string         `json:"type"`
+	Config map[string]any `json:"config"`
+}
+
+// ActionSpec extends PluginSpec with action-specific metadata.
+type ActionSpec struct {
+	Name              string         `json:"name"`
+	LLMLabel          string         `json:"llm_label"`
+	Implementation    string         `json:"implementation"`
+	Connector         string         `json:"connector"`
+	Config            map[string]any `json:"config"`
+	ExcludeFromPrompt bool           `json:"exclude_from_prompt"`
+}
+
+// TransitionRule defines when/how modes switch.
+type TransitionRule struct {
+	FromMode          string         `json:"from_mode"`
+	ToMode            string         `json:"to_mode"`
+	TransitionType    string         `json:"transition_type"` // "input_triggered" | "time_based" | "context_aware"
+	TriggerKeywords   []string       `json:"trigger_keywords"`
+	TimeoutSeconds    float64        `json:"timeout_seconds"`
+	CooldownSeconds   float64        `json:"cooldown_seconds"`
+	Priority          int            `json:"priority"`
+	ContextConditions map[string]any `json:"context_conditions"`
+}
+
+// HookSpec declares a lifecycle hook.
+type HookSpec struct {
+	HookType      string         `json:"hook_type"`    // "on_entry" | "on_exit" | "on_startup" | "on_timeout"
+	HandlerType   string         `json:"handler_type"` // "action" | "message" | "command"
+	HandlerConfig map[string]any `json:"handler_config"`
+}
+
+// MCPSpec describes one MCP server.
+type MCPSpec struct {
+	Name    string            `json:"name"`
+	Command string            `json:"command"`
+	Args    []string          `json:"args"`
+	Env     map[string]string `json:"env"`
+}
+
+// KBSpec describes the optional knowledge base (RAG).
+type KBSpec struct {
+	Name     string  `json:"knowledge_base_name"`
+	Root     string  `json:"knowledge_base_root"`
+	BaseURL  string  `json:"base_url"`
+	TopK     int     `json:"top_k"`
+	MinScore float64 `json:"min_score"`
+}
+
+// RuntimeConfig is the resolved, instantiated state for the active mode.
+// Components are fully constructed and ready to run.
+type RuntimeConfig struct {
+	Version          string
+	Name             string
+	Hertz            float64
+	SystemPromptBase string
+	SystemGovernance string
+	PromptExamples   string
+	KnowledgeBase    *KBSpec
+	ActionExecMode   string
+	ActionDeps       map[string][]string
+	UseTracer        bool
+}
diff --git a/internal/fuser/fuser.go b/internal/fuser/fuser.go
new file mode 100644
index 0000000000..74ca86dccb
--- /dev/null
+++ b/internal/fuser/fuser.go
@@ -0,0 +1,122 @@
+package fuser
+
+import (
+	"context"
+	"strings"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/providers"
+	"go.uber.org/zap"
+)
+
+// Fuser is responsible for fusing various prompt components (system persona, sensory inputs, knowledge base context, available actions, examples) into a single prompt string to be sent to the LLM.
+type Fuser struct {
+	runtimeConfig *config.RuntimeConfig
+	agentActions  []*actions.AgentAction
+	knowledgeBase KnowledgeBase
+	log           *zap.Logger
+}
+
+// KnowledgeBase defines an interface for querying a knowledge base with a question and retrieving relevant documents.
+type KnowledgeBase interface {
+	Query(ctx context.Context, question string, topK int) ([]string, error)
+}
+
+// NewFuser constructs a Fuser with the given runtime configuration, agent actions, knowledge base, and logger.
+func NewFuser(runtimeConfig *config.RuntimeConfig, agentActions []*actions.AgentAction, knowledgeBase KnowledgeBase, log *zap.Logger) *Fuser {
+	return &Fuser{runtimeConfig: runtimeConfig, agentActions: agentActions, knowledgeBase: knowledgeBase, log: log}
+}
+
+// Fuse combines the prompt components into a single string to be sent to the LLM.
+func (f *Fuser) Fuse(ctx context.Context, sensorBuffers []string) (string, error) {
+	var builder strings.Builder
+
+	// 1. System persona + governance.
+	builder.WriteString(f.runtimeConfig.SystemPromptBase)
+	builder.WriteString("\n\n")
+	if f.runtimeConfig.SystemGovernance != "" {
+		builder.WriteString("Governance rules:\n")
+		builder.WriteString(f.runtimeConfig.SystemGovernance)
+		builder.WriteString("\n\n")
+	}
+
+	// 2. Sensory inputs.
+	hasObservations := false
+	for _, buffer := range sensorBuffers {
+		if buffer != "" {
+			if !hasObservations {
+				builder.WriteString("Current observations:\n")
+				hasObservations = true
+			}
+			builder.WriteString("- ")
+			builder.WriteString(buffer)
+			builder.WriteString("\n")
+		}
+	}
+	if hasObservations {
+		builder.WriteString("\n")
+	}
+
+	// 3. Knowledge-base context (RAG).
+	if f.knowledgeBase != nil && f.runtimeConfig.KnowledgeBase != nil {
+		if question := f.voiceQuery(); question != "" {
+			documents, err := f.knowledgeBase.Query(ctx, question, f.runtimeConfig.KnowledgeBase.TopK)
+			if err != nil {
+				f.log.Warn("knowledge base query failed", zap.Error(err))
+			} else if len(documents) > 0 {
+				builder.WriteString("Relevant context:\n")
+				for _, document := range documents {
+					builder.WriteString("- ")
+					builder.WriteString(document)
+					builder.WriteString("\n")
+				}
+				builder.WriteString("\n")
+			}
+		}
+	}
+
+	// 4. Available actions description.
+	visibleActions := f.visibleActions()
+	if len(visibleActions) > 0 {
+		builder.WriteString("Available actions:\n")
+		for _, action := range visibleActions {
+			builder.WriteString("- ")
+			builder.WriteString(action.LLMLabel)
+			builder.WriteString("\n")
+		}
+		builder.WriteString("\n")
+	}
+
+	// 5. Examples.
+	if f.runtimeConfig.PromptExamples != "" {
+		builder.WriteString(f.runtimeConfig.PromptExamples)
+		builder.WriteString("\n\n")
+	}
+
+	// 6. Closing question.
+	builder.WriteString("What will you do next?")
+
+	return builder.String(), nil
+}
+
+// visibleActions filters the agent actions to include only those that are not marked as ExcludeFromPrompt, meaning they should be included in the prompt for the LLM.
+func (f *Fuser) visibleActions() []*actions.AgentAction {
+	var visible []*actions.AgentAction
+	for _, action := range f.agentActions {
+		if !action.ExcludeFromPrompt {
+			visible = append(visible, action)
+		}
+	}
+	return visible
+}
+
+// voiceQuery retrieves the latest voice input from the IOProvider for the current tick.
+func (f *Fuser) voiceQuery() string {
+	io := providers.IO()
+	voice := io.GetInput("Voice")
+	if voice == nil || voice.Input == "" || voice.Tick != io.TickCounter() {
+		return ""
+	}
+	return strings.TrimSpace(voice.Input)
+}
diff --git a/internal/fuser/fuser_test.go b/internal/fuser/fuser_test.go
new file mode 100644
index 0000000000..7cae99f0d6
--- /dev/null
+++ b/internal/fuser/fuser_test.go
@@ -0,0 +1,123 @@
+package fuser
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/providers"
+)
+
+type fakeKB struct {
+	docs []string
+	err  error
+	gotQ string
+}
+
+func (k *fakeKB) Query(_ context.Context, question string, _ int) ([]string, error) {
+	k.gotQ = question
+	return k.docs, k.err
+}
+
+func newRC() *config.RuntimeConfig {
+	return &config.RuntimeConfig{SystemPromptBase: "You are a robot."}
+}
+
+func TestFuseBasic(t *testing.T) {
+	f := NewFuser(newRC(), nil, nil, zap.NewNop())
+	out, err := f.Fuse(context.Background(), nil)
+	require.NoError(t, err)
+	require.Contains(t, out, "You are a robot.")
+	require.Contains(t, out, "What will you do next?")
+	require.NotContains(t, out, "Current observations:")
+}
+
+func TestFuseIncludesGovernanceAndExamples(t *testing.T) {
+	rc := newRC()
+	rc.SystemGovernance = "Be safe."
+	rc.PromptExamples = "Example: greet."
+	out, err := NewFuser(rc, nil, nil, zap.NewNop()).Fuse(context.Background(), nil)
+	require.NoError(t, err)
+	require.Contains(t, out, "Governance rules:")
+	require.Contains(t, out, "Be safe.")
+	require.Contains(t, out, "Example: greet.")
+}
+
+func TestFuseIncludesObservations(t *testing.T) {
+	out, err := NewFuser(newRC(), nil, nil, zap.NewNop()).
+		Fuse(context.Background(), []string{"saw a person", "", "heard a sound"})
+	require.NoError(t, err)
+	require.Contains(t, out, "Current observations:")
+	require.Contains(t, out, "- saw a person")
+	require.Contains(t, out, "- heard a sound")
+	require.NotContains(t, out, "- \n", "empty buffers are skipped")
+}
+
+func TestFuseVisibleActions(t *testing.T) {
+	acts := []*actions.AgentAction{
+		{LLMLabel: "speak"},
+		{LLMLabel: "hidden", ExcludeFromPrompt: true},
+		{LLMLabel: "move"},
+	}
+	out, err := NewFuser(newRC(), acts, nil, zap.NewNop()).Fuse(context.Background(), nil)
+	require.NoError(t, err)
+	require.Contains(t, out, "Available actions:")
+	require.Contains(t, out, "- speak")
+	require.Contains(t, out, "- move")
+	require.NotContains(t, out, "hidden", "ExcludeFromPrompt actions are omitted")
+}
+
+func TestFuseIncludesKnowledgeBase(t *testing.T) {
+	// A live voice input on the current tick drives the KB query.
+	io := providers.IO()
+	io.ResetTickCounter()
+	io.IncrementTick()
+	io.AddInput("Voice", "what time is it?", time.Now())
+	t.Cleanup(func() { io.RemoveInput("Voice"); io.ResetTickCounter() })
+
+	rc := newRC()
+	rc.KnowledgeBase = &config.KBSpec{Name: "kb", TopK: 2}
+	kb := &fakeKB{docs: []string{"It is noon.", "The museum opens at 9."}}
+
+	out, err := NewFuser(rc, nil, kb, zap.NewNop()).Fuse(context.Background(), nil)
+	require.NoError(t, err)
+	require.Equal(t, "what time is it?", kb.gotQ, "the voice query is forwarded to the KB")
+	require.Contains(t, out, "Relevant context:")
+	require.Contains(t, out, "- It is noon.")
+}
+
+func TestFuseSkipsKBWhenNoVoice(t *testing.T) {
+	io := providers.IO()
+	io.ResetTickCounter()
+	io.RemoveInput("Voice")
+
+	rc := newRC()
+	rc.KnowledgeBase = &config.KBSpec{Name: "kb"}
+	kb := &fakeKB{docs: []string{"unused"}}
+
+	out, err := NewFuser(rc, nil, kb, zap.NewNop()).Fuse(context.Background(), nil)
+	require.NoError(t, err)
+	require.Empty(t, kb.gotQ, "KB is not queried without a fresh voice input")
+	require.NotContains(t, out, "Relevant context:")
+}
+
+func TestFuseToleratesKBError(t *testing.T) {
+	io := providers.IO()
+	io.ResetTickCounter()
+	io.IncrementTick()
+	io.AddInput("Voice", "hello", time.Now())
+	t.Cleanup(func() { io.RemoveInput("Voice"); io.ResetTickCounter() })
+
+	rc := newRC()
+	rc.KnowledgeBase = &config.KBSpec{Name: "kb"}
+	kb := &fakeKB{err: context.DeadlineExceeded}
+
+	out, err := NewFuser(rc, nil, kb, zap.NewNop()).Fuse(context.Background(), nil)
+	require.NoError(t, err, "a KB failure is logged, not fatal")
+	require.NotContains(t, out, "Relevant context:")
+}
diff --git a/internal/hooks/greeting_hook.go b/internal/hooks/greeting_hook.go
new file mode 100644
index 0000000000..31383e9234
--- /dev/null
+++ b/internal/hooks/greeting_hook.go
@@ -0,0 +1,246 @@
+package hooks
+
+import (
+	"context"
+	"encoding/base64"
+	"fmt"
+	"strings"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/llm"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+	video "github.com/openmind/om1/internal/providers/vlm"
+	"github.com/openmind/om1/internal/util"
+)
+
+func init() {
+	RegisterHook("greeting_hook", "greeting_start_hook", (*Runner).greetingStartHook)
+	RegisterHook("greeting_hook", "greeting_end_hook", (*Runner).greetingEndHook)
+}
+
+const defaultGreetingLLMType = "GeminiLLM"
+
+const (
+	defaultVisionBaseURL = "https://api.openmind.com/api/core/gemini"
+	defaultVisionModel   = "gemini-2.5-flash"
+	defaultVisionMaxTok  = 1024
+	defaultVisionMaxAge  = 5 * time.Second
+)
+
+const defaultGreetingPrompt = "You are {robot_name}, a friendly robot greeting whoever is in front of you. " +
+	"The current time is {current_time}. " +
+	"Generate a single warm, natural spoken greeting of one or two short sentences. " +
+	"Here is what you currently see: {scene}. " +
+	"If a specific person is recognized ({closest_name}), greet them by name; otherwise greet generically. " +
+	"You may reflect the time of day in your greeting when it feels natural. " +
+	"Finish by offering help, for example: \"{help_message}\". " +
+	"Respond with only the greeting text, with no quotes or commentary."
+
+// greetingStartHook handles the start of a greeting conversation by generating a
+// greeting message using an LLM and sending it to the TTS provider.
+func (r *Runner) greetingStartHook(ctx context.Context, cfg, vars map[string]any) error {
+	provider, err := r.greetingTTSProvider(cfg)
+	if err != nil {
+		r.log.Error("greeting_start_hook: error", zap.Error(err))
+		return err
+	}
+
+	robotName := formatTemplate(stringVal(cfg, "robot_name"), vars)
+
+	helpMessage := "How can I help you today?"
+	if custom := formatTemplate(stringVal(cfg, "custom_message"), vars); custom != "" {
+		helpMessage = custom
+	}
+
+	face := providers.NewFacePresenceProvider(providers.FacePresenceConfig{})
+	snapshot, snapErr := face.FetchSnapshot(ctx)
+	if snapErr != nil {
+		r.log.Warn("greeting_start_hook: face snapshot failed", zap.Error(snapErr))
+	}
+
+	if greeting, genErr := r.generateGreeting(ctx, cfg, vars, snapshot, robotName, helpMessage); genErr != nil {
+		r.log.Warn("greeting_start_hook: llm generation failed, using static greeting", zap.Error(genErr))
+		provider.AddText(staticGreeting(snapshot, snapErr, robotName, helpMessage))
+	} else {
+		r.log.Info("greeting generated successfully", zap.String("greeting", greeting))
+		provider.AddText(greeting)
+	}
+
+	r.log.Info("greeting start hook executed successfully")
+	return nil
+}
+
+// generateGreeting constructs the prompt for the greeting, attempts to generate a greeting using vision when possible, and falls back to text-only LLM generation when vision fails or is unavailable.
+// ToDo:
+// - add more context to the prompt, e.g. recent conversation history if available, etc.
+func (r *Runner) generateGreeting(ctx context.Context, cfg, vars map[string]any, snapshot providers.PresenceSnapshot, robotName, helpMessage string) (string, error) {
+	if robotName == "" {
+		robotName = "a friendly robot"
+	}
+
+	scene := strings.TrimSpace(snapshot.ToText())
+	if scene == "" {
+		scene = "No one is clearly in view."
+	}
+
+	closestName := snapshot.ClosestName
+	if closestName == "" || strings.EqualFold(closestName, "unknown") {
+		closestName = "no one in particular"
+	}
+
+	promptTemplate := stringVal(cfg, "prompt")
+	if strings.TrimSpace(promptTemplate) == "" {
+		promptTemplate = defaultGreetingPrompt
+	}
+
+	promptVars := make(map[string]any, len(vars)+5)
+	for k, v := range vars {
+		promptVars[k] = v
+	}
+	promptVars["robot_name"] = robotName
+	promptVars["scene"] = scene
+	promptVars["closest_name"] = closestName
+	promptVars["help_message"] = helpMessage
+	promptVars["current_time"] = time.Now().Format("Monday, January 2, 2006 at 3:04 PM")
+
+	prompt := formatTemplate(promptTemplate, promptVars)
+
+	if greeting, ok := r.visionGreeting(ctx, cfg, prompt); ok {
+		return greeting, nil
+	}
+
+	model, err := r.greetingLLM(cfg)
+	if err != nil {
+		return "", err
+	}
+
+	resp, err := model.Call(ctx, prompt, nil)
+	if err != nil {
+		return "", err
+	}
+	greeting := strings.TrimSpace(resp.TextContent)
+	if greeting == "" {
+		return "", fmt.Errorf("llm returned empty greeting")
+	}
+	return greeting, nil
+}
+
+// visionGreeting attempts to generate a greeting using the vision describer. It returns the greeting and a boolean indicating whether generation was successful.
+func (r *Runner) visionGreeting(ctx context.Context, cfg map[string]any, prompt string) (string, bool) {
+	apiKey := stringVal(cfg, "api_key")
+	if apiKey == "" {
+		return "", false
+	}
+
+	maxAge := defaultVisionMaxAge
+	if sec := util.FloatFrom(cfg["vlm_max_frame_age_sec"], 0); sec > 0 {
+		maxAge = time.Duration(sec * float64(time.Second))
+	}
+
+	var encoded string
+	if jpeg, _, ok := providers.LatestFrame().GetFresh(maxAge); ok {
+		encoded = base64.StdEncoding.EncodeToString(jpeg)
+	} else {
+		r.log.Warn("greeting_start_hook: no recent frame, generating greeting without image")
+	}
+
+	describer := video.NewDescriber(video.Describer{
+		Name:      "greeting_hook",
+		APIKey:    apiKey,
+		BaseURL:   util.FirstNonEmpty(stringVal(cfg, "base_url"), defaultVisionBaseURL),
+		Model:     util.FirstNonEmpty(stringVal(cfg, "model"), defaultVisionModel),
+		Prompt:    prompt,
+		MaxTokens: int(util.FloatFrom(cfg["max_tokens"], defaultVisionMaxTok)),
+		Log:       r.log,
+	})
+
+	greeting, err := describer.Describe(ctx, encoded)
+	if err != nil {
+		r.log.Warn("greeting_start_hook: vision greeting failed, falling back to text", zap.Error(err))
+		return "", false
+	}
+	greeting = strings.TrimSpace(greeting)
+	if greeting == "" {
+		return "", false
+	}
+	return greeting, true
+}
+
+// greetingLLM resolves the LLM for a greeting hook, applying configuration from both the top-level and nested "llm_config" keys.
+func (r *Runner) greetingLLM(cfg map[string]any) (llm.LLM, error) {
+	llmType := stringVal(cfg, "llm_type")
+	if llmType == "" {
+		llmType = defaultGreetingLLMType
+	}
+
+	llmCfg := map[string]any{}
+	if apiKey := stringVal(cfg, "api_key"); apiKey != "" {
+		llmCfg["api_key"] = apiKey
+	}
+	if nested, ok := cfg["llm_config"].(map[string]any); ok {
+		for k, v := range nested {
+			llmCfg[k] = v
+		}
+	}
+	if model := stringVal(cfg, "llm_model"); model != "" {
+		llmCfg["model"] = model
+	}
+
+	return llm.Load(llmType, llmCfg)
+}
+
+// staticGreeting reproduces the original, deterministic greeting used as a
+// fallback when LLM generation is unavailable.
+func staticGreeting(snapshot providers.PresenceSnapshot, snapErr error, robotName, helpMessage string) string {
+	robotIntro := ""
+	if robotName != "" {
+		robotIntro = fmt.Sprintf("I'm %s. ", robotName)
+	}
+
+	switch {
+	case snapErr != nil:
+		return fmt.Sprintf("Hello! %s%s", robotIntro, helpMessage)
+	case !strings.EqualFold(snapshot.ClosestName, "unknown"):
+		return fmt.Sprintf("Hello %s! %sNice to see you. %s", snapshot.ClosestName, robotIntro, helpMessage)
+	default:
+		return fmt.Sprintf("Hello! %s%s", robotIntro, helpMessage)
+	}
+}
+
+// greetingEndHook handles the end of a greeting conversation, announcing a
+// farewell whose wording depends on how far the conversation progressed.
+func (r *Runner) greetingEndHook(_ context.Context, cfg, _ map[string]any) error {
+	provider, err := r.greetingTTSProvider(cfg)
+	if err != nil {
+		r.log.Error("greeting_end_hook: error", zap.Error(err))
+		return err
+	}
+
+	state := providers.Greeting()
+	switch {
+	case state.TurnCount() >= state.MaxTurnCount():
+		r.log.Info("greeting conversation ended due to maximum turn count")
+		provider.AddText("Thank you for chatting with me today. I hope you enjoy the rest of your day.")
+	case state.TurnCount() > 0:
+		provider.AddText("It was nice talking with you! If you have any more questions, come chat with me again!")
+	default:
+		provider.AddText("It was great meeting you! If you want to chat later, just come back and say hi!")
+	}
+
+	return nil
+}
+
+// greetingTTSProvider resolves the TTS provider for a greeting hook.
+func (r *Runner) greetingTTSProvider(cfg map[string]any) (*tts.ElevenLabsProvider, error) {
+	ttsName := strings.ToLower(stringVal(cfg, "tts_provider"))
+
+	if ttsName != "" && ttsName != "elevenlabs" {
+		r.log.Warn("greeting hook: TTS provider not supported, falling back to elevenlabs",
+			zap.String("tts_provider", ttsName))
+	}
+
+	return tts.ElevenLabs(elevenLabsConfigFrom(cfg), r.log), nil
+}
diff --git a/internal/hooks/hooks.go b/internal/hooks/hooks.go
new file mode 100644
index 0000000000..11e3534987
--- /dev/null
+++ b/internal/hooks/hooks.go
@@ -0,0 +1,158 @@
+package hooks
+
+import (
+	"bytes"
+	"context"
+	"fmt"
+	"os/exec"
+	"strings"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+type HookType string
+
+const (
+	OnStartup HookType = "on_startup"
+	OnEntry   HookType = "on_entry"
+	OnExit    HookType = "on_exit"
+	OnTimeout HookType = "on_timeout"
+)
+
+// Runner manages and executes lifecycle hooks based on their type and configuration.
+type Runner struct {
+	hooks []config.HookSpec
+	log   *zap.Logger
+}
+
+// NewHooks creates a new Runner instance with the provided hooks and logger.
+func NewHooks(hooks []config.HookSpec, log *zap.Logger) *Runner {
+	return &Runner{hooks: hooks, log: log}
+}
+
+// Run executes all hooks matching the given HookType, passing vars for template formatting.
+func (r *Runner) Run(ctx context.Context, hookType HookType, vars map[string]any) error {
+	for _, h := range r.hooks {
+		if HookType(h.HookType) != hookType {
+			continue
+		}
+		if err := r.execute(ctx, h, vars); err != nil {
+			r.log.Warn("hook failed",
+				zap.String("type", h.HookType),
+				zap.String("handler", h.HandlerType),
+				zap.Error(err),
+			)
+		}
+	}
+	return nil
+}
+
+// execute runs a single hook based on its HandlerType.
+// It supports "command" for shell commands, "message" and "action" for runtime-handled hooks.
+func (r *Runner) execute(ctx context.Context, h config.HookSpec, vars map[string]any) error {
+	switch h.HandlerType {
+	case "command":
+		cmd, _ := h.HandlerConfig["command"].(string)
+		if cmd == "" {
+			return fmt.Errorf("command hook missing 'command' field")
+		}
+
+		formatted := formatTemplate(cmd, vars)
+		c := exec.CommandContext(ctx, "sh", "-c", formatted)
+
+		var stdout, stderr bytes.Buffer
+		c.Stdout = &stdout
+		c.Stderr = &stderr
+		if err := c.Run(); err != nil {
+			r.log.Error("hook command failed",
+				zap.String("stderr", strings.TrimSpace(stderr.String())),
+				zap.Error(err),
+			)
+			return err
+		}
+
+		if out := strings.TrimSpace(stdout.String()); out != "" {
+			r.log.Info("hook command output", zap.String("output", out))
+		}
+
+		return nil
+
+	case "message":
+		msg, _ := h.HandlerConfig["message"].(string)
+		if msg == "" {
+			return nil
+		}
+		formatted := formatTemplate(msg, vars)
+		r.log.Info("lifecycle message", zap.String("message", formatted))
+
+		cfg := elevenLabsConfigFrom(h.HandlerConfig)
+		tts.ElevenLabs(cfg, r.log).AddText(formatted)
+		return nil
+
+	case "function":
+		return r.executeFunction(ctx, h, vars)
+
+	case "action":
+		r.log.Warn("lifecycle action: unimplemented handler type 'action', skipping")
+		return nil
+
+	default:
+		return fmt.Errorf("unknown handler type %q", h.HandlerType)
+	}
+}
+
+// executeFunction looks up and executes a registered function hook based on the module and function names in the hook's HandlerConfig.
+func (r *Runner) executeFunction(ctx context.Context, h config.HookSpec, vars map[string]any) error {
+	module := stringVal(h.HandlerConfig, "module_name")
+	fn := stringVal(h.HandlerConfig, "function")
+
+	handler, ok := lookupHook(module, fn)
+	if !ok {
+		return fmt.Errorf("unknown function hook %s.%s", module, fn)
+	}
+	return handler(r, ctx, h.HandlerConfig, vars)
+}
+
+// formatTemplate replaces {var} in the template with corresponding values from vars.
+func formatTemplate(s string, vars map[string]any) string {
+	for k, v := range vars {
+		s = strings.ReplaceAll(s, "{"+k+"}", fmt.Sprintf("%v", v))
+	}
+	return s
+}
+
+// stringVal safely extracts a string value from a map, returning empty string if not present or not a string.
+func stringVal(m map[string]any, key string) string {
+	v, _ := m[key].(string)
+	return v
+}
+
+// elevenLabsConfigFrom builds an ElevenLabsConfig from a hook handler_config map,
+// applying provider defaults for any field that is missing or empty.
+func elevenLabsConfigFrom(m map[string]any) tts.ElevenLabsConfig {
+	cfg := tts.ElevenLabsConfig{
+		APIKey:           stringVal(m, "api_key"),
+		ElevenLabsAPIKey: stringVal(m, "elevenlabs_api_key"),
+		VoiceID:          stringVal(m, "voice_id"),
+		ModelID:          stringVal(m, "model_id"),
+		OutputFormat:     stringVal(m, "output_format"),
+	}
+	if cfg.VoiceID == "" {
+		cfg.VoiceID = tts.DefaultVoiceID
+	}
+	if cfg.ModelID == "" {
+		cfg.ModelID = tts.DefaultModelID
+	}
+	if cfg.OutputFormat == "" {
+		cfg.OutputFormat = tts.DefaultOutputFormat
+	}
+	if rv, ok := m["rate"].(float64); ok && rv > 0 {
+		cfg.Rate = int(rv)
+	} else {
+		cfg.Rate = tts.DefaultRate
+	}
+	return cfg
+}
diff --git a/internal/hooks/hooks_test.go b/internal/hooks/hooks_test.go
new file mode 100644
index 0000000000..e34c0ef3fd
--- /dev/null
+++ b/internal/hooks/hooks_test.go
@@ -0,0 +1,91 @@
+package hooks
+
+import (
+	"context"
+	"os"
+	"path/filepath"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+func TestFormatTemplate(t *testing.T) {
+	out := formatTemplate("hello {name}, you are {age}", map[string]any{"name": "Ada", "age": 42})
+	require.Equal(t, "hello Ada, you are 42", out)
+	require.Equal(t, "no vars", formatTemplate("no vars", nil))
+}
+
+func TestStringVal(t *testing.T) {
+	m := map[string]any{"s": "x", "n": 1}
+	require.Equal(t, "x", stringVal(m, "s"))
+	require.Equal(t, "", stringVal(m, "n"), "non-string returns empty")
+	require.Equal(t, "", stringVal(m, "absent"))
+}
+
+func TestElevenLabsConfigFromDefaults(t *testing.T) {
+	cfg := elevenLabsConfigFrom(map[string]any{})
+	require.Equal(t, tts.DefaultVoiceID, cfg.VoiceID)
+	require.Equal(t, tts.DefaultModelID, cfg.ModelID)
+	require.Equal(t, tts.DefaultOutputFormat, cfg.OutputFormat)
+	require.Equal(t, tts.DefaultRate, cfg.Rate)
+}
+
+func TestElevenLabsConfigFromOverrides(t *testing.T) {
+	cfg := elevenLabsConfigFrom(map[string]any{
+		"api_key":  "k",
+		"voice_id": "v",
+		"rate":     float64(3),
+	})
+	require.Equal(t, "k", cfg.APIKey)
+	require.Equal(t, "v", cfg.VoiceID)
+	require.Equal(t, 3, cfg.Rate)
+}
+
+func TestRunCommandHook(t *testing.T) {
+	marker := filepath.Join(t.TempDir(), "marker.txt")
+	runner := NewHooks([]config.HookSpec{
+		{HookType: "on_startup", HandlerType: "command", HandlerConfig: map[string]any{
+			"command": "echo {msg} > " + marker,
+		}},
+		{HookType: "on_exit", HandlerType: "command", HandlerConfig: map[string]any{
+			"command": "echo nope > " + marker + ".exit",
+		}},
+	}, zap.NewNop())
+
+	require.NoError(t, runner.Run(context.Background(), OnStartup, map[string]any{"msg": "started"}))
+
+	data, err := os.ReadFile(marker)
+	require.NoError(t, err)
+	require.Contains(t, string(data), "started", "the matching command hook ran with substituted vars")
+	require.NoFileExists(t, marker+".exit", "the on_exit hook did not run for an OnStartup trigger")
+}
+
+func TestRunSwallowsHookErrors(t *testing.T) {
+	runner := NewHooks([]config.HookSpec{
+		{HookType: "on_startup", HandlerType: "command", HandlerConfig: map[string]any{"command": "exit 1"}},
+	}, zap.NewNop())
+	require.NoError(t, runner.Run(context.Background(), OnStartup, nil), "a failing hook is logged, not propagated")
+}
+
+func TestExecuteFunctionHook(t *testing.T) {
+	called := false
+	RegisterHook("testmod", "fn_"+t.Name(), func(_ *Runner, _ context.Context, _, vars map[string]any) error {
+		called = true
+		require.Equal(t, "v", vars["k"])
+		return nil
+	})
+
+	runner := NewHooks([]config.HookSpec{
+		{HookType: "on_entry", HandlerType: "function", HandlerConfig: map[string]any{
+			"module_name": "testmod",
+			"function":    "fn_" + t.Name(),
+		}},
+	}, zap.NewNop())
+
+	require.NoError(t, runner.Run(context.Background(), OnEntry, map[string]any{"k": "v"}))
+	require.True(t, called, "the registered function hook was invoked")
+}
diff --git a/internal/hooks/person_follow_hook.go b/internal/hooks/person_follow_hook.go
new file mode 100644
index 0000000000..9f7bb7661f
--- /dev/null
+++ b/internal/hooks/person_follow_hook.go
@@ -0,0 +1,236 @@
+package hooks
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"net/http"
+	"strings"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/httpclient"
+	"github.com/openmind/om1/internal/providers/tts"
+	"github.com/openmind/om1/internal/util"
+)
+
+const (
+	followingBaseURL = "http://localhost:2000"
+	visionBaseURL    = "http://localhost:2001"
+)
+
+func init() {
+	RegisterHook("person_follow_hook", "start_person_follow_hook", (*Runner).startPersonFollowHook)
+	RegisterHook("person_follow_hook", "switch_person_follow_hook", (*Runner).switchPersonFollowHook)
+	RegisterHook("person_follow_hook", "stop_person_follow_hook", (*Runner).stopPersonFollowHook)
+	RegisterHook("person_follow_hook", "set_mode_hook", (*Runner).setModeHook)
+}
+
+// startPersonFollowHook starts person-following mode by repeatedly issuing an
+// enroll command and polling the vision system until a person is tracked.
+func (r *Runner) startPersonFollowHook(ctx context.Context, cfg, _ map[string]any) error {
+	baseURL := stringValDefault(cfg, "base_url", visionBaseURL)
+	enrollTimeout := util.FloatFrom(cfg["enroll_timeout"], 3.0)
+	maxRetries := int(util.FloatFrom(cfg["max_retries"], 5))
+
+	tts := r.personFollowTTS()
+	enrollURL := baseURL + "/enroll"
+	statusURL := baseURL + "/status"
+
+	for attempt := 0; attempt < maxRetries; attempt++ {
+		r.log.Info("person follow: enrolling",
+			zap.Int("attempt", attempt+1), zap.Int("max_retries", maxRetries))
+
+		enrollCtx, cancel := context.WithTimeout(ctx, 5*time.Second)
+		req, err := http.NewRequestWithContext(enrollCtx, http.MethodPost, enrollURL, nil)
+		if err != nil {
+			cancel()
+			return err
+		}
+
+		resp, err := httpclient.Default().Do(req)
+		if err != nil {
+			cancel()
+			r.log.Warn("person follow: enroll failed", zap.Error(err))
+			continue
+		}
+
+		status := resp.StatusCode
+		_ = resp.Body.Close()
+		cancel()
+		if status != http.StatusOK {
+			continue
+		}
+
+		r.log.Info("person follow: enroll command sent")
+
+		elapsed := 0.0
+		for elapsed < enrollTimeout {
+			if !util.Sleep(ctx, 500*time.Millisecond) {
+				return ctx.Err()
+			}
+			elapsed += 0.5
+
+			tracked, err := func() (bool, error) {
+				statusCtx, cancel := context.WithTimeout(ctx, 2*time.Second)
+				defer cancel()
+
+				req, err := http.NewRequestWithContext(statusCtx, http.MethodGet, statusURL, nil)
+				if err != nil {
+					return false, err
+				}
+				resp, err := httpclient.Default().Do(req)
+				if err != nil {
+					return false, err
+				}
+				defer func() { _ = resp.Body.Close() }()
+
+				if resp.StatusCode != http.StatusOK {
+					return false, fmt.Errorf("status endpoint returned %d", resp.StatusCode)
+				}
+				var body struct {
+					IsTracked bool `json:"is_tracked"`
+				}
+				if err := json.NewDecoder(resp.Body).Decode(&body); err != nil {
+					return false, err
+				}
+				return body.IsTracked, nil
+			}()
+			if err != nil {
+				r.log.Warn("person follow: status poll failed", zap.Error(err))
+				continue
+			}
+			if tracked {
+				r.log.Info("person follow: tracking started")
+				tts.AddText("I see you! I'll follow you now.")
+				return nil
+			}
+		}
+
+		r.log.Info("person follow: attempt not tracking, retrying", zap.Int("attempt", attempt+1))
+	}
+
+	r.log.Info("person follow: awaiting person detection")
+	tts.AddText("Person following mode activated. Please stand in front of me.")
+	return nil
+}
+
+// switchPersonFollowHook switches the person-following target to a new person.
+func (r *Runner) switchPersonFollowHook(ctx context.Context, cfg, _ map[string]any) error {
+	baseURL := stringValDefault(cfg, "base_url", visionBaseURL)
+	tts := r.personFollowTTS()
+	switchURL := baseURL + "/switch"
+
+	r.log.Info("person follow: calling switch", zap.String("url", switchURL))
+
+	reqCtx, cancel := context.WithTimeout(ctx, 5*time.Second)
+	defer cancel()
+	req, err := http.NewRequestWithContext(reqCtx, http.MethodPost, switchURL, nil)
+	if err != nil {
+		return err
+	}
+
+	resp, err := httpclient.Default().Do(req)
+	if err != nil {
+		r.log.Error("person follow: switch error", zap.Error(err))
+		tts.AddText("I couldn't connect to switch the person.")
+		return err
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	if resp.StatusCode != http.StatusOK {
+		r.log.Error("person follow: failed to switch", zap.Int("status", resp.StatusCode))
+		tts.AddText("I couldn't switch to a new person.")
+		return fmt.Errorf("switch failed with status %d", resp.StatusCode)
+	}
+
+	r.log.Info("person follow: switched successfully")
+	tts.AddText("I'll follow a new person now.")
+	return nil
+}
+
+// stopPersonFollowHook stops person-following mode by clearing the tracked person.
+func (r *Runner) stopPersonFollowHook(ctx context.Context, cfg, _ map[string]any) error {
+	baseURL := stringValDefault(cfg, "base_url", visionBaseURL)
+	clearURL := baseURL + "/clear"
+
+	r.log.Info("person follow: calling clear", zap.String("url", clearURL))
+
+	reqCtx, cancel := context.WithTimeout(ctx, 5*time.Second)
+	defer cancel()
+	req, err := http.NewRequestWithContext(reqCtx, http.MethodPost, clearURL, nil)
+	if err != nil {
+		return err
+	}
+
+	resp, err := httpclient.Default().Do(req)
+	if err != nil {
+		r.log.Error("person follow: clear error", zap.Error(err))
+		return err
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	if resp.StatusCode != http.StatusOK {
+		r.log.Error("person follow: failed to clear", zap.Int("status", resp.StatusCode))
+		return fmt.Errorf("clear failed with status %d", resp.StatusCode)
+	}
+
+	r.log.Info("person follow: cleared successfully")
+	return nil
+}
+
+// setModeHook sets the person-follow mode (e.g. "greeting", "following").
+func (r *Runner) setModeHook(ctx context.Context, cfg, _ map[string]any) error {
+	baseURL := stringValDefault(cfg, "base_url", followingBaseURL)
+	mode := stringVal(cfg, "mode")
+	if mode == "" {
+		return fmt.Errorf("set_mode_hook: missing required 'mode' field")
+	}
+	commandURL := baseURL + "/command"
+
+	payload, err := json.Marshal(map[string]any{"cmd": "set_mode", "mode": mode})
+	if err != nil {
+		return err
+	}
+
+	r.log.Info("person follow: setting mode", zap.String("mode", mode), zap.String("url", commandURL))
+
+	reqCtx, cancel := context.WithTimeout(ctx, 5*time.Second)
+	defer cancel()
+	req, err := http.NewRequestWithContext(reqCtx, http.MethodPost, commandURL, bytes.NewReader(payload))
+	if err != nil {
+		return err
+	}
+
+	req.Header.Set("Content-Type", "application/json")
+	resp, err := httpclient.Default().Do(req)
+	if err != nil {
+		r.log.Error("person follow: set mode error", zap.Error(err))
+		return err
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	if resp.StatusCode != http.StatusOK {
+		r.log.Error("person follow: failed to set mode", zap.Int("status", resp.StatusCode))
+		return fmt.Errorf("set mode failed with status %d", resp.StatusCode)
+	}
+
+	r.log.Info("person follow: mode set successfully", zap.String("mode", mode))
+	return nil
+}
+
+// personFollowTTS returns the shared ElevenLabs provider used for spoken feedback.
+func (r *Runner) personFollowTTS() *tts.ElevenLabsProvider {
+	return tts.ElevenLabs(elevenLabsConfigFrom(nil), r.log)
+}
+
+// stringValDefault returns the string at key, or def if missing/empty.
+func stringValDefault(m map[string]any, key, def string) string {
+	if v := strings.TrimSpace(stringVal(m, key)); v != "" {
+		return v
+	}
+
+	return def
+}
diff --git a/internal/hooks/registry.go b/internal/hooks/registry.go
new file mode 100644
index 0000000000..f01f8bbdc7
--- /dev/null
+++ b/internal/hooks/registry.go
@@ -0,0 +1,31 @@
+package hooks
+
+import "context"
+
+// HookFunc is the signature of a "function"-type lifecycle hook. It receives the
+// Runner (for the logger and shared helpers), the execution context, the hook's
+// handler_config map, and the template vars passed to Run.
+//
+// The signature matches a method expression on *Runner, e.g.
+// (*Runner).greetingStartHook, so methods can be registered directly without a
+// wrapping closure.
+type HookFunc func(r *Runner, ctx context.Context, cfg, vars map[string]any) error
+
+// hookRegistry maps "module.function" to the registered HookFunc implementation for that hook.
+var hookRegistry = map[string]HookFunc{}
+
+// RegisterHook registers a function hook implementation for the given module and function names.
+// The module and function names are used in the hook's HandlerConfig to specify which implementation to run for "function"-type hooks.
+func RegisterHook(module, function string, fn HookFunc) {
+	key := module + "." + function
+	if _, exists := hookRegistry[key]; exists {
+		panic("hooks: duplicate function hook registration for " + key)
+	}
+	hookRegistry[key] = fn
+}
+
+// lookupHook returns the registered implementation for module.function.
+func lookupHook(module, function string) (HookFunc, bool) {
+	fn, ok := hookRegistry[module+"."+function]
+	return fn, ok
+}
diff --git a/internal/hooks/registry_test.go b/internal/hooks/registry_test.go
new file mode 100644
index 0000000000..43284fdaea
--- /dev/null
+++ b/internal/hooks/registry_test.go
@@ -0,0 +1,29 @@
+package hooks
+
+import (
+	"context"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestRegisterAndLookupHook(t *testing.T) {
+	fn := func(*Runner, context.Context, map[string]any, map[string]any) error { return nil }
+	RegisterHook("mod", "lookup_"+t.Name(), fn)
+
+	got, ok := lookupHook("mod", "lookup_"+t.Name())
+	require.True(t, ok)
+	require.NotNil(t, got)
+
+	_, ok = lookupHook("mod", "never_registered")
+	require.False(t, ok)
+}
+
+func TestRegisterHookDuplicatePanics(t *testing.T) {
+	fn := func(*Runner, context.Context, map[string]any, map[string]any) error { return nil }
+	RegisterHook("dup", "fn_"+t.Name(), fn)
+	require.PanicsWithValue(t,
+		"hooks: duplicate function hook registration for dup.fn_"+t.Name(),
+		func() { RegisterHook("dup", "fn_"+t.Name(), fn) },
+	)
+}
diff --git a/internal/httpclient/httpclient.go b/internal/httpclient/httpclient.go
new file mode 100644
index 0000000000..4ea98857a0
--- /dev/null
+++ b/internal/httpclient/httpclient.go
@@ -0,0 +1,30 @@
+package httpclient
+
+import (
+	"net/http"
+	"sync"
+	"time"
+)
+
+var (
+	once          sync.Once
+	defaultClient *http.Client
+)
+
+// Default returns a process-wide HTTP client shared by all plugins.
+// The transport is tuned for concurrent requests to a small number of
+// external API hosts and forces HTTP/2 negotiation on TLS connections.
+func Default() *http.Client {
+	once.Do(func() {
+		transport := &http.Transport{
+			MaxIdleConns:        500,
+			MaxIdleConnsPerHost: 100,
+			MaxConnsPerHost:     0,
+			IdleConnTimeout:     90 * time.Second,
+			DisableCompression:  false,
+			ForceAttemptHTTP2:   true,
+		}
+		defaultClient = &http.Client{Transport: transport}
+	})
+	return defaultClient
+}
diff --git a/internal/httpclient/httpclient_test.go b/internal/httpclient/httpclient_test.go
new file mode 100644
index 0000000000..1a385d2742
--- /dev/null
+++ b/internal/httpclient/httpclient_test.go
@@ -0,0 +1,23 @@
+package httpclient
+
+import (
+	"net/http"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestDefaultReturnsSharedSingleton(t *testing.T) {
+	c1 := Default()
+	c2 := Default()
+	require.NotNil(t, c1)
+	require.Same(t, c1, c2, "Default returns the same process-wide client")
+}
+
+func TestDefaultTransportTuning(t *testing.T) {
+	transport, ok := Default().Transport.(*http.Transport)
+	require.True(t, ok, "the default client uses an *http.Transport")
+	require.Equal(t, 500, transport.MaxIdleConns)
+	require.Equal(t, 100, transport.MaxIdleConnsPerHost)
+	require.True(t, transport.ForceAttemptHTTP2)
+}
diff --git a/internal/inputs/orchestrator.go b/internal/inputs/orchestrator.go
new file mode 100644
index 0000000000..3680bb07cc
--- /dev/null
+++ b/internal/inputs/orchestrator.go
@@ -0,0 +1,94 @@
+package inputs
+
+import (
+	"context"
+	"sync"
+
+	"go.uber.org/zap"
+)
+
+// Orchestrator manages multiple Sensors.
+type Orchestrator struct {
+	sensors []Sensor
+	tickNow chan struct{}
+	log     *zap.Logger
+}
+
+// NewOrchestrator creates a new Orchestrator with the given sensors and logger.
+func NewOrchestrator(sensors []Sensor, log *zap.Logger) *Orchestrator {
+	return &Orchestrator{
+		sensors: sensors,
+		tickNow: make(chan struct{}, 1),
+		log:     log,
+	}
+}
+
+// TickNow returns a channel that is sent a signal whenever any sensor receives new input.
+func (o *Orchestrator) TickNow() <-chan struct{} {
+	return o.tickNow
+}
+
+// Start launches one goroutine per sensor and returns a channel that is closed when all goroutines have finished.
+func (o *Orchestrator) Start(ctx context.Context) <-chan struct{} {
+	done := make(chan struct{})
+	var wg sync.WaitGroup
+
+	for i, sensor := range o.sensors {
+		wg.Add(1)
+		go func(sensorIndex int, sensor Sensor) {
+			defer wg.Done()
+			o.runSensor(ctx, sensorIndex, sensor)
+		}(i, sensor)
+	}
+
+	go func() {
+		wg.Wait()
+		close(done)
+	}()
+	return done
+}
+
+// runSensor listens for readings from a sensor, converts them to text, and signals the orchestrator to tick when new input is received.
+func (o *Orchestrator) runSensor(ctx context.Context, sensorIndex int, sensor Sensor) {
+	readings, err := sensor.Listen(ctx)
+	if err != nil {
+		o.log.Warn("sensor listen failed", zap.Int("sensorIndex", sensorIndex), zap.Error(err))
+		return
+	}
+	for {
+		select {
+		case rawReading, ok := <-readings:
+			if !ok {
+				return
+			}
+
+			message, err := sensor.RawToText(ctx, rawReading)
+			if err != nil || message == nil {
+				continue
+			}
+
+			if !triggersTick(sensor) {
+				continue
+			}
+
+			select {
+			case o.tickNow <- struct{}{}:
+			default:
+			}
+		case <-ctx.Done():
+			sensor.Stop()
+			return
+		}
+	}
+}
+
+// Buffers returns a snapshot of the latest buffer from each sensor, formatted as text.
+func (o *Orchestrator) Buffers() []string {
+	snapshot := make([]string, len(o.sensors))
+
+	for i, sensor := range o.sensors {
+		snapshot[i] = sensor.FormattedLatestBuffer()
+	}
+
+	return snapshot
+}
diff --git a/internal/inputs/orchestrator_test.go b/internal/inputs/orchestrator_test.go
new file mode 100644
index 0000000000..d1b6856ad9
--- /dev/null
+++ b/internal/inputs/orchestrator_test.go
@@ -0,0 +1,103 @@
+package inputs
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+type channelSensor struct {
+	fakeSensor
+	readings []any
+	stopped  chan struct{}
+}
+
+func newChannelSensor(triggers bool, readings ...any) *channelSensor {
+	return &channelSensor{
+		fakeSensor: fakeSensor{triggers: triggers},
+		readings:   readings,
+		stopped:    make(chan struct{}, 1),
+	}
+}
+
+func (s *channelSensor) Listen(ctx context.Context) (<-chan any, error) {
+	ch := make(chan any)
+	go func() {
+		defer close(ch)
+		for _, r := range s.readings {
+			select {
+			case ch <- r:
+			case <-ctx.Done():
+				return
+			}
+		}
+		<-ctx.Done()
+	}()
+	return ch, nil
+}
+
+func (s *channelSensor) RawToText(_ context.Context, raw any) (*Message, error) {
+	return NewMessage(raw.(string)), nil
+}
+func (s *channelSensor) TriggersTick() bool { return s.triggers }
+func (s *channelSensor) Stop()              { s.stopped <- struct{}{} }
+
+func TestBuffersSnapshot(t *testing.T) {
+	o := NewOrchestrator([]Sensor{
+		&fakeSensor{buffer: "one"},
+		&fakeSensor{buffer: "two"},
+	}, zap.NewNop())
+
+	require.Equal(t, []string{"one", "two"}, o.Buffers())
+}
+
+func TestTickNowFiresForTriggeringSensor(t *testing.T) {
+	o := NewOrchestrator([]Sensor{newChannelSensor(true, "hi")}, zap.NewNop())
+
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+	o.Start(ctx)
+
+	select {
+	case <-o.TickNow():
+	case <-time.After(time.Second):
+		t.Fatal("expected a tick signal from a triggering sensor")
+	}
+}
+
+func TestTickNowSilentForNonTriggeringSensor(t *testing.T) {
+	o := NewOrchestrator([]Sensor{newChannelSensor(false, "hi")}, zap.NewNop())
+
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+	o.Start(ctx)
+
+	select {
+	case <-o.TickNow():
+		t.Fatal("non-triggering sensor must not wake the loop")
+	case <-time.After(100 * time.Millisecond):
+	}
+}
+
+func TestStartStopsSensorsOnCancel(t *testing.T) {
+	sensor := newChannelSensor(false)
+	o := NewOrchestrator([]Sensor{sensor}, zap.NewNop())
+
+	ctx, cancel := context.WithCancel(context.Background())
+	done := o.Start(ctx)
+	cancel()
+
+	select {
+	case <-done:
+	case <-time.After(time.Second):
+		t.Fatal("Start did not return after cancellation")
+	}
+	select {
+	case <-sensor.stopped:
+	case <-time.After(time.Second):
+		t.Fatal("sensor.Stop was not called on cancellation")
+	}
+}
diff --git a/internal/inputs/sensor.go b/internal/inputs/sensor.go
new file mode 100644
index 0000000000..00d3f2598e
--- /dev/null
+++ b/internal/inputs/sensor.go
@@ -0,0 +1,81 @@
+package inputs
+
+import (
+	"context"
+	"time"
+)
+
+// Message represents a processed input event with a timestamp and text content.
+type Message struct {
+	Timestamp float64
+	Message   string
+}
+
+// NewMessage creates a new Message with the current timestamp and the given text.
+func NewMessage(text string) *Message {
+	return &Message{
+		Timestamp: float64(time.Now().UnixNano()) / 1e9,
+		Message:   text,
+	}
+}
+
+// Sensor is the base interface for all input sensors.
+type Sensor interface {
+	// Listen creates a channel that continuously yields raw input events.
+	Listen(ctx context.Context) (<-chan any, error)
+
+	// Poll retrieves a single raw input event.
+	Poll(ctx context.Context) (any, error)
+
+	// RawToText converts raw input data into Message format.
+	RawToText(ctx context.Context, rawInput any) (*Message, error)
+
+	// FormattedLatestBuffer returns the formatted buffer string.
+	FormattedLatestBuffer() string
+
+	// Stop signals the sensor to stop listening and clean up resources.
+	Stop()
+}
+
+// TickTrigger is an optional interface that sensors can implement to indicate
+// whether they should wake the cortex loop when new input is available.
+type TickTrigger interface {
+	TriggersTick() bool
+}
+
+// triggersTick reports whether a sensor has opted in to waking the cortex loop.
+func triggersTick(sensor Sensor) bool {
+	t, ok := sensor.(TickTrigger)
+	return ok && t.TriggersTick()
+}
+
+// Factory is a function type for creating Sensor instances with a given configuration.
+type Factory func(cfg map[string]any) (Sensor, error)
+
+// registry holds the mapping of Sensor type names to their corresponding factory functions.
+var registry = map[string]Factory{}
+
+// Register adds a new Sensor factory to the registry under the specified type name.
+func Register(typeName string, f Factory) {
+	registry[typeName] = f
+}
+
+// Load creates a Sensor instance based on the provided type name and configuration.
+func Load(typeName string, cfg map[string]any) (Sensor, error) {
+	f, ok := registry[typeName]
+	if !ok {
+		return nil, &UnknownPluginError{Kind: "input", Name: typeName}
+	}
+	return f(cfg)
+}
+
+// UnknownPluginError is returned when an attempt is made to load a Sensor plugin that is not registered.
+type UnknownPluginError struct {
+	Kind string
+	Name string
+}
+
+// Error returns a descriptive error message indicating that the specified plugin type and name were not found.
+func (e *UnknownPluginError) Error() string {
+	return e.Kind + " plugin not found: " + e.Name
+}
diff --git a/internal/inputs/sensor_test.go b/internal/inputs/sensor_test.go
new file mode 100644
index 0000000000..2a0e7a9f43
--- /dev/null
+++ b/internal/inputs/sensor_test.go
@@ -0,0 +1,56 @@
+package inputs
+
+import (
+	"context"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+type fakeSensor struct {
+	buffer   string
+	triggers bool
+}
+
+func (s *fakeSensor) Listen(context.Context) (<-chan any, error)       { return nil, nil }
+func (s *fakeSensor) Poll(context.Context) (any, error)                { return nil, nil }
+func (s *fakeSensor) RawToText(context.Context, any) (*Message, error) { return nil, nil }
+func (s *fakeSensor) FormattedLatestBuffer() string                    { return s.buffer }
+func (s *fakeSensor) Stop()                                            {}
+
+type triggeringSensor struct {
+	fakeSensor
+	wakes bool
+}
+
+func (s *triggeringSensor) TriggersTick() bool { return s.wakes }
+
+func TestNewMessage(t *testing.T) {
+	msg := NewMessage("hello")
+	require.Equal(t, "hello", msg.Message)
+	require.Positive(t, msg.Timestamp, "timestamp is set to a positive epoch value")
+}
+
+func TestRegisterAndLoad(t *testing.T) {
+	want := &fakeSensor{}
+	Register("FakeSensor", func(map[string]any) (Sensor, error) { return want, nil })
+	t.Cleanup(func() { delete(registry, "FakeSensor") })
+
+	got, err := Load("FakeSensor", nil)
+	require.NoError(t, err)
+	require.Same(t, want, got)
+}
+
+func TestLoadUnknown(t *testing.T) {
+	_, err := Load("missing", nil)
+	require.Error(t, err)
+	var unknown *UnknownPluginError
+	require.ErrorAs(t, err, &unknown)
+	require.Equal(t, "input plugin not found: missing", err.Error())
+}
+
+func TestTriggersTick(t *testing.T) {
+	require.False(t, triggersTick(&fakeSensor{}), "sensor without TickTrigger never wakes the loop")
+	require.False(t, triggersTick(&triggeringSensor{wakes: false}))
+	require.True(t, triggersTick(&triggeringSensor{wakes: true}))
+}
diff --git a/internal/knowledgebase/embedding.go b/internal/knowledgebase/embedding.go
new file mode 100644
index 0000000000..7538725694
--- /dev/null
+++ b/internal/knowledgebase/embedding.go
@@ -0,0 +1,95 @@
+package knowledgebase
+
+import (
+	"bytes"
+	"context"
+	"encoding/base64"
+	"encoding/binary"
+	"encoding/json"
+	"fmt"
+	"io"
+	"math"
+	"net/http"
+	"time"
+
+	"github.com/openmind/om1/internal/httpclient"
+)
+
+const DefaultBaseURL = "http://localhost:8100"
+
+const embedTimeout = 30 * time.Second
+
+// Embedder converts query text into an embedding vector.
+type Embedder interface {
+	Embed(ctx context.Context, query string) ([]float32, error)
+}
+
+// HTTPEmbedder is an Embedder that sends queries to an external embedding service.
+type HTTPEmbedder struct {
+	baseURL string
+	client  *http.Client
+}
+
+// NewHTTPEmbedder creates an embedder pointing at baseURL.
+func NewHTTPEmbedder(baseURL string) *HTTPEmbedder {
+	if baseURL == "" {
+		baseURL = DefaultBaseURL
+	}
+	return &HTTPEmbedder{
+		baseURL: baseURL,
+		client:  httpclient.Default(),
+	}
+}
+
+// embedResponse is the JSON shape returned by the /embed endpoint.
+type embedResponse struct {
+	EmbeddingB64 string `json:"embedding_b64"`
+}
+
+// Embed returns the embedding vector for a single query string.
+func (e *HTTPEmbedder) Embed(ctx context.Context, query string) ([]float32, error) {
+	body, err := json.Marshal(map[string]string{"query": query})
+	if err != nil {
+		return nil, fmt.Errorf("marshal embed request: %w", err)
+	}
+
+	ctx, cancel := context.WithTimeout(ctx, embedTimeout)
+	defer cancel()
+
+	req, err := http.NewRequestWithContext(ctx, http.MethodPost, e.baseURL+"/embed", bytes.NewReader(body))
+	if err != nil {
+		return nil, fmt.Errorf("build embed request: %w", err)
+	}
+	req.Header.Set("Content-Type", "application/json")
+
+	resp, err := e.client.Do(req)
+	if err != nil {
+		return nil, fmt.Errorf("embed request: %w", err)
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	if resp.StatusCode != http.StatusOK {
+		snippet, _ := io.ReadAll(io.LimitReader(resp.Body, 512))
+		return nil, fmt.Errorf("embed service returned %s: %s", resp.Status, snippet)
+	}
+
+	var decoded embedResponse
+	if err := json.NewDecoder(resp.Body).Decode(&decoded); err != nil {
+		return nil, fmt.Errorf("decode embed response: %w", err)
+	}
+
+	raw, err := base64.StdEncoding.DecodeString(decoded.EmbeddingB64)
+	if err != nil {
+		return nil, fmt.Errorf("base64 decode embedding: %w", err)
+	}
+	if len(raw)%4 != 0 {
+		return nil, fmt.Errorf("embedding byte length %d is not a multiple of 4", len(raw))
+	}
+
+	vec := make([]float32, len(raw)/4)
+	for i := range vec {
+		bits := binary.LittleEndian.Uint32(raw[i*4 : i*4+4])
+		vec[i] = math.Float32frombits(bits)
+	}
+	return vec, nil
+}
diff --git a/internal/knowledgebase/embedding_test.go b/internal/knowledgebase/embedding_test.go
new file mode 100644
index 0000000000..1bf2359530
--- /dev/null
+++ b/internal/knowledgebase/embedding_test.go
@@ -0,0 +1,82 @@
+package knowledgebase
+
+import (
+	"bytes"
+	"context"
+	"encoding/base64"
+	"encoding/binary"
+	"encoding/json"
+	"io"
+	"math"
+	"net/http"
+	"net/http/httptest"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func encodeEmbedding(vec []float32) string {
+	buf := new(bytes.Buffer)
+	for _, f := range vec {
+		_ = binary.Write(buf, binary.LittleEndian, math.Float32bits(f))
+	}
+	return base64.StdEncoding.EncodeToString(buf.Bytes())
+}
+
+func TestNewHTTPEmbedderDefaultBaseURL(t *testing.T) {
+	require.Equal(t, DefaultBaseURL, NewHTTPEmbedder("").baseURL)
+	require.Equal(t, "http://custom:9", NewHTTPEmbedder("http://custom:9").baseURL)
+}
+
+func TestEmbedSuccess(t *testing.T) {
+	want := []float32{0.5, -1.25, 3.0}
+	var gotBody map[string]string
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		require.Equal(t, "/embed", r.URL.Path)
+		require.Equal(t, "application/json", r.Header.Get("Content-Type"))
+		raw, _ := io.ReadAll(r.Body)
+		_ = json.Unmarshal(raw, &gotBody)
+		_ = json.NewEncoder(w).Encode(embedResponse{EmbeddingB64: encodeEmbedding(want)})
+	}))
+	t.Cleanup(srv.Close)
+
+	vec, err := NewHTTPEmbedder(srv.URL).Embed(context.Background(), "hello world")
+	require.NoError(t, err)
+	require.Equal(t, want, vec)
+	require.Equal(t, "hello world", gotBody["query"], "query is sent in the request body")
+}
+
+func TestEmbedErrorStatus(t *testing.T) {
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, _ *http.Request) {
+		w.WriteHeader(http.StatusServiceUnavailable)
+		_, _ = w.Write([]byte("down"))
+	}))
+	t.Cleanup(srv.Close)
+
+	_, err := NewHTTPEmbedder(srv.URL).Embed(context.Background(), "q")
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "503")
+}
+
+func TestEmbedBadBase64(t *testing.T) {
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, _ *http.Request) {
+		_ = json.NewEncoder(w).Encode(embedResponse{EmbeddingB64: "!!!not base64!!!"})
+	}))
+	t.Cleanup(srv.Close)
+
+	_, err := NewHTTPEmbedder(srv.URL).Embed(context.Background(), "q")
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "base64")
+}
+
+func TestEmbedNonMultipleOfFour(t *testing.T) {
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, _ *http.Request) {
+		// 3 raw bytes is not a whole number of float32s.
+		_ = json.NewEncoder(w).Encode(embedResponse{EmbeddingB64: base64.StdEncoding.EncodeToString([]byte{1, 2, 3})})
+	}))
+	t.Cleanup(srv.Close)
+
+	_, err := NewHTTPEmbedder(srv.URL).Embed(context.Background(), "q")
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "multiple of 4")
+}
diff --git a/internal/knowledgebase/knowledgebase.go b/internal/knowledgebase/knowledgebase.go
new file mode 100644
index 0000000000..99e035f172
--- /dev/null
+++ b/internal/knowledgebase/knowledgebase.go
@@ -0,0 +1,209 @@
+package knowledgebase
+
+import (
+	"bufio"
+	"context"
+	"encoding/json"
+	"fmt"
+	"os"
+	"path/filepath"
+	"time"
+
+	"github.com/coder/hnsw"
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/metrics"
+)
+
+// defaultTopK is the default number of results to return for a query if not specified in the KB spec.
+const defaultTopK = 3
+
+// document is one indexed record loaded from the metadata JSON.
+type document struct {
+	ID     int       `json:"id"`
+	Vector []float32 `json:"vector"`
+	Text   string    `json:"text"`
+	Source string    `json:"source"`
+}
+
+// KnowledgeBase retrieves documents relevant to a query using an HNSW index.
+type KnowledgeBase struct {
+	graph    *hnsw.Graph[int]
+	docs     map[int]document
+	embedder Embedder
+	topK     int
+	minScore float64
+}
+
+// NewKnowledgeBase constructs a KnowledgeBase from the given spec.
+func NewKnowledgeBase(spec *config.KBSpec) (*KnowledgeBase, error) {
+	if spec == nil {
+		return nil, fmt.Errorf("knowledge base spec is nil")
+	}
+	if spec.Name == "" {
+		return nil, fmt.Errorf("knowledge_base_name is required")
+	}
+
+	kbDir, err := resolveKBDir(spec.Root, spec.Name)
+	if err != nil {
+		return nil, err
+	}
+
+	graphPath := filepath.Join(kbDir, spec.Name+".graph")
+	metadataPath := filepath.Join(kbDir, spec.Name+".json")
+
+	graph, err := loadGraph(graphPath)
+	if err != nil {
+		return nil, err
+	}
+
+	docs, err := loadDocuments(metadataPath)
+	if err != nil {
+		return nil, err
+	}
+
+	if graph.Len() != len(docs) {
+		fmt.Fprintf(os.Stderr, "knowledgebase: index has %d vectors but metadata has %d documents\n", graph.Len(), len(docs))
+	}
+
+	topK := spec.TopK
+	if topK <= 0 {
+		topK = defaultTopK
+	}
+
+	return &KnowledgeBase{
+		graph:    graph,
+		docs:     docs,
+		embedder: NewHTTPEmbedder(spec.BaseURL),
+		topK:     topK,
+		minScore: spec.MinScore,
+	}, nil
+}
+
+// Query embeds the question, searches the graph for the nearest documents.
+func (kb *KnowledgeBase) Query(ctx context.Context, question string, topK int) (results []string, err error) {
+	start := time.Now()
+	embedSeconds := -1.0
+	defer func() {
+		metrics.RecordKBQuery(embedSeconds, time.Since(start).Seconds(), err == nil)
+	}()
+
+	if topK <= 0 {
+		topK = kb.topK
+	}
+
+	embedStart := time.Now()
+	queryVec, err := kb.embedder.Embed(ctx, question)
+	embedSeconds = time.Since(embedStart).Seconds()
+	if err != nil {
+		return nil, fmt.Errorf("embed query: %w", err)
+	}
+
+	searchK := topK * 5
+	if searchK > kb.graph.Len() {
+		searchK = kb.graph.Len()
+	}
+	if searchK == 0 {
+		return nil, nil
+	}
+
+	nodes := kb.graph.Search(queryVec, searchK)
+
+	results = make([]string, 0, topK)
+	seen := make(map[string]struct{}, topK)
+	for _, node := range nodes {
+		doc, ok := kb.docs[node.Key]
+		if !ok {
+			continue
+		}
+		if _, dup := seen[doc.Text]; dup {
+			continue
+		}
+
+		if kb.minScore > 0 {
+			similarity := 1 - float64(kb.graph.Distance(queryVec, node.Value))
+			if similarity < kb.minScore {
+				continue
+			}
+		}
+
+		seen[doc.Text] = struct{}{}
+		results = append(results, doc.Text)
+		if len(results) >= topK {
+			break
+		}
+	}
+
+	return results, nil
+}
+
+// loadGraph reads a coder/hnsw index previously serialized via Graph.Export.
+func loadGraph(path string) (*hnsw.Graph[int], error) {
+	f, err := os.Open(path)
+	if err != nil {
+		return nil, fmt.Errorf("open index %s: %w", path, err)
+	}
+	defer func() { _ = f.Close() }()
+
+	graph := hnsw.NewGraph[int]()
+	if err := graph.Import(bufio.NewReader(f)); err != nil {
+		return nil, fmt.Errorf("import index %s: %w", path, err)
+	}
+	return graph, nil
+}
+
+// loadDocuments reads the metadata JSON (a list of records) into a map keyed by id.
+func loadDocuments(path string) (map[int]document, error) {
+	raw, err := os.ReadFile(path)
+	if err != nil {
+		return nil, fmt.Errorf("read metadata %s: %w", path, err)
+	}
+
+	var records []document
+	if err := json.Unmarshal(raw, &records); err != nil {
+		return nil, fmt.Errorf("parse metadata %s: %w", path, err)
+	}
+
+	docs := make(map[int]document, len(records))
+	for _, rec := range records {
+		docs[rec.ID] = rec
+	}
+	return docs, nil
+}
+
+// resolveKBDir locates the knowledge base directory "<root>/<name>". When an
+// explicit root is configured it is used directly; otherwise several default
+// roots are tried so the lookup works whether the binary is run from the build
+// directory or via `go run` (where os.Executable points at a temp path):
+//
+//   - <cwd>/knowledge_base                (running from the repo root)
+//   - <exe dir>/../../knowledge_base      (the built ./build/om1 binary)
+//   - <exe dir>/knowledge_base
+//
+// It returns the first candidate that exists, or an error listing what was tried.
+func resolveKBDir(root, name string) (string, error) {
+	var roots []string
+	if root != "" {
+		roots = []string{root}
+	} else {
+		if cwd, err := os.Getwd(); err == nil {
+			roots = append(roots, filepath.Join(cwd, "knowledge_base"))
+		}
+		if exe, err := os.Executable(); err == nil {
+			exeDir := filepath.Dir(exe)
+			roots = append(roots,
+				filepath.Join(exeDir, "..", "..", "knowledge_base"),
+				filepath.Join(exeDir, "knowledge_base"),
+			)
+		}
+	}
+
+	tried := make([]string, 0, len(roots))
+	for _, r := range roots {
+		kbDir := filepath.Join(r, name)
+		tried = append(tried, kbDir)
+		if info, err := os.Stat(kbDir); err == nil && info.IsDir() {
+			return kbDir, nil
+		}
+	}
+	return "", fmt.Errorf("knowledge base %q not found; tried: %v", name, tried)
+}
diff --git a/internal/llm/llm.go b/internal/llm/llm.go
new file mode 100644
index 0000000000..1514fc11b4
--- /dev/null
+++ b/internal/llm/llm.go
@@ -0,0 +1,63 @@
+package llm
+
+import (
+	"context"
+)
+
+type Message struct {
+	Role    string // "system" | "user" | "assistant"
+	Content string
+}
+
+type ToolCall struct {
+	Name      string
+	Arguments map[string]any
+}
+
+type Response struct {
+	TextContent string
+	ToolCalls   []ToolCall
+	Usage       Usage
+}
+
+type Usage struct {
+	PromptTokens     int
+	CompletionTokens int
+}
+
+type LLM interface {
+	// Call sends a prompt and conversation history to the model.
+	Call(ctx context.Context, prompt string, history []Message) (*Response, error)
+
+	// SetSchemas configures the tool schemas that the LLM can use for tool calls.
+	SetSchemas(schemas []map[string]any)
+
+	// FunctionSchemas returns the currently configured tool schemas.
+	FunctionSchemas() []map[string]any
+}
+
+// Factory is a function type for creating LLM instances with a given configuration.
+type Factory func(cfg map[string]any) (LLM, error)
+
+// registry holds the mapping of LLM type names to their corresponding factory functions.
+var registry = map[string]Factory{}
+
+// Register adds a new LLM factory to the registry under the specified type name.
+func Register(typeName string, f Factory) {
+	registry[typeName] = f
+}
+
+// Load creates an LLM instance based on the provided type name and configuration.
+func Load(typeName string, cfg map[string]any) (LLM, error) {
+	f, ok := registry[typeName]
+	if !ok {
+		return nil, &UnknownPluginError{Name: typeName}
+	}
+	return f(cfg)
+}
+
+// UnknownPluginError is returned when an attempt is made to load an LLM plugin that is not registered.
+type UnknownPluginError struct{ Name string }
+
+// Error returns a descriptive error message indicating that the specified LLM plugin was not found.
+func (e *UnknownPluginError) Error() string { return "llm plugin not found: " + e.Name }
diff --git a/internal/llm/llm_test.go b/internal/llm/llm_test.go
new file mode 100644
index 0000000000..f5601f0206
--- /dev/null
+++ b/internal/llm/llm_test.go
@@ -0,0 +1,53 @@
+package llm
+
+import (
+	"context"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+type fakeLLM struct {
+	resp    *Response
+	err     error
+	schemas []map[string]any
+	calls   []callRecord
+}
+
+type callRecord struct {
+	prompt  string
+	history []Message
+}
+
+func (f *fakeLLM) Call(_ context.Context, prompt string, history []Message) (*Response, error) {
+	f.calls = append(f.calls, callRecord{prompt: prompt, history: append([]Message(nil), history...)})
+	if f.err != nil {
+		return nil, f.err
+	}
+	if f.resp != nil {
+		return f.resp, nil
+	}
+	return &Response{}, nil
+}
+
+func (f *fakeLLM) SetSchemas(s []map[string]any)     { f.schemas = s }
+func (f *fakeLLM) FunctionSchemas() []map[string]any { return f.schemas }
+
+func TestRegisterAndLoad(t *testing.T) {
+	want := &fakeLLM{}
+	Register("FakeTestLLM", func(map[string]any) (LLM, error) { return want, nil })
+	t.Cleanup(func() { delete(registry, "FakeTestLLM") })
+
+	got, err := Load("FakeTestLLM", map[string]any{})
+	require.NoError(t, err)
+	require.Same(t, want, got)
+}
+
+func TestLoadUnknownPlugin(t *testing.T) {
+	_, err := Load("DoesNotExist", nil)
+	require.Error(t, err)
+	var unknown *UnknownPluginError
+	require.ErrorAs(t, err, &unknown)
+	require.Equal(t, "DoesNotExist", unknown.Name)
+	require.Equal(t, "llm plugin not found: DoesNotExist", err.Error())
+}
diff --git a/internal/llm/orchestrator.go b/internal/llm/orchestrator.go
new file mode 100644
index 0000000000..4053f53c46
--- /dev/null
+++ b/internal/llm/orchestrator.go
@@ -0,0 +1,95 @@
+package llm
+
+import (
+	"context"
+	"encoding/json"
+	"strings"
+	"sync"
+)
+
+// Orchestrator manages conversation history and delegates calls to an LLM.
+type Orchestrator struct {
+	llm    LLM
+	mu     sync.Mutex
+	msgs   []Message
+	maxLen int
+}
+
+// NewOrchestrator creates an Orchestrator with the given LLM, config, and schemas.
+func NewOrchestrator(llm LLM, config map[string]any, schemas []map[string]any) *Orchestrator {
+	historyLen := 0
+	if config != nil {
+		if v, ok := config["history_length"]; ok {
+			if n, ok := v.(float64); ok {
+				historyLen = int(n)
+			}
+		}
+	}
+
+	orchestrator := &Orchestrator{llm: llm, maxLen: historyLen}
+
+	if len(schemas) > 0 {
+		orchestrator.llm.SetSchemas(schemas)
+	}
+
+	return orchestrator
+}
+
+// SetSchemas updates the tool schemas in the underlying LLM.
+func (o *Orchestrator) SetSchemas(schemas []map[string]any) { o.llm.SetSchemas(schemas) }
+
+// FunctionSchemas returns the currently configured tool schemas from the underlying LLM.
+func (o *Orchestrator) FunctionSchemas() []map[string]any { return o.llm.FunctionSchemas() }
+
+// Call implements the LLM interface. It manages conversation history based on maxLen.
+func (o *Orchestrator) Call(ctx context.Context, prompt string, _ []Message) (*Response, error) {
+	if o.maxLen == 0 {
+		return o.llm.Call(ctx, prompt, nil)
+	}
+
+	o.mu.Lock()
+	snapshot := make([]Message, len(o.msgs))
+	copy(snapshot, o.msgs)
+	o.mu.Unlock()
+
+	resp, err := o.llm.Call(ctx, prompt, snapshot)
+	if err != nil {
+		return nil, err
+	}
+
+	o.mu.Lock()
+	o.msgs = append(o.msgs, Message{Role: "user", Content: prompt})
+
+	if resp.TextContent != "" {
+		o.msgs = append(o.msgs, Message{Role: "assistant", Content: resp.TextContent})
+	} else if len(resp.ToolCalls) > 0 {
+		o.msgs = append(o.msgs, Message{Role: "assistant", Content: formatToolCalls(resp.ToolCalls)})
+	}
+
+	if len(o.msgs) > o.maxLen*2 {
+		o.msgs = o.msgs[len(o.msgs)-o.maxLen*2:]
+	}
+
+	o.mu.Unlock()
+
+	return resp, nil
+}
+
+// Reset clears the conversation history in the Orchestrator.
+func (o *Orchestrator) Reset() {
+	o.mu.Lock()
+	defer o.mu.Unlock()
+	o.msgs = nil
+}
+
+// formatToolCalls converts a list of ToolCalls into a readable string format for conversation history.
+func formatToolCalls(calls []ToolCall) string {
+	parts := make([]string, 0, len(calls))
+
+	for _, tc := range calls {
+		args, _ := json.Marshal(tc.Arguments)
+		parts = append(parts, tc.Name+"("+string(args)+")")
+	}
+
+	return strings.Join(parts, " | ")
+}
diff --git a/internal/llm/orchestrator_test.go b/internal/llm/orchestrator_test.go
new file mode 100644
index 0000000000..2c61743bfd
--- /dev/null
+++ b/internal/llm/orchestrator_test.go
@@ -0,0 +1,109 @@
+package llm
+
+import (
+	"context"
+	"errors"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestNewOrchestratorParsesHistoryLength(t *testing.T) {
+	f := &fakeLLM{}
+	schemas := []map[string]any{{"type": "function"}}
+	o := NewOrchestrator(f, map[string]any{"history_length": float64(4)}, schemas)
+	require.Equal(t, 4, o.maxLen)
+	require.Equal(t, schemas, f.schemas, "schemas are pushed to the underlying LLM")
+}
+
+func TestNewOrchestratorDefaultsAndNilConfig(t *testing.T) {
+	require.Equal(t, 0, NewOrchestrator(&fakeLLM{}, nil, nil).maxLen)
+	require.Equal(t, 0, NewOrchestrator(&fakeLLM{}, map[string]any{}, nil).maxLen, "missing history_length → 0")
+}
+
+func TestOrchestratorCallStateless(t *testing.T) {
+	f := &fakeLLM{resp: &Response{TextContent: "hi"}}
+	o := NewOrchestrator(f, nil, nil)
+
+	resp, err := o.Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+	require.Equal(t, "hi", resp.TextContent)
+	require.Len(t, f.calls, 1)
+	require.Nil(t, f.calls[0].history, "with maxLen 0 no history is passed")
+	require.Empty(t, o.msgs, "stateless mode keeps no history")
+}
+
+func TestOrchestratorCallAccumulatesHistory(t *testing.T) {
+	f := &fakeLLM{resp: &Response{TextContent: "first answer"}}
+	o := NewOrchestrator(f, map[string]any{"history_length": float64(5)}, nil)
+
+	_, err := o.Call(context.Background(), "q1", nil)
+	require.NoError(t, err)
+	require.Len(t, o.msgs, 2)
+	require.Equal(t, Message{Role: "user", Content: "q1"}, o.msgs[0])
+	require.Equal(t, Message{Role: "assistant", Content: "first answer"}, o.msgs[1])
+
+	f.resp = &Response{TextContent: "second answer"}
+	_, err = o.Call(context.Background(), "q2", nil)
+	require.NoError(t, err)
+	require.Len(t, f.calls[1].history, 2, "second call sees the first turn")
+	require.Len(t, o.msgs, 4)
+}
+
+func TestOrchestratorRecordsToolCallsWhenNoText(t *testing.T) {
+	f := &fakeLLM{resp: &Response{ToolCalls: []ToolCall{{Name: "speak", Arguments: map[string]any{"text": "hi"}}}}}
+	o := NewOrchestrator(f, map[string]any{"history_length": float64(3)}, nil)
+
+	_, err := o.Call(context.Background(), "say hi", nil)
+	require.NoError(t, err)
+	require.Len(t, o.msgs, 2)
+	require.Equal(t, "assistant", o.msgs[1].Role)
+	require.Equal(t, `speak({"text":"hi"})`, o.msgs[1].Content)
+}
+
+func TestOrchestratorHistoryTrimming(t *testing.T) {
+	f := &fakeLLM{resp: &Response{TextContent: "ok"}}
+	o := NewOrchestrator(f, map[string]any{"history_length": float64(2)}, nil)
+
+	for i := 0; i < 5; i++ {
+		_, err := o.Call(context.Background(), "q", nil)
+		require.NoError(t, err)
+	}
+	require.Len(t, o.msgs, 4, "history is capped at maxLen*2 messages")
+}
+
+func TestOrchestratorCallPropagatesError(t *testing.T) {
+	f := &fakeLLM{err: errors.New("boom")}
+	o := NewOrchestrator(f, map[string]any{"history_length": float64(2)}, nil)
+
+	_, err := o.Call(context.Background(), "q", nil)
+	require.Error(t, err)
+	require.Empty(t, o.msgs, "no history recorded on error")
+}
+
+func TestOrchestratorReset(t *testing.T) {
+	f := &fakeLLM{resp: &Response{TextContent: "ok"}}
+	o := NewOrchestrator(f, map[string]any{"history_length": float64(3)}, nil)
+	_, _ = o.Call(context.Background(), "q", nil)
+	require.NotEmpty(t, o.msgs)
+
+	o.Reset()
+	require.Empty(t, o.msgs)
+}
+
+func TestOrchestratorSchemaDelegation(t *testing.T) {
+	f := &fakeLLM{}
+	o := NewOrchestrator(f, nil, nil)
+	schemas := []map[string]any{{"type": "function", "name": "x"}}
+	o.SetSchemas(schemas)
+	require.Equal(t, schemas, f.schemas)
+	require.Equal(t, schemas, o.FunctionSchemas())
+}
+
+func TestFormatToolCalls(t *testing.T) {
+	out := formatToolCalls([]ToolCall{
+		{Name: "speak", Arguments: map[string]any{"text": "hi"}},
+		{Name: "move", Arguments: map[string]any{"dir": "left"}},
+	})
+	require.Equal(t, `speak({"text":"hi"}) | move({"dir":"left"})`, out)
+}
diff --git a/internal/logger/logger.go b/internal/logger/logger.go
new file mode 100644
index 0000000000..bb34ddceea
--- /dev/null
+++ b/internal/logger/logger.go
@@ -0,0 +1,29 @@
+package logger
+
+import "go.uber.org/zap"
+
+var gLogger *zap.Logger
+
+func init() {
+	gLogger, _ = zap.NewProduction()
+}
+
+func Set(l *zap.Logger) {
+	gLogger = l
+}
+
+func Get() *zap.Logger {
+	return gLogger
+}
+
+func BuildLogger(level string) *zap.Logger {
+	cfg := zap.NewProductionConfig()
+
+	if err := cfg.Level.UnmarshalText([]byte(level)); err != nil {
+		cfg.Level = zap.NewAtomicLevelAt(zap.InfoLevel)
+	}
+
+	logger, _ := cfg.Build()
+
+	return logger
+}
diff --git a/internal/logger/logger_test.go b/internal/logger/logger_test.go
new file mode 100644
index 0000000000..577eda393e
--- /dev/null
+++ b/internal/logger/logger_test.go
@@ -0,0 +1,48 @@
+package logger
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+	"go.uber.org/zap/zapcore"
+)
+
+func TestGetReturnsNonNilByDefault(t *testing.T) {
+	require.NotNil(t, Get(), "init() installs a production logger")
+}
+
+func TestSetAndGet(t *testing.T) {
+	original := Get()
+	t.Cleanup(func() { Set(original) })
+
+	custom := zap.NewNop()
+	Set(custom)
+	require.Same(t, custom, Get())
+}
+
+func TestBuildLoggerLevels(t *testing.T) {
+	cases := []struct {
+		level string
+		want  zapcore.Level
+	}{
+		{"debug", zapcore.DebugLevel},
+		{"info", zapcore.InfoLevel},
+		{"warn", zapcore.WarnLevel},
+		{"error", zapcore.ErrorLevel},
+	}
+	for _, tc := range cases {
+		t.Run(tc.level, func(t *testing.T) {
+			l := BuildLogger(tc.level)
+			require.NotNil(t, l)
+			require.True(t, l.Core().Enabled(tc.want))
+		})
+	}
+}
+
+func TestBuildLoggerInvalidLevelDefaultsToInfo(t *testing.T) {
+	l := BuildLogger("not-a-level")
+	require.NotNil(t, l)
+	require.True(t, l.Core().Enabled(zapcore.InfoLevel))
+	require.False(t, l.Core().Enabled(zapcore.DebugLevel), "invalid level falls back to info, not debug")
+}
diff --git a/internal/metrics/metrics.go b/internal/metrics/metrics.go
new file mode 100644
index 0000000000..6ba5f520ff
--- /dev/null
+++ b/internal/metrics/metrics.go
@@ -0,0 +1,280 @@
+package metrics
+
+import (
+	"context"
+	"errors"
+	"net"
+	"net/http"
+	"strconv"
+	"syscall"
+	"time"
+
+	"github.com/prometheus/client_golang/prometheus"
+	"github.com/prometheus/client_golang/prometheus/promhttp"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/logger"
+)
+
+// httpTimingLabels are the labels shared by every om1_http_* timing metric.
+var httpTimingLabels = []string{"host", "path", "method", "status_code"}
+
+// metricsAddr is the address the Prometheus metrics server listens on.
+const metricsAddr = ":9090"
+
+// LLM metrics.
+var (
+	LLMLatency = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_llm_latency_seconds",
+		Help: "Latency of LLM responses in seconds",
+	}, []string{"model", "endpoint"})
+
+	LLMLatencyLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_llm_latency_last_seconds",
+		Help: "Most recent LLM response latency in seconds",
+	}, []string{"model", "endpoint"})
+)
+
+// VLM metrics.
+var (
+	VLMLatency = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_vlm_latency_seconds",
+		Help: "Latency of VLM (vision language model) responses in seconds",
+	}, []string{"model", "endpoint"})
+
+	VLMLatencyLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_vlm_latency_last_seconds",
+		Help: "Most recent VLM response latency in seconds",
+	}, []string{"model", "endpoint"})
+)
+
+// ASR metrics.
+var (
+	ASRLatency = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_asr_latency_seconds",
+		Help: "Latency from speech activity start to final transcript in seconds",
+	}, []string{"model", "language", "api_version"})
+
+	ASRSpeechDuration = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_asr_speech_duration_seconds",
+		Help: "Duration of speech activity from speech_start to speech_end in seconds",
+	}, []string{"model", "language", "api_version"})
+
+	ASRUtteranceEndLatency = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_asr_utterance_end_latency_seconds",
+		Help: "Latency from speech activity start to end_of_utterance detection in seconds",
+	}, []string{"model", "language", "api_version"})
+
+	ASRLatencyLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_asr_latency_last_seconds",
+		Help: "Most recent latency from speech activity start to final transcript in seconds",
+	}, []string{"model", "language", "api_version"})
+
+	ASRSpeechDurationLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_asr_speech_duration_last_seconds",
+		Help: "Most recent duration of speech activity from speech_start to speech_end in seconds",
+	}, []string{"model", "language", "api_version"})
+
+	ASRUtteranceEndLatencyLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_asr_utterance_end_latency_last_seconds",
+		Help: "Most recent latency from speech activity start to end_of_utterance detection in seconds",
+	}, []string{"model", "language", "api_version"})
+
+	ASRParallelTranscripts = prometheus.NewCounterVec(prometheus.CounterOpts{
+		Name: "om1_asr_parallel_transcripts_total",
+		Help: "Transcripts seen by the parallel ASR sensor, labeled by provider model and first-wins outcome",
+	}, []string{"model", "outcome"})
+)
+
+// TTS metrics.
+var (
+	TTSLatency = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_tts_latency_seconds",
+		Help: "Latency from TTS synthesis request to first audio chunk in seconds",
+	}, []string{"model", "endpoint"})
+
+	TTSLatencyLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_tts_latency_last_seconds",
+		Help: "Most recent TTS time-to-first-audio latency in seconds",
+	}, []string{"model", "endpoint"})
+)
+
+// Knowledge base metrics.
+var (
+	KBQueryLatency = prometheus.NewHistogram(prometheus.HistogramOpts{
+		Name: "om1_kb_query_latency_seconds",
+		Help: "Latency of a knowledge base query (embedding plus search) in seconds",
+	})
+	KBQueryLatencyLast = prometheus.NewGauge(prometheus.GaugeOpts{
+		Name: "om1_kb_query_latency_last_seconds",
+		Help: "Most recent knowledge base query latency in seconds",
+	})
+
+	KBEmbedLatency = prometheus.NewHistogram(prometheus.HistogramOpts{
+		Name: "om1_kb_embed_latency_seconds",
+		Help: "Latency of the embedding step of a knowledge base query in seconds",
+	})
+	KBEmbedLatencyLast = prometheus.NewGauge(prometheus.GaugeOpts{
+		Name: "om1_kb_embed_latency_last_seconds",
+		Help: "Most recent knowledge base embedding-step latency in seconds",
+	})
+
+	KBQueries = prometheus.NewCounterVec(prometheus.CounterOpts{
+		Name: "om1_kb_queries_total",
+		Help: "Total number of knowledge base queries by outcome",
+	}, []string{"status"})
+)
+
+// HTTP metrics.
+var (
+	HTTPProxyParse = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_http_proxy_parse_seconds",
+		Help: "Time the proxy spent parsing the request in seconds",
+	}, httpTimingLabels)
+	HTTPProxyParseLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_http_proxy_parse_last_seconds",
+		Help: "Most recent proxy request-parse time in seconds",
+	}, httpTimingLabels)
+
+	HTTPUpstreamTotal = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_http_upstream_total_seconds",
+		Help: "Total upstream service time in seconds",
+	}, httpTimingLabels)
+	HTTPUpstreamTotalLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_http_upstream_total_last_seconds",
+		Help: "Most recent total upstream service time in seconds",
+	}, httpTimingLabels)
+
+	HTTPUpstreamTTFB = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_http_upstream_ttfb_seconds",
+		Help: "Upstream time-to-first-byte in seconds",
+	}, httpTimingLabels)
+	HTTPUpstreamTTFBLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_http_upstream_ttfb_last_seconds",
+		Help: "Most recent upstream time-to-first-byte in seconds",
+	}, httpTimingLabels)
+
+	HTTPProxyTotal = prometheus.NewHistogramVec(prometheus.HistogramOpts{
+		Name: "om1_http_proxy_total_seconds",
+		Help: "Total proxy time in seconds",
+	}, httpTimingLabels)
+	HTTPProxyTotalLast = prometheus.NewGaugeVec(prometheus.GaugeOpts{
+		Name: "om1_http_proxy_total_last_seconds",
+		Help: "Most recent total proxy time in seconds",
+	}, httpTimingLabels)
+)
+
+func init() {
+	prometheus.MustRegister(
+		LLMLatency, LLMLatencyLast,
+		VLMLatency, VLMLatencyLast,
+		ASRLatency, ASRLatencyLast,
+		ASRSpeechDuration, ASRSpeechDurationLast,
+		ASRUtteranceEndLatency, ASRUtteranceEndLatencyLast,
+		ASRParallelTranscripts,
+		TTSLatency, TTSLatencyLast,
+		KBQueryLatency, KBQueryLatencyLast,
+		KBEmbedLatency, KBEmbedLatencyLast,
+		KBQueries,
+		HTTPProxyParse, HTTPProxyParseLast,
+		HTTPUpstreamTotal, HTTPUpstreamTotalLast,
+		HTTPUpstreamTTFB, HTTPUpstreamTTFBLast,
+		HTTPProxyTotal, HTTPProxyTotalLast,
+	)
+}
+
+// RecordHTTPTiming records HTTP timing metrics for a request with the given attributes and timing values in milliseconds.
+func RecordHTTPTiming(host, path, method string, statusCode int, proxyParseMs, upstreamTotalMs, upstreamTTFBMs, proxyTotalMs string) {
+	status := strconv.Itoa(statusCode)
+	observe := func(hist *prometheus.HistogramVec, gauge *prometheus.GaugeVec, ms string) {
+		v, err := strconv.ParseFloat(ms, 64)
+		if err != nil {
+			return
+		}
+		seconds := v / 1000.0
+		hist.WithLabelValues(host, path, method, status).Observe(seconds)
+		gauge.WithLabelValues(host, path, method, status).Set(seconds)
+	}
+	observe(HTTPProxyParse, HTTPProxyParseLast, proxyParseMs)
+	observe(HTTPUpstreamTotal, HTTPUpstreamTotalLast, upstreamTotalMs)
+	observe(HTTPUpstreamTTFB, HTTPUpstreamTTFBLast, upstreamTTFBMs)
+	observe(HTTPProxyTotal, HTTPProxyTotalLast, proxyTotalMs)
+}
+
+// RecordLLMResponseLatency records the latency of an LLM response along with relevant request and response attributes.
+func RecordResponseLatency(latency *prometheus.HistogramVec, latencyLast *prometheus.GaugeVec, provider, model, endpoint string, req *http.Request, resp *http.Response, start time.Time) {
+	header := func(key string) string {
+		if v := resp.Header.Get(key); v != "" {
+			return v
+		}
+		return "?"
+	}
+	elapsed := time.Since(start)
+	logger.Get().Info(provider,
+		zap.String("method", req.Method),
+		zap.String("url", req.URL.String()),
+		zap.Int("status", resp.StatusCode),
+		zap.Int64("elapsed_ms", elapsed.Milliseconds()),
+		zap.String("proxy_parse_ms", header("x-proxy-parse-ms")),
+		zap.String("upstream_total_ms", header("x-upstream-total-ms")),
+		zap.String("upstream_ttfb_ms", header("x-upstream-ttfb-ms")),
+		zap.String("proxy_total_ms", header("x-proxy-total-ms")),
+	)
+
+	seconds := elapsed.Seconds()
+	latency.WithLabelValues(model, endpoint).Observe(seconds)
+	latencyLast.WithLabelValues(model, endpoint).Set(seconds)
+
+	RecordHTTPTiming(req.URL.Host, req.URL.Path, req.Method, resp.StatusCode,
+		header("x-proxy-parse-ms"), header("x-upstream-total-ms"),
+		header("x-upstream-ttfb-ms"), header("x-proxy-total-ms"))
+}
+
+// RecordKBQuery records the latency of a knowledge base query.
+func RecordKBQuery(embedSeconds, querySeconds float64, ok bool) {
+	status := "success"
+	if !ok {
+		status = "error"
+	}
+	KBQueries.WithLabelValues(status).Inc()
+
+	KBQueryLatency.Observe(querySeconds)
+	KBQueryLatencyLast.Set(querySeconds)
+
+	if embedSeconds >= 0 {
+		KBEmbedLatency.Observe(embedSeconds)
+		KBEmbedLatencyLast.Set(embedSeconds)
+	}
+}
+
+// StartServer starts the HTTP server that exposes the Prometheus metrics on port 9090.
+func StartServer(log *zap.Logger) func(context.Context) error {
+	noop := func(context.Context) error { return nil }
+
+	ln, err := net.Listen("tcp", metricsAddr)
+	if err != nil {
+		if errors.Is(err, syscall.EADDRINUSE) {
+			log.Warn("Prometheus port 9090 already in use, reusing existing server")
+			return noop
+		}
+		log.Warn("failed to start Prometheus metrics server", zap.Error(err))
+		return noop
+	}
+
+	mux := http.NewServeMux()
+	mux.Handle("/metrics", promhttp.Handler())
+	srv := &http.Server{Handler: mux}
+
+	go func() {
+		if err := srv.Serve(ln); err != nil && !errors.Is(err, http.ErrServerClosed) {
+			log.Warn("Prometheus metrics server error", zap.Error(err))
+		}
+	}()
+	log.Info("Prometheus metrics server started on port 9090")
+
+	return func(ctx context.Context) error {
+		err := srv.Shutdown(ctx)
+		log.Info("Prometheus metrics server stopped")
+		return err
+	}
+}
diff --git a/internal/metrics/metrics_test.go b/internal/metrics/metrics_test.go
new file mode 100644
index 0000000000..a161e00029
--- /dev/null
+++ b/internal/metrics/metrics_test.go
@@ -0,0 +1,42 @@
+package metrics
+
+import (
+	"testing"
+
+	"github.com/prometheus/client_golang/prometheus/testutil"
+	"github.com/stretchr/testify/require"
+)
+
+func TestRecordHTTPTiming(t *testing.T) {
+	RecordHTTPTiming("api.example.com", "/v1/chat", "POST", 200, "12.5", "300", "50", "360")
+
+	gauge := HTTPProxyParseLast.WithLabelValues("api.example.com", "/v1/chat", "POST", "200")
+	require.InDelta(t, 0.0125, testutil.ToFloat64(gauge), 1e-9, "milliseconds are converted to seconds")
+
+	total := HTTPUpstreamTotalLast.WithLabelValues("api.example.com", "/v1/chat", "POST", "200")
+	require.InDelta(t, 0.300, testutil.ToFloat64(total), 1e-9)
+}
+
+func TestRecordHTTPTimingSkipsUnparseable(t *testing.T) {
+	gauge := HTTPProxyTotalLast.WithLabelValues("h", "/p", "GET", "404")
+	before := testutil.ToFloat64(gauge)
+	require.NotPanics(t, func() {
+		RecordHTTPTiming("h", "/p", "GET", 404, "not-a-number", "x", "y", "z")
+	})
+	require.Equal(t, before, testutil.ToFloat64(gauge), "unparseable values are ignored")
+}
+
+func TestRecordKBQuerySuccess(t *testing.T) {
+	before := testutil.ToFloat64(KBQueries.WithLabelValues("success"))
+	RecordKBQuery(0.01, 0.05, true)
+	require.Equal(t, before+1, testutil.ToFloat64(KBQueries.WithLabelValues("success")))
+	require.InDelta(t, 0.05, testutil.ToFloat64(KBQueryLatencyLast), 1e-9)
+	require.InDelta(t, 0.01, testutil.ToFloat64(KBEmbedLatencyLast), 1e-9)
+}
+
+func TestRecordKBQueryError(t *testing.T) {
+	before := testutil.ToFloat64(KBQueries.WithLabelValues("error"))
+	RecordKBQuery(-1, 0.02, false)
+	require.Equal(t, before+1, testutil.ToFloat64(KBQueries.WithLabelValues("error")),
+		"a failed query increments the error counter")
+}
diff --git a/internal/providers/avatar.go b/internal/providers/avatar.go
new file mode 100644
index 0000000000..a6e868f85c
--- /dev/null
+++ b/internal/providers/avatar.go
@@ -0,0 +1,286 @@
+package providers
+
+import (
+	"encoding/binary"
+	"fmt"
+	"sync"
+	"time"
+
+	"github.com/google/uuid"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/logger"
+	zenohsession "github.com/openmind/om1/internal/zenoh"
+)
+
+const (
+	avatarRequestTopic  = "om/avatar/request"
+	avatarResponseTopic = "om/avatar/response"
+
+	avatarCodeSwitchFace = byte(0x00) // AvatarFaceRequest.Code.SWITCH_FACE
+	avatarCodeStatus     = byte(0x01) // AvatarFaceRequest.Code.STATUS
+	avatarCodeActive     = byte(0x00) // AvatarFaceResponse.Code.ACTIVE
+)
+
+// AvatarProvider is a singleton that manages the zenoh session and publishers/subscriber
+// for avatar communication.
+type AvatarProvider struct {
+	log               *zap.Logger
+	session           *zenohsession.Session
+	requestPublisher  *zenohsession.Publisher  // publishes to om/avatar/request (face commands)
+	responsePublisher *zenohsession.Publisher  // publishes to om/avatar/response (health check replies)
+	requestSubscriber *zenohsession.Subscriber // subscribes to om/avatar/request
+}
+
+var (
+	avatarOnce     sync.Once
+	avatarInstance *AvatarProvider
+)
+
+// Avatar returns the singleton AvatarProvider.
+func Avatar() *AvatarProvider {
+	avatarOnce.Do(func() { avatarInstance = NewAvatarProvider() })
+	return avatarInstance
+}
+
+// NewAvatarProvider initializes the AvatarProvider by setting up a zenoh session, publishers, and subscriber.
+func NewAvatarProvider() *AvatarProvider {
+	p := &AvatarProvider{log: logger.Get()}
+
+	sess, err := zenohsession.Open()
+	if err != nil {
+		p.log.Warn("avatar: zenoh unavailable, avatar disabled", zap.Error(err))
+		return p
+	}
+	p.session = sess
+
+	requestPub, err := sess.DeclarePublisher(avatarRequestTopic)
+	if err != nil {
+		sess.Close()
+		p.session = nil
+		p.log.Warn("avatar: failed to declare request publisher", zap.Error(err))
+		return p
+	}
+	p.requestPublisher = requestPub
+
+	responsePub, err := sess.DeclarePublisher(avatarResponseTopic)
+	if err != nil {
+		requestPub.Drop()
+		sess.Close()
+		p.requestPublisher = nil
+		p.session = nil
+		p.log.Warn("avatar: failed to declare response publisher", zap.Error(err))
+		return p
+	}
+	p.responsePublisher = responsePub
+
+	sub, err := sess.DeclareSubscriber(avatarRequestTopic, p.handleRequest)
+	if err != nil {
+		responsePub.Drop()
+		requestPub.Drop()
+		sess.Close()
+		p.responsePublisher = nil
+		p.requestPublisher = nil
+		p.session = nil
+		p.log.Warn("avatar: failed to declare subscriber", zap.Error(err))
+		return p
+	}
+	p.requestSubscriber = sub
+
+	p.log.Info("avatar: provider initialized",
+		zap.String("request_topic", avatarRequestTopic),
+		zap.String("response_topic", avatarResponseTopic),
+	)
+	return p
+}
+
+// handleRequest processes incoming avatar requests.
+func (p *AvatarProvider) handleRequest(data []byte) {
+	code, requestID, _, err := deserializeAvatarRequest(data)
+	if err != nil {
+		p.log.Error("avatar: failed to deserialize request", zap.Error(err))
+		return
+	}
+
+	if code != avatarCodeStatus {
+		return
+	}
+
+	if p.responsePublisher == nil {
+		return
+	}
+
+	payload := serializeAvatarResponse(requestID, avatarCodeActive, "Avatar system active")
+	if err := p.responsePublisher.Put(payload); err != nil {
+		p.log.Error("avatar: failed to publish health check response", zap.Error(err))
+		return
+	}
+}
+
+// SendAvatarCommand publishes a SWITCH_FACE request for the given face expression.
+func (p *AvatarProvider) SendAvatarCommand(command string) error {
+	if p.requestPublisher == nil {
+		return fmt.Errorf("avatar: publisher not available")
+	}
+
+	payload := serializeAvatarRequest(command)
+	if err := p.requestPublisher.Put(payload); err != nil {
+		return fmt.Errorf("avatar: put failed: %w", err)
+	}
+
+	p.log.Info("avatar: published command", zap.String("command", command))
+	return nil
+}
+
+// serializeAvatarRequest encodes an AvatarFaceRequest (SWITCH_FACE) in CDR
+// little-endian format.
+//
+// Wire layout (absolute offsets from start of buffer):
+//
+//	[0]  CDR encapsulation header: 0x00 0x01 0x00 0x00
+//	[4]  stamp.sec        int32  LE  (data offset 0)
+//	[8]  stamp.nanosec    uint32 LE  (data offset 4)
+//	[12] header.frame_id  CDR string (data offset 8) + padding to 4-byte
+//	[..] request_id       length uint32 + bytes+NUL — NO padding (next is int8)
+//	[..] code             int8 = 0x00 (SWITCH_FACE)
+//	[..] padding to 4-byte data boundary (before face_text uint32 length)
+//	[..] face_text        length uint32 + bytes+NUL (last field, no padding)
+func serializeAvatarRequest(faceText string) []byte {
+	now := time.Now()
+	requestID := uuid.New().String()
+
+	buf := make([]byte, 0, 200)
+
+	buf = append(buf, 0x00, 0x01, 0x00, 0x00)
+	buf = zenohsession.AppendInt32LE(buf, int32(now.Unix()))
+	buf = zenohsession.AppendUint32LE(buf, uint32(now.Nanosecond()))
+	buf = zenohsession.AppendCDRString(buf, requestID) // frame_id, padded
+
+	reqBytes := append([]byte(requestID), 0x00)
+	buf = zenohsession.AppendUint32LE(buf, uint32(len(reqBytes)))
+	buf = append(buf, reqBytes...)
+
+	buf = append(buf, avatarCodeSwitchFace)
+
+	dataLen := len(buf) - 4
+	if pad := (4 - dataLen%4) % 4; pad > 0 {
+		buf = append(buf, make([]byte, pad)...)
+	}
+
+	faceBytes := append([]byte(faceText), 0x00)
+	buf = zenohsession.AppendUint32LE(buf, uint32(len(faceBytes)))
+	buf = append(buf, faceBytes...)
+
+	return buf
+}
+
+// serializeAvatarResponse encodes an AvatarFaceResponse in CDR little-endian
+// format.
+//
+// Wire layout:
+//
+//	[0]  CDR header: 0x00 0x01 0x00 0x00
+//	[4]  stamp.sec        int32  LE
+//	[8]  stamp.nanosec    uint32 LE
+//	[12] header.frame_id  CDR string + padding to 4-byte
+//	[..] request_id       length uint32 + bytes+NUL — NO padding (next is int8)
+//	[..] code             int8
+//	[..] padding to 4-byte data boundary (before message uint32 length)
+//	[..] message          length uint32 + bytes+NUL (last field, no padding)
+func serializeAvatarResponse(requestID string, code byte, message string) []byte {
+	now := time.Now()
+	responseID := uuid.New().String()
+
+	buf := make([]byte, 0, 200)
+
+	buf = append(buf, 0x00, 0x01, 0x00, 0x00)
+	buf = zenohsession.AppendInt32LE(buf, int32(now.Unix()))
+	buf = zenohsession.AppendUint32LE(buf, uint32(now.Nanosecond()))
+	buf = zenohsession.AppendCDRString(buf, responseID) // frame_id, padded
+
+	reqBytes := append([]byte(requestID), 0x00)
+	buf = zenohsession.AppendUint32LE(buf, uint32(len(reqBytes)))
+	buf = append(buf, reqBytes...)
+
+	buf = append(buf, code)
+
+	dataLen := len(buf) - 4
+	if pad := (4 - dataLen%4) % 4; pad > 0 {
+		buf = append(buf, make([]byte, pad)...)
+	}
+
+	msgBytes := append([]byte(message), 0x00)
+	buf = zenohsession.AppendUint32LE(buf, uint32(len(msgBytes)))
+	buf = append(buf, msgBytes...)
+
+	return buf
+}
+
+// deserializeAvatarRequest decodes the code, request_id, and face_text fields
+// from a CDR-encoded AvatarFaceRequest payload.
+func deserializeAvatarRequest(data []byte) (code byte, requestID, faceText string, err error) {
+	if len(data) < 16 {
+		return 0, "", "", fmt.Errorf("avatar: payload too short (%d bytes)", len(data))
+	}
+
+	pos := 4 // skip CDR header
+	pos += 4 // stamp.sec
+	pos += 4 // stamp.nanosec
+
+	// frame_id: AppendCDRString format — length uint32 + bytes + padding to 4-byte data boundary
+	if pos+4 > len(data) {
+		return 0, "", "", fmt.Errorf("avatar: truncated at frame_id length")
+	}
+	frameIDLen := int(binary.LittleEndian.Uint32(data[pos:]))
+	pos += 4 + frameIDLen
+	dataOff := pos - 4
+	if pad := (4 - dataOff%4) % 4; pad > 0 {
+		pos += pad
+	}
+
+	// request_id: length uint32 + bytes (no padding — next field is int8)
+	if pos+4 > len(data) {
+		return 0, "", "", fmt.Errorf("avatar: truncated at request_id length")
+	}
+	reqIDLen := int(binary.LittleEndian.Uint32(data[pos:]))
+	pos += 4
+	if pos+reqIDLen > len(data) {
+		return 0, "", "", fmt.Errorf("avatar: truncated at request_id data")
+	}
+	reqIDBytes := data[pos : pos+reqIDLen]
+	if reqIDLen > 0 && reqIDBytes[reqIDLen-1] == 0 {
+		reqIDBytes = reqIDBytes[:reqIDLen-1]
+	}
+	requestID = string(reqIDBytes)
+	pos += reqIDLen
+
+	// code: int8
+	if pos >= len(data) {
+		return 0, "", "", fmt.Errorf("avatar: truncated at code")
+	}
+	code = data[pos]
+	pos++
+
+	// padding to 4-byte data boundary (before face_text length uint32)
+	dataOff = pos - 4
+	if pad := (4 - dataOff%4) % 4; pad > 0 {
+		pos += pad
+	}
+
+	// face_text: length uint32 + bytes
+	if pos+4 > len(data) {
+		return code, requestID, "", nil // face_text absent (e.g. STATUS request)
+	}
+	faceLen := int(binary.LittleEndian.Uint32(data[pos:]))
+	pos += 4
+	if pos+faceLen > len(data) {
+		return code, requestID, "", fmt.Errorf("avatar: truncated at face_text data")
+	}
+	faceBytes := data[pos : pos+faceLen]
+	if faceLen > 0 && faceBytes[faceLen-1] == 0 {
+		faceBytes = faceBytes[:faceLen-1]
+	}
+	faceText = string(faceBytes)
+
+	return code, requestID, faceText, nil
+}
diff --git a/internal/providers/face_presence.go b/internal/providers/face_presence.go
new file mode 100644
index 0000000000..2952692168
--- /dev/null
+++ b/internal/providers/face_presence.go
@@ -0,0 +1,235 @@
+package providers
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"net/http"
+	"sort"
+	"strings"
+	"time"
+
+	"github.com/openmind/om1/internal/httpclient"
+)
+
+// faceInfo is a single face entry in the /who response.
+type faceInfo struct {
+	Name string  `json:"name"`
+	Area float64 `json:"area"`
+}
+
+// whoResponse is the body returned by POST {base_url}/who.
+type whoResponse struct {
+	Faces    []faceInfo `json:"faces"`
+	ServerTS float64    `json:"server_ts"`
+}
+
+// PresenceSnapshot is the canonical record derived from a /who response.
+type PresenceSnapshot struct {
+	// Timestamp is the server timestamp in UNIX epoch seconds (falls back to local time if missing).
+	Timestamp float64
+	// Names holds the known identities present (deduplicated, ordered by face area descending).
+	Names []string
+	// UnknownFaces is the count of unknown faces present.
+	UnknownFaces int
+	// ClosestName is the name of the person with the largest face area, or "unknown" if unavailable.
+	ClosestName string
+}
+
+// ToText produces a concise, natural sentence describing who is in view,
+// handling any number of known people and unknown faces.
+//
+// Examples:
+//   - names=["wendy"], unknown=0      -> "In Camera View: 1 known (wendy). Closest: wendy."
+//   - names=["wendy","alice"], unk=2  -> "In Camera View: 2 known (wendy and alice) and 2 unknown faces. ..."
+//   - names=[], unknown=1             -> "In Camera View: 1 unknown face. Closest: unknown."
+//   - names=[], unknown=0             -> "No one in view."
+func (s PresenceSnapshot) ToText() string {
+	seen := make(map[string]struct{})
+	var valid []string
+	for _, name := range s.Names {
+		cleaned := strings.TrimSpace(name)
+		if cleaned == "" || strings.EqualFold(cleaned, "unknown") {
+			continue
+		}
+		if _, ok := seen[cleaned]; ok {
+			continue
+		}
+		seen[cleaned] = struct{}{}
+		valid = append(valid, cleaned)
+	}
+
+	knownCount := len(valid)
+	unknownCount := s.UnknownFaces
+	if unknownCount < 0 {
+		unknownCount = 0
+	}
+
+	if knownCount == 0 && unknownCount == 0 {
+		return "No one in view."
+	}
+
+	var parts []string
+	if knownCount > 0 {
+		parts = append(parts, fmt.Sprintf("%d known (%s)", knownCount, joinNames(valid)))
+	}
+	if unknownCount > 0 {
+		suffix := "s"
+		if unknownCount == 1 {
+			suffix = ""
+		}
+		parts = append(parts, fmt.Sprintf("%d unknown face%s", unknownCount, suffix))
+	}
+
+	result := "In Camera View: " + strings.Join(parts, " and ") + "."
+	if s.ClosestName != "" {
+		result += fmt.Sprintf(" Closest: %s.", s.ClosestName)
+	}
+	return result
+}
+
+// joinNames joins a list of names into a human-readable string with proper conjunctions.
+func joinNames(names []string) string {
+	switch len(names) {
+	case 0:
+		return ""
+	case 1:
+		return names[0]
+	case 2:
+		return names[0] + " and " + names[1]
+	default:
+		return strings.Join(names[:len(names)-1], ", ") + " and " + names[len(names)-1]
+	}
+}
+
+// FacePresenceConfig configures a FacePresenceProvider.
+type FacePresenceConfig struct {
+	// BaseURL is the base HTTP URL of the face stream API (e.g. "http://127.0.0.1:6793").
+	BaseURL string
+	// RecentSec is the lookback window passed to /who (seconds of presence history).
+	RecentSec float64
+	// Timeout bounds each HTTP request.
+	Timeout time.Duration
+	// MinFaceArea is the minimum face area (in pixels) for a detection to be counted.
+	MinFaceArea float64
+}
+
+// FacePresenceProvider fetches face-presence snapshots from a face HTTP service.
+type FacePresenceProvider struct {
+	baseURL     string
+	recentSec   float64
+	timeout     time.Duration
+	minFaceArea float64
+	client      *http.Client
+}
+
+// NewFacePresenceProvider constructs a FacePresenceProvider from cfg, applying
+// sane defaults for any zero-valued field.
+func NewFacePresenceProvider(cfg FacePresenceConfig) *FacePresenceProvider {
+	if cfg.BaseURL == "" {
+		cfg.BaseURL = "http://127.0.0.1:6793"
+	}
+	if cfg.RecentSec <= 0 {
+		cfg.RecentSec = 1.0
+	}
+	if cfg.Timeout <= 0 {
+		cfg.Timeout = 2 * time.Second
+	}
+	if cfg.MinFaceArea <= 0 {
+		cfg.MinFaceArea = 500
+	}
+	return &FacePresenceProvider{
+		baseURL:     strings.TrimRight(cfg.BaseURL, "/"),
+		recentSec:   cfg.RecentSec,
+		timeout:     cfg.Timeout,
+		minFaceArea: cfg.MinFaceArea,
+		client:      httpclient.Default(),
+	}
+}
+
+// FetchSnapshot POSTs to {base_url}/who with the configured lookback window and
+// builds a PresenceSnapshot. Faces smaller than MinFaceArea are ignored; names
+// are deduplicated and ordered by descending face area.
+func (p *FacePresenceProvider) FetchSnapshot(ctx context.Context) (PresenceSnapshot, error) {
+	body, err := json.Marshal(map[string]any{"recent_sec": p.recentSec})
+	if err != nil {
+		return PresenceSnapshot{}, err
+	}
+
+	reqCtx, cancel := context.WithTimeout(ctx, p.timeout)
+	defer cancel()
+
+	req, err := http.NewRequestWithContext(reqCtx, http.MethodPost, p.baseURL+"/who", bytes.NewReader(body))
+	if err != nil {
+		return PresenceSnapshot{}, err
+	}
+	req.Header.Set("Content-Type", "application/json")
+
+	resp, err := p.client.Do(req)
+	if err != nil {
+		return PresenceSnapshot{}, err
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	if resp.StatusCode < 200 || resp.StatusCode >= 300 {
+		return PresenceSnapshot{}, fmt.Errorf("face presence: /who returned status %d", resp.StatusCode)
+	}
+
+	var data whoResponse
+	if err := json.NewDecoder(resp.Body).Decode(&data); err != nil {
+		return PresenceSnapshot{}, err
+	}
+
+	// Keep only sufficiently large faces, then order by descending area so the
+	// first element is the face closest to the camera.
+	var filtered []faceInfo
+	for _, f := range data.Faces {
+		if f.Area >= p.minFaceArea {
+			filtered = append(filtered, f)
+		}
+	}
+	sorted := make([]faceInfo, len(filtered))
+	copy(sorted, filtered)
+	sort.SliceStable(sorted, func(i, j int) bool { return sorted[i].Area > sorted[j].Area })
+
+	closestName := "unknown"
+	if len(sorted) > 0 {
+		if n := strings.TrimSpace(sorted[0].Name); n != "" && !strings.EqualFold(n, "unknown") {
+			closestName = n
+		}
+	}
+
+	seen := make(map[string]struct{})
+	var names []string
+	for _, f := range sorted {
+		n := strings.TrimSpace(f.Name)
+		if n == "" || strings.EqualFold(n, "unknown") {
+			continue
+		}
+		if _, ok := seen[n]; ok {
+			continue
+		}
+		seen[n] = struct{}{}
+		names = append(names, n)
+	}
+
+	unknownCount := 0
+	for _, f := range filtered {
+		if strings.EqualFold(strings.TrimSpace(f.Name), "unknown") {
+			unknownCount++
+		}
+	}
+
+	timestamp := data.ServerTS
+	if timestamp == 0 {
+		timestamp = float64(time.Now().UnixNano()) / 1e9
+	}
+
+	return PresenceSnapshot{
+		Timestamp:    timestamp,
+		Names:        names,
+		UnknownFaces: unknownCount,
+		ClosestName:  closestName,
+	}, nil
+}
diff --git a/internal/providers/face_presence_test.go b/internal/providers/face_presence_test.go
new file mode 100644
index 0000000000..bcdedeab30
--- /dev/null
+++ b/internal/providers/face_presence_test.go
@@ -0,0 +1,110 @@
+package providers
+
+import (
+	"context"
+	"encoding/json"
+	"io"
+	"net/http"
+	"net/http/httptest"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestJoinNames(t *testing.T) {
+	require.Equal(t, "", joinNames(nil))
+	require.Equal(t, "alice", joinNames([]string{"alice"}))
+	require.Equal(t, "alice and bob", joinNames([]string{"alice", "bob"}))
+	require.Equal(t, "alice, bob and carol", joinNames([]string{"alice", "bob", "carol"}))
+}
+
+func TestPresenceSnapshotToText(t *testing.T) {
+	cases := []struct {
+		name string
+		snap PresenceSnapshot
+		want string
+	}{
+		{"nobody", PresenceSnapshot{}, "No one in view."},
+		{
+			"one known",
+			PresenceSnapshot{Names: []string{"wendy"}, ClosestName: "wendy"},
+			"In Camera View: 1 known (wendy). Closest: wendy.",
+		},
+		{
+			"two known plus unknowns",
+			PresenceSnapshot{Names: []string{"wendy", "alice"}, UnknownFaces: 2, ClosestName: "wendy"},
+			"In Camera View: 2 known (wendy and alice) and 2 unknown faces. Closest: wendy.",
+		},
+		{
+			"single unknown",
+			PresenceSnapshot{UnknownFaces: 1, ClosestName: "unknown"},
+			"In Camera View: 1 unknown face. Closest: unknown.",
+		},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			require.Equal(t, tc.want, tc.snap.ToText())
+		})
+	}
+}
+
+func TestPresenceSnapshotToTextDedupsAndDropsUnknown(t *testing.T) {
+	snap := PresenceSnapshot{Names: []string{"wendy", "wendy", "unknown", " "}, ClosestName: "wendy"}
+	require.Equal(t, "In Camera View: 1 known (wendy). Closest: wendy.", snap.ToText(),
+		"duplicate, blank, and 'unknown' names are filtered from the known list")
+}
+
+func TestNewFacePresenceProviderDefaults(t *testing.T) {
+	p := NewFacePresenceProvider(FacePresenceConfig{})
+	require.Equal(t, "http://127.0.0.1:6793", p.baseURL)
+	require.Equal(t, 1.0, p.recentSec)
+	require.Equal(t, 2*time.Second, p.timeout)
+	require.Equal(t, 500.0, p.minFaceArea)
+}
+
+func TestNewFacePresenceProviderTrimsSlash(t *testing.T) {
+	p := NewFacePresenceProvider(FacePresenceConfig{BaseURL: "http://host:1/"})
+	require.Equal(t, "http://host:1", p.baseURL)
+}
+
+func TestFetchSnapshot(t *testing.T) {
+	var gotBody map[string]any
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		require.Equal(t, "/who", r.URL.Path)
+		raw, _ := io.ReadAll(r.Body)
+		_ = json.Unmarshal(raw, &gotBody)
+		_, _ = w.Write([]byte(`{
+			"server_ts": 1700.5,
+			"faces": [
+				{"name": "alice", "area": 2000},
+				{"name": "unknown", "area": 1500},
+				{"name": "tiny", "area": 10},
+				{"name": "bob", "area": 800}
+			]
+		}`))
+	}))
+	t.Cleanup(srv.Close)
+
+	p := NewFacePresenceProvider(FacePresenceConfig{BaseURL: srv.URL, MinFaceArea: 500, RecentSec: 3})
+	snap, err := p.FetchSnapshot(context.Background())
+	require.NoError(t, err)
+
+	require.Equal(t, 3.0, gotBody["recent_sec"], "recent_sec is sent in the request body")
+	require.Equal(t, 1700.5, snap.Timestamp)
+	require.Equal(t, []string{"alice", "bob"}, snap.Names, "ordered by area desc, tiny face dropped, unknown excluded from names")
+	require.Equal(t, 1, snap.UnknownFaces, "the large unknown face is counted")
+	require.Equal(t, "alice", snap.ClosestName, "largest face is closest")
+}
+
+func TestFetchSnapshotErrorStatus(t *testing.T) {
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, _ *http.Request) {
+		w.WriteHeader(http.StatusInternalServerError)
+	}))
+	t.Cleanup(srv.Close)
+
+	p := NewFacePresenceProvider(FacePresenceConfig{BaseURL: srv.URL})
+	_, err := p.FetchSnapshot(context.Background())
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "500")
+}
diff --git a/internal/providers/greeting_conversation_state.go b/internal/providers/greeting_conversation_state.go
new file mode 100644
index 0000000000..a02cd127d8
--- /dev/null
+++ b/internal/providers/greeting_conversation_state.go
@@ -0,0 +1,582 @@
+package providers
+
+import (
+	"math"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/util"
+)
+
+// ConversationState enumerates the states of a greeting conversation.
+type ConversationState string
+
+const (
+	StateIdle        ConversationState = "idle"
+	StateApproaching ConversationState = "approaching"
+	StateEngaging    ConversationState = "engaging"
+	StateConversing  ConversationState = "conversing"
+	StateConcluding  ConversationState = "concluding"
+	StateFinished    ConversationState = "finished"
+)
+
+// ConfidenceFactors holds all factors that contribute to conversation completion
+// confidence.
+type ConfidenceFactors struct {
+	ConversationState       ConversationState // from LLM output
+	LLMConfidence           float64           // from LLM output
+	SilenceDuration         float64           // seconds of silence
+	SpeechClarity           float64           // audio quality / recognition confidence
+	PersonDistance          float64           // meters from robot
+	ConversationDuration    float64           // total conversation time
+	TurnCount               int               // number of back-and-forth exchanges
+	LastUserUtteranceLength int               // words in last user response
+}
+
+// ConfidenceBreakdown is the breakdown of individual confidence components.
+type ConfidenceBreakdown struct {
+	LLM        float64
+	Silence    float64
+	Engagement float64
+	Quality    float64
+}
+
+// ConfidenceResult is the complete confidence calculation result.
+type ConfidenceResult struct {
+	Overall   float64
+	Breakdown ConfidenceBreakdown
+	Factors   ConfidenceFactors
+}
+
+// ConfidenceCalculator calculates the overall confidence score for conversation
+// completion.
+type ConfidenceCalculator struct {
+	SilenceThresholdSoft    float64
+	SilenceThresholdHard    float64
+	MinConversationDuration float64
+	EngagementDistanceMax   float64
+	MinTurnCount            int
+
+	weightLLM                 float64
+	weightSilence             float64
+	weightEngagement          float64
+	weightConversationQuality float64
+}
+
+// NewConfidenceCalculator returns a ConfidenceCalculator with the default
+// thresholds and weights.
+func NewConfidenceCalculator() *ConfidenceCalculator {
+	return &ConfidenceCalculator{
+		SilenceThresholdSoft:    5.0,
+		SilenceThresholdHard:    10.0,
+		MinConversationDuration: 15.0,
+		EngagementDistanceMax:   2.5,
+		MinTurnCount:            2,
+
+		weightLLM:                 0.35,
+		weightSilence:             0.25,
+		weightEngagement:          0.20,
+		weightConversationQuality: 0.20,
+	}
+}
+
+// CalculateCompletionConfidence computes the comprehensive confidence that a
+// conversation should end.
+func (c *ConfidenceCalculator) CalculateCompletionConfidence(factors ConfidenceFactors) ConfidenceResult {
+	// LLM confidence
+	var llmScore float64
+	switch factors.ConversationState {
+	case StateConcluding, StateFinished:
+		// LLM wants to conclude - use confidence as-is
+		llmScore = factors.LLMConfidence
+	case StateConversing:
+		// LLM wants to continue - invert the confidence for "end" score
+		llmScore = math.Round((1.0-factors.LLMConfidence)*1000) / 1000
+	default:
+		// Other states (IDLE, APPROACHING, ENGAGING) - neutral
+		llmScore = 0.5
+	}
+
+	// Silence factor
+	var silenceScore float64
+	switch {
+	case factors.SilenceDuration >= c.SilenceThresholdHard:
+		silenceScore = 1.0
+	case factors.SilenceDuration >= c.SilenceThresholdSoft:
+		silenceScore = 0.5 + 0.5*((factors.SilenceDuration-c.SilenceThresholdSoft)/
+			(c.SilenceThresholdHard-c.SilenceThresholdSoft))
+	default:
+		silenceScore = factors.SilenceDuration / c.SilenceThresholdSoft * 0.5
+	}
+
+	// Engagement score (lower engagement = higher confidence to end)
+	engagementScore := math.Min(factors.PersonDistance/c.EngagementDistanceMax, 1.0)
+
+	// Conversation quality score (has it been substantial enough to end naturally?)
+	durationScore := math.Min(factors.ConversationDuration/c.MinConversationDuration, 1.0)
+	turnScore := math.Min(float64(factors.TurnCount)/float64(c.MinTurnCount), 1.0)
+
+	// Short user utterances might indicate disengagement
+	utteranceScore := 0.5
+	if factors.LastUserUtteranceLength < 3 {
+		utteranceScore = 1.0
+	}
+
+	qualityScore := (durationScore + turnScore + utteranceScore) / 3
+
+	overall := c.weightLLM*llmScore +
+		c.weightSilence*silenceScore +
+		c.weightEngagement*engagementScore +
+		c.weightConversationQuality*qualityScore
+
+	return ConfidenceResult{
+		Overall: overall,
+		Breakdown: ConfidenceBreakdown{
+			LLM:        llmScore,
+			Silence:    silenceScore,
+			Engagement: engagementScore,
+			Quality:    qualityScore,
+		},
+		Factors: factors,
+	}
+}
+
+// ShouldTransitionToConcluding decides if we should move to the concluding state.
+func (c *ConfidenceCalculator) ShouldTransitionToConcluding(r ConfidenceResult) bool {
+	overall := r.Overall
+	b := r.Breakdown
+	state := r.Factors.ConversationState
+
+	llmWantsToConclude := state == StateConcluding || state == StateFinished
+
+	if llmWantsToConclude && b.LLM >= 0.7 {
+		if overall >= 0.5 {
+			return true
+		}
+	}
+
+	// High overall confidence
+	if overall >= 0.75 {
+		return true
+	}
+
+	// Medium confidence but strong signals from multiple sources
+	if overall >= 0.6 {
+		strongSignals := 0
+		if b.LLM >= 0.7 {
+			strongSignals++
+		}
+		if b.Silence >= 0.6 {
+			strongSignals++
+		}
+		if b.Engagement >= 0.6 {
+			strongSignals++
+		}
+		if strongSignals >= 2 {
+			return true
+		}
+	}
+
+	return false
+}
+
+// ShouldTransitionToFinished decides if we should move to the finished state.
+func (c *ConfidenceCalculator) ShouldTransitionToFinished(r ConfidenceResult, timeInConcluding float64) bool {
+	overall := r.Overall
+	b := r.Breakdown
+
+	// Very high confidence - immediate transition
+	if overall >= 0.9 {
+		return true
+	}
+
+	// High silence after we've been concluding
+	if timeInConcluding >= 3.0 && b.Silence >= 0.8 {
+		return true
+	}
+
+	// Person is clearly leaving
+	if b.Engagement >= 0.8 && timeInConcluding >= 2.0 {
+		return true
+	}
+
+	// Timeout with reasonable confidence
+	if timeInConcluding >= 5.0 && overall >= 0.6 {
+		return true
+	}
+
+	return false
+}
+
+// GreetingConversationStateMachineProvider manages greeting conversation state
+// transitions based on confidence scores.
+type GreetingConversationStateMachineProvider struct {
+	mu sync.Mutex
+
+	currentState          ConversationState
+	previousState         ConversationState
+	stateEntryTime        time.Time
+	conversationStartTime time.Time // zero value means "not started"
+	turnCount             int
+	maxTurnCount          int
+	lastUserUtterance     string
+
+	calc *ConfidenceCalculator
+
+	confidenceHistory []float64
+	maxHistory        int
+
+	io  *IOProvider
+	log *zap.Logger
+}
+
+var (
+	greetingOnce     sync.Once
+	greetingInstance *GreetingConversationStateMachineProvider
+)
+
+// Greeting returns the singleton GreetingConversationStateMachineProvider.
+func Greeting() *GreetingConversationStateMachineProvider {
+	greetingOnce.Do(func() { greetingInstance = NewGreetingConversationStateMachineProvider(3) })
+	return greetingInstance
+}
+
+// NewGreetingConversationStateMachineProvider constructs a state machine with the
+// given maximum turn count before forcing a transition to finished.
+func NewGreetingConversationStateMachineProvider(maxTurnCount int) *GreetingConversationStateMachineProvider {
+	return &GreetingConversationStateMachineProvider{
+		currentState:   StateIdle,
+		stateEntryTime: time.Now(),
+		maxTurnCount:   maxTurnCount,
+		calc:           NewConfidenceCalculator(),
+		maxHistory:     5,
+		io:             IO(),
+		log:            logger.Get(),
+	}
+}
+
+// ProcessConversation processes greeting conversation state based on LLM output
+// and other factors, returning the current state and confidence details.
+func (g *GreetingConversationStateMachineProvider) ProcessConversation(llmOutput map[string]any) map[string]any {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	// TODO: integrate person distance, speech clarity, etc.
+	personDistance := 1.5 // placeholder
+
+	voice := g.io.GetInput("Voice")
+	silenceDuration := time.Since(g.stateEntryTime).Seconds()
+	if voice != nil && !voice.Timestamp.IsZero() {
+		silenceDuration = time.Since(voice.Timestamp).Seconds()
+	}
+
+	conversationState := parseConversationState(llmOutput["conversation_state"], g.log)
+
+	factors := ConfidenceFactors{
+		ConversationState:       conversationState,
+		LLMConfidence:           util.FloatFrom(llmOutput["confidence"], 0.0),
+		SilenceDuration:         silenceDuration,
+		SpeechClarity:           util.FloatFrom(llmOutput["speech_clarity"], 1.0),
+		PersonDistance:          personDistance,
+		ConversationDuration:    g.conversationDuration(),
+		TurnCount:               g.turnCount,
+		LastUserUtteranceLength: len([]rune(g.lastUserUtterance)),
+	}
+
+	result := g.calc.CalculateCompletionConfidence(factors)
+	g.recordConfidence(result.Overall)
+
+	newState := g.determineNextState(result)
+	g.previousState = g.currentState
+	if newState != g.currentState {
+		g.currentState = newState
+		g.stateEntryTime = time.Now()
+		g.log.Info("greeting: state transition",
+			zap.String("from", string(g.previousState)),
+			zap.String("to", string(g.currentState)),
+			zap.Float64("confidence", result.Overall),
+		)
+	}
+
+	// Count a turn when the latest voice input arrived during the current tick.
+	if voice != nil && g.io.TickCounter() == voice.Tick {
+		g.turnCount++
+		g.lastUserUtterance = voice.Input
+	}
+
+	command := g.generateCommand(result)
+
+	return map[string]any{
+		"current_state":    string(g.currentState),
+		"confidence":       result,
+		"command":          command,
+		"time_in_state":    time.Since(g.stateEntryTime).Seconds(),
+		"confidence_trend": g.confidenceTrend(),
+		"turn_count":       g.turnCount,
+	}
+}
+
+// UpdateStateWithoutLLM updates conversation state based on current factors
+// without requiring LLM input. It should be called periodically to handle
+// timeouts and silence-driven transitions.
+func (g *GreetingConversationStateMachineProvider) UpdateStateWithoutLLM() map[string]any {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	personDistance := 1.5 // placeholder
+
+	silenceDuration := time.Since(g.stateEntryTime).Seconds()
+	if voice := g.io.GetInput("Voice"); voice != nil && !voice.Timestamp.IsZero() {
+		silenceDuration = time.Since(voice.Timestamp).Seconds()
+	}
+
+	factors := ConfidenceFactors{
+		ConversationState:       g.currentState,
+		LLMConfidence:           0.5, // neutral confidence when no LLM input
+		SilenceDuration:         silenceDuration,
+		SpeechClarity:           1.0,
+		PersonDistance:          personDistance,
+		ConversationDuration:    g.conversationDuration(),
+		TurnCount:               g.turnCount,
+		LastUserUtteranceLength: len([]rune(g.lastUserUtterance)),
+	}
+
+	result := g.calc.CalculateCompletionConfidence(factors)
+	g.recordConfidence(result.Overall)
+
+	newState := g.determineNextState(result)
+	g.previousState = g.currentState
+	if newState != g.currentState {
+		g.log.Info("greeting: state transition",
+			zap.String("from", string(g.currentState)),
+			zap.String("to", string(newState)),
+		)
+		g.currentState = newState
+		g.stateEntryTime = time.Now()
+	}
+
+	command := g.generateCommand(result)
+
+	return map[string]any{
+		"current_state":    string(g.currentState),
+		"confidence":       result,
+		"command":          command,
+		"time_in_state":    time.Since(g.stateEntryTime).Seconds(),
+		"confidence_trend": g.confidenceTrend(),
+		"silence_duration": silenceDuration,
+	}
+}
+
+// determineNextState determines the next conversation state based on LLM output
+// and confidence. Callers must hold g.mu.
+func (g *GreetingConversationStateMachineProvider) determineNextState(r ConfidenceResult) ConversationState {
+	llmState := r.Factors.ConversationState
+	timeInState := time.Since(g.stateEntryTime).Seconds()
+
+	// Force finish if we've had too many turns to prevent infinite conversations
+	if g.turnCount >= g.maxTurnCount {
+		g.log.Info("greeting: maximum turn count reached - forcing finish",
+			zap.Int("max_turn_count", g.maxTurnCount))
+		return StateFinished
+	}
+
+	switch g.currentState {
+	case StateConversing:
+		// LLM thinks we should conclude with high confidence
+		if llmState == StateConcluding && r.Breakdown.LLM >= 0.7 {
+			g.log.Info("greeting: LLM indicates concluding with high confidence")
+			return StateConcluding
+		}
+		// Traditional confidence-based transition
+		if g.calc.ShouldTransitionToConcluding(r) {
+			g.log.Info("greeting: transitioning to CONCLUDING based on confidence")
+			return StateConcluding
+		}
+
+	case StateConcluding:
+		if g.calc.ShouldTransitionToFinished(r, timeInState) {
+			g.log.Info("greeting: transitioning to FINISHED based on confidence")
+			return StateFinished
+		}
+		// Revert to CONVERSING if the LLM says we're still conversing
+		if llmState == StateConversing {
+			g.log.Info("greeting: LLM indicates conversation continuing, reverting to conversing")
+			return StateConversing
+		}
+		if r.Overall < 0.4 && r.Breakdown.Engagement < 0.3 {
+			g.log.Info("greeting: low confidence and strong engagement, reverting to conversing")
+			return StateConversing
+		}
+	}
+
+	// Emergency timeout - force finish after very long concluding
+	if g.currentState == StateConcluding && timeInState > 15.0 {
+		g.log.Info("greeting: emergency timeout - forcing finish")
+		return StateFinished
+	}
+
+	return g.currentState
+}
+
+// confidenceTrend analyzes whether confidence is increasing or decreasing.
+// Callers must hold g.mu.
+func (g *GreetingConversationStateMachineProvider) confidenceTrend() string {
+	if len(g.confidenceHistory) < 3 {
+		return "insufficient_data"
+	}
+	recent := g.confidenceHistory[len(g.confidenceHistory)-3:]
+	switch {
+	case recent[len(recent)-1] > recent[0]+0.1:
+		return "increasing"
+	case recent[len(recent)-1] < recent[0]-0.1:
+		return "decreasing"
+	default:
+		return "stable"
+	}
+}
+
+// generateCommand generates a command with confidence metadata. Callers must
+// hold g.mu.
+func (g *GreetingConversationStateMachineProvider) generateCommand(r ConfidenceResult) map[string]any {
+	cmd := g.baseCommand()
+	cmd["confidence_metadata"] = map[string]any{
+		"overall":   r.Overall,
+		"breakdown": r.Breakdown,
+		"trend":     g.confidenceTrend(),
+	}
+	return cmd
+}
+
+// baseCommand returns the base robot command for the current conversation state.
+// Callers must hold g.mu.
+func (g *GreetingConversationStateMachineProvider) baseCommand() map[string]any {
+	switch g.currentState {
+	case StateFinished:
+		return map[string]any{
+			"action":          "move_to_next_person",
+			"track_current":   false,
+			"find_new_target": true,
+		}
+	case StateConcluding:
+		return map[string]any{
+			"action":          "maintain_position",
+			"track_current":   true,
+			"find_new_target": false,
+		}
+	case StateConversing:
+		return map[string]any{
+			"action":          "stay_with_person",
+			"track_current":   true,
+			"find_new_target": false,
+		}
+	default:
+		return map[string]any{
+			"action":          "wait",
+			"track_current":   true,
+			"find_new_target": false,
+		}
+	}
+}
+
+// conversationDuration returns the total conversation duration in seconds, or 0
+// if no conversation has started. Callers must hold g.mu.
+func (g *GreetingConversationStateMachineProvider) conversationDuration() float64 {
+	if g.conversationStartTime.IsZero() {
+		return 0.0
+	}
+	return time.Since(g.conversationStartTime).Seconds()
+}
+
+// recordConfidence appends an overall confidence score, capping history length.
+// Callers must hold g.mu.
+func (g *GreetingConversationStateMachineProvider) recordConfidence(overall float64) {
+	g.confidenceHistory = append(g.confidenceHistory, overall)
+	if len(g.confidenceHistory) > g.maxHistory {
+		g.confidenceHistory = g.confidenceHistory[len(g.confidenceHistory)-g.maxHistory:]
+	}
+}
+
+// StartConversation should be called when starting a new conversation.
+func (g *GreetingConversationStateMachineProvider) StartConversation() {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	g.conversationStartTime = time.Now()
+	g.turnCount = 0
+	g.confidenceHistory = nil
+	g.currentState = StateConversing
+}
+
+// ResetState resets the conversation state machine to initial values. It is
+// typically called when transitioning from approaching to greeting.
+func (g *GreetingConversationStateMachineProvider) ResetState(initialState ConversationState) {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	g.currentState = initialState
+	g.previousState = ""
+	g.stateEntryTime = time.Now()
+	g.conversationStartTime = time.Now()
+	g.turnCount = 0
+	g.lastUserUtterance = ""
+	g.confidenceHistory = nil
+	g.currentState = StateConversing
+}
+
+// CurrentState returns the current conversation state.
+func (g *GreetingConversationStateMachineProvider) CurrentState() ConversationState {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+	return g.currentState
+}
+
+// TurnCount returns the number of back-and-forth exchanges in the current
+// conversation.
+func (g *GreetingConversationStateMachineProvider) TurnCount() int {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+	return g.turnCount
+}
+
+// MaxTurnCount returns the maximum turn count before the conversation is forced
+// to finish.
+func (g *GreetingConversationStateMachineProvider) MaxTurnCount() int {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+	return g.maxTurnCount
+}
+
+const finalTurnGuidance = "\nGreeting status: This is the final exchange of this greeting conversation. " +
+	"Give a brief, warm goodbye in your response and set conversation_state to \"finished\".\n"
+
+// EndingGuidance returns the live ending guidance for the conversation.
+func (g *GreetingConversationStateMachineProvider) EndingGuidance() string {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	if g.turnCount+1 > g.maxTurnCount {
+		return finalTurnGuidance
+	}
+
+	return ""
+}
+
+// parseConversationState coerces an LLM-provided value into a ConversationState,
+// defaulting to CONVERSING on unknown values.
+func parseConversationState(raw any, log *zap.Logger) ConversationState {
+	s, ok := raw.(string)
+	if !ok || s == "" {
+		return StateConversing
+	}
+	switch ConversationState(s) {
+	case StateIdle, StateApproaching, StateEngaging, StateConversing, StateConcluding, StateFinished:
+		return ConversationState(s)
+	default:
+		log.Warn("greeting: invalid conversation_state from LLM, defaulting to CONVERSING",
+			zap.String("conversation_state", s))
+		return StateConversing
+	}
+}
diff --git a/internal/providers/greeting_conversation_state_test.go b/internal/providers/greeting_conversation_state_test.go
new file mode 100644
index 0000000000..6a4a9c0b18
--- /dev/null
+++ b/internal/providers/greeting_conversation_state_test.go
@@ -0,0 +1,135 @@
+package providers
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+func TestConfidenceCalculatorDefaults(t *testing.T) {
+	c := NewConfidenceCalculator()
+	require.Equal(t, 5.0, c.SilenceThresholdSoft)
+	require.Equal(t, 10.0, c.SilenceThresholdHard)
+	require.InDelta(t, 1.0, c.weightLLM+c.weightSilence+c.weightEngagement+c.weightConversationQuality, 1e-9,
+		"component weights sum to 1")
+}
+
+func TestLLMScoreByState(t *testing.T) {
+	c := NewConfidenceCalculator()
+
+	concluding := c.CalculateCompletionConfidence(ConfidenceFactors{
+		ConversationState: StateConcluding, LLMConfidence: 0.8,
+	})
+	require.Equal(t, 0.8, concluding.Breakdown.LLM, "concluding uses confidence as-is")
+
+	conversing := c.CalculateCompletionConfidence(ConfidenceFactors{
+		ConversationState: StateConversing, LLMConfidence: 0.3,
+	})
+	require.InDelta(t, 0.7, conversing.Breakdown.LLM, 1e-9, "conversing inverts the confidence")
+
+	idle := c.CalculateCompletionConfidence(ConfidenceFactors{ConversationState: StateIdle})
+	require.Equal(t, 0.5, idle.Breakdown.LLM, "other states are neutral")
+}
+
+func TestSilenceScore(t *testing.T) {
+	c := NewConfidenceCalculator()
+
+	hard := c.CalculateCompletionConfidence(ConfidenceFactors{SilenceDuration: 12})
+	require.Equal(t, 1.0, hard.Breakdown.Silence, "beyond hard threshold → 1.0")
+
+	none := c.CalculateCompletionConfidence(ConfidenceFactors{SilenceDuration: 0})
+	require.Equal(t, 0.0, none.Breakdown.Silence)
+
+	mid := c.CalculateCompletionConfidence(ConfidenceFactors{SilenceDuration: 7.5})
+	require.InDelta(t, 0.75, mid.Breakdown.Silence, 1e-9, "halfway between soft and hard → 0.75")
+}
+
+func TestEngagementScoreCapped(t *testing.T) {
+	c := NewConfidenceCalculator()
+	far := c.CalculateCompletionConfidence(ConfidenceFactors{PersonDistance: 100})
+	require.Equal(t, 1.0, far.Breakdown.Engagement, "engagement score is capped at 1.0")
+}
+
+func TestShouldTransitionToConcluding(t *testing.T) {
+	c := NewConfidenceCalculator()
+
+	highOverall := ConfidenceResult{Overall: 0.8}
+	require.True(t, c.ShouldTransitionToConcluding(highOverall), "high overall confidence concludes")
+
+	llmStrong := ConfidenceResult{
+		Overall:   0.55,
+		Breakdown: ConfidenceBreakdown{LLM: 0.8},
+		Factors:   ConfidenceFactors{ConversationState: StateConcluding},
+	}
+	require.True(t, c.ShouldTransitionToConcluding(llmStrong), "LLM wants to conclude with strong signal")
+
+	mediumTwoSignals := ConfidenceResult{
+		Overall:   0.65,
+		Breakdown: ConfidenceBreakdown{LLM: 0.7, Silence: 0.7},
+	}
+	require.True(t, c.ShouldTransitionToConcluding(mediumTwoSignals), "two strong signals at medium confidence")
+
+	weak := ConfidenceResult{Overall: 0.3}
+	require.False(t, c.ShouldTransitionToConcluding(weak))
+}
+
+func TestShouldTransitionToFinished(t *testing.T) {
+	c := NewConfidenceCalculator()
+
+	require.True(t, c.ShouldTransitionToFinished(ConfidenceResult{Overall: 0.95}, 0), "very high confidence finishes immediately")
+	require.True(t, c.ShouldTransitionToFinished(
+		ConfidenceResult{Breakdown: ConfidenceBreakdown{Silence: 0.9}}, 4.0), "prolonged silence while concluding")
+	require.True(t, c.ShouldTransitionToFinished(
+		ConfidenceResult{Breakdown: ConfidenceBreakdown{Engagement: 0.9}}, 2.5), "person clearly leaving")
+	require.True(t, c.ShouldTransitionToFinished(ConfidenceResult{Overall: 0.65}, 6.0), "timeout with reasonable confidence")
+	require.False(t, c.ShouldTransitionToFinished(ConfidenceResult{Overall: 0.5}, 1.0))
+}
+
+func TestParseConversationState(t *testing.T) {
+	log := zap.NewNop()
+	require.Equal(t, StateConcluding, parseConversationState("concluding", log))
+	require.Equal(t, StateFinished, parseConversationState("finished", log))
+	require.Equal(t, StateConversing, parseConversationState("", log), "empty defaults to conversing")
+	require.Equal(t, StateConversing, parseConversationState(42, log), "non-string defaults to conversing")
+	require.Equal(t, StateConversing, parseConversationState("garbage", log), "unknown defaults to conversing")
+}
+
+func TestStateMachineLifecycle(t *testing.T) {
+	g := NewGreetingConversationStateMachineProvider(3)
+	require.Equal(t, StateIdle, g.CurrentState())
+	require.Equal(t, 3, g.MaxTurnCount())
+
+	g.StartConversation()
+	require.Equal(t, StateConversing, g.CurrentState())
+	require.Equal(t, 0, g.TurnCount())
+
+	g.ResetState(StateIdle)
+	require.Equal(t, StateConversing, g.CurrentState(), "ResetState ends in the conversing state")
+	require.Equal(t, 0, g.TurnCount())
+}
+
+func TestConfidenceHistoryTrend(t *testing.T) {
+	g := NewGreetingConversationStateMachineProvider(3)
+	require.Equal(t, "insufficient_data", g.confidenceTrend())
+
+	for _, v := range []float64{0.1, 0.2, 0.5} {
+		g.recordConfidence(v)
+	}
+	require.Equal(t, "increasing", g.confidenceTrend())
+
+	g.confidenceHistory = nil
+	for _, v := range []float64{0.8, 0.5, 0.2} {
+		g.recordConfidence(v)
+	}
+	require.Equal(t, "decreasing", g.confidenceTrend())
+}
+
+func TestRecordConfidenceCapsHistory(t *testing.T) {
+	g := NewGreetingConversationStateMachineProvider(3)
+	for i := 0; i < 20; i++ {
+		g.recordConfidence(float64(i))
+	}
+	require.Len(t, g.confidenceHistory, g.maxHistory, "history is bounded")
+	require.Equal(t, 19.0, g.confidenceHistory[len(g.confidenceHistory)-1], "newest value is retained")
+}
diff --git a/internal/providers/io_providers.go b/internal/providers/io_providers.go
new file mode 100644
index 0000000000..f39dd6a371
--- /dev/null
+++ b/internal/providers/io_providers.go
@@ -0,0 +1,118 @@
+package providers
+
+import (
+	"sync"
+	"time"
+)
+
+// Input represents an input value along with its timestamp and the tick counter value when it was recorded.
+type Input struct {
+	Input     string
+	Timestamp time.Time
+	Tick      int
+}
+
+// IOProvider is a singleton that manages input storage and tick counting for the runtime.
+type IOProvider struct {
+	mu            sync.Mutex
+	lastTickStart time.Time
+	totalTicks    int64
+
+	inputs      map[string]Input
+	tickCounter int
+}
+
+var ioOnce sync.Once
+var ioInstance *IOProvider
+
+func IO() *IOProvider {
+	ioOnce.Do(func() { ioInstance = &IOProvider{inputs: make(map[string]Input)} })
+	return ioInstance
+}
+
+func (p *IOProvider) RecordTick(start time.Time) {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	p.lastTickStart = start
+	p.totalTicks++
+}
+
+func (p *IOProvider) TotalTicks() int64 {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	return p.totalTicks
+}
+
+// AddInput stores an input under key with the given value, recording the current
+// tick counter.
+func (p *IOProvider) AddInput(key, value string, timestamp time.Time) {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	if timestamp.IsZero() {
+		timestamp = time.Now()
+	}
+	p.inputs[key] = Input{Input: value, Timestamp: timestamp, Tick: p.tickCounter}
+}
+
+// GetInput returns a copy of the input stored under key, or nil if absent.
+func (p *IOProvider) GetInput(key string) *Input {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	in, ok := p.inputs[key]
+	if !ok {
+		return nil
+	}
+	return &in
+}
+
+// RemoveInput removes the input stored under key, if any.
+func (p *IOProvider) RemoveInput(key string) {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	delete(p.inputs, key)
+}
+
+// AddInputTimestamp updates the timestamp of an existing input, preserving its
+// value and tick. It is a no-op if the key is absent.
+func (p *IOProvider) AddInputTimestamp(key string, timestamp time.Time) {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	if in, ok := p.inputs[key]; ok {
+		in.Timestamp = timestamp
+		p.inputs[key] = in
+	}
+}
+
+// GetInputTimestamp returns the timestamp for key. The bool is false if the key
+// is absent.
+func (p *IOProvider) GetInputTimestamp(key string) (time.Time, bool) {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	in, ok := p.inputs[key]
+	if !ok {
+		return time.Time{}, false
+	}
+	return in.Timestamp, true
+}
+
+// TickCounter returns the current tick counter value.
+func (p *IOProvider) TickCounter() int {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	return p.tickCounter
+}
+
+// IncrementTick increments the tick counter and returns the new value.
+func (p *IOProvider) IncrementTick() int {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	p.tickCounter++
+	return p.tickCounter
+}
+
+// ResetTickCounter resets the tick counter to zero.
+func (p *IOProvider) ResetTickCounter() {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	p.tickCounter = 0
+}
diff --git a/internal/providers/io_providers_test.go b/internal/providers/io_providers_test.go
new file mode 100644
index 0000000000..5e0521218c
--- /dev/null
+++ b/internal/providers/io_providers_test.go
@@ -0,0 +1,89 @@
+package providers
+
+import (
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+)
+
+func newIO() *IOProvider { return &IOProvider{inputs: make(map[string]Input)} }
+
+func TestIOSingleton(t *testing.T) {
+	require.Same(t, IO(), IO(), "IO returns the same singleton")
+}
+
+func TestAddAndGetInput(t *testing.T) {
+	p := newIO()
+	ts := time.Unix(1000, 0)
+	p.AddInput("Voice", "hello", ts)
+
+	got := p.GetInput("Voice")
+	require.NotNil(t, got)
+	require.Equal(t, "hello", got.Input)
+	require.Equal(t, ts, got.Timestamp)
+	require.Equal(t, 0, got.Tick, "tick recorded at insertion time")
+}
+
+func TestGetInputReturnsCopy(t *testing.T) {
+	p := newIO()
+	p.AddInput("Voice", "hello", time.Unix(1, 0))
+	got := p.GetInput("Voice")
+	got.Input = "mutated"
+	require.Equal(t, "hello", p.GetInput("Voice").Input, "callers receive a copy, not the stored value")
+}
+
+func TestGetInputMissing(t *testing.T) {
+	require.Nil(t, newIO().GetInput("absent"))
+}
+
+func TestAddInputDefaultsTimestamp(t *testing.T) {
+	p := newIO()
+	before := time.Now()
+	p.AddInput("Voice", "hi", time.Time{})
+	got := p.GetInput("Voice")
+	require.False(t, got.Timestamp.IsZero(), "zero timestamp is replaced with now")
+	require.False(t, got.Timestamp.Before(before))
+}
+
+func TestRemoveInput(t *testing.T) {
+	p := newIO()
+	p.AddInput("Voice", "hi", time.Now())
+	p.RemoveInput("Voice")
+	require.Nil(t, p.GetInput("Voice"))
+	require.NotPanics(t, func() { p.RemoveInput("absent") })
+}
+
+func TestInputTimestamp(t *testing.T) {
+	p := newIO()
+	p.AddInput("Voice", "hi", time.Unix(1, 0))
+
+	newTS := time.Unix(2, 0)
+	p.AddInputTimestamp("Voice", newTS)
+	ts, ok := p.GetInputTimestamp("Voice")
+	require.True(t, ok)
+	require.Equal(t, newTS, ts)
+	require.Equal(t, "hi", p.GetInput("Voice").Input, "value and tick are preserved")
+
+	_, ok = p.GetInputTimestamp("absent")
+	require.False(t, ok)
+	require.NotPanics(t, func() { p.AddInputTimestamp("absent", newTS) }, "no-op for missing key")
+}
+
+func TestTickCounter(t *testing.T) {
+	p := newIO()
+	require.Equal(t, 0, p.TickCounter())
+	require.Equal(t, 1, p.IncrementTick())
+	require.Equal(t, 2, p.IncrementTick())
+	require.Equal(t, 2, p.TickCounter())
+	p.ResetTickCounter()
+	require.Equal(t, 0, p.TickCounter())
+}
+
+func TestRecordTickAndTotals(t *testing.T) {
+	p := newIO()
+	require.Equal(t, int64(0), p.TotalTicks())
+	p.RecordTick(time.Now())
+	p.RecordTick(time.Now())
+	require.Equal(t, int64(2), p.TotalTicks())
+}
diff --git a/internal/providers/latest_frame.go b/internal/providers/latest_frame.go
new file mode 100644
index 0000000000..b4ad2f258d
--- /dev/null
+++ b/internal/providers/latest_frame.go
@@ -0,0 +1,66 @@
+package providers
+
+import (
+	"sync"
+	"time"
+)
+
+type LatestFrameProvider struct {
+	mu   sync.RWMutex
+	jpeg []byte
+	ts   time.Time
+}
+
+var (
+	latestFrameOnce     sync.Once
+	latestFrameInstance *LatestFrameProvider
+)
+
+// LatestFrame returns the singleton LatestFrameProvider.
+func LatestFrame() *LatestFrameProvider {
+	latestFrameOnce.Do(func() { latestFrameInstance = &LatestFrameProvider{} })
+	return latestFrameInstance
+}
+
+// Set stores a copy of the most recent JPEG frame and its capture time. Empty
+// frames are ignored.
+func (p *LatestFrameProvider) Set(jpeg []byte, ts time.Time) {
+	if len(jpeg) == 0 {
+		return
+	}
+	buf := make([]byte, len(jpeg))
+	copy(buf, jpeg)
+	if ts.IsZero() {
+		ts = time.Now()
+	}
+	p.mu.Lock()
+	p.jpeg = buf
+	p.ts = ts
+	p.mu.Unlock()
+}
+
+// Get returns a copy of the most recent JPEG frame and its capture time. ok is
+// false when no frame has been captured yet.
+func (p *LatestFrameProvider) Get() (jpeg []byte, ts time.Time, ok bool) {
+	p.mu.RLock()
+	defer p.mu.RUnlock()
+	if len(p.jpeg) == 0 {
+		return nil, time.Time{}, false
+	}
+	buf := make([]byte, len(p.jpeg))
+	copy(buf, p.jpeg)
+	return buf, p.ts, true
+}
+
+// GetFresh behaves like Get but returns ok=false when the latest frame is older
+// than maxAge. A non-positive maxAge disables the staleness check.
+func (p *LatestFrameProvider) GetFresh(maxAge time.Duration) (jpeg []byte, ts time.Time, ok bool) {
+	jpeg, ts, ok = p.Get()
+	if !ok {
+		return nil, time.Time{}, false
+	}
+	if maxAge > 0 && time.Since(ts) > maxAge {
+		return nil, time.Time{}, false
+	}
+	return jpeg, ts, true
+}
diff --git a/internal/providers/latest_frame_test.go b/internal/providers/latest_frame_test.go
new file mode 100644
index 0000000000..42ff0ec05a
--- /dev/null
+++ b/internal/providers/latest_frame_test.go
@@ -0,0 +1,70 @@
+package providers
+
+import (
+	"testing"
+	"time"
+)
+
+func TestLatestFrameSetGet(t *testing.T) {
+	p := &LatestFrameProvider{}
+
+	if _, _, ok := p.Get(); ok {
+		t.Fatal("expected no frame before any Set")
+	}
+
+	ts := time.Now()
+	p.Set([]byte{0x01, 0x02}, ts)
+
+	got, gotTS, ok := p.Get()
+	if !ok {
+		t.Fatal("expected a frame after Set")
+	}
+	if string(got) != string([]byte{0x01, 0x02}) {
+		t.Fatalf("unexpected frame bytes: %v", got)
+	}
+	if !gotTS.Equal(ts) {
+		t.Fatalf("unexpected timestamp: %v != %v", gotTS, ts)
+	}
+}
+
+func TestLatestFrameCopiesOnSetAndGet(t *testing.T) {
+	p := &LatestFrameProvider{}
+
+	src := []byte{0x01, 0x02}
+	p.Set(src, time.Now())
+	src[0] = 0xFF
+
+	got, _, _ := p.Get()
+	if got[0] != 0x01 {
+		t.Fatalf("stored frame aliases caller slice: %v", got)
+	}
+
+	got[1] = 0xFF
+	again, _, _ := p.Get()
+	if again[1] != 0x02 {
+		t.Fatalf("returned frame aliases stored slice: %v", again)
+	}
+}
+
+func TestLatestFrameSetIgnoresEmpty(t *testing.T) {
+	p := &LatestFrameProvider{}
+	p.Set(nil, time.Now())
+	if _, _, ok := p.Get(); ok {
+		t.Fatal("empty frame should be ignored")
+	}
+}
+
+func TestLatestFrameGetFreshStaleness(t *testing.T) {
+	p := &LatestFrameProvider{}
+	p.Set([]byte{0x01}, time.Now().Add(-time.Minute))
+
+	if _, _, ok := p.GetFresh(time.Second); ok {
+		t.Fatal("expected stale frame to be rejected")
+	}
+	if _, _, ok := p.GetFresh(0); !ok {
+		t.Fatal("non-positive maxAge should disable staleness check")
+	}
+	if _, _, ok := p.GetFresh(2 * time.Minute); !ok {
+		t.Fatal("frame within maxAge should be returned")
+	}
+}
diff --git a/internal/providers/mode_context.go b/internal/providers/mode_context.go
new file mode 100644
index 0000000000..2f2d486e1c
--- /dev/null
+++ b/internal/providers/mode_context.go
@@ -0,0 +1,48 @@
+package providers
+
+import "sync"
+
+// ModeContextProvider is an in-process bus carrying user-context updates that
+// drive context-aware mode transitions. Publishers (backgrounds, actions) push
+// updates via Publish; the cortex loop selects on Updates, so a transition is
+// re-evaluated the instant an update arrives rather than on the next (possibly
+// far-off) tick.
+type ModeContextProvider struct {
+	ch chan map[string]any
+}
+
+var (
+	modeContextOnce     sync.Once
+	modeContextInstance *ModeContextProvider
+)
+
+// modeContextBuffer is the number of pending updates the bus holds before it
+// starts dropping. Context updates are level-triggered flags (e.g. set the flag
+// to true), so dropping a duplicate is harmless.
+const modeContextBuffer = 64
+
+// ModeContext returns the singleton mode-context bus.
+func ModeContext() *ModeContextProvider {
+	modeContextOnce.Do(func() {
+		modeContextInstance = &ModeContextProvider{ch: make(chan map[string]any, modeContextBuffer)}
+	})
+	return modeContextInstance
+}
+
+// Publish queues a context update for the cortex loop. It is best-effort and
+// non-blocking: if the buffer is full the update is dropped rather than blocking
+// the caller (publishers run on latency-sensitive paths).
+func (p *ModeContextProvider) Publish(update map[string]any) {
+	if len(update) == 0 {
+		return
+	}
+	select {
+	case p.ch <- update:
+	default:
+	}
+}
+
+// Updates returns the receive end of the bus, consumed by the cortex loop.
+func (p *ModeContextProvider) Updates() <-chan map[string]any {
+	return p.ch
+}
diff --git a/internal/providers/mode_context_test.go b/internal/providers/mode_context_test.go
new file mode 100644
index 0000000000..bb93162bd6
--- /dev/null
+++ b/internal/providers/mode_context_test.go
@@ -0,0 +1,45 @@
+package providers
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func newModeContext(buf int) *ModeContextProvider {
+	return &ModeContextProvider{ch: make(chan map[string]any, buf)}
+}
+
+func TestModeContextSingleton(t *testing.T) {
+	require.Same(t, ModeContext(), ModeContext())
+}
+
+func TestModeContextPublishDelivers(t *testing.T) {
+	p := newModeContext(4)
+	p.Publish(map[string]any{"person_near": true})
+
+	select {
+	case got := <-p.Updates():
+		require.Equal(t, true, got["person_near"])
+	default:
+		t.Fatal("expected a published update to be received")
+	}
+}
+
+func TestModeContextPublishIgnoresEmpty(t *testing.T) {
+	p := newModeContext(4)
+	p.Publish(nil)
+	p.Publish(map[string]any{})
+	select {
+	case <-p.Updates():
+		t.Fatal("empty updates must not be queued")
+	default:
+	}
+}
+
+func TestModeContextDropsWhenFull(t *testing.T) {
+	p := newModeContext(1)
+	p.Publish(map[string]any{"a": 1})
+	require.NotPanics(t, func() { p.Publish(map[string]any{"b": 2}) }, "full buffer drops rather than blocks")
+	require.Len(t, p.Updates(), 1, "only the first update is retained")
+}
diff --git a/internal/providers/portaudio.go b/internal/providers/portaudio.go
new file mode 100644
index 0000000000..f4e7bd8986
--- /dev/null
+++ b/internal/providers/portaudio.go
@@ -0,0 +1,52 @@
+package providers
+
+import (
+	"sync"
+
+	"github.com/gordonklaus/portaudio"
+)
+
+// PortAudioRef reference-counts the process-global PortAudio library so that
+// overlapping audio consumers (e.g. the outgoing and incoming modes' sensors
+// during a mode transition) share a single Initialize/Terminate pair.
+//
+// This state is intentionally a package-level singleton rather than something
+// held per consumer: portaudio.Initialize/Terminate act on one process-wide
+// library instance, so a per-consumer counter would let one consumer terminate
+// the library out from under another — freeing it mid-read and segfaulting
+// inside cgo.
+type PortAudioRef struct {
+	mu       sync.Mutex
+	refCount int
+}
+
+// PortAudio is the single shared reference counter for the PortAudio library.
+var PortAudio PortAudioRef
+
+// Acquire initializes PortAudio on the first active consumer and increments the
+// reference count for subsequent ones.
+func (p *PortAudioRef) Acquire() error {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	if p.refCount == 0 {
+		if err := portaudio.Initialize(); err != nil {
+			return err
+		}
+	}
+	p.refCount++
+	return nil
+}
+
+// Release decrements the reference count and terminates PortAudio once the last
+// consumer has released it.
+func (p *PortAudioRef) Release() {
+	p.mu.Lock()
+	defer p.mu.Unlock()
+	if p.refCount == 0 {
+		return
+	}
+	p.refCount--
+	if p.refCount == 0 {
+		_ = portaudio.Terminate()
+	}
+}
diff --git a/internal/providers/tracer.go b/internal/providers/tracer.go
new file mode 100644
index 0000000000..ba0718dbe1
--- /dev/null
+++ b/internal/providers/tracer.go
@@ -0,0 +1,143 @@
+package providers
+
+import (
+	"encoding/json"
+	"os"
+	"path/filepath"
+	"sync"
+	"time"
+
+	"github.com/openmind/om1/internal/logger"
+	"go.uber.org/zap"
+)
+
+// traceRecord is one JSONL line written by the Tracer.
+type traceRecord struct {
+	Timestamp  string           `json:"ts"`
+	Generation int              `json:"generation"`
+	LLMInput   string           `json:"llm_input"`
+	LLMOutput  []map[string]any `json:"llm_output"`
+}
+
+// Tracer provides a simple mechanism to record LLM interactions.
+type Tracer struct {
+	mu          sync.Mutex
+	outputDir   string
+	enabled     bool
+	currentDate string
+	file        *os.File
+	generation  int
+}
+
+var (
+	tracerOnce     sync.Once
+	tracerInstance *Tracer
+)
+
+// TracerProvider returns the singleton Tracer instance.
+func TracerProvider() *Tracer {
+	tracerOnce.Do(func() {
+		tracerInstance = &Tracer{outputDir: "traces"}
+	})
+	return tracerInstance
+}
+
+// Enable turns tracing on and ensures the output directory exists.
+func (t *Tracer) Enable() {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	t.enabled = true
+	if err := os.MkdirAll(t.outputDir, 0o755); err != nil {
+		logger.Get().Warn("tracer: failed to create output dir", zap.Error(err))
+	}
+}
+
+// Disable turns tracing off and closes any open file handle.
+func (t *Tracer) Disable() {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	t.enabled = false
+	t.stopLocked()
+}
+
+// Enabled reports whether tracing is currently enabled.
+func (t *Tracer) Enabled() bool {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	return t.enabled
+}
+
+// SetGeneration sets the current generation number recorded with each trace.
+func (t *Tracer) SetGeneration(generation int) {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	t.generation = generation
+}
+
+// Gauge records an LLM interaction with the given input prompt and output.
+func (t *Tracer) Gauge(llmInput string, llmOutput []map[string]any) {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+
+	if !t.enabled {
+		return
+	}
+
+	if llmOutput == nil {
+		llmOutput = []map[string]any{}
+	}
+
+	rec := traceRecord{
+		Timestamp:  time.Now().UTC().Format(time.RFC3339Nano),
+		Generation: t.generation,
+		LLMInput:   llmInput,
+		LLMOutput:  llmOutput,
+	}
+
+	line, err := json.Marshal(rec)
+	if err != nil {
+		logger.Get().Warn("tracer: failed to marshal record", zap.Error(err))
+		return
+	}
+
+	if err := t.writeLocked(line); err != nil {
+		logger.Get().Warn("tracer: failed to write record", zap.Error(err))
+	}
+}
+
+// Stop closes the current file handle.
+func (t *Tracer) Stop() {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	t.stopLocked()
+}
+
+// stopLocked closes the current file handle without acquiring the mutex.
+func (t *Tracer) stopLocked() {
+	if t.file != nil {
+		_ = t.file.Close()
+		t.file = nil
+		t.currentDate = ""
+	}
+}
+
+// writeLocked writes a line to the current trace file, rotating daily.
+func (t *Tracer) writeLocked(line []byte) error {
+	now := time.Now().UTC().Format("2006-01-02")
+
+	if now != t.currentDate {
+		t.stopLocked()
+		path := filepath.Join(t.outputDir, now+".jsonl")
+		f, err := os.OpenFile(path, os.O_APPEND|os.O_CREATE|os.O_WRONLY, 0o644)
+		if err != nil {
+			return err
+		}
+		t.file = f
+		t.currentDate = now
+	}
+
+	if _, err := t.file.Write(append(line, '\n')); err != nil {
+		return err
+	}
+	return t.file.Sync()
+}
diff --git a/internal/providers/tts/elevenlabs.go b/internal/providers/tts/elevenlabs.go
new file mode 100644
index 0000000000..9bea32d98b
--- /dev/null
+++ b/internal/providers/tts/elevenlabs.go
@@ -0,0 +1,102 @@
+package tts
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"net/http"
+	"sync"
+
+	"go.uber.org/zap"
+)
+
+const (
+	ElevenLabsTTSURL    = "https://api.openmind.com/api/core/elevenlabs/tts/audio/speech"
+	DefaultVoiceID      = "JBFqnCBsd6RMkjVDRZzb"
+	DefaultModelID      = "eleven_flash_v2_5"
+	DefaultOutputFormat = "pcm_16000"
+	DefaultRate         = 16000
+
+	warmupSilenceMs = 1500
+)
+
+// ElevenLabsConfig holds connection and audio parameters for the provider.
+type ElevenLabsConfig struct {
+	APIKey           string
+	ElevenLabsAPIKey string
+	VoiceID          string
+	ModelID          string
+	OutputFormat     string
+	Rate             int
+}
+
+var (
+	elevenLabsOnce     sync.Once
+	elevenLabsInstance *ElevenLabsProvider
+)
+
+// ElevenLabs returns the singleton ElevenLabsProvider instance, initializing it on first call.
+func ElevenLabs(cfg ElevenLabsConfig, log *zap.Logger) *ElevenLabsProvider {
+	elevenLabsOnce.Do(func() {
+		elevenLabsInstance = newElevenLabsProvider(cfg, log)
+		elevenLabsInstance.Start()
+	})
+	return elevenLabsInstance
+}
+
+// ElevenLabsProvider streams TTS audio from ElevenLabs through a persistent ffplay process.
+type ElevenLabsProvider struct {
+	*ttsBase
+	cfg ElevenLabsConfig
+}
+
+func newElevenLabsProvider(cfg ElevenLabsConfig, log *zap.Logger) *ElevenLabsProvider {
+	ctx, cancel := context.WithCancel(context.Background())
+	p := &ElevenLabsProvider{
+		ttsBase: &ttsBase{
+			name:            "elevenlabs",
+			rate:            cfg.Rate,
+			outputFormat:    cfg.OutputFormat,
+			log:             log,
+			queue:           make(chan ttsRequest, providerQueueDepth),
+			warmupSilenceMs: warmupSilenceMs,
+			ctx:             ctx,
+			cancel:          cancel,
+		},
+		cfg: cfg,
+	}
+	p.synth = p.synthesize
+	return p
+}
+
+// synthesize posts text to the ElevenLabs endpoint and streams PCM chunks to ffplay.
+func (p *ElevenLabsProvider) synthesize(req ttsRequest) error {
+	voiceID := req.voiceID
+	if voiceID == "" {
+		voiceID = p.cfg.VoiceID
+	}
+	body := map[string]any{
+		"model":           p.cfg.ModelID,
+		"voice":           voiceID,
+		"response_format": p.cfg.OutputFormat,
+		"input":           req.text,
+	}
+	if p.cfg.ElevenLabsAPIKey != "" {
+		body["elevenlabs_api_key"] = p.cfg.ElevenLabsAPIKey
+	}
+
+	bodyBytes, err := json.Marshal(body)
+	if err != nil {
+		return fmt.Errorf("marshal: %w", err)
+	}
+
+	httpReq, err := http.NewRequestWithContext(p.ctx, http.MethodPost, ElevenLabsTTSURL, bytes.NewReader(bodyBytes))
+	if err != nil {
+		return fmt.Errorf("request: %w", err)
+	}
+	httpReq.Header.Set("Content-Type", "application/json")
+	httpReq.Header.Set("x-api-key", p.cfg.APIKey)
+
+	return p.postAndStream(httpReq, p.cfg.ModelID, ElevenLabsTTSURL)
+}
diff --git a/internal/providers/tts/kokoro.go b/internal/providers/tts/kokoro.go
new file mode 100644
index 0000000000..379bb878bb
--- /dev/null
+++ b/internal/providers/tts/kokoro.go
@@ -0,0 +1,103 @@
+package tts
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"net/http"
+	"strings"
+	"sync"
+
+	"go.uber.org/zap"
+)
+
+const (
+	DefaultKokoroBaseURL      = "http://127.0.0.1:8880/v1"
+	DefaultKokoroVoiceID      = "af_bella"
+	DefaultKokoroModelID      = "kokoro"
+	DefaultKokoroOutputFormat = "pcm"
+	DefaultKokoroRate         = 24000
+
+	kokoroSpeechPath = "/audio/speech"
+
+	kokoroPreRollMs = 10
+)
+
+// KokoroConfig holds connection and audio parameters for the Kokoro provider.
+type KokoroConfig struct {
+	BaseURL      string
+	APIKey       string
+	VoiceID      string
+	ModelID      string
+	OutputFormat string
+	Rate         int
+}
+
+var (
+	kokoroOnce     sync.Once
+	kokoroInstance *KokoroProvider
+)
+
+// Kokoro returns the singleton KokoroProvider instance, initializing it on first call.
+func Kokoro(cfg KokoroConfig, log *zap.Logger) *KokoroProvider {
+	kokoroOnce.Do(func() {
+		kokoroInstance = newKokoroProvider(cfg, log)
+		kokoroInstance.Start()
+	})
+	return kokoroInstance
+}
+
+// KokoroProvider streams TTS audio from a Kokoro (OpenAI-compatible) endpoint
+// through a persistent ffplay process.
+type KokoroProvider struct {
+	*ttsBase
+	cfg       KokoroConfig
+	speechURL string
+}
+
+func newKokoroProvider(cfg KokoroConfig, log *zap.Logger) *KokoroProvider {
+	ctx, cancel := context.WithCancel(context.Background())
+	p := &KokoroProvider{
+		ttsBase: &ttsBase{
+			name:             "kokoro",
+			rate:             cfg.Rate,
+			outputFormat:     cfg.OutputFormat,
+			log:              log,
+			queue:            make(chan ttsRequest, providerQueueDepth),
+			preRollSilenceMs: kokoroPreRollMs,
+			ctx:              ctx,
+			cancel:           cancel,
+		},
+		cfg:       cfg,
+		speechURL: strings.TrimRight(cfg.BaseURL, "/") + kokoroSpeechPath,
+	}
+	p.synth = p.synthesize
+	return p
+}
+
+// synthesize posts text to the Kokoro endpoint and streams PCM chunks to ffplay.
+func (p *KokoroProvider) synthesize(req ttsRequest) error {
+	body := map[string]any{
+		"model":           p.cfg.ModelID,
+		"voice":           p.cfg.VoiceID,
+		"response_format": p.cfg.OutputFormat,
+		"input":           req.text,
+	}
+
+	bodyBytes, err := json.Marshal(body)
+	if err != nil {
+		return fmt.Errorf("marshal: %w", err)
+	}
+
+	httpReq, err := http.NewRequestWithContext(p.ctx, http.MethodPost, p.speechURL, bytes.NewReader(bodyBytes))
+	if err != nil {
+		return fmt.Errorf("request: %w", err)
+	}
+	httpReq.Header.Set("Content-Type", "application/json")
+	if p.cfg.APIKey != "" {
+		httpReq.Header.Set("x-api-key", p.cfg.APIKey)
+	}
+
+	return p.postAndStream(httpReq, p.cfg.ModelID, p.speechURL)
+}
diff --git a/internal/providers/tts/player.go b/internal/providers/tts/player.go
new file mode 100644
index 0000000000..c37c3f3f78
--- /dev/null
+++ b/internal/providers/tts/player.go
@@ -0,0 +1,323 @@
+package tts
+
+import (
+	"context"
+	"fmt"
+	"io"
+	"net/http"
+	"os/exec"
+	"strconv"
+	"strings"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/httpclient"
+	"github.com/openmind/om1/internal/metrics"
+)
+
+const providerQueueDepth = 8
+
+// ttsRequest is a queued utterance with an optional per-request voice override.
+type ttsRequest struct {
+	text       string
+	voiceID    string
+	generation uint64
+}
+
+// ttsBase provides common TTS playback functionality.
+type ttsBase struct {
+	name         string // log prefix, e.g. "elevenlabs"
+	rate         int
+	outputFormat string
+	log          *zap.Logger
+
+	queue chan ttsRequest
+
+	// synth builds and posts the provider request, streaming PCM via streamResponse.
+	synth func(req ttsRequest) error
+	// warmupSilenceMs, if > 0, primes the audio device with silence at startup.
+	warmupSilenceMs int
+	// preRollSilenceMs, if > 0, plays silence before each utterance.
+	preRollSilenceMs int
+
+	ffplayMu sync.Mutex
+	ffplay   *exec.Cmd
+	ffplayIn io.WriteCloser
+
+	ctx    context.Context
+	cancel context.CancelFunc
+	wg     sync.WaitGroup
+}
+
+// Start launches the processAudio goroutine.
+func (p *ttsBase) Start() {
+	p.wg.Add(1)
+	go p.processAudio()
+}
+
+// AddText enqueues text for TTS synthesis using the provider's default voice.
+func (p *ttsBase) AddText(text string) {
+	p.AddTextWithVoice(text, "")
+}
+
+// AddTextWithVoice enqueues text for TTS synthesis with a specific voice ID if supported by the provider.
+func (p *ttsBase) AddTextWithVoice(text, voiceID string) {
+	select {
+	case p.queue <- ttsRequest{text: text, voiceID: voiceID, generation: generation.Load()}:
+		pending.Add(1)
+	default:
+		p.log.Warn(p.name+": queue full, dropping", zap.String("text", text))
+	}
+}
+
+// Stop cancels the provider context and waits for goroutines to exit.
+func (p *ttsBase) Stop() {
+	p.cancel()
+	p.wg.Wait()
+	p.cleanupFFPlay()
+}
+
+// processAudio dequeues text, synthesizes it, and streams audio to ffplay.
+func (p *ttsBase) processAudio() {
+	defer p.wg.Done()
+
+	if p.warmupSilenceMs > 0 {
+		p.warmUp()
+	}
+
+	for {
+		select {
+		case <-p.ctx.Done():
+			return
+		case req, ok := <-p.queue:
+			if !ok {
+				return
+			}
+			p.handleRequest(req)
+		}
+	}
+}
+
+// handleRequest synthesizes and plays a single dequeued utterance. It always
+// clears the request's pending count when done, so pending stays positive for
+// the whole lifetime of the utterance (including the gap before Speaking is
+// set) and Busy reflects queued-but-unplayed speech.
+func (p *ttsBase) handleRequest(req ttsRequest) {
+	defer pending.Add(-1)
+
+	if req.generation < generation.Load() {
+		return
+	}
+
+	if !p.initFFPlay() {
+		p.log.Error(p.name + ": ffplay unavailable, dropping utterance")
+		return
+	}
+
+	if p.preRollSilenceMs > 0 {
+		p.streamChunk(silenceBytes(p.rate, p.preRollSilenceMs))
+	}
+
+	Speaking.Store(true)
+	defer Speaking.Store(false)
+
+	err := p.synth(req)
+	if Interrupt.Load() {
+		p.handleInterrupt()
+		return
+	}
+
+	if err != nil && p.ctx.Err() == nil {
+		p.log.Error(p.name+": synthesis failed", zap.Error(err))
+	}
+
+	p.finishPlayback()
+
+	if Interrupt.Load() {
+		p.handleInterrupt()
+	}
+}
+
+// warmUp primes the audio device by playing a short burst of silence through ffplay.
+func (p *ttsBase) warmUp() {
+	if p.ctx.Err() != nil {
+		return
+	}
+	if !p.initFFPlay() {
+		p.log.Warn(p.name + ": warm-up skipped, ffplay unavailable")
+		return
+	}
+	p.streamChunk(silenceBytes(p.rate, p.warmupSilenceMs))
+	p.finishPlayback()
+	p.log.Debug(p.name + ": audio device warmed up")
+}
+
+// postAndStream sends req, validates the response, records HTTP timing, and
+// streams the PCM body to ffplay. modelID and metricURL label the latency metrics.
+func (p *ttsBase) postAndStream(req *http.Request, modelID, metricURL string) error {
+	start := time.Now()
+	resp, err := httpclient.Default().Do(req)
+	if err != nil {
+		return fmt.Errorf("http: %w", err)
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	if resp.StatusCode != http.StatusOK {
+		b, _ := io.ReadAll(resp.Body)
+		return fmt.Errorf("api %d: %s", resp.StatusCode, b)
+	}
+
+	metrics.RecordHTTPTiming(req.URL.Host, req.URL.Path, req.Method, resp.StatusCode,
+		resp.Header.Get("X-Proxy-Parse-Ms"), resp.Header.Get("X-Upstream-Total-Ms"),
+		resp.Header.Get("X-Upstream-TTFB-Ms"), resp.Header.Get("X-Proxy-Total-Ms"))
+
+	buf := make([]byte, 1024)
+	firstChunk := true
+	for {
+		if Interrupt.Load() {
+			return nil
+		}
+		n, rerr := resp.Body.Read(buf)
+		if n > 0 {
+			if firstChunk {
+				firstChunk = false
+				latency := time.Since(start).Seconds()
+				metrics.TTSLatency.WithLabelValues(modelID, metricURL).Observe(latency)
+				metrics.TTSLatencyLast.WithLabelValues(modelID, metricURL).Set(latency)
+			}
+			p.streamChunk(buf[:n])
+		}
+		if rerr == io.EOF {
+			break
+		}
+		if rerr != nil {
+			return fmt.Errorf("stream: %w", rerr)
+		}
+	}
+	return nil
+}
+
+// handleInterrupt stops playback and clears the queue when an interrupt signal is received.
+func (p *ttsBase) handleInterrupt() {
+	p.log.Info(p.name + ": TTS interrupted by user speech")
+	p.cleanupFFPlay()
+	Interrupt.Store(false)
+}
+
+// initFFPlay starts a new ffplay process if one is not already running.
+func (p *ttsBase) initFFPlay() bool {
+	p.ffplayMu.Lock()
+	defer p.ffplayMu.Unlock()
+
+	if p.ffplay != nil && p.ffplay.ProcessState == nil {
+		return true
+	}
+
+	var args []string
+	if strings.Contains(p.outputFormat, "pcm") {
+		args = append(args, "-f", "s16le", "-ar", strconv.Itoa(p.rate))
+	}
+	args = append(args, "-nodisp", "-autoexit", "-")
+
+	cmd := exec.CommandContext(p.ctx, "ffplay", args...)
+	stdin, err := cmd.StdinPipe()
+	if err != nil {
+		p.log.Error(p.name+": ffplay stdin pipe", zap.Error(err))
+		return false
+	}
+	if err := cmd.Start(); err != nil {
+		p.log.Error(p.name+": ffplay start", zap.Error(err))
+		return false
+	}
+
+	p.ffplay = cmd
+	p.ffplayIn = stdin
+	p.log.Debug(p.name + ": ffplay started")
+	return true
+}
+
+// streamChunk writes a PCM chunk to the persistent ffplay stdin.
+func (p *ttsBase) streamChunk(chunk []byte) {
+	p.ffplayMu.Lock()
+	defer p.ffplayMu.Unlock()
+
+	if p.ffplayIn == nil {
+		return
+	}
+	if _, err := p.ffplayIn.Write(chunk); err != nil {
+		p.log.Warn(p.name+": ffplay write failed, reinitializing", zap.Error(err))
+		p.cleanupFFPlayLocked()
+	}
+}
+
+// finishPlayback closes ffplay stdin and waits for the process to drain and exit.
+func (p *ttsBase) finishPlayback() {
+	p.ffplayMu.Lock()
+	defer p.ffplayMu.Unlock()
+
+	if p.ffplay == nil {
+		return
+	}
+	if p.ffplayIn != nil {
+		_ = p.ffplayIn.Close()
+		p.ffplayIn = nil
+	}
+
+	done := make(chan struct{})
+	go func() {
+		_ = p.ffplay.Wait()
+		close(done)
+	}()
+
+	poll := time.NewTicker(50 * time.Millisecond)
+	defer poll.Stop()
+	timeout := time.After(10 * time.Second)
+	for {
+		select {
+		case <-done:
+			p.log.Debug(p.name + ": ffplay finished")
+			p.ffplay = nil
+			return
+		case <-poll.C:
+			if Interrupt.Load() {
+				_ = p.ffplay.Process.Kill()
+				<-done
+				p.ffplay = nil
+				return
+			}
+		case <-timeout:
+			p.log.Warn(p.name + ": ffplay timeout, killing")
+			_ = p.ffplay.Process.Kill()
+			<-done
+			p.ffplay = nil
+			return
+		}
+	}
+}
+
+// cleanupFFPlay force-terminates ffplay from outside the lock.
+func (p *ttsBase) cleanupFFPlay() {
+	p.ffplayMu.Lock()
+	defer p.ffplayMu.Unlock()
+	p.cleanupFFPlayLocked()
+}
+
+// cleanupFFPlayLocked force-terminates ffplay. Must be called with ffplayMu held.
+func (p *ttsBase) cleanupFFPlayLocked() {
+	if p.ffplayIn != nil {
+		_ = p.ffplayIn.Close()
+		p.ffplayIn = nil
+	}
+	if p.ffplay != nil && p.ffplay.Process != nil {
+		_ = p.ffplay.Process.Kill()
+		_ = p.ffplay.Wait()
+		p.ffplay = nil
+	}
+}
+
+// silenceBytes generates silent 16-bit PCM audio for the given duration.
+func silenceBytes(rate, ms int) []byte {
+	return make([]byte, rate*ms/1000*2)
+}
diff --git a/internal/providers/tts/state.go b/internal/providers/tts/state.go
new file mode 100644
index 0000000000..5fe8c3a325
--- /dev/null
+++ b/internal/providers/tts/state.go
@@ -0,0 +1,20 @@
+package tts
+
+import "sync/atomic"
+
+var Speaking atomic.Bool
+
+var Interrupt atomic.Bool
+
+var generation atomic.Uint64
+
+var pending atomic.Int64
+
+func Busy() bool {
+	return Speaking.Load() || pending.Load() > 0
+}
+
+func RequestInterrupt() {
+	generation.Add(1)
+	Interrupt.Store(true)
+}
diff --git a/internal/providers/tts/state_test.go b/internal/providers/tts/state_test.go
new file mode 100644
index 0000000000..a55c3b9ab0
--- /dev/null
+++ b/internal/providers/tts/state_test.go
@@ -0,0 +1,17 @@
+package tts
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestSpeakingFlag(t *testing.T) {
+	t.Cleanup(func() { Speaking.Store(false) })
+
+	require.False(t, Speaking.Load(), "defaults to not speaking")
+	Speaking.Store(true)
+	require.True(t, Speaking.Load())
+	Speaking.Store(false)
+	require.False(t, Speaking.Load())
+}
diff --git a/internal/providers/vlm/describe.go b/internal/providers/vlm/describe.go
new file mode 100644
index 0000000000..6d8a273ddc
--- /dev/null
+++ b/internal/providers/vlm/describe.go
@@ -0,0 +1,116 @@
+package vlm
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"io"
+	"net/http"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/httpclient"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/metrics"
+)
+
+type Describer struct {
+	Name      string
+	APIKey    string
+	BaseURL   string
+	Model     string
+	Prompt    string
+	MaxTokens int
+	Log       *zap.Logger
+}
+
+type chatResponse struct {
+	Choices []struct {
+		Message struct {
+			Content string `json:"content"`
+		} `json:"message"`
+	} `json:"choices"`
+}
+
+// NewDescriber constructs a Describer, defaulting the logger when none is given.
+func NewDescriber(d Describer) *Describer {
+	if d.Log == nil {
+		d.Log = logger.Get()
+	}
+	return &d
+}
+
+// Describe sends the prompt to the vision endpoint and returns the generated
+// text. When jpegBase64 is non-empty the frame is attached as an image; when it
+// is empty the request is text-only, so callers can still get a response if
+// frame capture failed. An empty result is returned (without error) when the
+// model produces no choices.
+func (d *Describer) Describe(ctx context.Context, jpegBase64 string) (string, error) {
+	content := []any{
+		map[string]any{"type": "text", "text": d.Prompt},
+	}
+	if jpegBase64 != "" {
+		content = append(content, map[string]any{
+			"type": "image_url",
+			"image_url": map[string]any{
+				"url":    "data:image/jpeg;base64," + jpegBase64,
+				"detail": "low",
+			},
+		})
+	}
+
+	requestBody := map[string]any{
+		"model":      d.Model,
+		"max_tokens": d.MaxTokens,
+		"messages": []any{
+			map[string]any{
+				"role":    "user",
+				"content": content,
+			},
+		},
+	}
+
+	requestBytes, err := json.Marshal(requestBody)
+	if err != nil {
+		return "", fmt.Errorf("marshal request: %w", err)
+	}
+
+	req, err := http.NewRequestWithContext(ctx, http.MethodPost,
+		d.BaseURL+"/chat/completions", bytes.NewReader(requestBytes))
+	if err != nil {
+		return "", fmt.Errorf("build request: %w", err)
+	}
+	req.Header.Set("Content-Type", "application/json")
+	req.Header.Set("Authorization", "Bearer "+d.APIKey)
+
+	start := time.Now()
+	resp, err := httpclient.Default().Do(req)
+	if err != nil {
+		return "", fmt.Errorf("http: %w", err)
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	metrics.RecordResponseLatency(metrics.VLMLatency, metrics.VLMLatencyLast,
+		d.Name, d.Model, d.BaseURL, req, resp, start)
+
+	body, _ := io.ReadAll(resp.Body)
+	if resp.StatusCode != http.StatusOK {
+		return "", fmt.Errorf("api %d: %s", resp.StatusCode, body)
+	}
+
+	var parsed chatResponse
+	if err := json.Unmarshal(body, &parsed); err != nil {
+		return "", fmt.Errorf("decode response: %w", err)
+	}
+
+	if len(parsed.Choices) == 0 {
+		return "", nil
+	}
+
+	result := parsed.Choices[0].Message.Content
+	d.Log.Debug("Vision client response", zap.String("content", result))
+
+	return result, nil
+}
diff --git a/internal/providers/vlm/frame.go b/internal/providers/vlm/frame.go
new file mode 100644
index 0000000000..734c242898
--- /dev/null
+++ b/internal/providers/vlm/frame.go
@@ -0,0 +1,191 @@
+package vlm
+
+import (
+	"bufio"
+	"context"
+	"encoding/base64"
+	"encoding/json"
+	"errors"
+	"io"
+	"sync"
+	"sync/atomic"
+	"time"
+
+	"go.uber.org/zap"
+)
+
+// Frame represents a single video frame with a timestamp and JPEG-encoded data.
+type Frame struct {
+	Timestamp time.Time
+	JPEG      []byte
+}
+
+// framePayload is the JSON-serializable representation of a Frame.
+type framePayload struct {
+	Timestamp float64 `json:"timestamp"`
+	Frame     string  `json:"frame"`
+}
+
+// MarshalJSON implements custom JSON encoding for Frame, encoding the timestamp as seconds since the Unix epoch and the JPEG data as a base64 string.
+func (f Frame) MarshalJSON() ([]byte, error) {
+	return json.Marshal(framePayload{
+		Timestamp: float64(f.Timestamp.UnixNano()) / float64(time.Second),
+		Frame:     base64.StdEncoding.EncodeToString(f.JPEG),
+	})
+}
+
+// streamBase provides common lifecycle and buffering logic for video streams.
+type streamBase struct {
+	name       string
+	log        *zap.Logger
+	bufferSize int
+
+	mu      sync.Mutex
+	cancel  context.CancelFunc
+	out     chan Frame
+	done    chan struct{}
+	running bool
+	dropped atomic.Uint64
+}
+
+// start begins the capture loop in a new goroutine and returns the output channel.
+func (b *streamBase) start(ctx context.Context, loop func(context.Context)) <-chan Frame {
+	b.mu.Lock()
+	defer b.mu.Unlock()
+	if b.running {
+		return b.out
+	}
+
+	bufSize := b.bufferSize
+	if bufSize <= 0 {
+		bufSize = 1
+	}
+
+	cctx, cancel := context.WithCancel(ctx)
+	b.out = make(chan Frame, bufSize)
+	b.done = make(chan struct{})
+	b.cancel = cancel
+	b.running = true
+	out, done := b.out, b.done
+
+	go func() {
+		defer close(done)
+		defer close(out)
+		loop(cctx)
+	}()
+
+	b.log.Info(b.name + ": started video processing")
+	return out
+}
+
+// send attempts to send the frame to the output channel without blocking.
+func (b *streamBase) send(f Frame) {
+	select {
+	case b.out <- f:
+	default:
+		if n := b.dropped.Add(1); n%100 == 1 {
+			b.log.Debug(b.name+": dropping frame, consumer not keeping up",
+				zap.Uint64("dropped_total", n))
+		}
+	}
+}
+
+// Stop signals the capture goroutine to stop and waits for it to return.
+func (b *streamBase) Stop() {
+	b.mu.Lock()
+	if !b.running {
+		b.mu.Unlock()
+		return
+	}
+
+	b.running = false
+	cancel := b.cancel
+	done := b.done
+	b.mu.Unlock()
+
+	if cancel != nil {
+		cancel()
+	}
+	if done != nil {
+		select {
+		case <-done:
+		case <-time.After(time.Second):
+		}
+	}
+
+	b.log.Info(b.name + ": stopped video processing")
+}
+
+const (
+	jpegMarker = 0xFF
+	jpegSOI    = 0xD8
+	jpegEOI    = 0xD9
+)
+
+// splitJPEGStream reads from r and calls onFrame for each complete JPEG frame found.
+func splitJPEGStream(r io.Reader, onFrame func(frame []byte) bool) error {
+	br := bufio.NewReaderSize(r, 256*1024)
+	frame := make([]byte, 0, 64*1024)
+	inFrame := false
+	var last byte
+
+	for {
+		b, err := br.ReadByte()
+		if err != nil {
+			if errors.Is(err, io.EOF) {
+				return nil
+			}
+			return err
+		}
+
+		if inFrame {
+			frame = append(frame, b)
+			if last == jpegMarker && b == jpegEOI {
+				out := make([]byte, len(frame))
+				copy(out, frame)
+				if !onFrame(out) {
+					return nil
+				}
+
+				inFrame = false
+				frame = frame[:0]
+				last = 0
+				continue
+			}
+
+			last = b
+			continue
+		}
+
+		if last == jpegMarker && b == jpegSOI {
+			inFrame = true
+			frame = append(frame[:0], jpegMarker, jpegSOI)
+			last = jpegSOI
+			continue
+		}
+
+		last = b
+	}
+}
+
+// jpegQScale maps a user-friendly quality percentage [0, 100] to ffmpeg's JPEG qscale [2, 31].
+func jpegQScale(quality int) int {
+	if quality < 0 {
+		quality = 0
+	}
+
+	if quality > 100 {
+		quality = 100
+	}
+
+	q := 31 - (quality*29+50)/100
+	if q < 2 {
+		q = 2
+	}
+
+	if q > 31 {
+		q = 31
+	}
+
+	return q
+}
diff --git a/internal/providers/vlm/video_rtsp_stream.go b/internal/providers/vlm/video_rtsp_stream.go
new file mode 100644
index 0000000000..830edf57d6
--- /dev/null
+++ b/internal/providers/vlm/video_rtsp_stream.go
@@ -0,0 +1,145 @@
+package vlm
+
+import (
+	"context"
+	"fmt"
+	"os/exec"
+	"strconv"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/util"
+)
+
+const (
+	defaultRTSPURL     = "rtsp://localhost:8554/live"
+	defaultRTSPWidth   = 480
+	defaultRTSPHeight  = 640
+	rtspReconnectDelay = 2 * time.Second
+)
+
+// VideoRTSPStreamConfig holds configuration options for the VideoRTSPStream.
+type VideoRTSPStreamConfig struct {
+	RTSPURL string
+
+	FPS int
+
+	Width  int
+	Height int
+
+	JPEGQuality int
+	BufferSize  int
+}
+
+// VideoRTSPStream captures video frames from an RTSP source using ffmpeg and emits them as JPEG-encoded Frames.
+type VideoRTSPStream struct {
+	*streamBase
+	cfg VideoRTSPStreamConfig
+}
+
+// NewVideoRTSPStream creates a VideoRTSPStream with the given config.
+func NewVideoRTSPStream(cfg VideoRTSPStreamConfig) *VideoRTSPStream {
+	if cfg.RTSPURL == "" {
+		cfg.RTSPURL = defaultRTSPURL
+	}
+
+	if cfg.FPS <= 0 {
+		cfg.FPS = defaultFPS
+	}
+
+	if cfg.Width <= 0 {
+		cfg.Width = defaultRTSPWidth
+	}
+
+	if cfg.Height <= 0 {
+		cfg.Height = defaultRTSPHeight
+	}
+
+	if cfg.JPEGQuality <= 0 {
+		cfg.JPEGQuality = defaultJPEGQuality
+	}
+
+	return &VideoRTSPStream{
+		streamBase: &streamBase{
+			name:       "VideoRTSPStream",
+			log:        logger.Get(),
+			bufferSize: cfg.BufferSize,
+		},
+		cfg: cfg,
+	}
+}
+
+// Start begins the RTSP capture loop and returns the output channel of Frames.
+func (v *VideoRTSPStream) Start(ctx context.Context) <-chan Frame {
+	return v.start(ctx, v.captureLoop)
+}
+
+// captureLoop manages the lifecycle of the RTSP streaming session.
+func (v *VideoRTSPStream) captureLoop(ctx context.Context) {
+	for {
+		if ctx.Err() != nil {
+			return
+		}
+
+		if err := v.stream(ctx); err != nil && ctx.Err() == nil {
+			v.log.Warn("VideoRTSPStream: error streaming video", zap.Error(err))
+		}
+
+		if ctx.Err() != nil {
+			return
+		}
+		v.log.Info("VideoRTSPStream: reconnecting", zap.Duration("delay", rtspReconnectDelay))
+		if !util.Sleep(ctx, rtspReconnectDelay) {
+			return
+		}
+	}
+}
+
+// stream runs a single ffmpeg RTSP session and forwards decoded JPEG frames.
+func (v *VideoRTSPStream) stream(ctx context.Context) error {
+	cmd := exec.CommandContext(ctx, "ffmpeg", v.ffmpegArgs()...)
+
+	stdout, err := cmd.StdoutPipe()
+	if err != nil {
+		return fmt.Errorf("stdout pipe: %w", err)
+	}
+
+	if err := cmd.Start(); err != nil {
+		return fmt.Errorf("start ffmpeg: %w", err)
+	}
+
+	defer func() {
+		if cmd.Process != nil {
+			_ = cmd.Process.Kill()
+		}
+		_ = cmd.Wait()
+		v.log.Debug("VideoRTSPStream: released video capture device")
+	}()
+
+	v.log.Info("VideoRTSPStream: RTSP stream connected", zap.String("rtsp_url", v.cfg.RTSPURL))
+
+	return splitJPEGStream(stdout, func(frame []byte) bool {
+		if ctx.Err() != nil {
+			return false
+		}
+		v.send(Frame{Timestamp: time.Now(), JPEG: frame})
+		return true
+	})
+}
+
+// ffmpegArgs builds the ffmpeg argument list for RTSP capture.
+func (v *VideoRTSPStream) ffmpegArgs() []string {
+	return []string{
+		"-loglevel", "error",
+		"-rtsp_transport", "tcp",
+		"-i", v.cfg.RTSPURL,
+		"-an",
+		"-vf", fmt.Sprintf("scale=%d:%d,fps=%d", v.cfg.Width, v.cfg.Height, v.cfg.FPS),
+		"-c:v", "mjpeg",
+		"-qscale:v", strconv.Itoa(jpegQScale(v.cfg.JPEGQuality)),
+		"-f", "image2pipe",
+		"pipe:1",
+	}
+}
diff --git a/internal/providers/vlm/video_stream.go b/internal/providers/vlm/video_stream.go
new file mode 100644
index 0000000000..ee83eff3c1
--- /dev/null
+++ b/internal/providers/vlm/video_stream.go
@@ -0,0 +1,157 @@
+package vlm
+
+import (
+	"context"
+	"fmt"
+	"os/exec"
+	"runtime"
+	"strconv"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/util"
+)
+
+const (
+	defaultFPS         = 30
+	defaultWidth       = 640
+	defaultHeight      = 480
+	defaultJPEGQuality = 30
+	cameraRetryDelay   = 2 * time.Second
+)
+
+type VideoStreamConfig struct {
+	DeviceIndex int
+
+	FPS int
+
+	Width  int
+	Height int
+
+	JPEGQuality int
+	BufferSize  int
+}
+
+type VideoStream struct {
+	*streamBase
+	cfg VideoStreamConfig
+}
+
+func NewVideoStream(cfg VideoStreamConfig) *VideoStream {
+	if cfg.FPS <= 0 {
+		cfg.FPS = defaultFPS
+	}
+
+	if cfg.Width <= 0 {
+		cfg.Width = defaultWidth
+	}
+
+	if cfg.Height <= 0 {
+		cfg.Height = defaultHeight
+	}
+
+	if cfg.JPEGQuality <= 0 {
+		cfg.JPEGQuality = defaultJPEGQuality
+	}
+
+	return &VideoStream{
+		streamBase: &streamBase{
+			name:       "VideoStream",
+			log:        logger.Get(),
+			bufferSize: cfg.BufferSize,
+		},
+		cfg: cfg,
+	}
+}
+
+func (v *VideoStream) Start(ctx context.Context) <-chan Frame {
+	return v.start(ctx, v.run)
+}
+
+func (v *VideoStream) run(ctx context.Context) {
+	cam := v.cameraInput()
+	v.log.Info("VideoStream: using camera", zap.String("camera", cam))
+
+	for {
+		if ctx.Err() != nil {
+			return
+		}
+
+		if err := v.stream(ctx, cam); err != nil && ctx.Err() == nil {
+			v.log.Error("VideoStream: error streaming video", zap.Error(err))
+		}
+
+		if ctx.Err() != nil {
+			return
+		}
+
+		v.log.Warn("VideoStream: capture ended, restarting camera", zap.Duration("delay", cameraRetryDelay))
+		if !util.Sleep(ctx, cameraRetryDelay) {
+			return
+		}
+	}
+}
+
+// stream runs a single ffmpeg capture session and forwards decoded JPEG frames
+func (v *VideoStream) stream(ctx context.Context, cam string) error {
+	cmd := exec.CommandContext(ctx, "ffmpeg", v.ffmpegArgs(cam)...)
+
+	stdout, err := cmd.StdoutPipe()
+	if err != nil {
+		return fmt.Errorf("stdout pipe: %w", err)
+	}
+
+	if err := cmd.Start(); err != nil {
+		return fmt.Errorf("start ffmpeg: %w", err)
+	}
+
+	defer func() {
+		if cmd.Process != nil {
+			_ = cmd.Process.Kill()
+		}
+
+		_ = cmd.Wait()
+		v.log.Info("VideoStream: released video capture device")
+	}()
+
+	return splitJPEGStream(stdout, func(frame []byte) bool {
+		if ctx.Err() != nil {
+			return false
+		}
+
+		v.send(Frame{Timestamp: time.Now(), JPEG: frame})
+		return true
+	})
+}
+
+// cameraInput returns the ffmpeg input specifier for the configured camera device.
+func (v *VideoStream) cameraInput() string {
+	if runtime.GOOS == "darwin" {
+		return strconv.Itoa(v.cfg.DeviceIndex)
+	}
+
+	return fmt.Sprintf("/dev/video%d", v.cfg.DeviceIndex)
+}
+
+// ffmpegArgs constructs the ffmpeg command-line arguments for the configured stream.
+func (v *VideoStream) ffmpegArgs(cam string) []string {
+	inputFormat := "v4l2"
+	if runtime.GOOS == "darwin" {
+		inputFormat = "avfoundation"
+	}
+
+	return []string{
+		"-loglevel", "error",
+		"-f", inputFormat,
+		"-framerate", strconv.Itoa(v.cfg.FPS),
+		"-video_size", fmt.Sprintf("%dx%d", v.cfg.Width, v.cfg.Height),
+		"-i", cam,
+		"-an",
+		"-c:v", "mjpeg",
+		"-qscale:v", strconv.Itoa(jpegQScale(v.cfg.JPEGQuality)),
+		"-f", "image2pipe",
+		"pipe:1",
+	}
+}
diff --git a/internal/providers/vlm/video_utils.go b/internal/providers/vlm/video_utils.go
new file mode 100644
index 0000000000..45a3d47e49
--- /dev/null
+++ b/internal/providers/vlm/video_utils.go
@@ -0,0 +1,104 @@
+package vlm
+
+import (
+	"bufio"
+	"context"
+	"os/exec"
+	"path/filepath"
+	"regexp"
+	"runtime"
+	"sort"
+	"strconv"
+	"strings"
+	"time"
+)
+
+// VideoDevice describes an available video capture device.
+type VideoDevice struct {
+	Index int
+	Name  string
+}
+
+var avfoundationVideoLine = regexp.MustCompile(`\[(\d+)\]\s+(.+)$`)
+
+func EnumerateVideoDevices() []VideoDevice {
+	switch runtime.GOOS {
+	case "linux":
+		return enumerateLinuxVideoDevices()
+	case "darwin":
+		return enumerateDarwinVideoDevices()
+	default:
+		return nil
+	}
+}
+
+func enumerateLinuxVideoDevices() []VideoDevice {
+	matches, err := filepath.Glob("/dev/video*")
+	if err != nil {
+		return nil
+	}
+
+	var devices []VideoDevice
+	for _, path := range matches {
+		suffix := strings.TrimPrefix(filepath.Base(path), "video")
+		idx, err := strconv.Atoi(suffix)
+		if err != nil {
+			continue
+		}
+		devices = append(devices, VideoDevice{Index: idx, Name: path})
+	}
+	sort.Slice(devices, func(i, j int) bool { return devices[i].Index < devices[j].Index })
+
+	return devices
+}
+
+func enumerateDarwinVideoDevices() []VideoDevice {
+	ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
+	defer cancel()
+
+	cmd := exec.CommandContext(ctx, "ffmpeg",
+		"-f", "avfoundation",
+		"-list_devices", "true",
+		"-i", "",
+	)
+	out, _ := cmd.CombinedOutput()
+	return parseAVFoundationDevices(string(out))
+}
+
+func parseAVFoundationDevices(output string) []VideoDevice {
+	var devices []VideoDevice
+	scanner := bufio.NewScanner(strings.NewReader(output))
+	inVideoSection := false
+
+	for scanner.Scan() {
+		line := scanner.Text()
+		lower := strings.ToLower(line)
+		if strings.Contains(lower, "avfoundation video devices") {
+			inVideoSection = true
+			continue
+		}
+
+		if strings.Contains(lower, "avfoundation audio devices") {
+			inVideoSection = false
+			continue
+		}
+
+		if !inVideoSection {
+			continue
+		}
+
+		m := avfoundationVideoLine.FindStringSubmatch(line)
+		if m == nil {
+			continue
+		}
+
+		idx, err := strconv.Atoi(m[1])
+		if err != nil {
+			continue
+		}
+
+		devices = append(devices, VideoDevice{Index: idx, Name: strings.TrimSpace(m[2])})
+	}
+
+	return devices
+}
diff --git a/internal/providers/vlm/vlm_test.go b/internal/providers/vlm/vlm_test.go
new file mode 100644
index 0000000000..da72652621
--- /dev/null
+++ b/internal/providers/vlm/vlm_test.go
@@ -0,0 +1,156 @@
+package vlm
+
+import (
+	"bytes"
+	"context"
+	"encoding/base64"
+	"encoding/json"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/assert"
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+func jpeg(payload ...byte) []byte {
+	out := []byte{jpegMarker, jpegSOI}
+	out = append(out, payload...)
+	return append(out, jpegMarker, jpegEOI)
+}
+
+func TestSplitJPEGStream(t *testing.T) {
+	f1 := jpeg(0x01, 0x02, 0x03)
+	f2 := jpeg(0xAA, 0xBB)
+
+	stream := append([]byte{0x00, 0xFF, 0x10}, f1...)
+	stream = append(stream, f2...)
+
+	var got [][]byte
+	err := splitJPEGStream(bytes.NewReader(stream), func(frame []byte) bool {
+		got = append(got, frame)
+		return true
+	})
+
+	require.NoError(t, err)
+	require.Len(t, got, 2)
+	assert.Equal(t, f1, got[0])
+	assert.Equal(t, f2, got[1])
+}
+
+func TestSplitJPEGStreamStopsWhenCallbackReturnsFalse(t *testing.T) {
+	stream := append(jpeg(0x01), jpeg(0x02)...)
+
+	count := 0
+	err := splitJPEGStream(bytes.NewReader(stream), func(frame []byte) bool {
+		count++
+		return false
+	})
+
+	require.NoError(t, err)
+	assert.Equal(t, 1, count)
+}
+
+func TestJPEGQScale(t *testing.T) {
+	assert.Equal(t, 2, jpegQScale(100))
+	assert.Equal(t, 31, jpegQScale(0))
+	assert.Equal(t, 2, jpegQScale(150))
+	assert.Equal(t, 31, jpegQScale(-10))
+
+	prev := jpegQScale(0)
+	for q := 1; q <= 100; q++ {
+		cur := jpegQScale(q)
+		assert.LessOrEqual(t, cur, prev, "qscale should not increase as quality rises (q=%d)", q)
+		assert.GreaterOrEqual(t, cur, 2)
+		assert.LessOrEqual(t, cur, 31)
+		prev = cur
+	}
+}
+
+func TestFrameMarshalJSON(t *testing.T) {
+	f := Frame{
+		Timestamp: time.Unix(1700000000, 500000000),
+		JPEG:      []byte{0xDE, 0xAD, 0xBE, 0xEF},
+	}
+
+	data, err := json.Marshal(f)
+	require.NoError(t, err)
+
+	var payload framePayload
+	require.NoError(t, json.Unmarshal(data, &payload))
+	assert.InDelta(t, 1700000000.5, payload.Timestamp, 1e-6)
+
+	decoded, err := base64.StdEncoding.DecodeString(payload.Frame)
+	require.NoError(t, err)
+	assert.Equal(t, f.JPEG, decoded)
+}
+
+func TestStreamBaseSendDropsWhenFull(t *testing.T) {
+	b := &streamBase{name: "test", log: zap.NewNop()}
+	b.out = make(chan Frame, 2)
+
+	b.send(Frame{JPEG: []byte{1}})
+	b.send(Frame{JPEG: []byte{2}})
+	b.send(Frame{JPEG: []byte{3}})
+
+	assert.Equal(t, uint64(1), b.dropped.Load())
+	assert.Len(t, b.out, 2)
+}
+
+func TestStreamBaseLifecycle(t *testing.T) {
+	b := &streamBase{name: "test", log: zap.NewNop(), bufferSize: 4}
+
+	started := make(chan struct{})
+	frames := b.start(context.Background(), func(ctx context.Context) {
+		close(started)
+		b.send(Frame{JPEG: []byte{0x42}})
+		<-ctx.Done()
+	})
+
+	<-started
+	f := <-frames
+	assert.Equal(t, []byte{0x42}, f.JPEG)
+
+	assert.Equal(t, frames, b.start(context.Background(), func(context.Context) {
+		t.Error("loop should not be started again while running")
+	}))
+
+	b.Stop()
+
+	for range frames {
+	}
+}
+
+func TestStopWithoutStart(t *testing.T) {
+	NewVideoStream(VideoStreamConfig{}).Stop()
+	NewVideoRTSPStream(VideoRTSPStreamConfig{}).Stop()
+}
+
+func TestParseAVFoundationDevices(t *testing.T) {
+	output := `[AVFoundation indev @ 0x123] AVFoundation video devices:
+[AVFoundation indev @ 0x123] [0] FaceTime HD Camera
+[AVFoundation indev @ 0x123] [1] Capture screen 0
+[AVFoundation indev @ 0x123] AVFoundation audio devices:
+[AVFoundation indev @ 0x123] [0] MacBook Pro Microphone`
+
+	devices := parseAVFoundationDevices(output)
+	require.Len(t, devices, 2)
+	assert.Equal(t, VideoDevice{Index: 0, Name: "FaceTime HD Camera"}, devices[0])
+	assert.Equal(t, VideoDevice{Index: 1, Name: "Capture screen 0"}, devices[1])
+}
+
+func TestNewVideoStreamDefaults(t *testing.T) {
+	v := NewVideoStream(VideoStreamConfig{})
+	assert.Equal(t, defaultFPS, v.cfg.FPS)
+	assert.Equal(t, defaultWidth, v.cfg.Width)
+	assert.Equal(t, defaultHeight, v.cfg.Height)
+	assert.Equal(t, defaultJPEGQuality, v.cfg.JPEGQuality)
+}
+
+func TestNewVideoRTSPStreamDefaults(t *testing.T) {
+	v := NewVideoRTSPStream(VideoRTSPStreamConfig{})
+	assert.Equal(t, defaultRTSPURL, v.cfg.RTSPURL)
+	assert.Equal(t, defaultFPS, v.cfg.FPS)
+	assert.Equal(t, defaultRTSPWidth, v.cfg.Width)
+	assert.Equal(t, defaultRTSPHeight, v.cfg.Height)
+}
diff --git a/internal/runtime/config.go b/internal/runtime/config.go
new file mode 100644
index 0000000000..3087bc6a52
--- /dev/null
+++ b/internal/runtime/config.go
@@ -0,0 +1,201 @@
+package runtime
+
+import (
+	"fmt"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/backgrounds"
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/llm"
+)
+
+// modeSetup encapsulates the loaded components.
+type modeSetup struct {
+	cfg config.ModeConfig
+	sys *config.SystemConfig
+
+	sensors        []inputs.Sensor
+	cortexLLM      llm.LLM
+	agentActions   []*actions.AgentAction
+	backgroundList []backgrounds.Background
+}
+
+// NewModeSetup creates a new modeSetup for the given ModeConfig and SystemConfig.
+func NewModeSetup(cfg config.ModeConfig, sys *config.SystemConfig) *modeSetup {
+	return &modeSetup{cfg: cfg, sys: sys}
+}
+
+// loadComponents initializes all components for the mode based on its configuration.
+func (m *modeSetup) loadComponents() error {
+	modeName := m.cfg.Name
+	meta := m.buildMeta(modeName)
+
+	// Load inputs
+	m.sensors = make([]inputs.Sensor, 0, len(m.cfg.AgentInputs))
+	for _, spec := range m.cfg.AgentInputs {
+		spec.Config = addMeta(spec.Config, meta)
+		sensor, err := inputs.Load(spec.Type, spec.Config)
+		if err != nil {
+			return fmt.Errorf("input %q: %w", spec.Type, err)
+		}
+		m.sensors = append(m.sensors, sensor)
+	}
+
+	// Load LLM
+	llmSpec := m.cfg.CortexLLM
+	if llmSpec.Type == "" {
+		llmSpec = m.sys.CortexLLM
+	}
+	if llmSpec.Type == "" {
+		return fmt.Errorf("no LLM configured for mode %q (mode has no cortex_llm and no global cortex_llm is set)", modeName)
+	}
+
+	llmSpec.Config = addMeta(cloneConfig(llmSpec.Config), meta)
+	var err error
+	m.cortexLLM, err = llm.Load(llmSpec.Type, llmSpec.Config)
+	if err != nil {
+		return fmt.Errorf("load llm: %w", err)
+	}
+
+	// Load actions
+	m.agentActions = make([]*actions.AgentAction, 0, len(m.cfg.AgentActions))
+	for _, spec := range m.cfg.AgentActions {
+		spec.Config = addMeta(spec.Config, meta)
+		label := spec.LLMLabel
+		if label == "" {
+			label = spec.Name
+		}
+		agentAction, err := actions.Load(spec.Name, spec.Connector, label, spec.Config)
+		if err != nil {
+			return fmt.Errorf("action %q connector %q: %w", spec.Name, spec.Connector, err)
+		}
+		agentAction.ExcludeFromPrompt = spec.ExcludeFromPrompt
+		m.agentActions = append(m.agentActions, agentAction)
+	}
+
+	// Load backgrounds
+	m.backgroundList = make([]backgrounds.Background, 0, len(m.cfg.Backgrounds))
+	for _, spec := range m.cfg.Backgrounds {
+		spec.Config = addMeta(spec.Config, meta)
+		background, err := backgrounds.Load(spec.Type, spec.Config)
+		if err != nil {
+			return fmt.Errorf("background %q: %w", spec.Type, err)
+		}
+		m.backgroundList = append(m.backgroundList, background)
+	}
+
+	// Load lifecycle hooks
+	for i := range m.cfg.LifecycleHooks {
+		m.cfg.LifecycleHooks[i].HandlerConfig = addMeta(m.cfg.LifecycleHooks[i].HandlerConfig, meta)
+	}
+
+	return nil
+}
+
+// toRuntimeConfig converts the modeSetup to a RuntimeConfig for execution.
+func (m *modeSetup) toRuntimeConfig() *config.RuntimeConfig {
+	rc := &config.RuntimeConfig{
+		Version:          m.sys.Version,
+		Name:             m.sys.Name,
+		Hertz:            m.cfg.Hertz,
+		SystemPromptBase: mergePrompt(m.sys.SystemPromptBase, m.cfg.SystemPromptBase),
+		SystemGovernance: m.sys.SystemGovernance,
+		PromptExamples:   m.sys.PromptExamples,
+		KnowledgeBase:    m.sys.KnowledgeBase,
+		ActionExecMode:   m.cfg.ActionExecMode,
+		ActionDeps:       m.cfg.ActionDeps,
+		UseTracer:        m.sys.UseTracer,
+	}
+	if rc.Hertz == 0 {
+		rc.Hertz = 1.0
+	}
+	return rc
+}
+
+// buildMeta constructs a metadata map for the mode, including global config values and the mode name.
+func (m *modeSetup) buildMeta(modeName string) map[string]string {
+	meta := make(map[string]string)
+	if m.sys.APIKey != "" {
+		meta["api_key"] = m.sys.APIKey
+	}
+	if m.sys.RobotIP != "" {
+		meta["robot_ip"] = m.sys.RobotIP
+	}
+	if m.sys.URID != "" {
+		meta["URID"] = m.sys.URID
+	}
+	if modeName != "" {
+		meta["mode"] = modeName
+	}
+	return meta
+}
+
+// cloneConfig returns a shallow copy of a config map so that callers can add
+// per-mode metadata without mutating a shared (e.g. global) source map.
+func cloneConfig(cfg map[string]any) map[string]any {
+	clone := make(map[string]any, len(cfg))
+	for k, v := range cfg {
+		clone[k] = v
+	}
+	return clone
+}
+
+// addMeta adds metadata key-value pairs to a config map if they are not already present.
+func addMeta(cfg map[string]any, meta map[string]string) map[string]any {
+	if cfg == nil {
+		cfg = make(map[string]any)
+	}
+	for k, v := range meta {
+		if _, exists := cfg[k]; !exists {
+			cfg[k] = v
+		}
+	}
+	return cfg
+}
+
+// collectSchemas extracts the schemas from agent actions that are not excluded from the prompt.
+func collectSchemas(agentActions []*actions.AgentAction) []map[string]any {
+	schemas := make([]map[string]any, 0, len(agentActions))
+
+	for _, agentAction := range agentActions {
+		if !agentAction.ExcludeFromPrompt && agentAction.Schema != nil {
+			schemas = append(schemas, agentAction.Schema)
+		}
+	}
+
+	return schemas
+}
+
+// mergePrompt combines the global system prompt base with the mode-specific one,
+// giving precedence to the mode-specific prompt if it exists.
+func mergePrompt(global, modeSpecific string) string {
+	if modeSpecific != "" {
+		return modeSpecific
+	}
+	return global
+}
+
+// toolCallsToMaps converts LLM tool calls to map representations for action orchestration.
+func toolCallsToMaps(toolCalls []llm.ToolCall) []map[string]any {
+	result := make([]map[string]any, len(toolCalls))
+	for i, tc := range toolCalls {
+		result[i] = map[string]any{
+			"name":      tc.Name,
+			"arguments": tc.Arguments,
+		}
+	}
+	return result
+}
+
+// traceOutput converts an LLM response's tool calls into a slice of maps for structured tracing.
+func traceOutput(response *llm.Response) []map[string]any {
+	out := make([]map[string]any, 0, len(response.ToolCalls))
+	for _, tc := range response.ToolCalls {
+		out = append(out, map[string]any{
+			"type":  tc.Name,
+			"value": tc.Arguments,
+		})
+	}
+	return out
+}
diff --git a/internal/runtime/config_test.go b/internal/runtime/config_test.go
new file mode 100644
index 0000000000..bab350a205
--- /dev/null
+++ b/internal/runtime/config_test.go
@@ -0,0 +1,123 @@
+package runtime
+
+import (
+	"context"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/llm"
+)
+
+func TestCloneConfig(t *testing.T) {
+	src := map[string]any{"a": 1}
+	clone := cloneConfig(src)
+	clone["a"] = 2
+	require.Equal(t, 1, src["a"], "clone does not alias the source map")
+	require.Equal(t, 2, clone["a"])
+}
+
+func TestAddMeta(t *testing.T) {
+	cfg := addMeta(map[string]any{"api_key": "existing"}, map[string]string{"api_key": "new", "mode": "greeting"})
+	require.Equal(t, "existing", cfg["api_key"], "existing keys are not overwritten")
+	require.Equal(t, "greeting", cfg["mode"], "new meta keys are added")
+}
+
+func TestAddMetaNilConfig(t *testing.T) {
+	cfg := addMeta(nil, map[string]string{"mode": "x"})
+	require.Equal(t, "x", cfg["mode"], "a nil config map is allocated")
+}
+
+func TestMergePrompt(t *testing.T) {
+	require.Equal(t, "mode", mergePrompt("global", "mode"), "mode-specific prompt wins")
+	require.Equal(t, "global", mergePrompt("global", ""), "falls back to global when mode is empty")
+}
+
+func TestBuildMeta(t *testing.T) {
+	m := &modeSetup{sys: &config.SystemConfig{APIKey: "k", RobotIP: "1.2.3.4"}}
+	meta := m.buildMeta("greeting")
+	require.Equal(t, map[string]string{
+		"api_key":  "k",
+		"robot_ip": "1.2.3.4",
+		"mode":     "greeting",
+	}, meta)
+}
+
+func TestBuildMetaOmitsEmpty(t *testing.T) {
+	m := &modeSetup{sys: &config.SystemConfig{}}
+	require.Empty(t, m.buildMeta(""), "no metadata when all source fields are empty")
+}
+
+func TestCollectSchemas(t *testing.T) {
+	schema := map[string]any{"type": "function"}
+	acts := []*actions.AgentAction{
+		{LLMLabel: "a", Schema: schema},
+		{LLMLabel: "b", Schema: schema, ExcludeFromPrompt: true},
+		{LLMLabel: "c", Schema: nil},
+	}
+	got := collectSchemas(acts)
+	require.Len(t, got, 1, "excluded and schema-less actions are dropped")
+	require.Equal(t, schema, got[0], "the included schema is the one from action 'a'")
+}
+
+func TestToRuntimeConfig(t *testing.T) {
+	m := &modeSetup{
+		sys: &config.SystemConfig{Version: "v1", Name: "robot", SystemGovernance: "rules", UseTracer: true},
+		cfg: config.ModeConfig{SystemPromptBase: "mode prompt", ActionExecMode: "sequential"},
+	}
+	rc := m.toRuntimeConfig()
+	require.Equal(t, "v1", rc.Version)
+	require.Equal(t, "mode prompt", rc.SystemPromptBase)
+	require.Equal(t, "rules", rc.SystemGovernance)
+	require.True(t, rc.UseTracer)
+	require.Equal(t, 1.0, rc.Hertz, "zero hertz defaults to 1.0")
+}
+
+func TestToolCallsToMaps(t *testing.T) {
+	got := toolCallsToMaps([]llm.ToolCall{{Name: "speak", Arguments: map[string]any{"text": "hi"}}})
+	require.Len(t, got, 1)
+	require.Equal(t, "speak", got[0]["name"])
+	require.Equal(t, map[string]any{"text": "hi"}, got[0]["arguments"])
+}
+
+func TestTraceOutput(t *testing.T) {
+	got := traceOutput(&llm.Response{ToolCalls: []llm.ToolCall{{Name: "move", Arguments: map[string]any{"dir": "left"}}}})
+	require.Len(t, got, 1)
+	require.Equal(t, "move", got[0]["type"])
+	require.Equal(t, map[string]any{"dir": "left"}, got[0]["value"])
+}
+
+func TestLoadComponentsRequiresLLM(t *testing.T) {
+	m := NewModeSetup(config.ModeConfig{Name: "greeting"}, &config.SystemConfig{})
+	err := m.loadComponents()
+	require.Error(t, err, "a mode with no LLM configured fails to load")
+	require.Contains(t, err.Error(), "no LLM configured")
+}
+
+func TestLoadComponentsLoadsLLMAndMeta(t *testing.T) {
+	var gotCfg map[string]any
+	llm.Register("RuntimeFakeLLM", func(cfg map[string]any) (llm.LLM, error) {
+		gotCfg = cfg
+		return &fakeRuntimeLLM{}, nil
+	})
+
+	m := NewModeSetup(
+		config.ModeConfig{Name: "greeting", CortexLLM: config.PluginSpec{Type: "RuntimeFakeLLM"}},
+		&config.SystemConfig{APIKey: "secret"},
+	)
+	require.NoError(t, m.loadComponents())
+	require.NotNil(t, m.cortexLLM)
+	require.Equal(t, "secret", gotCfg["api_key"], "global api_key is injected as meta")
+	require.Equal(t, "greeting", gotCfg["mode"])
+}
+
+// fakeRuntimeLLM is a no-op llm.LLM used to exercise component loading.
+type fakeRuntimeLLM struct{ schemas []map[string]any }
+
+func (f *fakeRuntimeLLM) Call(context.Context, string, []llm.Message) (*llm.Response, error) {
+	return &llm.Response{}, nil
+}
+func (f *fakeRuntimeLLM) SetSchemas(s []map[string]any)     { f.schemas = s }
+func (f *fakeRuntimeLLM) FunctionSchemas() []map[string]any { return f.schemas }
diff --git a/internal/runtime/manager.go b/internal/runtime/manager.go
new file mode 100644
index 0000000000..3a1ea351a7
--- /dev/null
+++ b/internal/runtime/manager.go
@@ -0,0 +1,421 @@
+package runtime
+
+import (
+	"context"
+	"encoding/json"
+	"os"
+	"path/filepath"
+	"reflect"
+	"sort"
+	"strings"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/hooks"
+	"github.com/openmind/om1/internal/util"
+)
+
+// ModeState represents the current state of the system's mode.
+type ModeState struct {
+	CurrentMode       string    `json:"current_mode"`
+	PreviousMode      string    `json:"previous_mode"`
+	ModeStartTime     time.Time `json:"mode_start_time"`
+	TransitionHistory []string  `json:"transition_history"`
+}
+
+// ModeManager manages the current mode of the system.
+type ModeManager struct {
+	mu           sync.RWMutex
+	state        ModeState
+	systemConfig *config.SystemConfig
+	cooldowns    map[string]time.Time
+	log          *zap.Logger
+	statePath    string
+	globalHooks  *hooks.Runner
+
+	// userContext holds contextual information used to evaluate context-aware transitions.
+	userContext map[string]any
+}
+
+// NewModeManager creates a new ModeManager with the given system configuration and logger.
+func NewModeManager(systemConfig *config.SystemConfig, log *zap.Logger) *ModeManager {
+	manager := &ModeManager{
+		systemConfig: systemConfig,
+		cooldowns:    make(map[string]time.Time),
+		log:          log,
+		statePath:    filepath.Join("config", "memory", ".mode_state.json"),
+		globalHooks:  hooks.NewHooks(systemConfig.GlobalHooks, log),
+		userContext:  make(map[string]any),
+	}
+	manager.state = ModeState{
+		CurrentMode:   systemConfig.DefaultMode,
+		ModeStartTime: time.Now(),
+	}
+	if systemConfig.ModeMemoryEnabled {
+		manager.load()
+	}
+	return manager
+}
+
+func (m *ModeManager) Close() {}
+
+func (m *ModeManager) UpdateUserContext(update map[string]any) {
+	m.mu.Lock()
+	defer m.mu.Unlock()
+
+	for k, v := range update {
+		m.userContext[k] = v
+	}
+}
+
+func (m *ModeManager) ResetUserContext() {
+	m.mu.Lock()
+	defer m.mu.Unlock()
+
+	m.userContext = make(map[string]any)
+}
+
+func (m *ModeManager) CurrentMode() string {
+	m.mu.RLock()
+	defer m.mu.RUnlock()
+	return m.state.CurrentMode
+}
+
+// CheckTransitions evaluates all transition rules for the current mode and
+// returns the target mode for the first category that fires, or "" if none do.
+func (m *ModeManager) CheckTransitions(ctx context.Context, latestInputs []string) string {
+	if target := m.checkTimeBased(ctx); target != "" {
+		m.log.Info("time-based transition", zap.String("to", target))
+		return target
+	}
+	if target := m.checkContextAware(); target != "" {
+		m.log.Info("context-aware transition", zap.String("to", target))
+		return target
+	}
+	if target := m.checkInputTriggered(latestInputs); target != "" {
+		m.log.Info("input-triggered transition", zap.String("to", target))
+		return target
+	}
+
+	return ""
+}
+
+// checkTimeBased returns the target mode if the current mode has been active
+// long enough to satisfy a time-based rule, firing OnTimeout hooks first.
+func (m *ModeManager) checkTimeBased(ctx context.Context) string {
+	m.mu.RLock()
+	currentMode := m.state.CurrentMode
+	modeStartTime := m.state.ModeStartTime
+	m.mu.RUnlock()
+
+	elapsed := time.Since(modeStartTime).Seconds()
+
+	for _, rule := range m.systemConfig.TransitionRules {
+		if rule.FromMode != currentMode && rule.FromMode != "*" {
+			continue
+		}
+		if rule.TransitionType != "time_based" {
+			continue
+		}
+		if rule.TimeoutSeconds <= 0 || elapsed < rule.TimeoutSeconds {
+			continue
+		}
+		if !m.cooldownExpired(rule) {
+			continue
+		}
+		if _, ok := m.systemConfig.Modes[rule.ToMode]; !ok {
+			continue
+		}
+
+		if modeCfg, ok := m.systemConfig.Modes[currentMode]; ok {
+			timeoutCtx := map[string]any{
+				"mode_name":       currentMode,
+				"timeout_seconds": rule.TimeoutSeconds,
+				"actual_duration": elapsed,
+				"timestamp":       float64(time.Now().UnixMilli()) / 1000.0,
+			}
+			if err := hooks.NewHooks(modeCfg.LifecycleHooks, m.log).Run(ctx, hooks.OnTimeout, timeoutCtx); err != nil {
+				m.log.Warn("mode OnTimeout hook failed during mode transition",
+					zap.String("mode", currentMode),
+					zap.Float64("timeout_seconds", rule.TimeoutSeconds),
+					zap.Float64("actual_duration", elapsed),
+					zap.Error(err),
+				)
+			}
+		}
+		return rule.ToMode
+	}
+	return ""
+}
+
+// checkContextAware returns the target mode of the highest-priority context-aware rule
+// whose conditions match the user context and cooldowns have expired, or "" if none match.
+func (m *ModeManager) checkContextAware() string {
+	m.mu.RLock()
+	currentMode := m.state.CurrentMode
+	userCtx := make(map[string]any, len(m.userContext))
+	for k, v := range m.userContext {
+		userCtx[k] = v
+	}
+	m.mu.RUnlock()
+
+	var matching []config.TransitionRule
+	for _, rule := range m.systemConfig.TransitionRules {
+		if rule.FromMode != currentMode && rule.FromMode != "*" {
+			continue
+		}
+		if rule.TransitionType != "context_aware" {
+			continue
+		}
+		if !m.cooldownExpired(rule) {
+			continue
+		}
+		if _, ok := m.systemConfig.Modes[rule.ToMode]; !ok {
+			continue
+		}
+		if evaluateContextConditions(rule.ContextConditions, userCtx) {
+			matching = append(matching, rule)
+		}
+	}
+	return highestPriorityTarget(matching)
+}
+
+// checkInputTriggered returns the highest-priority input-triggered rule whose
+// trigger keywords appear in the latest inputs.
+func (m *ModeManager) checkInputTriggered(latestInputs []string) string {
+	combined := strings.ToLower(joinStrings(latestInputs))
+	if strings.TrimSpace(combined) == "" {
+		return ""
+	}
+
+	m.mu.RLock()
+	currentMode := m.state.CurrentMode
+	m.mu.RUnlock()
+
+	var matching []config.TransitionRule
+	for _, rule := range m.systemConfig.TransitionRules {
+		if rule.FromMode != currentMode && rule.FromMode != "*" {
+			continue
+		}
+		if rule.TransitionType != "input_triggered" {
+			continue
+		}
+		if !m.cooldownExpired(rule) {
+			continue
+		}
+		if _, ok := m.systemConfig.Modes[rule.ToMode]; !ok {
+			continue
+		}
+		for _, keyword := range rule.TriggerKeywords {
+			if keyword != "" && strings.Contains(combined, strings.ToLower(keyword)) {
+				matching = append(matching, rule)
+				break
+			}
+		}
+	}
+	return highestPriorityTarget(matching)
+}
+
+// highestPriorityTarget returns the ToMode of the rule with the highest Priority value,
+// or "" if the list is empty. When multiple rules have the same Priority, the first
+// one in the list wins (which preserves the original order in the config file).
+func highestPriorityTarget(rules []config.TransitionRule) string {
+	if len(rules) == 0 {
+		return ""
+	}
+	sort.SliceStable(rules, func(i, j int) bool {
+		return rules[i].Priority > rules[j].Priority
+	})
+	return rules[0].ToMode
+}
+
+// evaluateContextConditions reports whether every condition in conds is
+// satisfied by userCtx. An empty condition set always matches.
+func evaluateContextConditions(conds, userCtx map[string]any) bool {
+	for key, expected := range conds {
+		if !evaluateSingleCondition(key, expected, userCtx) {
+			return false
+		}
+	}
+	return true
+}
+
+// evaluateSingleCondition checks whether a single condition is satisfied by the user context.
+func evaluateSingleCondition(key string, expected any, userCtx map[string]any) bool {
+	actual, ok := userCtx[key]
+	if !ok {
+		return false
+	}
+
+	switch exp := expected.(type) {
+	case map[string]any:
+		minVal, hasMin := exp["min"]
+		maxVal, hasMax := exp["max"]
+		if hasMin || hasMax {
+			actualNum, ok := util.ToFloat(actual)
+			if !ok {
+				return false
+			}
+			if hasMin {
+				if minNum, ok := util.ToFloat(minVal); ok && actualNum < minNum {
+					return false
+				}
+			}
+			if hasMax {
+				if maxNum, ok := util.ToFloat(maxVal); ok && actualNum > maxNum {
+					return false
+				}
+			}
+			return true
+		}
+		if c, ok := exp["contains"]; ok {
+			actualStr, ok1 := actual.(string)
+			condStr, ok2 := c.(string)
+			if !ok1 || !ok2 {
+				return false
+			}
+			return strings.Contains(strings.ToLower(actualStr), strings.ToLower(condStr))
+		}
+		if oneOf, ok := exp["one_of"]; ok {
+			if list, ok := oneOf.([]any); ok {
+				for _, item := range list {
+					if reflect.DeepEqual(actual, item) {
+						return true
+					}
+				}
+			}
+			return false
+		}
+		if notVal, ok := exp["not"]; ok {
+			return !reflect.DeepEqual(actual, notVal)
+		}
+		return false
+
+	case []any:
+		for _, item := range exp {
+			if reflect.DeepEqual(actual, item) {
+				return true
+			}
+		}
+		return false
+
+	default:
+		return reflect.DeepEqual(actual, expected)
+	}
+}
+
+// Transition updates the mode state and fires lifecycle hooks for the transition.
+func (m *ModeManager) Transition(toMode, reason string, exitHooks, entryHooks *hooks.Runner) {
+	fromMode := m.state.CurrentMode
+	transitionKey := fromMode + "->" + toMode
+	transitionCtx := map[string]any{
+		"from_mode":      fromMode,
+		"to_mode":        toMode,
+		"reason":         reason,
+		"timestamp":      float64(time.Now().UnixMilli()) / 1000.0,
+		"transition_key": transitionKey,
+	}
+
+	if exitHooks != nil {
+		if err := exitHooks.Run(context.Background(), hooks.OnExit, transitionCtx); err != nil {
+			m.log.Warn("mode OnExit hook failed during mode transition",
+				zap.String("from", fromMode),
+				zap.String("to", toMode),
+				zap.Error(err),
+			)
+		}
+	}
+
+	if err := m.globalHooks.Run(context.Background(), hooks.OnExit, transitionCtx); err != nil {
+		m.log.Warn("global OnExit hook failed during mode transition",
+			zap.String("from", fromMode),
+			zap.String("to", toMode),
+			zap.Error(err),
+		)
+	}
+
+	m.mu.Lock()
+	cooldownKey := m.state.CurrentMode + "→" + toMode
+	m.cooldowns[cooldownKey] = time.Now()
+
+	m.state.TransitionHistory = append(m.state.TransitionHistory, m.state.CurrentMode)
+	if len(m.state.TransitionHistory) > 20 {
+		m.state.TransitionHistory = m.state.TransitionHistory[1:]
+	}
+	m.state.PreviousMode = m.state.CurrentMode
+	m.state.CurrentMode = toMode
+	m.state.ModeStartTime = time.Now()
+
+	m.log.Info("mode transition",
+		zap.String("from", m.state.PreviousMode),
+		zap.String("to", toMode),
+	)
+
+	if m.systemConfig.ModeMemoryEnabled {
+		m.save()
+	}
+	m.mu.Unlock()
+
+	if err := m.globalHooks.Run(context.Background(), hooks.OnEntry, transitionCtx); err != nil {
+		m.log.Warn("global OnEntry hook failed during mode transition",
+			zap.String("from", fromMode),
+			zap.String("to", toMode),
+			zap.Error(err),
+		)
+	}
+
+	if entryHooks != nil {
+		if err := entryHooks.Run(context.Background(), hooks.OnEntry, transitionCtx); err != nil {
+			m.log.Warn("mode OnEntry hook failed during mode transition",
+				zap.String("from", fromMode),
+				zap.String("to", toMode),
+				zap.Error(err),
+			)
+		}
+	}
+}
+
+func (m *ModeManager) cooldownExpired(rule config.TransitionRule) bool {
+	if rule.CooldownSeconds <= 0 {
+		return true
+	}
+	cooldownKey := rule.FromMode + "→" + rule.ToMode
+	lastTransition, ok := m.cooldowns[cooldownKey]
+	if !ok {
+		return true
+	}
+	return time.Since(lastTransition).Seconds() >= rule.CooldownSeconds
+}
+
+func (m *ModeManager) load() {
+	data, err := os.ReadFile(m.statePath)
+	if err != nil {
+		return
+	}
+	var savedState ModeState
+	if err := json.Unmarshal(data, &savedState); err == nil {
+		if _, ok := m.systemConfig.Modes[savedState.CurrentMode]; ok {
+			m.state = savedState
+		}
+	}
+}
+
+func (m *ModeManager) save() {
+	data, err := json.Marshal(m.state)
+	if err != nil {
+		return
+	}
+	_ = os.MkdirAll(filepath.Dir(m.statePath), 0o755)
+	_ = os.WriteFile(m.statePath, data, 0o644)
+}
+
+func joinStrings(parts []string) string {
+	result := ""
+	for _, part := range parts {
+		result += " " + part
+	}
+	return result
+}
diff --git a/internal/runtime/runtime.go b/internal/runtime/runtime.go
new file mode 100644
index 0000000000..1093a40b26
--- /dev/null
+++ b/internal/runtime/runtime.go
@@ -0,0 +1,479 @@
+package runtime
+
+import (
+	"context"
+	"fmt"
+	"os"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/backgrounds"
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/fuser"
+	"github.com/openmind/om1/internal/hooks"
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/knowledgebase"
+	"github.com/openmind/om1/internal/llm"
+	"github.com/openmind/om1/internal/providers"
+)
+
+type Options struct {
+	HotReload     bool
+	CheckInterval float64
+}
+
+type modeState struct {
+	runtimeConfig      *config.RuntimeConfig
+	promptFuser        *fuser.Fuser
+	cortexLLM          *llm.Orchestrator
+	actionOrchestrator *actions.Orchestrator
+	bgOrchestrator     *backgrounds.Orchestrator // nil when mode has no backgrounds
+	sensors            []inputs.Sensor           // stored here; InputOrchestrator created in startOrchestrators
+	inputOrchestrator  *inputs.Orchestrator      // set by startOrchestrators
+	modeHooks          *hooks.Runner
+
+	cancelCtx      context.CancelFunc
+	inputDone      <-chan struct{}
+	actionDone     <-chan struct{}
+	backgroundDone <-chan struct{}
+	cortexDone     <-chan struct{}
+}
+
+type Runtime struct {
+	systemConfig *config.SystemConfig
+	opts         Options
+	log          *zap.Logger
+	manager      *ModeManager
+	ioProvider   *providers.IOProvider
+	tracer       *providers.Tracer
+
+	mu                        sync.Mutex
+	current                   *modeState
+	isReloading               bool
+	generation                int
+	modeTransitionHandlerOnce bool
+
+	modeTransitionCh chan string
+}
+
+func New(systemConfig *config.SystemConfig, log *zap.Logger, opts Options) *Runtime {
+	return &Runtime{
+		systemConfig:     systemConfig,
+		opts:             opts,
+		log:              log,
+		manager:          NewModeManager(systemConfig, log),
+		ioProvider:       providers.IO(),
+		tracer:           providers.TracerProvider(),
+		modeTransitionCh: make(chan string, 1),
+	}
+}
+
+func (rt *Runtime) Run(ctx context.Context) error {
+	if rt.opts.HotReload {
+		go rt.watchConfig(ctx)
+	}
+
+	initialMode := rt.manager.CurrentMode()
+	if err := rt.initializeMode(initialMode); err != nil {
+		return fmt.Errorf("initialize mode %q: %w", initialMode, err)
+	}
+
+	rt.mu.Lock()
+	current := rt.current
+	rt.mu.Unlock()
+
+	if current != nil {
+		startupCtx := map[string]any{
+			"mode_name":   initialMode,
+			"system_name": rt.systemConfig.Name,
+			"timestamp":   float64(time.Now().UnixMilli()) / 1000.0,
+		}
+
+		if err := rt.manager.globalHooks.Run(ctx, hooks.OnStartup, startupCtx); err != nil {
+			rt.log.Warn("global startup hook failed", zap.Error(err))
+		}
+
+		if err := current.modeHooks.Run(ctx, hooks.OnStartup, startupCtx); err != nil {
+			rt.log.Warn("mode startup hook failed", zap.Error(err))
+		}
+	}
+
+	rt.startOrchestrators(ctx)
+
+	<-ctx.Done()
+
+	rt.stopOrchestrators()
+	rt.manager.Close()
+	rt.tracer.Stop()
+	return ctx.Err()
+}
+
+func (rt *Runtime) initializeMode(modeName string) error {
+	modeCfg, ok := rt.systemConfig.Modes[modeName]
+	if !ok {
+		return fmt.Errorf("mode %q not found in config", modeName)
+	}
+
+	modeConfig := NewModeSetup(modeCfg, rt.systemConfig)
+
+	if err := modeConfig.loadComponents(); err != nil {
+		return err
+	}
+
+	runtimeConfig := modeConfig.toRuntimeConfig()
+
+	if runtimeConfig.UseTracer {
+		rt.tracer.Enable()
+	}
+
+	rt.log.Info("initializing mode", zap.String("mode", modeCfg.DisplayName))
+
+	rt.manager.ResetUserContext()
+
+	var knowledgeBase fuser.KnowledgeBase
+	if runtimeConfig.KnowledgeBase != nil {
+		kb, err := knowledgebase.NewKnowledgeBase(runtimeConfig.KnowledgeBase)
+		if err != nil {
+			rt.log.Warn("knowledge base disabled", zap.Error(err))
+		} else {
+			knowledgeBase = kb
+		}
+	}
+
+	state := &modeState{
+		runtimeConfig: runtimeConfig,
+		promptFuser:   fuser.NewFuser(runtimeConfig, modeConfig.agentActions, knowledgeBase, rt.log),
+		cortexLLM: llm.NewOrchestrator(
+			modeConfig.cortexLLM,
+			modeCfg.CortexLLM.Config,
+			collectSchemas(modeConfig.agentActions),
+		),
+		actionOrchestrator: actions.NewOrchestrator(
+			modeConfig.agentActions,
+			actions.ExecMode(runtimeConfig.ActionExecMode),
+			runtimeConfig.ActionDeps,
+			rt.log,
+		),
+		sensors:   modeConfig.sensors,
+		modeHooks: hooks.NewHooks(modeConfig.cfg.LifecycleHooks, rt.log),
+	}
+	if len(modeConfig.backgroundList) > 0 {
+		state.bgOrchestrator = backgrounds.NewOrchestrator(modeConfig.backgroundList, rt.log)
+	}
+
+	rt.mu.Lock()
+	rt.current = state
+	rt.mu.Unlock()
+
+	rt.log.Info("mode initialised", zap.String("mode", modeName))
+	return nil
+}
+
+// startOrchestrators starts the orchestrators for the current mode in separate goroutines.
+func (rt *Runtime) startOrchestrators(ctx context.Context) {
+	if ctx.Err() != nil {
+		return
+	}
+
+	rt.mu.Lock()
+	current := rt.current
+	rt.mu.Unlock()
+
+	if current == nil {
+		return
+	}
+
+	modeCtx, cancel := context.WithCancel(ctx)
+	current.cancelCtx = cancel
+
+	current.inputOrchestrator = inputs.NewOrchestrator(current.sensors, rt.log)
+	current.inputDone = current.inputOrchestrator.Start(modeCtx)
+
+	if current.actionOrchestrator != nil {
+		current.actionDone = current.actionOrchestrator.Start(modeCtx)
+	}
+	if current.bgOrchestrator != nil {
+		current.backgroundDone = current.bgOrchestrator.Start(modeCtx)
+	}
+
+	cortexDone := make(chan struct{})
+	current.cortexDone = cortexDone
+	go func() {
+		defer close(cortexDone)
+		rt.runCortexLoop(modeCtx)
+	}()
+
+	rt.mu.Lock()
+	if !rt.modeTransitionHandlerOnce {
+		rt.modeTransitionHandlerOnce = true
+		go rt.handleModeTransitions(ctx)
+	}
+	rt.mu.Unlock()
+}
+
+// stopOrchestrators stops all orchestrators for the current mode and waits for them to finish, with a timeout to prevent hanging.
+func (rt *Runtime) stopOrchestrators() {
+	rt.mu.Lock()
+	current := rt.current
+	rt.current = nil
+	rt.mu.Unlock()
+
+	if current == nil || current.cancelCtx == nil {
+		return
+	}
+
+	current.cancelCtx()
+
+	stopCtx, stopCancel := context.WithTimeout(context.Background(), 15*time.Second)
+	defer stopCancel()
+
+	type namedCh struct {
+		name string
+		ch   <-chan struct{}
+	}
+	pools := []namedCh{
+		{"cortex", current.cortexDone},
+		{"action", current.actionDone},
+		{"background", current.backgroundDone},
+		{"input", current.inputDone},
+	}
+
+	var wg sync.WaitGroup
+	for _, p := range pools {
+		if p.ch == nil {
+			continue
+		}
+		wg.Add(1)
+		go func(name string, ch <-chan struct{}) {
+			defer wg.Done()
+			select {
+			case <-ch:
+			case <-stopCtx.Done():
+				rt.log.Warn("orchestrator shutdown timed out", zap.String("pool", name))
+			}
+		}(p.name, p.ch)
+	}
+
+	wg.Wait()
+}
+
+// onModeTransition stops the current mode's orchestrators, initialises the new
+// mode and restarts all orchestrators.
+func (rt *Runtime) onModeTransition(ctx context.Context, fromMode, toMode string) error {
+	rt.log.Info("handling mode transition",
+		zap.String("from", fromMode),
+		zap.String("to", toMode),
+	)
+
+	rt.mu.Lock()
+	rt.isReloading = true
+	rt.mu.Unlock()
+	defer func() {
+		rt.mu.Lock()
+		rt.isReloading = false
+		rt.mu.Unlock()
+	}()
+
+	// Capture the departing mode's hooks before stopOrchestrators clears current.
+	rt.mu.Lock()
+	var exitHooks *hooks.Runner
+	if rt.current != nil {
+		exitHooks = rt.current.modeHooks
+	}
+	rt.mu.Unlock()
+
+	rt.stopOrchestrators()
+
+	if err := rt.initializeMode(toMode); err != nil {
+		return fmt.Errorf("initialize mode %q: %w", toMode, err)
+	}
+
+	// Capture the arriving mode's hooks after initializeMode sets the new current.
+	rt.mu.Lock()
+	var entryHooks *hooks.Runner
+	if rt.current != nil {
+		entryHooks = rt.current.modeHooks
+	}
+	rt.mu.Unlock()
+
+	rt.manager.Transition(toMode, "transition", exitHooks, entryHooks)
+	rt.startOrchestrators(ctx)
+
+	rt.log.Info("mode transition complete", zap.String("to", toMode))
+	return nil
+}
+
+// handleModeTransitions listens for mode transition requests and handles them sequentially to avoid concurrent transitions.
+func (rt *Runtime) handleModeTransitions(ctx context.Context) {
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		case toMode := <-rt.modeTransitionCh:
+			fromMode := rt.manager.CurrentMode()
+			if err := rt.onModeTransition(ctx, fromMode, toMode); err != nil {
+				rt.log.Error("mode transition failed",
+					zap.String("to", toMode),
+					zap.Error(err),
+				)
+			}
+		}
+	}
+}
+
+// runCortexLoop runs the cortex loop for the current mode, ticking at the configured hertz
+// and also allowing immediate ticks when signaled by the InputOrchestrator.
+func (rt *Runtime) runCortexLoop(ctx context.Context) {
+	modeName := rt.manager.CurrentMode()
+
+	rt.mu.Lock()
+	rt.generation++
+	generation := rt.generation
+	current := rt.current
+	rt.mu.Unlock()
+
+	rt.tracer.SetGeneration(generation)
+	rt.log.Info("cortex loop started", zap.String("mode", modeName), zap.Int("generation", generation))
+
+	if current == nil {
+		return
+	}
+
+	tickInterval := time.Duration(float64(time.Second) / current.runtimeConfig.Hertz)
+
+	for {
+		timer := time.NewTimer(tickInterval)
+		select {
+		case <-ctx.Done():
+			timer.Stop()
+			rt.log.Info("cortex loop exiting", zap.String("mode", modeName))
+			return
+		case <-timer.C:
+		case <-current.inputOrchestrator.TickNow():
+			timer.Stop()
+		case update := <-providers.ModeContext().Updates():
+			timer.Stop()
+			rt.manager.UpdateUserContext(update)
+			rt.scheduleTransition(rt.manager.CheckTransitions(ctx, current.inputOrchestrator.Buffers()))
+			continue
+		}
+
+		rt.tick(ctx, current, time.Now())
+	}
+}
+
+// scheduleTransition queues a mode change when toMode is non-empty, dropping the
+// request if one is already pending. It reports whether a transition was
+// scheduled, so callers can skip further work for the departing mode.
+func (rt *Runtime) scheduleTransition(toMode string) bool {
+	if toMode == "" {
+		return false
+	}
+	select {
+	case rt.modeTransitionCh <- toMode:
+		rt.log.Info("mode transition scheduled", zap.String("to", toMode))
+	default:
+	}
+	return true
+}
+
+// tick executes a single cortex cycle: checks for mode transitions, fuses a
+// prompt, calls the LLM, executes tool calls and records telemetry.
+func (rt *Runtime) tick(ctx context.Context, current *modeState, tickStart time.Time) {
+	if ctx.Err() != nil {
+		return
+	}
+
+	rt.mu.Lock()
+	reloading := rt.isReloading
+	rt.mu.Unlock()
+
+	if reloading {
+		rt.log.Debug("skipping tick during mode transition")
+		return
+	}
+
+	rt.ioProvider.IncrementTick()
+	sensorBuffers := current.inputOrchestrator.Buffers()
+
+	if rt.scheduleTransition(rt.manager.CheckTransitions(ctx, sensorBuffers)) {
+		return
+	}
+
+	prompt, err := current.promptFuser.Fuse(ctx, sensorBuffers)
+	if err != nil {
+		rt.log.Warn("fuse failed", zap.Error(err))
+		return
+	}
+
+	if ctx.Err() != nil {
+		return
+	}
+
+	rt.log.Info("cortex tick", zap.String("mode", rt.manager.CurrentMode()), zap.String("prompt", prompt))
+
+	response, err := current.cortexLLM.Call(ctx, prompt, nil)
+	if err != nil {
+		rt.log.Warn("llm call failed", zap.Error(err))
+		return
+	}
+
+	rt.tracer.Gauge(prompt, traceOutput(response))
+
+	if len(response.ToolCalls) > 0 {
+		calls, err := current.actionOrchestrator.ParseCalls(toolCallsToMaps(response.ToolCalls))
+		if err != nil {
+			rt.log.Warn("parse action calls failed", zap.Error(err))
+		} else {
+			for _, res := range current.actionOrchestrator.Submit(ctx, calls) {
+				if res.Err != nil {
+					rt.log.Warn("action failed",
+						zap.String("action", res.ActionName),
+						zap.Error(res.Err),
+					)
+				}
+			}
+		}
+	}
+
+	rt.ioProvider.RecordTick(tickStart)
+}
+
+// watchConfig polls the config file and logs a warning when it changes.
+func (rt *Runtime) watchConfig(ctx context.Context) {
+	if rt.systemConfig.Name == "" {
+		return
+	}
+	path := fmt.Sprintf("config/%s.json5", rt.systemConfig.Name)
+	info, err := os.Stat(path)
+	if err != nil {
+		return
+	}
+	lastMod := info.ModTime()
+	interval := time.Duration(rt.opts.CheckInterval * float64(time.Second))
+	if interval <= 0 {
+		interval = time.Second
+	}
+	ticker := time.NewTicker(interval)
+	defer ticker.Stop()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		case <-ticker.C:
+			info, err := os.Stat(path)
+			if err != nil {
+				continue
+			}
+			if info.ModTime().After(lastMod) {
+				lastMod = info.ModTime()
+				rt.log.Info("config file changed — hot-reload not yet implemented; restart to apply changes",
+					zap.String("path", path))
+			}
+		}
+	}
+}
diff --git a/internal/util/convert.go b/internal/util/convert.go
new file mode 100644
index 0000000000..ab9d4f50c3
--- /dev/null
+++ b/internal/util/convert.go
@@ -0,0 +1,32 @@
+package util
+
+import "encoding/json"
+
+// FloatFrom extracts a float64 from a JSON-decoded value, returning def when the
+// value is absent or not a recognized numeric type.
+func FloatFrom(v any, def float64) float64 {
+	if f, ok := ToFloat(v); ok {
+		return f
+	}
+	return def
+}
+
+// ToFloat coerces a JSON-decoded numeric value to float64. The bool is false
+// when v is not a recognized numeric type.
+func ToFloat(v any) (float64, bool) {
+	switch n := v.(type) {
+	case float64:
+		return n, true
+	case float32:
+		return float64(n), true
+	case int:
+		return float64(n), true
+	case int64:
+		return float64(n), true
+	case json.Number:
+		f, err := n.Float64()
+		return f, err == nil
+	default:
+		return 0, false
+	}
+}
diff --git a/internal/util/convert_test.go b/internal/util/convert_test.go
new file mode 100644
index 0000000000..8e5ecd1aa8
--- /dev/null
+++ b/internal/util/convert_test.go
@@ -0,0 +1,41 @@
+package util
+
+import (
+	"encoding/json"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestToFloat(t *testing.T) {
+	cases := []struct {
+		name   string
+		input  any
+		want   float64
+		wantOK bool
+	}{
+		{"float64", float64(1.5), 1.5, true},
+		{"float32", float32(2.5), 2.5, true},
+		{"int", 3, 3, true},
+		{"int64", int64(4), 4, true},
+		{"json.Number", json.Number("5.25"), 5.25, true},
+		{"invalid json.Number", json.Number("notanumber"), 0, false},
+		{"string", "6", 0, false},
+		{"nil", nil, 0, false},
+		{"bool", true, 0, false},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			got, ok := ToFloat(tc.input)
+			require.Equal(t, tc.wantOK, ok)
+			require.Equal(t, tc.want, got)
+		})
+	}
+}
+
+func TestFloatFrom(t *testing.T) {
+	require.Equal(t, 7.5, FloatFrom(7.5, 0))
+	require.Equal(t, 9.0, FloatFrom("not a number", 9.0), "falls back to default for non-numeric")
+	require.Equal(t, 0.0, FloatFrom(nil, 0.0))
+	require.Equal(t, 1.0, FloatFrom(json.Number("bad"), 1.0), "falls back when json.Number is unparsable")
+}
diff --git a/internal/util/strings.go b/internal/util/strings.go
new file mode 100644
index 0000000000..ba9b277672
--- /dev/null
+++ b/internal/util/strings.go
@@ -0,0 +1,13 @@
+package util
+
+import "strings"
+
+// FirstNonEmpty returns the first non-empty string from the provided list, or an empty string if all are empty.
+func FirstNonEmpty(vals ...string) string {
+	for _, v := range vals {
+		if strings.TrimSpace(v) != "" {
+			return v
+		}
+	}
+	return ""
+}
diff --git a/internal/util/strings_test.go b/internal/util/strings_test.go
new file mode 100644
index 0000000000..51319d13fd
--- /dev/null
+++ b/internal/util/strings_test.go
@@ -0,0 +1,24 @@
+package util
+
+import "testing"
+
+func TestFirstNonEmpty(t *testing.T) {
+	cases := []struct {
+		name string
+		in   []string
+		want string
+	}{
+		{"first set", []string{"a", "b"}, "a"},
+		{"skips empty", []string{"", "b"}, "b"},
+		{"skips whitespace", []string{"   ", "\t", "b"}, "b"},
+		{"all empty", []string{"", "  "}, ""},
+		{"none", nil, ""},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			if got := FirstNonEmpty(tc.in...); got != tc.want {
+				t.Fatalf("FirstNonEmpty(%q) = %q, want %q", tc.in, got, tc.want)
+			}
+		})
+	}
+}
diff --git a/internal/util/wait.go b/internal/util/wait.go
new file mode 100644
index 0000000000..08d36367b0
--- /dev/null
+++ b/internal/util/wait.go
@@ -0,0 +1,19 @@
+package util
+
+import (
+	"context"
+	"time"
+)
+
+// Sleep waits for d or until ctx is cancelled, whichever comes first. It returns
+// false if ctx was cancelled before d elapsed, and true otherwise.
+func Sleep(ctx context.Context, d time.Duration) bool {
+	timer := time.NewTimer(d)
+	defer timer.Stop()
+	select {
+	case <-ctx.Done():
+		return false
+	case <-timer.C:
+		return true
+	}
+}
diff --git a/internal/util/wait_test.go b/internal/util/wait_test.go
new file mode 100644
index 0000000000..7c0a46a2f2
--- /dev/null
+++ b/internal/util/wait_test.go
@@ -0,0 +1,32 @@
+package util
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestSleepCompletes(t *testing.T) {
+	start := time.Now()
+	ok := Sleep(context.Background(), 10*time.Millisecond)
+	require.True(t, ok, "Sleep returns true when the timer elapses")
+	require.GreaterOrEqual(t, time.Since(start), 10*time.Millisecond)
+}
+
+func TestSleepCancelled(t *testing.T) {
+	ctx, cancel := context.WithCancel(context.Background())
+	cancel()
+	ok := Sleep(ctx, time.Hour)
+	require.False(t, ok, "Sleep returns false when the context is cancelled before the timer")
+}
+
+func TestSleepCancelledMidWait(t *testing.T) {
+	ctx, cancel := context.WithTimeout(context.Background(), 10*time.Millisecond)
+	defer cancel()
+	start := time.Now()
+	ok := Sleep(ctx, time.Hour)
+	require.False(t, ok)
+	require.Less(t, time.Since(start), time.Second, "returns promptly when ctx is cancelled")
+}
diff --git a/internal/ws/client.go b/internal/ws/client.go
new file mode 100644
index 0000000000..6545bf653c
--- /dev/null
+++ b/internal/ws/client.go
@@ -0,0 +1,264 @@
+package ws
+
+import (
+	"context"
+	"fmt"
+	"sync"
+	"time"
+
+	"github.com/gorilla/websocket"
+	"go.uber.org/zap"
+)
+
+// Config holds connection settings for a Client.
+type Config struct {
+	URL              string
+	HandshakeTimeout time.Duration // default 10s
+	WriteTimeout     time.Duration // default 5s
+	SendBufferSize   int           // default 256
+	Reconnect        bool
+}
+
+// Client is a reconnecting WebSocket client for binary streaming.
+type Client struct {
+	cfg       Config
+	log       *zap.Logger
+	onMessage func(messageType int, data []byte)
+
+	connMu sync.Mutex
+	conn   *websocket.Conn
+
+	ctx    context.Context
+	cancel context.CancelFunc
+
+	sendCh chan []byte
+	wg     sync.WaitGroup
+}
+
+// New creates a Client. onMessage is called for every message received from the server.
+func New(cfg Config, log *zap.Logger, onMessage func(messageType int, data []byte)) *Client {
+	if cfg.HandshakeTimeout == 0 {
+		cfg.HandshakeTimeout = 10 * time.Second
+	}
+	if cfg.WriteTimeout == 0 {
+		cfg.WriteTimeout = 5 * time.Second
+	}
+	if cfg.SendBufferSize == 0 {
+		cfg.SendBufferSize = 256
+	}
+	ctx, cancel := context.WithCancel(context.Background())
+	return &Client{
+		cfg:       cfg,
+		log:       log,
+		onMessage: onMessage,
+		ctx:       ctx,
+		cancel:    cancel,
+		sendCh:    make(chan []byte, cfg.SendBufferSize),
+	}
+}
+
+// Connect dials the server and starts the send/read goroutines.
+func (c *Client) Connect() error {
+	if !c.cfg.Reconnect {
+		return c.dial()
+	}
+
+	for {
+		err := c.dial()
+		if err == nil {
+			c.wg.Add(2)
+			go c.sendLoop()
+			go c.readLoop()
+			return nil
+		}
+
+		c.log.Warn("ws: initial connect failed, retrying", zap.Error(err))
+
+		select {
+		case <-c.ctx.Done():
+			return fmt.Errorf("ws: connect cancelled: %w", c.ctx.Err())
+		case <-time.After(5 * time.Second):
+		}
+	}
+}
+
+// Send enqueues data for delivery. Returns an error if the queue is full.
+func (c *Client) Send(data []byte) error {
+	select {
+	case c.sendCh <- data:
+		return nil
+	default:
+		return fmt.Errorf("ws: send buffer full")
+	}
+}
+
+// Close performs a graceful shutdown and waits for all goroutines to exit.
+func (c *Client) Close() {
+	c.cancel()
+
+	c.connMu.Lock()
+	if c.conn != nil {
+		_ = c.conn.WriteMessage(websocket.CloseMessage,
+			websocket.FormatCloseMessage(websocket.CloseNormalClosure, ""))
+		_ = c.conn.Close()
+		c.conn = nil
+	}
+	c.connMu.Unlock()
+
+	c.wg.Wait()
+}
+
+func (c *Client) dial() error {
+	dialer := websocket.Dialer{HandshakeTimeout: c.cfg.HandshakeTimeout}
+	c.log.Info("ws: connecting", zap.String("url", c.cfg.URL))
+
+	conn, resp, err := dialer.DialContext(c.ctx, c.cfg.URL, nil)
+	if err != nil {
+		if resp != nil {
+			return fmt.Errorf("ws: connect failed (status %d): %w", resp.StatusCode, err)
+		}
+		return fmt.Errorf("ws: connect failed: %w", err)
+	}
+	c.connMu.Lock()
+	c.conn = conn
+	c.connMu.Unlock()
+	c.log.Info("ws: connected", zap.String("url", c.cfg.URL))
+	return nil
+}
+
+// sendLoop reads from sendCh and writes to the WebSocket.
+// On write error, it triggers reconnect if enabled.
+func (c *Client) sendLoop() {
+	defer c.wg.Done()
+
+	for {
+		select {
+		case <-c.ctx.Done():
+			c.log.Info("ws: send loop stopped")
+			return
+		case data, ok := <-c.sendCh:
+			if !ok {
+				return
+			}
+			if err := c.writeMessage(data); err != nil {
+				c.log.Warn("ws: send failed", zap.Error(err))
+				if c.cfg.Reconnect {
+					c.reconnect()
+				}
+			}
+		}
+	}
+}
+
+// readLoop reads incoming messages.
+// On read error, it triggers reconnect if enabled.
+func (c *Client) readLoop() {
+	defer c.wg.Done()
+
+	for {
+		select {
+		case <-c.ctx.Done():
+			c.log.Info("ws: read loop stopped")
+			return
+		default:
+		}
+
+		c.connMu.Lock()
+		conn := c.conn
+		c.connMu.Unlock()
+		if conn == nil {
+			select {
+			case <-c.ctx.Done():
+				return
+			case <-time.After(50 * time.Millisecond):
+			}
+			continue
+		}
+
+		msgType, msg, err := conn.ReadMessage()
+		if err != nil {
+			if c.ctx.Err() != nil {
+				return
+			}
+			if websocket.IsUnexpectedCloseError(err,
+				websocket.CloseGoingAway, websocket.CloseAbnormalClosure, websocket.CloseNormalClosure) {
+				c.log.Warn("ws: read error", zap.Error(err))
+			}
+			if !c.cfg.Reconnect {
+				return
+			}
+			c.connMu.Lock()
+			if c.conn == conn {
+				c.conn = nil
+			}
+			c.connMu.Unlock()
+			continue
+		}
+
+		if msgType == websocket.TextMessage {
+			c.log.Debug("ws: message received",
+				zap.String("type", messageTypeName(msgType)),
+				zap.String("data", string(msg)),
+			)
+		} else {
+			c.log.Debug("ws: message received",
+				zap.String("type", messageTypeName(msgType)),
+				zap.ByteString("data", msg),
+			)
+		}
+
+		if c.onMessage != nil {
+			c.onMessage(msgType, msg)
+		}
+	}
+}
+
+func (c *Client) writeMessage(data []byte) error {
+	c.connMu.Lock()
+	defer c.connMu.Unlock()
+
+	if c.conn == nil {
+		return fmt.Errorf("ws: not connected")
+	}
+	if err := c.conn.SetWriteDeadline(time.Now().Add(c.cfg.WriteTimeout)); err != nil {
+		return fmt.Errorf("ws: set deadline: %w", err)
+	}
+	return c.conn.WriteMessage(websocket.BinaryMessage, data)
+}
+
+// reconnect nulls the connection and attempts to re-dial until successful or context cancellation.
+func (c *Client) reconnect() {
+	c.connMu.Lock()
+	if c.conn != nil {
+		_ = c.conn.Close()
+		c.conn = nil
+	}
+	c.connMu.Unlock()
+
+	for {
+		if c.ctx.Err() != nil {
+			return
+		}
+		if err := c.dial(); err != nil {
+			c.log.Error("ws: reconnect failed, retrying", zap.Error(err))
+			select {
+			case <-c.ctx.Done():
+				return
+			case <-time.After(5 * time.Second):
+			}
+			continue
+		}
+		return
+	}
+}
+
+func messageTypeName(t int) string {
+	switch t {
+	case websocket.TextMessage:
+		return "text"
+	case websocket.BinaryMessage:
+		return "binary"
+	default:
+		return fmt.Sprintf("type(%d)", t)
+	}
+}
diff --git a/internal/ws/client_test.go b/internal/ws/client_test.go
new file mode 100644
index 0000000000..80a0228cdb
--- /dev/null
+++ b/internal/ws/client_test.go
@@ -0,0 +1,85 @@
+package ws
+
+import (
+	"net/http"
+	"net/http/httptest"
+	"strings"
+	"testing"
+	"time"
+
+	"github.com/gorilla/websocket"
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+func echoServer(t *testing.T) string {
+	t.Helper()
+	upgrader := websocket.Upgrader{CheckOrigin: func(*http.Request) bool { return true }}
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		conn, err := upgrader.Upgrade(w, r, nil)
+		if err != nil {
+			return
+		}
+		defer func() { _ = conn.Close() }()
+		for {
+			mt, msg, err := conn.ReadMessage()
+			if err != nil {
+				return
+			}
+			if err := conn.WriteMessage(mt, msg); err != nil {
+				return
+			}
+		}
+	}))
+	t.Cleanup(srv.Close)
+	return "ws" + strings.TrimPrefix(srv.URL, "http")
+}
+
+func TestNewAppliesDefaults(t *testing.T) {
+	c := New(Config{URL: "ws://x"}, zap.NewNop(), nil)
+	require.Equal(t, 10*time.Second, c.cfg.HandshakeTimeout)
+	require.Equal(t, 5*time.Second, c.cfg.WriteTimeout)
+	require.Equal(t, 256, c.cfg.SendBufferSize)
+	require.Equal(t, 256, cap(c.sendCh))
+}
+
+func TestSendBufferFull(t *testing.T) {
+	c := New(Config{URL: "ws://x", SendBufferSize: 1}, zap.NewNop(), nil)
+	require.NoError(t, c.Send([]byte("a")), "first send fits in the buffer")
+	require.Error(t, c.Send([]byte("b")), "second send overflows the buffer")
+}
+
+func TestConnectSendReceive(t *testing.T) {
+	url := echoServer(t)
+
+	received := make(chan []byte, 1)
+	c := New(Config{URL: url, Reconnect: true}, zap.NewNop(), func(_ int, data []byte) {
+		received <- append([]byte(nil), data...)
+	})
+	require.NoError(t, c.Connect())
+	t.Cleanup(c.Close)
+
+	require.NoError(t, c.Send([]byte("ping")))
+	select {
+	case got := <-received:
+		require.Equal(t, []byte("ping"), got, "the server echoes the message back to onMessage")
+	case <-time.After(2 * time.Second):
+		t.Fatal("did not receive echoed message")
+	}
+}
+
+func TestConnectFailsForBadURL(t *testing.T) {
+	c := New(Config{URL: "ws://127.0.0.1:1"}, zap.NewNop(), nil)
+	require.Error(t, c.Connect(), "non-reconnecting client returns the dial error")
+}
+
+func TestMessageTypeName(t *testing.T) {
+	require.Equal(t, "text", messageTypeName(websocket.TextMessage))
+	require.Equal(t, "binary", messageTypeName(websocket.BinaryMessage))
+	require.Contains(t, messageTypeName(99), "type(99)")
+}
+
+func TestCloseIsIdempotentBeforeConnect(t *testing.T) {
+	c := New(Config{URL: "ws://x"}, zap.NewNop(), nil)
+	require.NotPanics(t, c.Close, "Close is safe even if Connect was never called")
+}
diff --git a/internal/zenoh/cdr.go b/internal/zenoh/cdr.go
new file mode 100644
index 0000000000..dee337f33a
--- /dev/null
+++ b/internal/zenoh/cdr.go
@@ -0,0 +1,39 @@
+package zenoh
+
+import "encoding/binary"
+
+// AppendInt32LE appends a little-endian int32 to buf.
+func AppendInt32LE(buf []byte, v int32) []byte {
+	var b [4]byte
+	binary.LittleEndian.PutUint32(b[:], uint32(v))
+	return append(buf, b[:]...)
+}
+
+// AppendUint32LE appends a little-endian uint32 to buf.
+func AppendUint32LE(buf []byte, v uint32) []byte {
+	var b [4]byte
+	binary.LittleEndian.PutUint32(b[:], v)
+	return append(buf, b[:]...)
+}
+
+// AppendInt64LE appends a little-endian int64 to buf.
+func AppendInt64LE(buf []byte, v int64) []byte {
+	var b [8]byte
+	binary.LittleEndian.PutUint64(b[:], uint64(v))
+	return append(buf, b[:]...)
+}
+
+// AppendCDRString writes a CDR string: uint32 length (including null terminator),
+// string bytes + null, then pads to a 4-byte boundary measured from the start of
+// the data payload (i.e. buf[4:], after the 4-byte CDR encapsulation header).
+func AppendCDRString(buf []byte, s string) []byte {
+	strBytes := append([]byte(s), 0x00)
+	buf = AppendUint32LE(buf, uint32(len(strBytes)))
+	buf = append(buf, strBytes...)
+	// align to 4-byte data boundary (data starts after the 4-byte CDR header)
+	dataLen := len(buf) - 4
+	if pad := (4 - dataLen%4) % 4; pad > 0 {
+		buf = append(buf, make([]byte, pad)...)
+	}
+	return buf
+}
diff --git a/internal/zenoh/cdr_test.go b/internal/zenoh/cdr_test.go
new file mode 100644
index 0000000000..367794a8b2
--- /dev/null
+++ b/internal/zenoh/cdr_test.go
@@ -0,0 +1,46 @@
+package zenoh
+
+import (
+	"encoding/binary"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestAppendInt32LE(t *testing.T) {
+	buf := AppendInt32LE(nil, -2)
+	require.Len(t, buf, 4)
+	require.Equal(t, int32(-2), int32(binary.LittleEndian.Uint32(buf)))
+}
+
+func TestAppendUint32LE(t *testing.T) {
+	buf := AppendUint32LE([]byte{0xAA}, 0x01020304)
+	require.Equal(t, byte(0xAA), buf[0], "existing bytes are preserved")
+	require.Equal(t, uint32(0x01020304), binary.LittleEndian.Uint32(buf[1:]))
+}
+
+func TestAppendInt64LE(t *testing.T) {
+	buf := AppendInt64LE(nil, -1)
+	require.Len(t, buf, 8)
+	require.Equal(t, int64(-1), int64(binary.LittleEndian.Uint64(buf)))
+}
+
+func TestAppendCDRString(t *testing.T) {
+	header := []byte{0x00, 0x01, 0x00, 0x00}
+	buf := AppendCDRString(append([]byte(nil), header...), "hi")
+
+	length := binary.LittleEndian.Uint32(buf[4:8])
+	require.Equal(t, uint32(3), length)
+	require.Equal(t, []byte("hi\x00"), buf[8:11])
+
+	dataLen := len(buf) - 4
+	require.Zero(t, dataLen%4, "data payload is aligned to a 4-byte boundary")
+	require.Equal(t, byte(0x00), buf[11], "one pad byte follows the 3-byte string")
+}
+
+func TestAppendCDRStringAlreadyAligned(t *testing.T) {
+	header := []byte{0x00, 0x01, 0x00, 0x00}
+	buf := AppendCDRString(append([]byte(nil), header...), "abc")
+	require.Equal(t, uint32(4), binary.LittleEndian.Uint32(buf[4:8]))
+	require.Len(t, buf, 4+4+4, "header + length + 4 string bytes, no padding")
+}
diff --git a/internal/zenoh/session.go b/internal/zenoh/session.go
new file mode 100644
index 0000000000..38e47d48be
--- /dev/null
+++ b/internal/zenoh/session.go
@@ -0,0 +1,176 @@
+package zenoh
+
+import (
+	"fmt"
+
+	"github.com/eclipse-zenoh/zenoh-go/zenoh"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/logger"
+)
+
+const defaultEndpoint = "tcp/127.0.0.1:7447"
+
+type Session struct {
+	session zenoh.Session
+}
+
+type Publisher struct {
+	publisher zenoh.Publisher
+}
+
+type Subscriber struct {
+	subscriber zenoh.Subscriber
+}
+
+// Options configures how a zenoh Session is opened.
+type Options struct {
+	Endpoint string
+
+	// LocalNetwork indicates whether to connect to the local router endpoint
+	// (e.g. tcp/127.0.0.1:7447) in client mode. When false, the session is
+	// opened with multicast/gossip discovery instead.
+	LocalNetwork bool
+}
+
+// Open creates a new zenoh Session with the given endpoint.
+func Open(endpoint ...string) (*Session, error) {
+	ep := ""
+	if len(endpoint) > 0 {
+		ep = endpoint[0]
+	}
+
+	return OpenWithOptions(Options{Endpoint: ep, LocalNetwork: true})
+}
+
+// OpenWithOptions creates a new zenoh session with the given options.
+func OpenWithOptions(opts Options) (*Session, error) {
+	endpoint := opts.Endpoint
+	if endpoint == "" {
+		endpoint = defaultEndpoint
+	}
+
+	if opts.LocalNetwork {
+		session, err := openClient(endpoint)
+		if err == nil {
+			return session, nil
+		}
+		logger.Get().Warn("zenoh: local client connect failed, falling back to discovery",
+			zap.String("endpoint", endpoint), zap.Error(err))
+		return openDiscovery()
+	}
+
+	session, err := openDiscovery()
+	if err == nil {
+		return session, nil
+	}
+	logger.Get().Warn("zenoh: discovery failed, falling back to local client connect",
+		zap.String("endpoint", endpoint), zap.Error(err))
+	return openClient(endpoint)
+}
+
+// openClient opens a session in client mode connecting to a single router endpoint.
+func openClient(endpoint string) (*Session, error) {
+	config := zenoh.NewConfigDefault()
+
+	if err := config.InsertJson5(zenoh.ConfigModeKey, `"client"`); err != nil {
+		return nil, fmt.Errorf("zenoh config mode: %w", err)
+	}
+	if err := config.InsertJson5(zenoh.ConfigConnectKey, fmt.Sprintf(`["%s"]`, endpoint)); err != nil {
+		return nil, fmt.Errorf("zenoh config endpoint: %w", err)
+	}
+
+	session, err := zenoh.Open(config, nil)
+	if err != nil {
+		return nil, fmt.Errorf("zenoh open (client): %w", err)
+	}
+
+	return &Session{session: session}, nil
+}
+
+// openDiscovery opens a session using zenoh's default configuration with network discovery enabled.
+func openDiscovery() (*Session, error) {
+	session, err := zenoh.Open(zenoh.NewConfigDefault(), nil)
+	if err != nil {
+		return nil, fmt.Errorf("zenoh open (discovery): %w", err)
+	}
+
+	logger.Get().Info("zenoh: session opened with network discovery")
+	return &Session{session: session}, nil
+}
+
+// DeclarePublisher creates a Publisher for the given key expression.
+func (s *Session) DeclarePublisher(key string) (*Publisher, error) {
+	keyExpr, err := zenoh.NewKeyExpr(key)
+	if err != nil {
+		return nil, fmt.Errorf("zenoh keyexpr: %w", err)
+	}
+	pub, err := s.session.DeclarePublisher(keyExpr, nil)
+	if err != nil {
+		return nil, fmt.Errorf("zenoh declare publisher: %w", err)
+	}
+	return &Publisher{publisher: pub}, nil
+}
+
+// Put publishes data on the publisher's key expression.
+func (p *Publisher) Put(data []byte) error {
+	if err := p.publisher.Put(zenoh.NewZBytes(data), nil); err != nil {
+		return fmt.Errorf("zenoh publisher put: %w", err)
+	}
+	return nil
+}
+
+// Drop undeclares the publisher.
+func (p *Publisher) Drop() {
+	p.publisher.Drop()
+}
+
+// Put publishes data to the given key (one-shot).
+func (s *Session) Put(key string, data []byte) error {
+	keyExpr, err := zenoh.NewKeyExpr(key)
+	if err != nil {
+		return fmt.Errorf("zenoh keyexpr: %w", err)
+	}
+
+	if err := s.session.Put(keyExpr, zenoh.NewZBytes(data), nil); err != nil {
+		return fmt.Errorf("zenoh put: %w", err)
+	}
+
+	return nil
+}
+
+// DeclareSubscriber creates a Subscriber for the given key expression.
+func (s *Session) DeclareSubscriber(key string, handler func([]byte)) (*Subscriber, error) {
+	keyExpr, err := zenoh.NewKeyExpr(key)
+	if err != nil {
+		return nil, fmt.Errorf("zenoh keyexpr: %w", err)
+	}
+	sub, err := s.session.DeclareSubscriber(keyExpr, zenoh.Closure[zenoh.Sample]{
+		Call: func(sample zenoh.Sample) { handler(sample.Payload().Bytes()) },
+	}, nil)
+	if err != nil {
+		return nil, fmt.Errorf("zenoh declare subscriber: %w", err)
+	}
+	return &Subscriber{subscriber: sub}, nil
+}
+
+// Drop undeclares the subscriber.
+func (sub *Subscriber) Drop() {
+	sub.subscriber.Drop()
+}
+
+// Close properly closes the zenoh session and notifies the router.
+func (s *Session) Close() {
+	s.session.Close(nil) //nolint:errcheck
+}
+
+// Publish opens a session, publishes data, and closes the session.
+func Publish(key string, data []byte, endpoint ...string) error {
+	session, err := Open(endpoint...)
+	if err != nil {
+		return err
+	}
+	defer session.Close()
+
+	return session.Put(key, data)
+}
diff --git a/knowledge_base/om/om.faiss b/knowledge_base/om/om.faiss
deleted file mode 100644
index 6067da238c..0000000000
Binary files a/knowledge_base/om/om.faiss and /dev/null differ
diff --git a/knowledge_base/om/om.graph b/knowledge_base/om/om.graph
new file mode 100644
index 0000000000..4e4c08e686
Binary files /dev/null and b/knowledge_base/om/om.graph differ
diff --git a/knowledge_base/om/om.json b/knowledge_base/om/om.json
new file mode 100644
index 0000000000..8ca94d15b9
--- /dev/null
+++ b/knowledge_base/om/om.json
@@ -0,0 +1 @@
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It uses AI models like LLMs to interpret inputs, reason about goals, and generate high-level action plans, instead of relying on hard-coded behaviors.", "source": "What does 'cognitive layer' mean in OM1?"}, {"id": 3, "vector": [-0.0858604684472084, 0.022870292887091637, -0.006235896144062281, -0.0051893200725317, 0.013221644796431065, 0.0527820847928524, 0.04401611164212227, -0.01743065007030964, 0.02736923098564148, 0.04963637515902519, 0.05362690985202789, -0.022989068180322647, -0.04540839418768883, 0.0073904418386518955, 0.040539294481277466, 0.008338470943272114, -0.049844108521938324, 0.0348980650305748, -0.09842651337385178, 0.0622214749455452, 0.07487350702285767, -0.08673418313264847, 0.014245443046092987, -0.04497455805540085, -0.03823484480381012, 0.00018733208707999438, 0.05006654933094978, 0.06461068987846375, -0.03949127718806267, -0.1721651554107666, -0.05639873445034027, 0.015332216396927834, 0.04009495675563812, -0.09091204404830933, 0.0013823139015585184, 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-0.001745278132148087, 0.11636340618133545, -0.03163358196616173, 0.05198613554239273, 0.11663476377725601, -0.0063370331190526485, 0.027940422296524048, 0.034069452434778214, 0.00016010881518013775, 0.10804581642150879, 0.05700680613517761, 0.003322850912809372, -0.02741573005914688, 0.1046542152762413, 0.002548105316236615, -0.06945627927780151, 0.03739209100604057, 0.00025516602909192443, -0.027370471507310867, -0.05015061795711517, -0.041142940521240234, 0.03473224490880966, 0.050624262541532516, 0.0789274200797081, -0.039079878479242325, -0.05460765212774277, 0.014829425141215324, -0.07395144551992416, -0.11907173693180084, -0.025234991684556007, -0.04440454766154289, 0.057132624089717865, -0.026889631524682045, 0.004484834615141153], "text": "OpenMind aims to create a global, shared cognitive layer for all robots\u2014similar to how Android unified mobile devices\u2014enabling an ecosystem where robotic intelligence can scale and improve collectively.", "source": "What is OpenMind's long-term vision for the cognitive layer?"}]
\ No newline at end of file
diff --git a/knowledge_base/om/om.pkl b/knowledge_base/om/om.pkl
deleted file mode 100644
index fe1036b241..0000000000
Binary files a/knowledge_base/om/om.pkl and /dev/null differ
diff --git a/plugins/actions/actions.go b/plugins/actions/actions.go
new file mode 100644
index 0000000000..b54e9dfbe4
--- /dev/null
+++ b/plugins/actions/actions.go
@@ -0,0 +1,8 @@
+package actions
+
+import (
+	_ "github.com/openmind/om1/plugins/actions/arm_g1"
+	_ "github.com/openmind/om1/plugins/actions/emotion"
+	_ "github.com/openmind/om1/plugins/actions/greeting_conversation"
+	_ "github.com/openmind/om1/plugins/actions/speak"
+)
diff --git a/plugins/actions/arm_g1/zenoh.go b/plugins/actions/arm_g1/zenoh.go
new file mode 100644
index 0000000000..05b80a65c0
--- /dev/null
+++ b/plugins/actions/arm_g1/zenoh.go
@@ -0,0 +1,189 @@
+package arm_g1
+
+import (
+	"context"
+	"fmt"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/logger"
+	zenohsession "github.com/openmind/om1/internal/zenoh"
+)
+
+const (
+	customAPIID       = 9001
+	sportRequestTopic = "api/sport/request"
+)
+
+type ArmAction string
+
+func (ArmAction) EnumValues() []string {
+	return []string{
+		"idle",
+		"shake_hand",
+		"face_wave",
+		"hands_up",
+		"stand_still",
+		"show_hand",
+		"come_closer",
+		"flexible",
+		"hands_up",
+		"heart",
+		"push",
+		"rotate_hands",
+		"salute",
+		"shrug",
+		"speack_action_extended",
+		"speak_action",
+	}
+}
+
+type ArmInput struct {
+	Action ArmAction `json:"action" description:"The arm gesture to perform"`
+}
+
+func init() {
+	actions.RegisterInterface(
+		"arm_g1",
+		"Action interface for Unitree G1 arm gesture control. "+
+			"Publishes custom arm motion commands to the g1_arm_action ROS2 node via Zenoh. "+
+			"Supported gestures: shake_hand, face_wave, hands_up, stand_still, show_hand, wave.",
+		ArmInput{},
+	)
+	actions.Register("arm_g1/zenoh", NewArmG1ZenohConnector)
+}
+
+type zenohConnector struct {
+	log       *zap.Logger
+	session   *zenohsession.Session
+	publisher *zenohsession.Publisher
+}
+
+// NewArmG1ZenohConnector creates a new zenohConnector with the provided configuration.
+func NewArmG1ZenohConnector(cfg map[string]any) (actions.Connector, error) {
+	log := logger.Get()
+
+	sess, err := zenohsession.Open()
+	if err != nil {
+		log.Warn("arm_g1/zenoh: zenoh unavailable, arm gestures disabled", zap.Error(err))
+		return &zenohConnector{log: log}, nil
+	}
+
+	pub, err := sess.DeclarePublisher(sportRequestTopic)
+	if err != nil {
+		sess.Close()
+		log.Warn("arm_g1/zenoh: failed to declare publisher, arm gestures disabled", zap.Error(err))
+		return &zenohConnector{log: log}, nil
+	}
+
+	log.Info("arm_g1/zenoh: zenoh session opened")
+	return &zenohConnector{log: log, session: sess, publisher: pub}, nil
+}
+
+// Connect publishes the arm gesture command based on the input action.
+func (z *zenohConnector) Connect(_ context.Context, input actions.Input) (actions.Output, error) {
+	args, ok := input.(map[string]any)
+	if !ok {
+		return nil, fmt.Errorf("arm_g1/zenoh: unexpected input type %T", input)
+	}
+	action, _ := args["action"].(string)
+	if action == "" || action == "idle" {
+		return nil, nil
+	}
+
+	if z.publisher == nil {
+		return nil, nil
+	}
+
+	parameter := fmt.Sprintf(`{"action": "%s"}`, action)
+	payload := serializeUnitreeRequest(customAPIID, parameter)
+	if err := z.publisher.Put(payload); err != nil {
+		z.log.Error("arm_g1/zenoh: put failed", zap.Error(err))
+		return nil, err
+	}
+
+	z.log.Info("arm_g1/zenoh: published", zap.String("action", action), zap.String("mapped", action))
+	return nil, nil
+}
+
+// Tick is a no-op since this connector is event-driven.
+func (z *zenohConnector) Tick(ctx context.Context) {
+	<-ctx.Done()
+}
+
+// Stop cleans up the Zenoh publisher and session.
+func (z *zenohConnector) Stop() {
+	if z.publisher != nil {
+		z.publisher.Drop()
+		z.publisher = nil
+		z.log.Info("arm_g1/zenoh: publisher dropped")
+	}
+
+	if z.session != nil {
+		z.session.Close()
+		z.session = nil
+		z.log.Info("arm_g1/zenoh: zenoh session closed")
+	}
+
+}
+
+// serializeUnitreeRequest encodes a Unitree API request in CDR little-endian format.
+//
+// Wire layout (absolute offsets from start of buffer):
+//
+//	[0]  CDR encapsulation header: 0x00 0x01 0x00 0x00
+//	[4]  identity.id     int64 LE = 0
+//	[12] identity.api_id int64 LE
+//	[20] lease.id        int64 LE = 0
+//	[28] policy.priority int32 LE = 0
+//	[32] policy.noreply  bool    = 0
+//	[33] padding (3 bytes, align uint32 to data offset 32)
+//	[36] parameter length uint32 LE (includes null terminator)
+//	[40] parameter bytes  (null-terminated UTF-8)
+//	[..] padding to 4-byte (data) boundary
+//	[..] binary length    uint32 LE = 0
+func serializeUnitreeRequest(apiID int64, parameter string) []byte {
+	paramBytes := append([]byte(parameter), 0x00)
+	paramLen := uint32(len(paramBytes))
+
+	buf := make([]byte, 0, 76+len(paramBytes))
+
+	// CDR encapsulation header (little-endian)
+	buf = append(buf, 0x00, 0x01, 0x00, 0x00)
+
+	// identity.id = 0 (data offset 0, already 8-byte aligned)
+	buf = zenohsession.AppendInt64LE(buf, 0)
+
+	// identity.api_id
+	buf = zenohsession.AppendInt64LE(buf, apiID)
+
+	// lease.id = 0
+	buf = zenohsession.AppendInt64LE(buf, 0)
+
+	// policy.priority = 0
+	buf = zenohsession.AppendUint32LE(buf, 0)
+
+	// policy.noreply = false
+	buf = append(buf, 0x00)
+
+	// 3 bytes padding to align uint32 (parameter length) to data offset 32
+	buf = append(buf, 0x00, 0x00, 0x00)
+
+	// parameter length (including null terminator)
+	buf = zenohsession.AppendUint32LE(buf, paramLen)
+
+	// parameter string bytes
+	buf = append(buf, paramBytes...)
+
+	// padding to 4-byte (data) boundary for binary sequence length
+	dataLen := len(buf) - 4 // subtract 4-byte CDR header
+	if pad := (4 - dataLen%4) % 4; pad > 0 {
+		buf = append(buf, make([]byte, pad)...)
+	}
+
+	// binary sequence length = 0
+	buf = zenohsession.AppendUint32LE(buf, 0)
+
+	return buf
+}
diff --git a/plugins/actions/arm_g1/zenoh_test.go b/plugins/actions/arm_g1/zenoh_test.go
new file mode 100644
index 0000000000..cfb383daba
--- /dev/null
+++ b/plugins/actions/arm_g1/zenoh_test.go
@@ -0,0 +1,32 @@
+package arm_g1
+
+import (
+	"encoding/binary"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestArmActionEnumValues(t *testing.T) {
+	values := ArmAction("").EnumValues()
+	require.Contains(t, values, "shake_hand")
+	require.Contains(t, values, "stand_still")
+	require.NotEmpty(t, values)
+}
+
+func TestSerializeUnitreeRequestHeaderAndAPIID(t *testing.T) {
+	buf := serializeUnitreeRequest(1042, "")
+
+	require.Equal(t, []byte{0x00, 0x01, 0x00, 0x00}, buf[:4], "CDR encapsulation header")
+
+	// identity.id (int64) at data offset 0, then api_id (int64) at data offset 8.
+	require.Equal(t, int64(0), int64(binary.LittleEndian.Uint64(buf[4:12])), "identity.id is zero")
+	require.Equal(t, int64(1042), int64(binary.LittleEndian.Uint64(buf[12:20])), "api_id is encoded")
+}
+
+func TestSerializeUnitreeRequestParameter(t *testing.T) {
+	buf := serializeUnitreeRequest(1, `{"x":1}`)
+	require.Contains(t, string(buf), `{"x":1}`, "parameter JSON is embedded")
+
+	require.Zero(t, (len(buf)-4)%4, "payload stays aligned to a 4-byte boundary")
+}
diff --git a/plugins/actions/emotion/zenoh.go b/plugins/actions/emotion/zenoh.go
new file mode 100644
index 0000000000..0f2ac09ec2
--- /dev/null
+++ b/plugins/actions/emotion/zenoh.go
@@ -0,0 +1,77 @@
+package emotion
+
+import (
+	"context"
+	"fmt"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+)
+
+type Emotion string
+
+func (Emotion) EnumValues() []string {
+	return []string{
+		"happy",
+		"confused",
+		"curious",
+		"excited",
+		"sad",
+		"think",
+	}
+}
+
+type EmotionInput struct {
+	Action Emotion `json:"action" description:"The facial expression to display"`
+}
+
+func init() {
+	actions.RegisterInterface(
+		"emotion",
+		"Action interface for robot facial expression control. "+
+			"Publishes avatar emotion commands via Zenoh. "+
+			"Supported expressions: happy, confused, curious, excited, sad, think.",
+		EmotionInput{},
+	)
+	actions.Register("emotion/zenoh", NewEmotionZenohConnector)
+}
+
+type zenohConnector struct {
+	log      *zap.Logger
+	provider *providers.AvatarProvider
+}
+
+// NewZenohConnector creates a new zenohConnector with the provided configuration.
+func NewEmotionZenohConnector(cfg map[string]any) (actions.Connector, error) {
+	return &zenohConnector{
+		log:      logger.Get(),
+		provider: providers.Avatar(),
+	}, nil
+}
+
+func (z *zenohConnector) Connect(_ context.Context, input actions.Input) (actions.Output, error) {
+	args, ok := input.(map[string]any)
+	if !ok {
+		return nil, fmt.Errorf("emotion/zenoh: unexpected input type %T", input)
+	}
+	emotion, _ := args["action"].(string)
+	if emotion == "" {
+		return nil, nil
+	}
+
+	if err := z.provider.SendAvatarCommand(emotion); err != nil {
+		z.log.Error("emotion/zenoh: send failed", zap.Error(err))
+	}
+	return nil, nil
+}
+
+// Tick is a no-op since this connector is event-driven.
+func (z *zenohConnector) Tick(ctx context.Context) {
+	<-ctx.Done()
+}
+
+// Stop is a no-op since the AvatarProvider manages its own resources.
+func (z *zenohConnector) Stop() {}
diff --git a/plugins/actions/emotion/zenoh_test.go b/plugins/actions/emotion/zenoh_test.go
new file mode 100644
index 0000000000..3247cedccc
--- /dev/null
+++ b/plugins/actions/emotion/zenoh_test.go
@@ -0,0 +1,14 @@
+package emotion
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestEmotionEnumValues(t *testing.T) {
+	values := Emotion("").EnumValues()
+	require.Contains(t, values, "happy")
+	require.Contains(t, values, "sad")
+	require.Len(t, values, 6, "all six supported emotions are advertised")
+}
diff --git a/plugins/actions/greeting_conversation/greeting_conversation_elevenlabs.go b/plugins/actions/greeting_conversation/greeting_conversation_elevenlabs.go
new file mode 100644
index 0000000000..a1889a9b68
--- /dev/null
+++ b/plugins/actions/greeting_conversation/greeting_conversation_elevenlabs.go
@@ -0,0 +1,358 @@
+package greeting_conversation
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"sync"
+	"time"
+
+	"github.com/google/uuid"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+	"github.com/openmind/om1/internal/util"
+	"github.com/openmind/om1/internal/zenoh"
+)
+
+const (
+	personGreetingTopic = "om/person_greeting"
+
+	statusConversation = byte(3)
+
+	tickInterval    = 10 * time.Second
+	ttsTimeout      = 30 * time.Second
+	ttsPollInterval = 100 * time.Millisecond
+)
+
+// ConversationStateEnum is the LLM-facing enum for the conversation_state field.
+type ConversationStateEnum string
+
+// EnumValues lists the conversation states the LLM may report.
+func (ConversationStateEnum) EnumValues() []string {
+	return []string{
+		string(providers.StateConversing),
+		string(providers.StateConcluding),
+		string(providers.StateFinished),
+	}
+}
+
+// GreetingConversationInput is the input the LLM provides for a greeting turn.
+type GreetingConversationInput struct {
+	Response          string                `json:"response" description:"The spoken text response to the user"`
+	ConversationState ConversationStateEnum `json:"conversation_state" description:"The current state of the greeting conversation"`
+	Confidence        float64               `json:"confidence" description:"Confidence score of the conversation state recognition from 0.0 to 1.0"`
+	SpeechClarity     float64               `json:"speech_clarity" description:"The user's voice input clarity score from 0.0 to 1.0"`
+}
+
+func init() {
+	actions.RegisterInterface(
+		"greeting_conversation",
+		"Action interface for greeting conversations. Speaks a response to the user, "+
+			"tracks the conversation state (conversing, concluding, finished), and reports "+
+			"recognition confidence and the user's speech clarity.",
+		GreetingConversationInput{},
+	)
+	actions.Register("greeting_conversation/greeting_conversation_elevenlabs", NewElevenLabsGreetingConversation)
+}
+
+// Config holds the ElevenLabs TTS parameters for the greeting connector.
+type Config struct {
+	APIKey           string `json:"api_key"`
+	ElevenLabsAPIKey string `json:"elevenlabs_api_key"`
+	VoiceID          string `json:"voice_id"`
+	ModelID          string `json:"model_id"`
+	OutputFormat     string `json:"output_format"`
+	Rate             int    `json:"rate"`
+}
+
+// Connector implements the greeting conversation action using the ElevenLabs TTS provider.
+type Connector struct {
+	log      *zap.Logger
+	tts      *tts.ElevenLabsProvider
+	greeting *providers.GreetingConversationStateMachineProvider
+	session  *zenoh.Session
+
+	mu                       sync.Mutex
+	greetingStatus           providers.ConversationState
+	conversationFinishedSent bool
+	ttsPlaying               bool
+	ttsPlayingStart          time.Time
+}
+
+// NewElevenLabsGreetingConversation builds the connector from a decoded config map.
+func NewElevenLabsGreetingConversation(configMap map[string]any) (actions.Connector, error) {
+	var cfg Config
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.APIKey == "" {
+		return nil, fmt.Errorf("greeting_conversation/greeting_conversation_elevenlabs: api_key required")
+	}
+	if cfg.VoiceID == "" {
+		cfg.VoiceID = tts.DefaultVoiceID
+	}
+	if cfg.ModelID == "" {
+		cfg.ModelID = tts.DefaultModelID
+	}
+	if cfg.OutputFormat == "" {
+		cfg.OutputFormat = tts.DefaultOutputFormat
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = tts.DefaultRate
+	}
+
+	log := logger.Get()
+
+	tts := tts.ElevenLabs(tts.ElevenLabsConfig{
+		APIKey:           cfg.APIKey,
+		ElevenLabsAPIKey: cfg.ElevenLabsAPIKey,
+		VoiceID:          cfg.VoiceID,
+		ModelID:          cfg.ModelID,
+		OutputFormat:     cfg.OutputFormat,
+		Rate:             cfg.Rate,
+	}, log)
+
+	greeting := providers.Greeting()
+	greeting.StartConversation()
+
+	c := &Connector{
+		log:            log,
+		tts:            tts,
+		greeting:       greeting,
+		greetingStatus: providers.StateConversing,
+	}
+
+	if sess, err := zenoh.Open(); err != nil {
+		log.Warn("greeting_conversation: Zenoh unavailable, status/context updates disabled", zap.Error(err))
+	} else {
+		c.session = sess
+		log.Info("greeting_conversation: Zenoh session opened")
+	}
+
+	return c, nil
+}
+
+// Connect processes one greeting turn: speak the response, advance the
+// conversation state machine, and publish the resulting status.
+func (c *Connector) Connect(_ context.Context, input actions.Input) (actions.Output, error) {
+	args, ok := input.(map[string]any)
+	if !ok {
+		return nil, fmt.Errorf("greeting_conversation: unexpected input type %T", input)
+	}
+
+	response, _ := args["response"].(string)
+	conversationState, _ := args["conversation_state"].(string)
+	confidence := util.FloatFrom(args["confidence"], 0.0)
+	speechClarity := util.FloatFrom(args["speech_clarity"], 1.0)
+
+	c.log.Info("greeting_conversation: turn",
+		zap.String("conversation_state", conversationState),
+		zap.String("response", response),
+		zap.Float64("confidence", confidence),
+		zap.Float64("speech_clarity", speechClarity),
+	)
+
+	llmOutput := map[string]any{
+		"conversation_state": conversationState,
+		"response":           response,
+		"confidence":         confidence,
+		"speech_clarity":     speechClarity,
+	}
+
+	if response != "" {
+		c.tts.AddText(normalizeTTSText(response))
+		c.mu.Lock()
+		c.ttsPlaying = true
+		c.ttsPlayingStart = time.Now()
+		c.mu.Unlock()
+	}
+
+	stateUpdate := c.greeting.ProcessConversation(llmOutput)
+	currentState := stateString(stateUpdate, c.currentStatus())
+
+	c.mu.Lock()
+	c.greetingStatus = currentState
+	c.mu.Unlock()
+	c.publishCountdown(currentState)
+
+	c.log.Info("greeting_conversation: state update", zap.Any("state_update", stateUpdate))
+
+	if currentState == providers.StateFinished {
+		c.handleFinished()
+	}
+
+	return nil, nil
+}
+
+// Tick periodically advances the conversation state without LLM input, handling
+// silence-driven transitions and timeouts.
+func (c *Connector) Tick(ctx context.Context) {
+	select {
+	case <-ctx.Done():
+		return
+	case <-time.After(tickInterval):
+	}
+
+	if c.waitingOnTTS() {
+		c.log.Info("greeting_conversation: skipping tick during active TTS playback")
+		return
+	}
+
+	stateUpdate := c.greeting.UpdateStateWithoutLLM()
+	currentState := stateString(stateUpdate, c.currentStatus())
+
+	c.mu.Lock()
+	c.greetingStatus = currentState
+	c.mu.Unlock()
+	c.publishCountdown(currentState)
+
+	if currentState == providers.StateFinished {
+		c.mu.Lock()
+		send := !c.conversationFinishedSent
+		c.conversationFinishedSent = true
+		c.mu.Unlock()
+		if send {
+			c.log.Info("greeting_conversation: finished (detected in tick)")
+			c.updateContextFinished()
+		}
+	}
+}
+
+// Stop releases the Zenoh session. The shared ElevenLabs provider manages its
+// own lifecycle and is not stopped here.
+func (c *Connector) Stop() {
+	c.log.Info("greeting_conversation: stopping")
+	c.mu.Lock()
+	sess := c.session
+	c.session = nil
+	c.mu.Unlock()
+	if sess != nil {
+		sess.Close()
+		c.log.Info("greeting_conversation: Zenoh session closed")
+	}
+}
+
+// handleFinished updates context to trigger the mode switch when the conversation finishes.
+func (c *Connector) handleFinished() {
+	c.mu.Lock()
+	if c.conversationFinishedSent {
+		c.mu.Unlock()
+		return
+	}
+	c.conversationFinishedSent = true
+	speaking := c.ttsPlaying
+	c.mu.Unlock()
+
+	if !speaking {
+		c.log.Info("greeting_conversation: finished")
+		c.updateContextFinished()
+		return
+	}
+
+	c.log.Info("greeting_conversation: finished, waiting for TTS to complete before switching")
+	go c.switchWhenTTSDone()
+}
+
+// switchWhenTTSDone waits for TTS playback to drain or time out, then updates context to trigger the mode switch.
+func (c *Connector) switchWhenTTSDone() {
+	deadline := time.Now().Add(ttsTimeout)
+	ticker := time.NewTicker(ttsPollInterval)
+	defer ticker.Stop()
+
+	for tts.Busy() {
+		<-ticker.C
+		if time.Now().After(deadline) {
+			c.log.Warn("greeting_conversation: TTS playback timed out, switching anyway")
+			break
+		}
+	}
+
+	c.mu.Lock()
+	c.ttsPlaying = false
+	c.mu.Unlock()
+
+	c.log.Info("greeting_conversation: TTS completed, switching")
+	c.updateContextFinished()
+}
+
+// waitingOnTTS returns true if the connector is currently waiting on TTS playback to drain before switching out of the conversation.
+func (c *Connector) waitingOnTTS() bool {
+	c.mu.Lock()
+	if !c.ttsPlaying {
+		c.mu.Unlock()
+		return false
+	}
+	elapsed := time.Since(c.ttsPlayingStart)
+	c.mu.Unlock()
+
+	stillSpeaking := tts.Busy()
+	if stillSpeaking && elapsed <= ttsTimeout {
+		return true
+	}
+
+	c.mu.Lock()
+	c.ttsPlaying = false
+	c.mu.Unlock()
+
+	if stillSpeaking && elapsed > ttsTimeout {
+		c.log.Warn("greeting_conversation: TTS playback timed out", zap.Duration("elapsed", elapsed))
+	}
+	return false
+}
+
+// publishCountdown publishes a PersonGreetingStatus carrying the seconds
+// remaining until the conversation is expected to finish.
+func (c *Connector) publishCountdown(state providers.ConversationState) {
+	var secondsUntilFinished int
+	switch state {
+	case providers.StateConversing:
+		secondsUntilFinished = 20
+	case providers.StateConcluding:
+		secondsUntilFinished = 10
+	default:
+		secondsUntilFinished = 0
+	}
+
+	c.mu.Lock()
+	sess := c.session
+	c.mu.Unlock()
+	if sess == nil {
+		return
+	}
+
+	requestID := uuid.New().String()
+	message, _ := json.Marshal(map[string]any{"seconds_until_finished": secondsUntilFinished})
+	payload := serializePersonGreetingStatus(requestID, statusConversation, string(message))
+
+	if err := sess.Put(personGreetingTopic, payload); err != nil {
+		c.log.Error("greeting_conversation: failed to publish PersonGreetingStatus", zap.Error(err))
+		return
+	}
+	c.log.Info("greeting_conversation: published PersonGreetingStatus", zap.ByteString("message", message))
+}
+
+// updateContextFinished publishes greeting_conversation_finished=true so the
+// ModeManager can fire its context-aware transition out of the conversation mode.
+func (c *Connector) updateContextFinished() {
+	providers.ModeContext().Publish(map[string]any{"greeting_conversation_finished": true})
+	c.log.Info("greeting_conversation: context greeting_conversation_finished=true")
+}
+
+func (c *Connector) currentStatus() providers.ConversationState {
+	c.mu.Lock()
+	defer c.mu.Unlock()
+	return c.greetingStatus
+}
+
+// stateString extracts current_state from a state-machine result, falling back
+// to the previous status when absent.
+func stateString(stateUpdate map[string]any, fallback providers.ConversationState) providers.ConversationState {
+	if s, ok := stateUpdate["current_state"].(string); ok && s != "" {
+		return providers.ConversationState(s)
+	}
+	return fallback
+}
diff --git a/plugins/actions/greeting_conversation/normalize.go b/plugins/actions/greeting_conversation/normalize.go
new file mode 100644
index 0000000000..0f62fdc213
--- /dev/null
+++ b/plugins/actions/greeting_conversation/normalize.go
@@ -0,0 +1,56 @@
+package greeting_conversation
+
+import "regexp"
+
+// Time patterns: "11:00 a.m." -> "11 a.m.", "3:30 p.m." -> "3 30 p.m."
+var (
+	timeOnHour      = regexp.MustCompile(`\b(\d{1,2}):00\b`)
+	timeWithMinutes = regexp.MustCompile(`\b(\d{1,2}):(\d{2})\b`)
+)
+
+// ttsCorrections expands abbreviations for cleaner TTS output.
+var ttsCorrections = []struct {
+	re   *regexp.Regexp
+	repl string
+}{
+	// Month abbreviations
+	{regexp.MustCompile(`\bJan\b`), "January"},
+	{regexp.MustCompile(`\bFeb\b`), "February"},
+	{regexp.MustCompile(`\bMar\b`), "March"},
+	{regexp.MustCompile(`\bApr\b`), "April"},
+	{regexp.MustCompile(`\bJun\b`), "June"},
+	{regexp.MustCompile(`\bJul\b`), "July"},
+	{regexp.MustCompile(`\bAug\b`), "August"},
+	{regexp.MustCompile(`\bSep(?:t)?\b`), "September"},
+	{regexp.MustCompile(`\bOct\b`), "October"},
+	{regexp.MustCompile(`\bNov\b`), "November"},
+	{regexp.MustCompile(`\bDec\b`), "December"},
+	// Address abbreviations
+	{regexp.MustCompile(`\bSt\b\.?`), "Street"},
+	{regexp.MustCompile(`\bAve\b\.?`), "Avenue"},
+	{regexp.MustCompile(`\bBlvd\b\.?`), "Boulevard"},
+	{regexp.MustCompile(`\bDr\b\.?`), "Drive"},
+	{regexp.MustCompile(`\bRd\b\.?`), "Road"},
+	{regexp.MustCompile(`\bLn\b\.?`), "Lane"},
+	{regexp.MustCompile(`\bCt\b\.?`), "Court"},
+	{regexp.MustCompile(`\bPl\b\.?`), "Place"},
+	{regexp.MustCompile(`\bPkwy\b\.?`), "Parkway"},
+	{regexp.MustCompile(`\bHwy\b\.?`), "Highway"},
+	// Directional abbreviations (capture the following token in place of a lookahead)
+	{regexp.MustCompile(`\bN\b\.?(\s+[A-Z])`), "North${1}"},
+	{regexp.MustCompile(`\bS\b\.?(\s+[A-Z])`), "South${1}"},
+	{regexp.MustCompile(`\bE\b\.?(\s+[A-Z])`), "East${1}"},
+	{regexp.MustCompile(`\bW\b\.?(\s+[A-Z])`), "West${1}"},
+}
+
+// normalizeTTSText applies regex corrections to expand common abbreviations in TTS text.
+func normalizeTTSText(text string) string {
+	text = timeOnHour.ReplaceAllString(text, "${1}")
+	text = timeWithMinutes.ReplaceAllString(text, "${1} ${2}")
+
+	for _, c := range ttsCorrections {
+		text = c.re.ReplaceAllString(text, c.repl)
+	}
+
+	return text
+}
diff --git a/plugins/actions/greeting_conversation/normalize_test.go b/plugins/actions/greeting_conversation/normalize_test.go
new file mode 100644
index 0000000000..3d26ec226c
--- /dev/null
+++ b/plugins/actions/greeting_conversation/normalize_test.go
@@ -0,0 +1,34 @@
+package greeting_conversation
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestNormalizeTTSTextTimes(t *testing.T) {
+	require.Equal(t, "Meet at 11 a.m.", normalizeTTSText("Meet at 11:00 a.m."), "on-the-hour times drop :00")
+	require.Equal(t, "Meet at 3 30 p.m.", normalizeTTSText("Meet at 3:30 p.m."), "minutes are spoken separately")
+}
+
+func TestNormalizeTTSTextAbbreviations(t *testing.T) {
+	cases := map[string]string{
+		"See you in Jan": "See you in January",
+		"123 Main St":    "123 Main Street",
+		"5 Park Ave":     "5 Park Avenue",
+		"Sunset Blvd":    "Sunset Boulevard",
+	}
+	for in, want := range cases {
+		t.Run(in, func(t *testing.T) {
+			require.Equal(t, want, normalizeTTSText(in))
+		})
+	}
+}
+
+func TestNormalizeTTSTextDirectional(t *testing.T) {
+	require.Equal(t, "Go to North Main", normalizeTTSText("Go to N Main"), "directional N before a capitalized word")
+}
+
+func TestNormalizeTTSTextNoChange(t *testing.T) {
+	require.Equal(t, "Hello there", normalizeTTSText("Hello there"))
+}
diff --git a/plugins/actions/greeting_conversation/status.go b/plugins/actions/greeting_conversation/status.go
new file mode 100644
index 0000000000..3e4c3d3f55
--- /dev/null
+++ b/plugins/actions/greeting_conversation/status.go
@@ -0,0 +1,52 @@
+package greeting_conversation
+
+import (
+	"time"
+
+	"github.com/openmind/om1/internal/zenoh"
+)
+
+// serializePersonGreetingStatus encodes a PersonGreetingStatus in CDR
+// little-endian format.
+//
+// Wire layout (absolute offsets from start of buffer):
+//
+//	[0]  CDR encapsulation header: 0x00 0x01 0x00 0x00
+//	[4]  stamp.sec        int32  LE  (data offset 0)
+//	[8]  stamp.nanosec    uint32 LE  (data offset 4)
+//	[12] header.frame_id  CDR string (data offset 8) + padding to 4-byte
+//	[..] request_id       length uint32 + bytes+NUL — NO padding (next is int8)
+//	[..] status           int8
+//	[..] padding to 4-byte data boundary (before message uint32 length)
+//	[..] message          length uint32 + bytes+NUL (last field, no padding)
+func serializePersonGreetingStatus(requestID string, status byte, message string) []byte {
+	now := time.Now()
+
+	buf := make([]byte, 0, 256)
+
+	buf = append(buf, 0x00, 0x01, 0x00, 0x00)
+	buf = zenoh.AppendInt32LE(buf, int32(now.Unix()))
+	buf = zenoh.AppendUint32LE(buf, uint32(now.Nanosecond()))
+	buf = zenoh.AppendCDRString(buf, requestID) // frame_id, padded
+
+	// request_id String: length uint32 + bytes (no padding — next field is int8)
+	reqBytes := append([]byte(requestID), 0x00)
+	buf = zenoh.AppendUint32LE(buf, uint32(len(reqBytes)))
+	buf = append(buf, reqBytes...)
+
+	// status: int8
+	buf = append(buf, status)
+
+	// padding to 4-byte data boundary (before message length uint32)
+	dataLen := len(buf) - 4
+	if pad := (4 - dataLen%4) % 4; pad > 0 {
+		buf = append(buf, make([]byte, pad)...)
+	}
+
+	// message String: length uint32 + bytes (last field, no padding)
+	msgBytes := append([]byte(message), 0x00)
+	buf = zenoh.AppendUint32LE(buf, uint32(len(msgBytes)))
+	buf = append(buf, msgBytes...)
+
+	return buf
+}
diff --git a/plugins/actions/greeting_conversation/status_test.go b/plugins/actions/greeting_conversation/status_test.go
new file mode 100644
index 0000000000..4e96d782a0
--- /dev/null
+++ b/plugins/actions/greeting_conversation/status_test.go
@@ -0,0 +1,36 @@
+package greeting_conversation
+
+import (
+	"encoding/binary"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestSerializePersonGreetingStatusHeader(t *testing.T) {
+	buf := serializePersonGreetingStatus("req-1", 2, "ok")
+
+	// CDR encapsulation header.
+	require.Equal(t, []byte{0x00, 0x01, 0x00, 0x00}, buf[:4])
+
+	// stamp.sec / stamp.nanosec occupy the next 8 bytes; just assert they're present.
+	require.Greater(t, len(buf), 12)
+
+	// frame_id is the request_id as a padded CDR string at data offset 0 (buf[12]).
+	frameLen := binary.LittleEndian.Uint32(buf[12:16])
+	require.Equal(t, uint32(len("req-1")+1), frameLen, "frame_id length includes the null terminator")
+}
+
+func TestSerializePersonGreetingStatusContainsFields(t *testing.T) {
+	buf := serializePersonGreetingStatus("abc", 1, "hello")
+	require.Contains(t, string(buf), "abc", "request id is encoded")
+	require.Contains(t, string(buf), "hello", "message is encoded")
+}
+
+func TestSerializePersonGreetingStatusDeterministicLength(t *testing.T) {
+	// Same inputs (modulo the embedded timestamp, which doesn't change length)
+	// must yield the same buffer length.
+	a := serializePersonGreetingStatus("id", 0, "msg")
+	b := serializePersonGreetingStatus("id", 0, "msg")
+	require.Equal(t, len(a), len(b))
+}
diff --git a/plugins/actions/speak/elevenlabs_people_tts.go b/plugins/actions/speak/elevenlabs_people_tts.go
new file mode 100644
index 0000000000..269ba5d8a4
--- /dev/null
+++ b/plugins/actions/speak/elevenlabs_people_tts.go
@@ -0,0 +1,122 @@
+package speak
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"regexp"
+	"strings"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+func init() {
+	actions.Register("speak/elevenlabs_people_tts", NewElevenLabsPeopleTTS)
+}
+
+const facePresenceIOKey = "FacePresence"
+
+// closestPersonRe extracts the closest person's name from a FacePresence input
+var closestPersonRe = regexp.MustCompile(`Closest:\s*(\w+)`)
+
+// ElevenLabsPeopleConnector is an extension of ElevenLabsConnector
+// that selects the voice based on the closest person in view
+type ElevenLabsPeopleConnector struct {
+	*ElevenLabsConnector
+
+	defaultVoiceID string
+	voiceIDs       map[string]string
+}
+
+// NewElevenLabsPeopleTTS creates a new ElevenLabsPeopleConnector with the provided configuration.
+func NewElevenLabsPeopleTTS(configMap map[string]any) (actions.Connector, error) {
+	base, err := NewElevenLabsTTS(configMap)
+	if err != nil {
+		return nil, err
+	}
+	baseConn, ok := base.(*ElevenLabsConnector)
+	if !ok {
+		return nil, fmt.Errorf("speak/elevenlabs_people_tts: unexpected base connector type %T", base)
+	}
+
+	var cfg struct {
+		VoiceID  string            `json:"voice_id"`
+		VoiceIDs map[string]string `json:"voice_ids"`
+	}
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.VoiceID == "" {
+		cfg.VoiceID = tts.DefaultVoiceID
+	}
+
+	return &ElevenLabsPeopleConnector{
+		ElevenLabsConnector: baseConn,
+		defaultVoiceID:      cfg.VoiceID,
+		voiceIDs:            cfg.VoiceIDs,
+	}, nil
+}
+
+// Connect implements the Connector interface. It extracts the text to speak from the input,
+// determines the appropriate voice based on the closest person in view, and enqueues the text
+// for speech synthesis with ElevenLabs.
+func (e *ElevenLabsPeopleConnector) Connect(_ context.Context, input actions.Input) (actions.Output, error) {
+	arguments, ok := input.(map[string]any)
+	if !ok {
+		return nil, fmt.Errorf("speak/elevenlabs_people_tts: unexpected input type %T", input)
+	}
+	text, _ := arguments["action"].(string)
+	if text == "" {
+		return nil, nil
+	}
+
+	e.silenceMu.Lock()
+	if e.silenceRate > 0 && e.silenceCounter < e.silenceRate {
+		e.silenceCounter++
+		e.silenceMu.Unlock()
+		e.log.Info("speak/elevenlabs_people_tts: skipping (silence_rate)", zap.Int("counter", e.silenceCounter))
+		return nil, nil
+	}
+	e.silenceCounter = 0
+	e.silenceMu.Unlock()
+
+	voiceID := e.resolveVoiceID()
+	e.log.Info("speak/elevenlabs_people_tts: enqueueing text",
+		zap.String("text", text),
+		zap.String("voice_id", voiceID),
+	)
+	e.elevenlabs.AddTextWithVoice(text, voiceID)
+
+	return nil, nil
+}
+
+// resolveVoiceID determines which voice ID to use based on the closest person detected by the FacePresence sensor.
+func (e *ElevenLabsPeopleConnector) resolveVoiceID() string {
+	io := providers.IO()
+
+	peopleName := ""
+	if in := io.GetInput(facePresenceIOKey); in != nil && in.Input != "" && in.Tick == io.TickCounter() {
+		if m := closestPersonRe.FindStringSubmatch(in.Input); m != nil {
+			name := strings.TrimSpace(m[1])
+			if !strings.EqualFold(name, "unknown") {
+				peopleName = name
+			}
+		}
+	}
+
+	if peopleName != "" && e.voiceIDs != nil {
+		if voiceID, ok := e.voiceIDs[peopleName]; ok {
+			e.log.Info("speak/elevenlabs_people_tts: matched person voice",
+				zap.String("people", peopleName),
+				zap.String("voice_id", voiceID),
+			)
+			return voiceID
+		}
+	}
+
+	return e.defaultVoiceID
+}
diff --git a/plugins/actions/speak/elevenlabs_tts.go b/plugins/actions/speak/elevenlabs_tts.go
new file mode 100644
index 0000000000..94bd78a790
--- /dev/null
+++ b/plugins/actions/speak/elevenlabs_tts.go
@@ -0,0 +1,133 @@
+package speak
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"strconv"
+	"strings"
+	"sync"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+type SpeakInput struct {
+	Action string `json:"action" description:"The text to be spoken"`
+}
+
+func init() {
+	actions.RegisterInterface(
+		"speak",
+		"Action interface for text-to-speech output. Makes the robot speak the provided text.",
+		SpeakInput{},
+	)
+	actions.Register("speak/elevenlabs_tts", NewElevenLabsTTS)
+}
+
+type ElevenLabsConfig struct {
+	APIKey           string `json:"api_key"`
+	ElevenLabsAPIKey string `json:"elevenlabs_api_key"`
+	VoiceID          string `json:"voice_id"`
+	ModelID          string `json:"model_id"`
+	OutputFormat     string `json:"output_format"`
+	Rate             int    `json:"rate"`
+	SilenceRate      int    `json:"silence_rate"`
+}
+
+type ElevenLabsConnector struct {
+	elevenlabs *tts.ElevenLabsProvider
+	log        *zap.Logger
+
+	silenceMu      sync.Mutex
+	silenceCounter int
+	silenceRate    int
+}
+
+// NewElevenLabsTTS creates a new ElevenLabsConnector with the provided configuration.
+func NewElevenLabsTTS(configMap map[string]any) (actions.Connector, error) {
+	var cfg ElevenLabsConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.APIKey == "" {
+		return nil, fmt.Errorf("speak/elevenlabs_tts: api_key required")
+	}
+	if cfg.VoiceID == "" {
+		cfg.VoiceID = tts.DefaultVoiceID
+	}
+	if cfg.ModelID == "" {
+		cfg.ModelID = tts.DefaultModelID
+	}
+	if cfg.OutputFormat == "" {
+		cfg.OutputFormat = tts.DefaultOutputFormat
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = rateFromFormat(cfg.OutputFormat)
+	}
+
+	log := logger.Get()
+	elevenlabs := tts.ElevenLabs(tts.ElevenLabsConfig{
+		APIKey:           cfg.APIKey,
+		ElevenLabsAPIKey: cfg.ElevenLabsAPIKey,
+		VoiceID:          cfg.VoiceID,
+		ModelID:          cfg.ModelID,
+		OutputFormat:     cfg.OutputFormat,
+		Rate:             cfg.Rate,
+	}, log)
+
+	return &ElevenLabsConnector{
+		elevenlabs:  elevenlabs,
+		log:         log,
+		silenceRate: cfg.SilenceRate,
+	}, nil
+}
+
+// rateFromFormat extracts the sample rate from strings like "pcm_16000".
+func rateFromFormat(format string) int {
+	parts := strings.Split(format, "_")
+	if len(parts) >= 2 {
+		if r, err := strconv.Atoi(parts[len(parts)-1]); err == nil {
+			return r
+		}
+	}
+	return tts.DefaultRate
+}
+
+// Connect enqueues the spoken text without blocking the action pipeline.
+func (e *ElevenLabsConnector) Connect(_ context.Context, input actions.Input) (actions.Output, error) {
+	arguments, ok := input.(map[string]any)
+	if !ok {
+		return nil, fmt.Errorf("speak/elevenlabs_tts: unexpected input type %T", input)
+	}
+	text, _ := arguments["action"].(string)
+	if text == "" {
+		return nil, nil
+	}
+
+	e.silenceMu.Lock()
+	if e.silenceRate > 0 && e.silenceCounter < e.silenceRate {
+		e.silenceCounter++
+		e.silenceMu.Unlock()
+		e.log.Info("speak/elevenlabs_tts: skipping (silence_rate)", zap.Int("counter", e.silenceCounter))
+		return nil, nil
+	}
+	e.silenceCounter = 0
+	e.silenceMu.Unlock()
+
+	e.log.Info("speak/elevenlabs_tts: enqueueing text", zap.String("text", text))
+	e.elevenlabs.AddText(text)
+
+	return nil, nil
+}
+
+// Tick is a no-op since this connector is event-driven.
+func (e *ElevenLabsConnector) Tick(ctx context.Context) {
+	<-ctx.Done()
+}
+
+// Stop is a no-op since the ElevenLabs provider manages its own resources.
+func (e *ElevenLabsConnector) Stop() {}
diff --git a/plugins/actions/speak/elevenlabs_tts_test.go b/plugins/actions/speak/elevenlabs_tts_test.go
new file mode 100644
index 0000000000..bedabb4112
--- /dev/null
+++ b/plugins/actions/speak/elevenlabs_tts_test.go
@@ -0,0 +1,59 @@
+package speak
+
+import (
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+func TestRateFromFormat(t *testing.T) {
+	require.Equal(t, 44100, rateFromFormat("pcm_44100"))
+	require.Equal(t, 22050, rateFromFormat("mp3_44100_22050"), "takes the trailing numeric segment")
+	require.Equal(t, tts.DefaultRate, rateFromFormat("pcm"), "no numeric suffix → default rate")
+	require.Equal(t, tts.DefaultRate, rateFromFormat("pcm_abc"), "non-numeric suffix → default rate")
+}
+
+func newPeopleConnector(defaultVoice string, voiceIDs map[string]string) *ElevenLabsPeopleConnector {
+	return &ElevenLabsPeopleConnector{
+		ElevenLabsConnector: &ElevenLabsConnector{log: zap.NewNop()},
+		defaultVoiceID:      defaultVoice,
+		voiceIDs:            voiceIDs,
+	}
+}
+
+func TestResolveVoiceIDDefaultWhenNoPerson(t *testing.T) {
+	io := providers.IO()
+	io.ResetTickCounter()
+	io.RemoveInput(facePresenceIOKey)
+	t.Cleanup(func() { io.RemoveInput(facePresenceIOKey); io.ResetTickCounter() })
+
+	c := newPeopleConnector("default-voice", map[string]string{"alice": "voice-a"})
+	require.Equal(t, "default-voice", c.resolveVoiceID(), "no FacePresence input → default voice")
+}
+
+func TestResolveVoiceIDMatchesPerson(t *testing.T) {
+	io := providers.IO()
+	io.ResetTickCounter()
+	io.IncrementTick()
+	io.AddInput(facePresenceIOKey, "In Camera View: 1 known (alice). Closest: alice.", time.Now())
+	t.Cleanup(func() { io.RemoveInput(facePresenceIOKey); io.ResetTickCounter() })
+
+	c := newPeopleConnector("default-voice", map[string]string{"alice": "voice-a"})
+	require.Equal(t, "voice-a", c.resolveVoiceID(), "the closest known person's voice is selected")
+}
+
+func TestResolveVoiceIDUnknownPersonFallsBack(t *testing.T) {
+	io := providers.IO()
+	io.ResetTickCounter()
+	io.IncrementTick()
+	io.AddInput(facePresenceIOKey, "Closest: unknown.", time.Now())
+	t.Cleanup(func() { io.RemoveInput(facePresenceIOKey); io.ResetTickCounter() })
+
+	c := newPeopleConnector("default-voice", map[string]string{"alice": "voice-a"})
+	require.Equal(t, "default-voice", c.resolveVoiceID(), "an unknown closest person uses the default voice")
+}
diff --git a/plugins/actions/speak/kokoro_tts.go b/plugins/actions/speak/kokoro_tts.go
new file mode 100644
index 0000000000..f5c9ce84e1
--- /dev/null
+++ b/plugins/actions/speak/kokoro_tts.go
@@ -0,0 +1,114 @@
+package speak
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"sync"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+func init() {
+	actions.Register("speak/kokoro_tts", NewKokoroTTS)
+}
+
+// KokoroConfig is the JSON configuration for the Kokoro TTS connector.
+type KokoroConfig struct {
+	APIKey       string `json:"api_key"`
+	BaseURL      string `json:"base_url"`
+	VoiceID      string `json:"voice_id"`
+	ModelID      string `json:"model_id"`
+	OutputFormat string `json:"output_format"`
+	Rate         int    `json:"rate"`
+	SilenceRate  int    `json:"silence_rate"`
+}
+
+// KokoroConnector is a "speak" connector that streams Text-to-Speech audio from a
+// Kokoro (OpenAI-compatible) TTS endpoint.
+type KokoroConnector struct {
+	kokoro *tts.KokoroProvider
+	log    *zap.Logger
+
+	silenceMu      sync.Mutex
+	silenceCounter int
+	silenceRate    int
+}
+
+// NewKokoroTTS creates a new KokoroConnector with the provided configuration.
+func NewKokoroTTS(configMap map[string]any) (actions.Connector, error) {
+	var cfg KokoroConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.BaseURL == "" {
+		cfg.BaseURL = tts.DefaultKokoroBaseURL
+	}
+	if cfg.VoiceID == "" {
+		cfg.VoiceID = tts.DefaultKokoroVoiceID
+	}
+	if cfg.ModelID == "" {
+		cfg.ModelID = tts.DefaultKokoroModelID
+	}
+	if cfg.OutputFormat == "" {
+		cfg.OutputFormat = tts.DefaultKokoroOutputFormat
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = tts.DefaultKokoroRate
+	}
+
+	log := logger.Get()
+	kokoro := tts.Kokoro(tts.KokoroConfig{
+		BaseURL:      cfg.BaseURL,
+		APIKey:       cfg.APIKey,
+		VoiceID:      cfg.VoiceID,
+		ModelID:      cfg.ModelID,
+		OutputFormat: cfg.OutputFormat,
+		Rate:         cfg.Rate,
+	}, log)
+
+	return &KokoroConnector{
+		kokoro:      kokoro,
+		log:         log,
+		silenceRate: cfg.SilenceRate,
+	}, nil
+}
+
+// Connect enqueues the spoken text without blocking the action pipeline.
+func (k *KokoroConnector) Connect(_ context.Context, input actions.Input) (actions.Output, error) {
+	arguments, ok := input.(map[string]any)
+	if !ok {
+		return nil, fmt.Errorf("speak/kokoro_tts: unexpected input type %T", input)
+	}
+	text, _ := arguments["action"].(string)
+	if text == "" {
+		return nil, nil
+	}
+
+	k.silenceMu.Lock()
+	if k.silenceRate > 0 && k.silenceCounter < k.silenceRate {
+		k.silenceCounter++
+		k.silenceMu.Unlock()
+		k.log.Info("speak/kokoro_tts: skipping (silence_rate)", zap.Int("counter", k.silenceCounter))
+		return nil, nil
+	}
+	k.silenceCounter = 0
+	k.silenceMu.Unlock()
+
+	k.log.Info("speak/kokoro_tts: enqueueing text", zap.String("text", text))
+	k.kokoro.AddText(text)
+
+	return nil, nil
+}
+
+// Tick is a no-op since this connector is event-driven.
+func (k *KokoroConnector) Tick(ctx context.Context) {
+	<-ctx.Done()
+}
+
+// Stop is a no-op since the Kokoro provider manages its own resources.
+func (k *KokoroConnector) Stop() {}
diff --git a/plugins/backgrounds/approaching_person.go b/plugins/backgrounds/approaching_person.go
new file mode 100644
index 0000000000..c8e813f3c7
--- /dev/null
+++ b/plugins/backgrounds/approaching_person.go
@@ -0,0 +1,210 @@
+package backgrounds
+
+import (
+	"context"
+	"encoding/binary"
+	"fmt"
+	"sync"
+	"time"
+
+	"github.com/google/uuid"
+	"go.uber.org/zap"
+
+	bg "github.com/openmind/om1/internal/backgrounds"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/util"
+	zenohsession "github.com/openmind/om1/internal/zenoh"
+)
+
+const (
+	personGreetingTopic = "om/person_greeting"
+
+	personStatusApproaching  = int8(0)
+	personStatusApproached   = int8(1)
+	personStatusSwitch       = int8(2)
+	personStatusConversation = int8(3)
+
+	approachingPollInterval = 5 * time.Second
+)
+
+func init() {
+	bg.Register("ApproachingPerson", NewApproachingPerson)
+}
+
+// ApproachingPerson is a background task that monitors for approaching people via
+// Zenoh messages and updates the mode context accordingly.
+type ApproachingPerson struct {
+	log      *zap.Logger
+	session  *zenohsession.Session
+	sub      *zenohsession.Subscriber
+	greeting *providers.GreetingConversationStateMachineProvider
+
+	mu                 sync.Mutex
+	isPersonApproached bool
+}
+
+// NewApproachingPerson constructs the ApproachingPerson background task and
+// subscribes to the person-greeting topic.
+func NewApproachingPerson(configMap map[string]any) (bg.Background, error) {
+	log := logger.Get()
+
+	a := &ApproachingPerson{log: log, greeting: providers.Greeting()}
+
+	sess, err := zenohsession.Open()
+	if err != nil {
+		log.Error("ApproachingPerson: zenoh unavailable", zap.Error(err))
+		return a, nil
+	}
+	a.session = sess
+
+	sub, err := sess.DeclareSubscriber(personGreetingTopic, a.onPersonGreeting)
+	if err != nil {
+		log.Error("ApproachingPerson: failed to declare subscriber", zap.Error(err))
+	} else {
+		a.sub = sub
+	}
+
+	log.Info("ApproachingPerson background task initialized.")
+	return a, nil
+}
+
+// onPersonGreeting is called when a message is received on the person-greeting topic.
+func (a *ApproachingPerson) onPersonGreeting(data []byte) {
+	status, err := deserializePersonGreetingStatus(data)
+	if err != nil {
+		a.log.Error("ApproachingPerson: failed to deserialize status", zap.Error(err))
+		return
+	}
+
+	if status != personStatusApproached {
+		return
+	}
+
+	a.mu.Lock()
+	defer a.mu.Unlock()
+
+	a.log.Info("Person is approaching. Triggering greeting mode.")
+	a.isPersonApproached = true
+
+	providers.ModeContext().Publish(map[string]any{"approaching_detected": true})
+
+	a.greeting.ResetState(providers.StateEngaging)
+}
+
+// Run performs one iteration of the task: it emits a SWITCH status unless a
+// person has already been approached, then waits approachingPollInterval.
+func (a *ApproachingPerson) Run(ctx context.Context) {
+	a.mu.Lock()
+	approached := a.isPersonApproached
+	a.mu.Unlock()
+
+	if approached {
+		a.log.Debug("Skipping SWITCH status - person already approached.")
+		util.Sleep(ctx, approachingPollInterval)
+		return
+	}
+
+	if a.session == nil {
+		a.log.Warn("No Zenoh session available in ApproachingPerson.")
+		util.Sleep(ctx, approachingPollInterval)
+		return
+	}
+
+	requestID := uuid.New().String()
+	payload := serializePersonGreetingStatus(requestID, personStatusSwitch, "Switching to next person")
+	if err := a.session.Put(personGreetingTopic, payload); err != nil {
+		a.log.Error("ApproachingPerson: failed to publish SWITCH status", zap.Error(err))
+	}
+
+	util.Sleep(ctx, approachingPollInterval)
+}
+
+// Stop releases the zenoh subscriber and session.
+func (a *ApproachingPerson) Stop() {
+	a.log.Info("Stopping ApproachingPerson background task.")
+	if a.sub != nil {
+		a.sub.Drop()
+		a.sub = nil
+	}
+	if a.session != nil {
+		a.session.Close()
+		a.session = nil
+	}
+}
+
+// serializePersonGreetingStatus encodes a PersonGreetingStatus in CDR
+// little-endian format.
+//
+// Wire layout (absolute offsets from start of buffer):
+//
+//	[0]  CDR encapsulation header: 0x00 0x01 0x00 0x00
+//	[4]  stamp.sec        int32  LE  (data offset 0)
+//	[8]  stamp.nanosec    uint32 LE  (data offset 4)
+//	[12] header.frame_id  CDR string (data offset 8) + padding to 4-byte
+//	[..] request_id       length uint32 + bytes+NUL — NO padding (next is int8)
+//	[..] status           int8
+//	[..] padding to 4-byte data boundary (before message uint32 length)
+//	[..] message          length uint32 + bytes+NUL (last field, no padding)
+func serializePersonGreetingStatus(requestID string, status int8, message string) []byte {
+	now := time.Now()
+
+	buf := make([]byte, 0, 200)
+
+	buf = append(buf, 0x00, 0x01, 0x00, 0x00)
+	buf = zenohsession.AppendInt32LE(buf, int32(now.Unix()))
+	buf = zenohsession.AppendUint32LE(buf, uint32(now.Nanosecond()))
+	buf = zenohsession.AppendCDRString(buf, requestID) // frame_id, padded
+
+	reqBytes := append([]byte(requestID), 0x00)
+	buf = zenohsession.AppendUint32LE(buf, uint32(len(reqBytes)))
+	buf = append(buf, reqBytes...)
+
+	buf = append(buf, byte(status))
+
+	dataLen := len(buf) - 4
+	if pad := (4 - dataLen%4) % 4; pad > 0 {
+		buf = append(buf, make([]byte, pad)...)
+	}
+
+	msgBytes := append([]byte(message), 0x00)
+	buf = zenohsession.AppendUint32LE(buf, uint32(len(msgBytes)))
+	buf = append(buf, msgBytes...)
+
+	return buf
+}
+
+// deserializePersonGreetingStatus extracts the status field from a CDR-encoded
+// PersonGreetingStatus payload.
+func deserializePersonGreetingStatus(data []byte) (int8, error) {
+	if len(data) < 16 {
+		return 0, fmt.Errorf("ApproachingPerson: payload too short")
+	}
+
+	pos := 4 // skip CDR header
+	pos += 4 // stamp.sec
+	pos += 4 // stamp.nanosec
+
+	// frame_id: length uint32 + bytes + padding to 4-byte data boundary
+	if pos+4 > len(data) {
+		return 0, fmt.Errorf("ApproachingPerson: truncated at frame_id length")
+	}
+	frameIDLen := int(binary.LittleEndian.Uint32(data[pos:]))
+	pos += 4 + frameIDLen
+	if dataOff := pos - 4; (4-dataOff%4)%4 > 0 {
+		pos += (4 - dataOff%4) % 4
+	}
+
+	// request_id: length uint32 + bytes (no padding — next field is int8)
+	if pos+4 > len(data) {
+		return 0, fmt.Errorf("ApproachingPerson: truncated at request_id length")
+	}
+	reqIDLen := int(binary.LittleEndian.Uint32(data[pos:]))
+	pos += 4 + reqIDLen
+
+	// status: int8
+	if pos >= len(data) {
+		return 0, fmt.Errorf("ApproachingPerson: truncated at status")
+	}
+	return int8(data[pos]), nil
+}
diff --git a/plugins/backgrounds/approaching_person_test.go b/plugins/backgrounds/approaching_person_test.go
new file mode 100644
index 0000000000..53502c56c9
--- /dev/null
+++ b/plugins/backgrounds/approaching_person_test.go
@@ -0,0 +1,40 @@
+package backgrounds
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestPersonGreetingStatusRoundTrip(t *testing.T) {
+	cases := []struct {
+		name      string
+		requestID string
+		status    int8
+		message   string
+	}{
+		{"simple", "req-1", 2, "greeting"},
+		{"empty strings", "", 0, ""},
+		{"max status", "abc123", 127, "done"},
+		{"long ids", "request-id-with-some-length", 5, "a longer status message here"},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			buf := serializePersonGreetingStatus(tc.requestID, tc.status, tc.message)
+			got, err := deserializePersonGreetingStatus(buf)
+			require.NoError(t, err)
+			require.Equal(t, tc.status, got, "status survives a serialize/deserialize round trip")
+		})
+	}
+}
+
+func TestDeserializePersonGreetingStatusTooShort(t *testing.T) {
+	_, err := deserializePersonGreetingStatus([]byte{0x00, 0x01, 0x00, 0x00})
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "too short")
+}
+
+func TestDeserializePersonGreetingStatusTruncated(t *testing.T) {
+	_, err := deserializePersonGreetingStatus(make([]byte, 16))
+	require.Error(t, err, "a buffer that ends mid-field is rejected")
+}
diff --git a/plugins/inputs/asr/asr_common.go b/plugins/inputs/asr/asr_common.go
new file mode 100644
index 0000000000..7dcffb8145
--- /dev/null
+++ b/plugins/inputs/asr/asr_common.go
@@ -0,0 +1,342 @@
+package asr
+
+import (
+	"context"
+	"fmt"
+	"regexp"
+	"strings"
+	"sync"
+	"time"
+	"unicode/utf8"
+
+	"github.com/google/uuid"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+	zenohsession "github.com/openmind/om1/internal/zenoh"
+)
+
+// cjkRegex matches CJK characters (Chinese, Japanese kana, Hangul), which use a
+// shorter minimum-length threshold for accepting a transcript.
+var cjkRegex = regexp.MustCompile(`[\x{4e00}-\x{9fff}\x{3040}-\x{30ff}\x{ac00}-\x{d7af}]`)
+
+const asrZenohTopic = "om/asr/text"
+
+const defaultASRCooldown = 1 * time.Second
+
+// acceptASRTranscript reports whether a transcript is long enough to keep.
+func acceptASRTranscript(text string) bool {
+	if cjkRegex.MatchString(text) {
+		return utf8.RuneCountInString(text) > 2
+	}
+	return len(strings.Fields(text)) > 2
+}
+
+// ASRMessage is a transcript/status message received from the ASR websocket.
+type ASRMessage struct {
+	Type     string `json:"type"`
+	ASRReply string `json:"asr_reply"`
+	Time     int64  `json:"time"`
+}
+
+// asrMessageParser handles one decoded ASR message under the stream's mu and
+// returns the transcript to deliver ("" if none).
+type asrMessageParser func(s *transcriberStream, msg ASRMessage) string
+
+// asrCommonConfig holds the vendor-resolved configuration for a transcriberStream.
+type asrCommonConfig struct {
+	Name               string
+	Provider           string
+	APIVersion         string
+	WSURL              string
+	Rate               int
+	Language           string
+	LanguageCode       string
+	AltCodes           []string
+	EnableTTSInterrupt bool
+	ParseMessage       asrMessageParser
+}
+
+// asrCommon couples the sensor core with a single vendor stream.
+type asrCommon struct {
+	*asrSensorCore
+	stream *transcriberStream
+}
+
+// asrSensorCore holds the parts shared by every ASR sensor: the transcript channel
+// read by the cortex loop, the utterance buffer, lifecycle state, and the zenoh broadcast.
+type asrSensorCore struct {
+	name string
+	log  *zap.Logger
+
+	enableTTSInterrupt bool
+
+	transcriptCh chan string
+
+	messages []string
+
+	cooldown    time.Duration
+	lastDeliver time.Time
+
+	mu          sync.Mutex
+	stopped     bool
+	captureDone chan struct{}
+
+	zenohSession   *zenohsession.Session
+	zenohPublisher *zenohsession.Publisher
+}
+
+// resolveCooldown returns the effective cooldown duration based on the config.
+func resolveCooldown(enableTTSInterrupt bool, cooldown time.Duration) time.Duration {
+	if enableTTSInterrupt {
+		return 0
+	}
+	return cooldown
+}
+
+// newSensorCore builds the sensor core, initializing the zenoh publisher if possible.
+func newSensorCore(name string, enableTTSInterrupt bool, cooldown time.Duration) *asrSensorCore {
+	log := logger.Get()
+
+	a := &asrSensorCore{
+		name:               name,
+		log:                log,
+		enableTTSInterrupt: enableTTSInterrupt,
+		cooldown:           resolveCooldown(enableTTSInterrupt, cooldown),
+		transcriptCh:       make(chan string, 32),
+	}
+
+	sess, err := zenohsession.Open()
+	if err != nil {
+		log.Warn(name+": zenoh unavailable, ASR broadcast disabled", zap.Error(err))
+		return a
+	}
+	pub, err := sess.DeclarePublisher(asrZenohTopic)
+	if err != nil {
+		sess.Close()
+		log.Warn(name+": failed to declare zenoh publisher, ASR broadcast disabled", zap.Error(err))
+		return a
+	}
+	a.zenohSession = sess
+	a.zenohPublisher = pub
+	log.Info(name+": zenoh publisher initialized", zap.String("topic", asrZenohTopic))
+
+	return a
+}
+
+// pushTranscript accepts a transcript, pushing it onto the channel for the cortex loop.
+func (a *asrSensorCore) pushTranscript(text string) {
+	a.mu.Lock()
+	defer a.mu.Unlock()
+
+	if a.stopped {
+		return
+	}
+
+	if a.cooldown > 0 && !a.lastDeliver.IsZero() && time.Since(a.lastDeliver) < a.cooldown {
+		a.log.Info(a.name+": ignoring follow-up transcript within cooldown", zap.String("text", text))
+		return
+	}
+	a.lastDeliver = time.Now()
+
+	a.log.Info(a.name+": transcript accepted", zap.String("text", text))
+
+	if a.enableTTSInterrupt && tts.Speaking.Load() {
+		tts.RequestInterrupt()
+		a.log.Info(a.name + ": interrupting TTS due to detected speech")
+	}
+
+	select {
+	case a.transcriptCh <- text:
+	default:
+		a.log.Warn(a.name+": transcript buffer full, dropping", zap.String("text", text))
+	}
+}
+
+// deliver is the default onTranscript handler for a single-provider stream: it
+// ignores the provider label and forwards every accepted transcript.
+func (a *asrSensorCore) deliver(_ string, text string) {
+	a.pushTranscript(text)
+}
+
+// Poll returns the next accepted transcript, blocking until one is available or
+// ctx is cancelled.
+func (a *asrSensorCore) Poll(ctx context.Context) (any, error) {
+	select {
+	case text, ok := <-a.transcriptCh:
+		if !ok {
+			return nil, context.Canceled
+		}
+		return text, nil
+	case <-ctx.Done():
+		return nil, ctx.Err()
+	}
+}
+
+// pollLoop forwards transcripts from Poll onto out until ctx is cancelled or the
+// transcript channel closes.
+func (a *asrSensorCore) pollLoop(ctx context.Context, out chan any) {
+	for {
+		raw, err := a.Poll(ctx)
+		if err != nil {
+			return
+		}
+		select {
+		case out <- raw:
+		case <-ctx.Done():
+			return
+		}
+	}
+}
+
+// RawToText appends an accepted transcript to the current utterance buffer.
+func (a *asrSensorCore) RawToText(_ context.Context, raw any) (*inputs.Message, error) {
+	text, ok := raw.(string)
+	if !ok || text == "" {
+		return nil, nil
+	}
+
+	a.mu.Lock()
+	defer a.mu.Unlock()
+
+	if len(a.messages) == 0 {
+		a.messages = append(a.messages, text)
+	} else {
+		a.messages[len(a.messages)-1] = a.messages[len(a.messages)-1] + " " + text
+	}
+
+	return inputs.NewMessage(text), nil
+}
+
+// TriggersTick reports that ASR input wakes the cortex loop.
+func (a *asrSensorCore) TriggersTick() bool { return true }
+
+// FormattedLatestBuffer returns the buffered utterance as a Voice block, records
+// it on the IO provider, broadcasts it over zenoh, and clears the buffer.
+func (a *asrSensorCore) FormattedLatestBuffer() string {
+	a.mu.Lock()
+	defer a.mu.Unlock()
+
+	if len(a.messages) == 0 {
+		return ""
+	}
+
+	latest := a.messages[len(a.messages)-1]
+	result := fmt.Sprintf("\nVoice: %q\n", latest)
+
+	a.log.Info(a.name+": flushing buffer", zap.String("text", latest))
+	a.messages = nil
+
+	providers.IO().AddInput("Voice", latest, time.Time{})
+
+	if a.zenohPublisher != nil {
+		payload := serializeASRText(latest)
+		if err := a.zenohPublisher.Put(payload); err != nil {
+			a.log.Warn(a.name+": zenoh publish failed", zap.Error(err))
+		} else {
+			a.log.Info(a.name+": published ASR to zenoh", zap.String("text", latest))
+		}
+	}
+
+	return result
+}
+
+// markStopped flips the stopped flag exactly once. It returns whether this call
+// was the first to stop the sensor and a snapshot of captureDone to wait on.
+func (a *asrSensorCore) markStopped() (firstStop bool, captureDone chan struct{}) {
+	a.mu.Lock()
+	defer a.mu.Unlock()
+	if a.stopped {
+		return false, nil
+	}
+	a.stopped = true
+	return true, a.captureDone
+}
+
+// waitCapture waits up to 5s for the capture loop to finish.
+func (a *asrSensorCore) waitCapture(captureDone chan struct{}) {
+	if captureDone == nil {
+		return
+	}
+	select {
+	case <-captureDone:
+	case <-time.After(5 * time.Second):
+		a.log.Warn(a.name + ": capture loop did not stop within timeout")
+	}
+}
+
+// closeZenoh drops the zenoh publisher and closes the session.
+func (a *asrSensorCore) closeZenoh() {
+	if a.zenohPublisher != nil {
+		a.zenohPublisher.Drop()
+		a.zenohPublisher = nil
+		a.log.Info(a.name + ": zenoh publisher dropped")
+	}
+	if a.zenohSession != nil {
+		a.zenohSession.Close()
+		a.zenohSession = nil
+		a.log.Info(a.name + ": zenoh session closed")
+	}
+}
+
+// newASRCommon constructs an asrCommon from a vendor-resolved config, building the
+// sensor core (with zenoh publisher) and the single websocket stream.
+func newASRCommon(cfg asrCommonConfig) *asrCommon {
+	agg := newSensorCore(cfg.Name, cfg.EnableTTSInterrupt, defaultASRCooldown)
+	agg.log.Info(cfg.Name+": initializing",
+		zap.String("provider", cfg.Provider),
+		zap.String("language", cfg.Language),
+		zap.String("language_code", cfg.LanguageCode),
+		zap.String("api_version", cfg.APIVersion),
+		zap.Int("rate", cfg.Rate),
+		zap.Bool("enable_tts_interrupt", cfg.EnableTTSInterrupt),
+	)
+
+	stream := newTranscriberStream(cfg, agg.log, agg.deliver)
+
+	return &asrCommon{asrSensorCore: agg, stream: stream}
+}
+
+// connect dials the single stream's ASR websocket.
+func (c *asrCommon) connect() error { return c.stream.connect() }
+
+// sendChunk forwards a PCM chunk to the single stream's websocket.
+func (c *asrCommon) sendChunk(pcm []byte) { c.stream.sendChunk(pcm) }
+
+// statsLoop logs the single stream's send statistics until ctx is cancelled.
+func (c *asrCommon) statsLoop(ctx context.Context) { c.stream.statsLoop(ctx) }
+
+// closeWS closes the single stream's websocket client.
+func (c *asrCommon) closeWS() { c.stream.closeWS() }
+
+// serializeASRText encodes an ASRText message in CDR little-endian format.
+//
+// Wire layout (offsets from start of buffer):
+//
+//	[0]   CDR encapsulation header: 0x00 0x01 0x00 0x00
+//	[4]   stamp.sec:    int32 LE   (data offset 0)
+//	[8]   stamp.nanosec: uint32 LE (data offset 4)
+//	[12]  frame_id:     CDR string (uint32 length + bytes + null, padded to 4-byte data boundary)
+//	[...]  text:         CDR string (uint32 length + bytes + null, padded to 4-byte data boundary)
+func serializeASRText(text string) []byte {
+	now := time.Now()
+	frameID := uuid.New().String()
+
+	var buf []byte
+	buf = append(buf, 0x00, 0x01, 0x00, 0x00) // CDR encapsulation header (little-endian)
+	buf = zenohsession.AppendInt32LE(buf, int32(now.Unix()))
+
+	// stamp.nanosec (uint32 LE)
+	buf = zenohsession.AppendUint32LE(buf, uint32(now.Nanosecond()))
+
+	// frame_id CDR string
+	buf = zenohsession.AppendCDRString(buf, frameID)
+
+	// text CDR string
+	buf = zenohsession.AppendCDRString(buf, text)
+
+	return buf
+}
diff --git a/plugins/inputs/asr/asr_common_test.go b/plugins/inputs/asr/asr_common_test.go
new file mode 100644
index 0000000000..de229fc5e8
--- /dev/null
+++ b/plugins/inputs/asr/asr_common_test.go
@@ -0,0 +1,77 @@
+package asr
+
+import (
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestCJKRegex(t *testing.T) {
+	require.True(t, cjkRegex.MatchString("你好"))
+	require.True(t, cjkRegex.MatchString("こんにちは"))
+	require.True(t, cjkRegex.MatchString("안녕"))
+	require.False(t, cjkRegex.MatchString("hello"))
+}
+
+func TestSerializeASRText(t *testing.T) {
+	buf := serializeASRText("hi")
+	require.Equal(t, []byte{0x00, 0x01, 0x00, 0x00}, buf[:4])
+	require.Contains(t, string(buf), "hi")
+}
+
+func TestResolveCooldown(t *testing.T) {
+	require.Equal(t, time.Second, resolveCooldown(false, time.Second))
+	require.Equal(t, time.Duration(0), resolveCooldown(false, 0))
+
+	require.Equal(t, time.Duration(0), resolveCooldown(true, time.Second))
+	require.Equal(t, time.Duration(0), resolveCooldown(true, 0))
+}
+
+func TestPushTranscriptCooldownSuppressesFollowup(t *testing.T) {
+	a := newTestSensorCore()
+	a.cooldown = time.Second
+
+	a.pushTranscript("hello there world")
+	got, ok := recvTranscript(t, a.transcriptCh)
+	require.True(t, ok)
+	require.Equal(t, "hello there world", got)
+
+	a.pushTranscript("today please")
+	_, ok = recvTranscript(t, a.transcriptCh)
+	require.False(t, ok, "follow-up within cooldown must be suppressed")
+}
+
+func TestPushTranscriptCooldownExpired(t *testing.T) {
+	a := newTestSensorCore()
+	a.cooldown = 10 * time.Millisecond
+
+	a.pushTranscript("hello there world")
+	got, ok := recvTranscript(t, a.transcriptCh)
+	require.True(t, ok)
+	require.Equal(t, "hello there world", got)
+
+	a.mu.Lock()
+	a.lastDeliver = time.Now().Add(-time.Second)
+	a.mu.Unlock()
+
+	a.pushTranscript("a second utterance")
+	got, ok = recvTranscript(t, a.transcriptCh)
+	require.True(t, ok, "transcript after cooldown must be delivered")
+	require.Equal(t, "a second utterance", got)
+}
+
+func TestPushTranscriptNoCooldownDeliversAll(t *testing.T) {
+	a := newTestSensorCore()
+
+	a.pushTranscript("hello there world")
+	a.pushTranscript("today please")
+
+	got, ok := recvTranscript(t, a.transcriptCh)
+	require.True(t, ok)
+	require.Equal(t, "hello there world", got)
+
+	got, ok = recvTranscript(t, a.transcriptCh)
+	require.True(t, ok, "with cooldown disabled every transcript is delivered")
+	require.Equal(t, "today please", got)
+}
diff --git a/plugins/inputs/asr/asr_stream.go b/plugins/inputs/asr/asr_stream.go
new file mode 100644
index 0000000000..48c20462cc
--- /dev/null
+++ b/plugins/inputs/asr/asr_stream.go
@@ -0,0 +1,200 @@
+package asr
+
+import (
+	"context"
+	"encoding/binary"
+	"encoding/json"
+	"fmt"
+	"sync"
+	"time"
+
+	"github.com/gorilla/websocket"
+	"github.com/prometheus/client_golang/prometheus"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/ws"
+)
+
+// AudioMetadata is the JSON header prepended to each audio chunk sent to the ASR websocket.
+type AudioMetadata struct {
+	Rate                     int      `json:"rate"`
+	LanguageCode             string   `json:"language_code"`
+	AlternativeLanguageCodes []string `json:"alternative_language_codes,omitempty"`
+	Timestamp                int64    `json:"timestamp"`
+}
+
+// ASRStatistics tracks audio chunk send counters for periodic logging.
+type ASRStatistics struct {
+	TotalChunksSent uint64
+	TotalBytesSent  uint64
+	FailedChunks    uint64
+	LastSendTime    time.Time
+	mu              sync.RWMutex
+}
+
+// transcriberStream is one vendor ASR connection: it packages and streams PCM to
+// a websocket, parses the vendor's protocol, and hands accepted transcripts to onTranscript.
+type transcriberStream struct {
+	name string
+	log  *zap.Logger
+
+	provider     string
+	apiVersion   string
+	language     string
+	languageCode string
+	altCodes     []string
+	rate         int
+
+	parseMessage asrMessageParser
+	wsClient     *ws.Client
+
+	onTranscript func(provider, text string)
+
+	mu              sync.Mutex
+	speechStartTime time.Time
+	speechStarted   bool
+
+	stats ASRStatistics
+}
+
+// newTranscriberStream builds a stream from a vendor-resolved config, wiring its
+// websocket client to onWSMessage and its accepted transcripts to onTranscript.
+func newTranscriberStream(cfg asrCommonConfig, log *zap.Logger, onTranscript func(provider, text string)) *transcriberStream {
+	s := &transcriberStream{
+		name:         cfg.Name,
+		log:          log,
+		provider:     cfg.Provider,
+		apiVersion:   cfg.APIVersion,
+		language:     cfg.Language,
+		languageCode: cfg.LanguageCode,
+		altCodes:     cfg.AltCodes,
+		rate:         cfg.Rate,
+		parseMessage: cfg.ParseMessage,
+		onTranscript: onTranscript,
+	}
+	s.wsClient = ws.New(ws.Config{URL: cfg.WSURL, Reconnect: true}, log, s.onWSMessage)
+	return s
+}
+
+// connect dials the ASR websocket.
+func (s *transcriberStream) connect() error { return s.wsClient.Connect() }
+
+// closeWS closes the ASR websocket client.
+func (s *transcriberStream) closeWS() {
+	if s.wsClient != nil {
+		s.wsClient.Close()
+	}
+}
+
+// packageAudio prepends the JSON audio header (length-prefixed) to a PCM chunk.
+func (s *transcriberStream) packageAudio(pcm []byte) ([]byte, error) {
+	meta := AudioMetadata{
+		Rate:                     s.rate,
+		LanguageCode:             s.languageCode,
+		AlternativeLanguageCodes: s.altCodes,
+		Timestamp:                time.Now().UnixMilli(),
+	}
+
+	headerBytes, err := json.Marshal(meta)
+	if err != nil {
+		return nil, err
+	}
+	hLen := len(headerBytes)
+	packet := make([]byte, 4+hLen+len(pcm))
+	binary.BigEndian.PutUint32(packet[0:4], uint32(hLen))
+	copy(packet[4:4+hLen], headerBytes)
+	copy(packet[4+hLen:], pcm)
+
+	return packet, nil
+}
+
+// sendChunk packages and sends a PCM chunk over the websocket, updating statistics.
+func (s *transcriberStream) sendChunk(pcm []byte) {
+	packet, err := s.packageAudio(pcm)
+	if err != nil {
+		s.log.Warn(s.name+": package error", zap.Error(err))
+		return
+	}
+
+	if err := s.wsClient.Send(packet); err != nil {
+		s.log.Warn(s.name+": send error", zap.Error(err))
+		s.stats.mu.Lock()
+		s.stats.FailedChunks++
+		s.stats.mu.Unlock()
+		return
+	}
+
+	s.stats.mu.Lock()
+	s.stats.TotalChunksSent++
+	s.stats.TotalBytesSent += uint64(len(packet))
+	s.stats.LastSendTime = time.Now()
+	s.stats.mu.Unlock()
+}
+
+// onWSMessage decodes an ASR websocket message, delegates vendor-specific parsing to parseMessage,
+// and forwards any accepted transcript to onTranscript.
+func (s *transcriberStream) onWSMessage(msgType int, data []byte) {
+	if msgType != websocket.TextMessage {
+		return
+	}
+	var msg ASRMessage
+	if err := json.Unmarshal(data, &msg); err != nil {
+		return
+	}
+
+	s.mu.Lock()
+	transcript := s.parseMessage(s, msg)
+	s.mu.Unlock()
+
+	if transcript == "" {
+		return
+	}
+
+	if s.onTranscript != nil {
+		s.onTranscript(s.provider, transcript)
+	}
+}
+
+// observeASR records an ASR latency metric pair with this stream's labels.
+func (s *transcriberStream) observeASR(hist *prometheus.HistogramVec, gauge *prometheus.GaugeVec, d time.Duration) {
+	seconds := d.Seconds()
+	hist.WithLabelValues(s.provider, s.language, s.apiVersion).Observe(seconds)
+	gauge.WithLabelValues(s.provider, s.language, s.apiVersion).Set(seconds)
+}
+
+// statsLoop logs send statistics every 15 seconds until ctx is cancelled.
+func (s *transcriberStream) statsLoop(ctx context.Context) {
+	ticker := time.NewTicker(15 * time.Second)
+	defer ticker.Stop()
+
+	for {
+		select {
+		case <-ctx.Done():
+			s.PrintStatistics()
+			return
+		case <-ticker.C:
+			s.PrintStatistics()
+		}
+	}
+}
+
+// PrintStatistics logs the cumulative audio send counters.
+func (s *transcriberStream) PrintStatistics() {
+	s.stats.mu.RLock()
+	totalChunks := s.stats.TotalChunksSent
+	totalBytes := s.stats.TotalBytesSent
+	failed := s.stats.FailedChunks
+	lastSendTime := s.stats.LastSendTime
+	s.stats.mu.RUnlock()
+
+	fields := []zap.Field{
+		zap.Uint64("total_chunks_sent", totalChunks),
+		zap.String("total_bytes_mb", fmt.Sprintf("%.2f", float64(totalBytes)/(1024*1024))),
+		zap.Uint64("failed_chunks", failed),
+	}
+	if !lastSendTime.IsZero() {
+		fields = append(fields, zap.Duration("time_since_last_send", time.Since(lastSendTime)))
+	}
+
+	s.log.Info(s.name+": statistics", fields...)
+}
diff --git a/plugins/inputs/asr/elevenlabs_asr.go b/plugins/inputs/asr/elevenlabs_asr.go
new file mode 100644
index 0000000000..18a1a0801a
--- /dev/null
+++ b/plugins/inputs/asr/elevenlabs_asr.go
@@ -0,0 +1,323 @@
+package asr
+
+import (
+	"context"
+	"encoding/binary"
+	"encoding/json"
+	"fmt"
+	"strings"
+	"time"
+
+	"github.com/gordonklaus/portaudio"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/metrics"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+func init() {
+	inputs.Register("ElevenLabsASRInput", NewElevenLabsASR)
+}
+
+// elevenlabsLanguageCodeMap maps friendly language names to ElevenLabs short codes;
+// "auto" enables language detection.
+var elevenlabsLanguageCodeMap = map[string]string{
+	"auto":       "auto",
+	"english":    "en",
+	"spanish":    "es",
+	"french":     "fr",
+	"german":     "de",
+	"italian":    "it",
+	"portuguese": "pt",
+	"japanese":   "ja",
+	"korean":     "ko",
+	"chinese":    "zh",
+	"dutch":      "nl",
+	"polish":     "pl",
+	"russian":    "ru",
+}
+
+// elevenlabsAPIVersion is the fixed api_version label used for ElevenLabs ASR metrics.
+const elevenlabsAPIVersion = "v1"
+
+// ElevenLabsASRConfig configures the local microphone-sourced ElevenLabs ASR sensor.
+type ElevenLabsASRConfig struct {
+	APIKey             string `json:"api_key"`
+	Rate               int    `json:"rate"`                 // sample rate Hz (default 48000)
+	Chunk              int    `json:"chunk"`                // frames per buffer (default 4800)
+	BaseURL            string `json:"base_url"`             // override WS endpoint
+	MicDeviceIndex     int    `json:"microphone_device_id"` // -1 = default
+	Language           string `json:"language"`             // default "auto"
+	EnableTTSInterrupt bool   `json:"enable_tts_interrupt"`
+}
+
+// elevenlabsASRParams carries the vendor inputs needed to build an ElevenLabs asrCommon.
+type elevenlabsASRParams struct {
+	name               string
+	apiKey             string
+	baseURL            string
+	rate               int
+	language           string
+	enableTTSInterrupt bool
+}
+
+// ElevenLabsASRSensor streams local microphone audio to ElevenLabs ASR via the shared asrCommon.
+type ElevenLabsASRSensor struct {
+	*asrCommon
+
+	cfg        ElevenLabsASRConfig
+	paStream   *portaudio.Stream
+	audioChunk []int16
+}
+
+// NewElevenLabsASR constructs an ElevenLabsASRSensor with the given configuration.
+func NewElevenLabsASR(configMap map[string]any) (inputs.Sensor, error) {
+	cfg := ElevenLabsASRConfig{MicDeviceIndex: -1}
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.APIKey == "" {
+		return nil, fmt.Errorf("ElevenLabsASRInput: api_key required")
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = 48000
+	}
+	if cfg.Chunk == 0 {
+		cfg.Chunk = 4800
+	}
+
+	core := newElevenLabsASRCommon(elevenlabsASRParams{
+		name:               "ElevenLabsASRInput",
+		apiKey:             cfg.APIKey,
+		baseURL:            cfg.BaseURL,
+		rate:               cfg.Rate,
+		language:           cfg.Language,
+		enableTTSInterrupt: cfg.EnableTTSInterrupt,
+	})
+	core.log.Info("ElevenLabsASRInput: microphone config", zap.Int("chunk", cfg.Chunk))
+
+	return &ElevenLabsASRSensor{
+		asrCommon:  core,
+		cfg:        cfg,
+		audioChunk: make([]int16, cfg.Chunk),
+	}, nil
+}
+
+// Listen starts the sensor by connecting to the ASR websocket and running the microphone capture loop.
+func (s *ElevenLabsASRSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		if err := providers.PortAudio.Acquire(); err != nil {
+			s.log.Error("ElevenLabsASRInput: portaudio init failed", zap.Error(err))
+			return
+		}
+
+		if err := s.connect(); err != nil {
+			s.log.Error("ElevenLabsASRInput: ws connect failed", zap.Error(err))
+			return
+		}
+
+		if err := s.openMic(ctx); err != nil {
+			s.log.Error("ElevenLabsASRInput: mic open failed", zap.Error(err))
+			return
+		}
+
+		s.pollLoop(ctx, out)
+	}()
+	return out, nil
+}
+
+// Stop signals the capture loop to stop, waits for it to finish, and cleans up resources.
+func (s *ElevenLabsASRSensor) Stop() {
+	first, captureDone := s.markStopped()
+	if !first {
+		return
+	}
+
+	s.log.Info("ElevenLabsASRInput: stopping sensor")
+
+	s.waitCapture(captureDone)
+	s.closeWS()
+	providers.PortAudio.Release()
+	s.closeZenoh()
+
+	s.log.Info("ElevenLabsASRInput: sensor stopped")
+}
+
+// openMic initializes PortAudio, opens the configured microphone stream, and starts the capture loop.
+func (s *ElevenLabsASRSensor) openMic(ctx context.Context) error {
+	var device *portaudio.DeviceInfo
+	var err error
+
+	if s.cfg.MicDeviceIndex >= 0 {
+		devices, err := portaudio.Devices()
+		if err != nil {
+			return fmt.Errorf("ElevenLabsASRInput: list devices: %w", err)
+		}
+
+		if s.cfg.MicDeviceIndex >= len(devices) {
+			return fmt.Errorf("ElevenLabsASRInput: device index %d out of range", s.cfg.MicDeviceIndex)
+		}
+
+		device = devices[s.cfg.MicDeviceIndex]
+	} else {
+		device, err = portaudio.DefaultInputDevice()
+
+		if err != nil {
+			return fmt.Errorf("ElevenLabsASRInput: default device: %w", err)
+		}
+	}
+
+	s.log.Info("ElevenLabsASRInput: microphone",
+		zap.String("device", device.Name),
+		zap.Int("rate", s.cfg.Rate),
+		zap.Int("chunk", s.cfg.Chunk),
+		zap.Float64("chunk_ms", float64(s.cfg.Chunk)/float64(s.cfg.Rate)*1000),
+	)
+
+	params := portaudio.StreamParameters{
+		Input: portaudio.StreamDeviceParameters{
+			Device:   device,
+			Channels: 1,
+			Latency:  device.DefaultHighInputLatency,
+		},
+		SampleRate:      float64(s.cfg.Rate),
+		FramesPerBuffer: s.cfg.Chunk,
+	}
+
+	stream, err := portaudio.OpenStream(params, s.audioChunk)
+	if err != nil {
+		return fmt.Errorf("ElevenLabsASRInput: open stream: %w", err)
+	}
+
+	if err := stream.Start(); err != nil {
+		_ = stream.Close()
+		return fmt.Errorf("ElevenLabsASRInput: start stream: %w", err)
+	}
+
+	s.mu.Lock()
+	s.paStream = stream
+	s.captureDone = make(chan struct{})
+	s.mu.Unlock()
+
+	go s.captureLoop(ctx, stream)
+	go s.statsLoop(ctx)
+	s.log.Info("ElevenLabsASRInput: microphone started")
+	return nil
+}
+
+func (s *ElevenLabsASRSensor) captureLoop(ctx context.Context, stream *portaudio.Stream) {
+	defer func() {
+		_ = stream.Stop()
+		_ = stream.Close()
+
+		s.mu.Lock()
+		if s.paStream == stream {
+			s.paStream = nil
+		}
+		done := s.captureDone
+		s.mu.Unlock()
+
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+
+		if err := stream.Read(); err != nil && err.Error() != "Input overflowed" {
+			s.log.Warn("ElevenLabsASRInput: read error", zap.Error(err))
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, len(s.audioChunk)*2)
+		for i, sample := range s.audioChunk {
+			binary.LittleEndian.PutUint16(pcm[i*2:], uint16(sample))
+		}
+
+		s.sendChunk(pcm)
+	}
+}
+
+// newElevenLabsASRCommon resolves ElevenLabs-specific config and builds the shared asrCommon with the ElevenLabs parser.
+func newElevenLabsASRCommon(p elevenlabsASRParams) *asrCommon {
+	return newASRCommon(resolveElevenLabsASRConfig(p))
+}
+
+// resolveElevenLabsASRConfig maps ElevenLabs vendor parameters to a transcriberStream config.
+func resolveElevenLabsASRConfig(p elevenlabsASRParams) asrCommonConfig {
+	language := strings.TrimSpace(strings.ToLower(p.language))
+	if language == "" {
+		language = "auto"
+	}
+
+	languageCode, ok := elevenlabsLanguageCodeMap[language]
+	if !ok {
+		logger.Get().Error(p.name+": unsupported language, defaulting to auto",
+			zap.String("language", language))
+		language = "auto"
+		languageCode = "auto"
+	}
+
+	wsURL := p.baseURL
+	if wsURL == "" {
+		wsURL = fmt.Sprintf("wss://api.openmind.com/api/core/elevenlabs/asr?api_key=%s", p.apiKey)
+	}
+
+	return asrCommonConfig{
+		Name:               p.name,
+		Provider:           "elevenlabs",
+		APIVersion:         elevenlabsAPIVersion,
+		WSURL:              wsURL,
+		Rate:               p.rate,
+		Language:           language,
+		LanguageCode:       languageCode,
+		EnableTTSInterrupt: p.enableTTSInterrupt,
+		ParseMessage:       elevenlabsParseMessage,
+	}
+}
+
+// elevenlabsParseMessage handles the ElevenLabs ASR protocol (partial marks speech
+// start, committed carries the transcript) and records its latency metric.
+func elevenlabsParseMessage(s *transcriberStream, msg ASRMessage) string {
+	if msg.Type == "partial" {
+		// Stamp the start only on the first partial, else latency measures time-since-last-partial.
+		if !s.speechStarted {
+			s.speechStartTime = time.Now()
+			s.speechStarted = true
+		}
+		return ""
+	}
+
+	if msg.Type != "committed" {
+		return ""
+	}
+
+	// A committed message ends the segment, so reset the timer even when the transcript is dropped.
+	speechStarted := s.speechStarted
+	speechStartTime := s.speechStartTime
+	s.speechStarted = false
+
+	if msg.ASRReply == "" || !acceptASRTranscript(msg.ASRReply) {
+		return ""
+	}
+
+	if speechStarted {
+		s.observeASR(metrics.ASRLatency, metrics.ASRLatencyLast, time.Since(speechStartTime))
+	}
+	return msg.ASRReply
+}
diff --git a/plugins/inputs/asr/elevenlabs_asr_rtsp.go b/plugins/inputs/asr/elevenlabs_asr_rtsp.go
new file mode 100644
index 0000000000..0c2e365f23
--- /dev/null
+++ b/plugins/inputs/asr/elevenlabs_asr_rtsp.go
@@ -0,0 +1,194 @@
+package asr
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"io"
+	"os/exec"
+	"strconv"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/providers/tts"
+	"github.com/openmind/om1/internal/util"
+)
+
+func init() {
+	inputs.Register("ElevenLabsASRRTSPInput", NewElevenLabsASRRTSP)
+}
+
+// ElevenLabsASRRTSPConfig configures the RTSP-sourced ElevenLabs ASR sensor.
+type ElevenLabsASRRTSPConfig struct {
+	APIKey             string `json:"api_key"`
+	RTSPURL            string `json:"rtsp_url"` // RTSP audio source
+	Rate               int    `json:"rate"`     // sample rate Hz (default 16000)
+	Chunk              int    `json:"chunk"`    // samples per chunk (default 1600)
+	BaseURL            string `json:"base_url"` // override WS endpoint
+	Language           string `json:"language"` // default "auto"
+	EnableTTSInterrupt bool   `json:"enable_tts_interrupt"`
+}
+
+// ElevenLabsASRRTSPSensor streams audio from an RTSP URL (decoded via ffmpeg) and
+// forwards PCM to the ElevenLabs ASR websocket through the shared asrCommon.
+type ElevenLabsASRRTSPSensor struct {
+	*asrCommon
+
+	cfg ElevenLabsASRRTSPConfig
+}
+
+// NewElevenLabsASRRTSP constructs an ElevenLabsASRRTSPSensor with the given configuration.
+func NewElevenLabsASRRTSP(configMap map[string]any) (inputs.Sensor, error) {
+	var cfg ElevenLabsASRRTSPConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.APIKey == "" {
+		return nil, fmt.Errorf("ElevenLabsASRRTSPInput: api_key required")
+	}
+	if cfg.RTSPURL == "" {
+		cfg.RTSPURL = "rtsp://localhost:8554/audio"
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = 16000
+	}
+	if cfg.Chunk == 0 {
+		cfg.Chunk = 1600
+	}
+
+	core := newElevenLabsASRCommon(elevenlabsASRParams{
+		name:               "ElevenLabsASRRTSPInput",
+		apiKey:             cfg.APIKey,
+		baseURL:            cfg.BaseURL,
+		rate:               cfg.Rate,
+		language:           cfg.Language,
+		enableTTSInterrupt: cfg.EnableTTSInterrupt,
+	})
+	core.log.Info("ElevenLabsASRRTSPInput: rtsp config",
+		zap.String("rtsp_url", cfg.RTSPURL),
+		zap.Int("chunk", cfg.Chunk),
+	)
+
+	return &ElevenLabsASRRTSPSensor{
+		asrCommon: core,
+		cfg:       cfg,
+	}, nil
+}
+
+// Listen starts the sensor by connecting to the ASR websocket and running the RTSP capture loop.
+func (s *ElevenLabsASRRTSPSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		if err := s.connect(); err != nil {
+			s.log.Error("ElevenLabsASRRTSPInput: ws connect failed", zap.Error(err))
+			return
+		}
+
+		s.mu.Lock()
+		s.captureDone = make(chan struct{})
+		s.mu.Unlock()
+		go s.captureLoop(ctx)
+		go s.statsLoop(ctx)
+
+		s.pollLoop(ctx, out)
+	}()
+	return out, nil
+}
+
+// Stop signals the capture loop to stop, waits for it to finish, and cleans up resources.
+func (s *ElevenLabsASRRTSPSensor) Stop() {
+	first, captureDone := s.markStopped()
+	if !first {
+		return
+	}
+
+	s.log.Info("ElevenLabsASRRTSPInput: stopping sensor")
+
+	s.waitCapture(captureDone)
+	s.closeWS()
+	s.closeZenoh()
+
+	s.log.Info("ElevenLabsASRRTSPInput: sensor stopped")
+}
+
+// captureLoop runs the RTSP stream and reconnects on failure until ctx is cancelled.
+func (s *ElevenLabsASRRTSPSensor) captureLoop(ctx context.Context) {
+	defer func() {
+		s.mu.Lock()
+		done := s.captureDone
+		s.mu.Unlock()
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		if ctx.Err() != nil {
+			return
+		}
+
+		if err := s.streamRTSP(ctx); err != nil && ctx.Err() == nil {
+			s.log.Warn("ElevenLabsASRRTSPInput: RTSP audio error", zap.Error(err))
+			s.log.Info("ElevenLabsASRRTSPInput: reconnecting", zap.Duration("delay", rtspReconnectDelay))
+			if !util.Sleep(ctx, rtspReconnectDelay) {
+				return
+			}
+		}
+	}
+}
+
+// streamRTSP runs ffmpeg to capture PCM audio from the RTSP URL and
+// sends it to the ASR websocket until an error occurs or ctx is cancelled.
+func (s *ElevenLabsASRRTSPSensor) streamRTSP(ctx context.Context) error {
+	cmd := exec.CommandContext(ctx, "ffmpeg",
+		"-rtsp_transport", "tcp",
+		"-i", s.cfg.RTSPURL,
+		"-vn",
+		"-f", "s16le",
+		"-acodec", "pcm_s16le",
+		"-ac", "1",
+		"-ar", strconv.Itoa(s.cfg.Rate),
+		"-loglevel", "error",
+		"pipe:1",
+	)
+
+	stdout, err := cmd.StdoutPipe()
+	if err != nil {
+		return fmt.Errorf("stdout pipe: %w", err)
+	}
+	if err := cmd.Start(); err != nil {
+		return fmt.Errorf("start ffmpeg: %w", err)
+	}
+	defer func() {
+		if cmd.Process != nil {
+			_ = cmd.Process.Kill()
+		}
+		_ = cmd.Wait()
+	}()
+
+	s.log.Info("ElevenLabsASRRTSPInput: RTSP audio stream connected", zap.String("rtsp_url", s.cfg.RTSPURL))
+
+	chunkBytes := s.cfg.Chunk * 2 // int16 samples
+	buf := make([]byte, chunkBytes)
+	for {
+		if ctx.Err() != nil {
+			return ctx.Err()
+		}
+
+		if _, err := io.ReadFull(stdout, buf); err != nil {
+			return fmt.Errorf("read pcm: %w", err)
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, chunkBytes)
+		copy(pcm, buf)
+		s.sendChunk(pcm)
+	}
+}
diff --git a/plugins/inputs/asr/elevenlabs_asr_test.go b/plugins/inputs/asr/elevenlabs_asr_test.go
new file mode 100644
index 0000000000..dd129b7f2a
--- /dev/null
+++ b/plugins/inputs/asr/elevenlabs_asr_test.go
@@ -0,0 +1,280 @@
+package asr
+
+import (
+	"context"
+	"encoding/binary"
+	"encoding/json"
+	"testing"
+	"time"
+
+	"github.com/gorilla/websocket"
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+// newTestStream builds a transcriberStream whose accepted transcripts are pushed
+// onto ch, for testing a vendor's parser and audio packaging in isolation.
+func newTestStream(model, languageCode string, parser asrMessageParser, ch chan string) *transcriberStream {
+	return &transcriberStream{
+		name:         model + "Test",
+		log:          zap.NewNop(),
+		rate:         16000,
+		provider:     model,
+		apiVersion:   elevenlabsAPIVersion,
+		language:     "english",
+		languageCode: languageCode,
+		parseMessage: parser,
+		onTranscript: func(_ string, text string) {
+			select {
+			case ch <- text:
+			default:
+			}
+		},
+	}
+}
+
+func newTestElevenLabsStream(ch chan string) *transcriberStream {
+	return newTestStream("elevenlabs", "en", elevenlabsParseMessage, ch)
+}
+
+// newTestSensorCore builds an asrSensorCore with a no-op logger and no zenoh, for
+// testing the transcript buffer independent of any vendor stream.
+func newTestSensorCore() *asrSensorCore {
+	return &asrSensorCore{
+		name:         "test",
+		log:          zap.NewNop(),
+		transcriptCh: make(chan string, 8),
+	}
+}
+
+func committedMsg(t *testing.T, reply string) []byte {
+	t.Helper()
+	b, err := json.Marshal(ASRMessage{Type: "committed", ASRReply: reply})
+	require.NoError(t, err)
+	return b
+}
+
+func partialMsg(t *testing.T, reply string) []byte {
+	t.Helper()
+	b, err := json.Marshal(ASRMessage{Type: "partial", ASRReply: reply})
+	require.NoError(t, err)
+	return b
+}
+
+func recvTranscript(t *testing.T, ch chan string) (string, bool) {
+	t.Helper()
+	select {
+	case s := <-ch:
+		return s, true
+	default:
+		return "", false
+	}
+}
+
+func TestAcceptASRTranscript(t *testing.T) {
+	cases := []struct {
+		name string
+		text string
+		want bool
+	}{
+		{"empty", "", false},
+		{"single english word", "hello", false},
+		{"two english words", "hello world", false},
+		{"three english words", "hello there world", true},
+		{"leading/trailing spaces single word", "   hello   ", false},
+		{"single CJK char", "好", false},
+		{"two CJK chars", "你好", false},
+		{"three CJK chars", "你好吗", true},
+		{"japanese kana phrase", "こんにちは", true},
+		{"korean phrase", "안녕하세요", true},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			require.Equal(t, tc.want, acceptASRTranscript(tc.text))
+		})
+	}
+}
+
+func TestElevenLabsLanguageCodeMap(t *testing.T) {
+	require.Equal(t, "auto", elevenlabsLanguageCodeMap["auto"])
+	require.Equal(t, "en", elevenlabsLanguageCodeMap["english"])
+	require.Equal(t, "zh", elevenlabsLanguageCodeMap["chinese"])
+	require.Equal(t, "ja", elevenlabsLanguageCodeMap["japanese"])
+
+	_, ok := elevenlabsLanguageCodeMap["klingon"]
+	require.False(t, ok, "unsupported language must be absent so the caller falls back to auto")
+
+	for name, code := range elevenlabsLanguageCodeMap {
+		require.NotEmpty(t, code, "language %q maps to an empty code", name)
+	}
+}
+
+func TestPackageAudio(t *testing.T) {
+	s := newTestElevenLabsStream(make(chan string, 1))
+	s.rate = 16000
+	s.languageCode = "zh"
+
+	pcm := []byte{0x01, 0x02, 0x03, 0x04}
+	packet, err := s.packageAudio(pcm)
+	require.NoError(t, err)
+	require.Greater(t, len(packet), 4+len(pcm))
+
+	hLen := binary.BigEndian.Uint32(packet[0:4])
+	require.Equal(t, len(packet), 4+int(hLen)+len(pcm))
+
+	var header map[string]any
+	require.NoError(t, json.Unmarshal(packet[4:4+hLen], &header))
+	require.EqualValues(t, 16000, header["rate"])
+	require.Equal(t, "zh", header["language_code"])
+	require.Contains(t, header, "timestamp")
+	require.NotContains(t, header, "alternative_language_codes",
+		"ElevenLabs sends no alternative language codes; omitempty must drop the field")
+
+	require.Equal(t, pcm, packet[4+hLen:])
+}
+
+func TestOnWSMessageCommittedDelivers(t *testing.T) {
+	ch := make(chan string, 1)
+	s := newTestElevenLabsStream(ch)
+	s.speechStarted = true
+	s.speechStartTime = time.Now().Add(-50 * time.Millisecond)
+
+	s.onWSMessage(websocket.TextMessage, committedMsg(t, "hello there world"))
+
+	got, ok := recvTranscript(t, ch)
+	require.True(t, ok, "expected a transcript to be delivered")
+	require.Equal(t, "hello there world", got)
+
+	s.mu.Lock()
+	require.False(t, s.speechStarted, "speech timing should reset after a transcript is accepted")
+	s.mu.Unlock()
+}
+
+func TestOnWSMessagePartialMarksSpeechStart(t *testing.T) {
+	ch := make(chan string, 1)
+	s := newTestElevenLabsStream(ch)
+
+	s.onWSMessage(websocket.TextMessage, partialMsg(t, "partial text"))
+
+	s.mu.Lock()
+	started := s.speechStarted
+	s.mu.Unlock()
+	require.True(t, started, "a partial message should mark the start of speech")
+
+	_, ok := recvTranscript(t, ch)
+	require.False(t, ok, "a partial message must not deliver a transcript")
+}
+
+func TestOnWSMessageRepeatedPartialsKeepFirstStart(t *testing.T) {
+	ch := make(chan string, 1)
+	s := newTestElevenLabsStream(ch)
+
+	s.onWSMessage(websocket.TextMessage, partialMsg(t, "he"))
+	s.mu.Lock()
+	require.True(t, s.speechStarted)
+	first := s.speechStartTime
+	s.mu.Unlock()
+
+	s.onWSMessage(websocket.TextMessage, partialMsg(t, "hello wor"))
+	s.mu.Lock()
+	require.True(t, s.speechStarted)
+	require.Equal(t, first, s.speechStartTime, "start time should be set once per utterance")
+	s.mu.Unlock()
+}
+
+func TestOnWSMessageCommittedResetsForNextUtterance(t *testing.T) {
+	ch := make(chan string, 1)
+	s := newTestElevenLabsStream(ch)
+	s.speechStarted = true
+	s.speechStartTime = time.Now().Add(-time.Second)
+
+	s.onWSMessage(websocket.TextMessage, committedMsg(t, "hi"))
+	_, ok := recvTranscript(t, ch)
+	require.False(t, ok)
+	s.mu.Lock()
+	require.False(t, s.speechStarted, "a committed message must end the speech segment")
+	s.mu.Unlock()
+
+	s.onWSMessage(websocket.TextMessage, partialMsg(t, "how"))
+	s.mu.Lock()
+	require.True(t, s.speechStarted)
+	require.WithinDuration(t, time.Now(), s.speechStartTime, time.Second)
+	s.mu.Unlock()
+}
+
+func TestOnWSMessageIgnoresInvalidOrShort(t *testing.T) {
+	cases := []struct {
+		name    string
+		msgType int
+		data    []byte
+	}{
+		{"too short (single word)", websocket.TextMessage, committedMsg(t, "hi")},
+		{"non-committed type", websocket.TextMessage, partialMsg(t, "hello world")},
+		{"empty reply", websocket.TextMessage, committedMsg(t, "")},
+		{"invalid json", websocket.TextMessage, []byte("{not json")},
+		{"binary message", websocket.BinaryMessage, committedMsg(t, "hello world")},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			ch := make(chan string, 1)
+			s := newTestElevenLabsStream(ch)
+			s.onWSMessage(tc.msgType, tc.data)
+			_, ok := recvTranscript(t, ch)
+			require.False(t, ok, "no transcript should be delivered for %q", tc.name)
+		})
+	}
+}
+
+func TestSensorCoreStoppedIgnores(t *testing.T) {
+	a := newTestSensorCore()
+	a.stopped = true
+
+	a.pushTranscript("hello world")
+
+	select {
+	case <-a.transcriptCh:
+		t.Fatal("a stopped sensor core must drop transcripts")
+	default:
+	}
+}
+
+func TestRawToText(t *testing.T) {
+	a := newTestSensorCore()
+	ctx := context.Background()
+
+	msg, err := a.RawToText(ctx, 123)
+	require.NoError(t, err)
+	require.Nil(t, msg)
+
+	msg, err = a.RawToText(ctx, "")
+	require.NoError(t, err)
+	require.Nil(t, msg)
+
+	msg, err = a.RawToText(ctx, "hello")
+	require.NoError(t, err)
+	require.NotNil(t, msg)
+	require.Equal(t, "hello", msg.Message)
+
+	_, err = a.RawToText(ctx, "world")
+	require.NoError(t, err)
+
+	a.mu.Lock()
+	require.Equal(t, []string{"hello world"}, a.messages)
+	a.mu.Unlock()
+}
+
+func TestFormattedLatestBuffer(t *testing.T) {
+	a := newTestSensorCore()
+
+	require.Equal(t, "", a.FormattedLatestBuffer())
+
+	_, err := a.RawToText(context.Background(), "hello world")
+	require.NoError(t, err)
+
+	require.Equal(t, "\nVoice: \"hello world\"\n", a.FormattedLatestBuffer())
+
+	require.Equal(t, "", a.FormattedLatestBuffer())
+	a.mu.Lock()
+	require.Empty(t, a.messages)
+	a.mu.Unlock()
+}
diff --git a/plugins/inputs/asr/google_asr.go b/plugins/inputs/asr/google_asr.go
new file mode 100644
index 0000000000..627f64c024
--- /dev/null
+++ b/plugins/inputs/asr/google_asr.go
@@ -0,0 +1,337 @@
+package asr
+
+import (
+	"context"
+	"encoding/binary"
+	"encoding/json"
+	"fmt"
+	"net/url"
+	"strings"
+	"time"
+
+	"github.com/gordonklaus/portaudio"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/metrics"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+func init() {
+	inputs.Register("GoogleASRInput", NewGoogleASR)
+}
+
+// googleLanguageCodeMap maps friendly language names to Google's BCP-47 codes.
+var googleLanguageCodeMap = map[string]string{
+	"english":    "en-US",
+	"chinese":    "cmn-Hans-CN",
+	"german":     "de-DE",
+	"french":     "fr-FR",
+	"japanese":   "ja-JP",
+	"korean":     "ko-KR",
+	"spanish":    "es-ES",
+	"italian":    "it-IT",
+	"portuguese": "pt-BR",
+	"russian":    "ru-RU",
+	"arabic":     "ar-SA",
+}
+
+// GoogleASRConfig configures the local microphone-sourced Google ASR sensor.
+type GoogleASRConfig struct {
+	APIKey               string   `json:"api_key"`
+	APIVersion           string   `json:"api_version"`           // "v1" or "v2" (default "v2")
+	Rate                 int      `json:"rate"`                  // sample rate Hz (default 48000)
+	Chunk                int      `json:"chunk"`                 // frames per buffer (default 4800)
+	BaseURL              string   `json:"base_url"`              // override WS endpoint
+	Model                string   `json:"model"`                 // optional Google ASR model query param
+	MicDeviceIndex       int      `json:"microphone_device_id"`  // -1 = default
+	Language             string   `json:"language"`              // default "english"
+	AlternativeLanguages []string `json:"alternative_languages"` // v1 only
+	EnableTTSInterrupt   bool     `json:"enable_tts_interrupt"`
+}
+
+// googleASRParams carries the vendor inputs needed to build a Google asrCommon.
+type googleASRParams struct {
+	name                 string
+	apiKey               string
+	apiVersion           string
+	baseURL              string
+	model                string
+	rate                 int
+	language             string
+	alternativeLanguages []string
+	enableTTSInterrupt   bool
+}
+
+// GoogleASRSensor streams local microphone audio to Google ASR via the shared asrCommon.
+type GoogleASRSensor struct {
+	*asrCommon
+
+	cfg        GoogleASRConfig
+	paStream   *portaudio.Stream
+	audioChunk []int16
+}
+
+// NewGoogleASR constructs a GoogleASRSensor with the given configuration.
+func NewGoogleASR(configMap map[string]any) (inputs.Sensor, error) {
+	cfg := GoogleASRConfig{MicDeviceIndex: -1}
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.APIKey == "" {
+		return nil, fmt.Errorf("GoogleASRInput: api_key required")
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = 48000
+	}
+	if cfg.Chunk == 0 {
+		cfg.Chunk = 4800
+	}
+
+	core := newGoogleASRCommon(googleASRParams{
+		name:                 "GoogleASRInput",
+		apiKey:               cfg.APIKey,
+		apiVersion:           cfg.APIVersion,
+		baseURL:              cfg.BaseURL,
+		model:                cfg.Model,
+		rate:                 cfg.Rate,
+		language:             cfg.Language,
+		alternativeLanguages: cfg.AlternativeLanguages,
+		enableTTSInterrupt:   cfg.EnableTTSInterrupt,
+	})
+	core.log.Info("GoogleASRInput: microphone config", zap.Int("chunk", cfg.Chunk))
+
+	return &GoogleASRSensor{
+		asrCommon:  core,
+		cfg:        cfg,
+		audioChunk: make([]int16, cfg.Chunk),
+	}, nil
+}
+
+// Listen starts the sensor by connecting to the ASR websocket and running the microphone capture loop.
+func (s *GoogleASRSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		if err := providers.PortAudio.Acquire(); err != nil {
+			s.log.Error("GoogleASRInput: portaudio init failed", zap.Error(err))
+			return
+		}
+
+		if err := s.connect(); err != nil {
+			s.log.Error("GoogleASRInput: ws connect failed", zap.Error(err))
+			return
+		}
+
+		if err := s.openMic(ctx); err != nil {
+			s.log.Error("GoogleASRInput: mic open failed", zap.Error(err))
+			return
+		}
+
+		s.pollLoop(ctx, out)
+	}()
+	return out, nil
+}
+
+// Stop signals the capture loop to stop, waits for it to finish, and cleans up resources.
+func (s *GoogleASRSensor) Stop() {
+	first, captureDone := s.markStopped()
+	if !first {
+		return
+	}
+
+	s.log.Info("GoogleASRInput: stopping sensor")
+
+	s.waitCapture(captureDone)
+	s.closeWS()
+	providers.PortAudio.Release()
+	s.closeZenoh()
+
+	s.log.Info("GoogleASRInput: sensor stopped")
+}
+
+// openMic initializes PortAudio, opens the configured microphone stream, and starts the capture loop.
+func (s *GoogleASRSensor) openMic(ctx context.Context) error {
+	var device *portaudio.DeviceInfo
+	var err error
+
+	if s.cfg.MicDeviceIndex >= 0 {
+		devices, err := portaudio.Devices()
+		if err != nil {
+			return fmt.Errorf("GoogleASRInput: list devices: %w", err)
+		}
+
+		if s.cfg.MicDeviceIndex >= len(devices) {
+			return fmt.Errorf("GoogleASRInput: device index %d out of range", s.cfg.MicDeviceIndex)
+		}
+
+		device = devices[s.cfg.MicDeviceIndex]
+	} else {
+		device, err = portaudio.DefaultInputDevice()
+
+		if err != nil {
+			return fmt.Errorf("GoogleASRInput: default device: %w", err)
+		}
+	}
+
+	s.log.Info("GoogleASRInput: microphone",
+		zap.String("device", device.Name),
+		zap.Int("rate", s.cfg.Rate),
+		zap.Int("chunk", s.cfg.Chunk),
+		zap.Float64("chunk_ms", float64(s.cfg.Chunk)/float64(s.cfg.Rate)*1000),
+	)
+
+	params := portaudio.StreamParameters{
+		Input: portaudio.StreamDeviceParameters{
+			Device:   device,
+			Channels: 1,
+			Latency:  device.DefaultHighInputLatency,
+		},
+		SampleRate:      float64(s.cfg.Rate),
+		FramesPerBuffer: s.cfg.Chunk,
+	}
+
+	stream, err := portaudio.OpenStream(params, s.audioChunk)
+	if err != nil {
+		return fmt.Errorf("GoogleASRInput: open stream: %w", err)
+	}
+
+	if err := stream.Start(); err != nil {
+		_ = stream.Close()
+		return fmt.Errorf("GoogleASRInput: start stream: %w", err)
+	}
+
+	s.mu.Lock()
+	s.paStream = stream
+	s.captureDone = make(chan struct{})
+	s.mu.Unlock()
+
+	go s.captureLoop(ctx, stream)
+	go s.statsLoop(ctx)
+	s.log.Info("GoogleASRInput: microphone started")
+	return nil
+}
+
+func (s *GoogleASRSensor) captureLoop(ctx context.Context, stream *portaudio.Stream) {
+	defer func() {
+		_ = stream.Stop()
+		_ = stream.Close()
+
+		s.mu.Lock()
+		if s.paStream == stream {
+			s.paStream = nil
+		}
+		done := s.captureDone
+		s.mu.Unlock()
+
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+
+		if err := stream.Read(); err != nil && err.Error() != "Input overflowed" {
+			s.log.Warn("GoogleASRInput: read error", zap.Error(err))
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, len(s.audioChunk)*2)
+		for i, sample := range s.audioChunk {
+			binary.LittleEndian.PutUint16(pcm[i*2:], uint16(sample))
+		}
+
+		s.sendChunk(pcm)
+	}
+}
+
+// newGoogleASRCommon resolves Google-specific config and builds the shared asrCommon with the Google parser.
+func newGoogleASRCommon(p googleASRParams) *asrCommon {
+	return newASRCommon(resolveGoogleASRConfig(p))
+}
+
+// resolveGoogleASRConfig maps Google vendor parameters to a transcriberStream config.
+func resolveGoogleASRConfig(p googleASRParams) asrCommonConfig {
+	apiVersion := strings.TrimSpace(strings.ToLower(p.apiVersion))
+	if apiVersion != "v1" && apiVersion != "v2" {
+		apiVersion = "v2"
+	}
+
+	language := strings.TrimSpace(strings.ToLower(p.language))
+	if language == "" {
+		language = "english"
+	}
+	languageCode, ok := googleLanguageCodeMap[language]
+	if !ok {
+		languageCode = "en-US"
+	}
+
+	var altCodes []string
+	if apiVersion == "v1" {
+		for _, alt := range p.alternativeLanguages {
+			alt = strings.TrimSpace(strings.ToLower(alt))
+			if code, ok := googleLanguageCodeMap[alt]; ok {
+				altCodes = append(altCodes, code)
+			}
+		}
+	}
+
+	wsURL := p.baseURL
+	if wsURL == "" {
+		wsURL = fmt.Sprintf("wss://api.openmind.com/api/core/google/asr/%s?api_key=%s", apiVersion, url.QueryEscape(p.apiKey))
+		if model := strings.TrimSpace(p.model); model != "" {
+			wsURL += "&model=" + url.QueryEscape(model)
+		}
+	}
+
+	return asrCommonConfig{
+		Name:               p.name,
+		Provider:           "google",
+		APIVersion:         apiVersion,
+		WSURL:              wsURL,
+		Rate:               p.rate,
+		Language:           language,
+		LanguageCode:       languageCode,
+		AltCodes:           altCodes,
+		EnableTTSInterrupt: p.enableTTSInterrupt,
+		ParseMessage:       googleParseMessage,
+	}
+}
+
+// googleParseMessage handles the Google ASR protocol and records latency metrics.
+func googleParseMessage(s *transcriberStream, msg ASRMessage) string {
+	switch msg.Type {
+	case "speech_start":
+		s.speechStartTime = time.Now()
+		s.speechStarted = true
+	case "speech_end":
+		if s.speechStarted {
+			s.observeASR(metrics.ASRSpeechDuration, metrics.ASRSpeechDurationLast, time.Since(s.speechStartTime))
+		}
+	case "end_of_utterance":
+		if s.speechStarted {
+			s.observeASR(metrics.ASRUtteranceEndLatency, metrics.ASRUtteranceEndLatencyLast, time.Since(s.speechStartTime))
+		}
+	}
+
+	if msg.ASRReply == "" || !acceptASRTranscript(msg.ASRReply) {
+		return ""
+	}
+
+	if s.speechStarted {
+		s.observeASR(metrics.ASRLatency, metrics.ASRLatencyLast, time.Since(s.speechStartTime))
+		s.speechStarted = false
+	}
+	return msg.ASRReply
+}
diff --git a/plugins/inputs/asr/google_asr_rtsp.go b/plugins/inputs/asr/google_asr_rtsp.go
new file mode 100644
index 0000000000..dfd3b9c35f
--- /dev/null
+++ b/plugins/inputs/asr/google_asr_rtsp.go
@@ -0,0 +1,203 @@
+package asr
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"io"
+	"os/exec"
+	"strconv"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/providers/tts"
+	"github.com/openmind/om1/internal/util"
+)
+
+func init() {
+	inputs.Register("GoogleASRRTSPInput", NewGoogleASRRTSP)
+}
+
+const rtspReconnectDelay = 2 * time.Second
+
+// GoogleASRRTSPConfig configures the RTSP-sourced Google ASR sensor.
+type GoogleASRRTSPConfig struct {
+	APIKey               string   `json:"api_key"`
+	APIVersion           string   `json:"api_version"`           // "v1" or "v2" (default "v2")
+	RTSPURL              string   `json:"rtsp_url"`              // RTSP audio source
+	Rate                 int      `json:"rate"`                  // sample rate Hz (default 16000)
+	Chunk                int      `json:"chunk"`                 // samples per chunk (default 1600)
+	BaseURL              string   `json:"base_url"`              // override WS endpoint
+	Model                string   `json:"model"`                 // optional Google ASR model query param
+	Language             string   `json:"language"`              // default "english"
+	AlternativeLanguages []string `json:"alternative_languages"` // v1 only
+	EnableTTSInterrupt   bool     `json:"enable_tts_interrupt"`
+}
+
+// GoogleASRRTSPSensor streams audio from an RTSP URL (decoded via ffmpeg) and
+// forwards PCM to the Google ASR websocket through the shared asrCommon.
+type GoogleASRRTSPSensor struct {
+	*asrCommon
+
+	cfg GoogleASRRTSPConfig
+}
+
+// NewGoogleASRRTSP constructs a GoogleASRRTSPSensor with the given configuration.
+func NewGoogleASRRTSP(configMap map[string]any) (inputs.Sensor, error) {
+	var cfg GoogleASRRTSPConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.APIKey == "" {
+		return nil, fmt.Errorf("GoogleASRRTSPInput: api_key required")
+	}
+	if cfg.RTSPURL == "" {
+		cfg.RTSPURL = "rtsp://localhost:8554/audio"
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = 16000
+	}
+	if cfg.Chunk == 0 {
+		cfg.Chunk = 1600
+	}
+
+	core := newGoogleASRCommon(googleASRParams{
+		name:                 "GoogleASRRTSPInput",
+		apiKey:               cfg.APIKey,
+		apiVersion:           cfg.APIVersion,
+		baseURL:              cfg.BaseURL,
+		model:                cfg.Model,
+		rate:                 cfg.Rate,
+		language:             cfg.Language,
+		alternativeLanguages: cfg.AlternativeLanguages,
+		enableTTSInterrupt:   cfg.EnableTTSInterrupt,
+	})
+	core.log.Info("GoogleASRRTSPInput: rtsp config",
+		zap.String("rtsp_url", cfg.RTSPURL),
+		zap.Int("chunk", cfg.Chunk),
+	)
+
+	return &GoogleASRRTSPSensor{
+		asrCommon: core,
+		cfg:       cfg,
+	}, nil
+}
+
+// Listen starts the sensor by connecting to the ASR websocket and running the RTSP capture loop.
+func (s *GoogleASRRTSPSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		if err := s.connect(); err != nil {
+			s.log.Error("GoogleASRRTSPInput: ws connect failed", zap.Error(err))
+			return
+		}
+
+		s.mu.Lock()
+		s.captureDone = make(chan struct{})
+		s.mu.Unlock()
+		go s.captureLoop(ctx)
+		go s.statsLoop(ctx)
+
+		s.pollLoop(ctx, out)
+	}()
+	return out, nil
+}
+
+// Stop signals the capture loop to stop, waits for it to finish, and cleans up resources.
+func (s *GoogleASRRTSPSensor) Stop() {
+	first, captureDone := s.markStopped()
+	if !first {
+		return
+	}
+
+	s.log.Info("GoogleASRRTSPInput: stopping sensor")
+
+	s.waitCapture(captureDone)
+	s.closeWS()
+	s.closeZenoh()
+
+	s.log.Info("GoogleASRRTSPInput: sensor stopped")
+}
+
+// captureLoop runs the RTSP stream and reconnects on failure until ctx is cancelled.
+func (s *GoogleASRRTSPSensor) captureLoop(ctx context.Context) {
+	defer func() {
+		s.mu.Lock()
+		done := s.captureDone
+		s.mu.Unlock()
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		if ctx.Err() != nil {
+			return
+		}
+
+		if err := s.streamRTSP(ctx); err != nil && ctx.Err() == nil {
+			s.log.Warn("GoogleASRRTSPInput: RTSP audio error", zap.Error(err))
+			s.log.Info("GoogleASRRTSPInput: reconnecting", zap.Duration("delay", rtspReconnectDelay))
+			if !util.Sleep(ctx, rtspReconnectDelay) {
+				return
+			}
+		}
+	}
+}
+
+// streamRTSP runs ffmpeg to capture PCM audio from the RTSP URL and
+// sends it to the ASR websocket until an error occurs or ctx is cancelled.
+func (s *GoogleASRRTSPSensor) streamRTSP(ctx context.Context) error {
+	cmd := exec.CommandContext(ctx, "ffmpeg",
+		"-rtsp_transport", "tcp",
+		"-i", s.cfg.RTSPURL,
+		"-vn",
+		"-f", "s16le",
+		"-acodec", "pcm_s16le",
+		"-ac", "1",
+		"-ar", strconv.Itoa(s.cfg.Rate),
+		"-loglevel", "error",
+		"pipe:1",
+	)
+
+	stdout, err := cmd.StdoutPipe()
+	if err != nil {
+		return fmt.Errorf("stdout pipe: %w", err)
+	}
+	if err := cmd.Start(); err != nil {
+		return fmt.Errorf("start ffmpeg: %w", err)
+	}
+	defer func() {
+		if cmd.Process != nil {
+			_ = cmd.Process.Kill()
+		}
+		_ = cmd.Wait()
+	}()
+
+	s.log.Info("GoogleASRRTSPInput: RTSP audio stream connected", zap.String("rtsp_url", s.cfg.RTSPURL))
+
+	chunkBytes := s.cfg.Chunk * 2 // int16 samples
+	buf := make([]byte, chunkBytes)
+	for {
+		if ctx.Err() != nil {
+			return ctx.Err()
+		}
+
+		if _, err := io.ReadFull(stdout, buf); err != nil {
+			return fmt.Errorf("read pcm: %w", err)
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, chunkBytes)
+		copy(pcm, buf)
+		s.sendChunk(pcm)
+	}
+}
diff --git a/plugins/inputs/asr/google_asr_test.go b/plugins/inputs/asr/google_asr_test.go
new file mode 100644
index 0000000000..de4d002f35
--- /dev/null
+++ b/plugins/inputs/asr/google_asr_test.go
@@ -0,0 +1,27 @@
+package asr
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+)
+
+func TestGoogleLanguageCodeMap(t *testing.T) {
+	require.Equal(t, "en-US", googleLanguageCodeMap["english"])
+	require.Equal(t, "cmn-Hans-CN", googleLanguageCodeMap["chinese"])
+	_, ok := googleLanguageCodeMap["klingon"]
+	require.False(t, ok)
+}
+
+func TestGoogleParseMessage(t *testing.T) {
+	s := &transcriberStream{log: zap.NewNop(), provider: "google", language: "english", apiVersion: "v2"}
+
+	require.Empty(t, googleParseMessage(s, ASRMessage{Type: "speech_start"}))
+	require.True(t, s.speechStarted)
+
+	require.Equal(t, "hello there world", googleParseMessage(s, ASRMessage{ASRReply: "hello there world"}))
+	require.False(t, s.speechStarted)
+
+	require.Empty(t, googleParseMessage(s, ASRMessage{ASRReply: "hi"}))
+}
diff --git a/plugins/inputs/asr/parallel_asr.go b/plugins/inputs/asr/parallel_asr.go
new file mode 100644
index 0000000000..1a95358f9d
--- /dev/null
+++ b/plugins/inputs/asr/parallel_asr.go
@@ -0,0 +1,481 @@
+package asr
+
+import (
+	"context"
+	"encoding/binary"
+	"encoding/json"
+	"fmt"
+	"io"
+	"os/exec"
+	"strconv"
+	"strings"
+	"sync"
+	"time"
+
+	"github.com/gordonklaus/portaudio"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/metrics"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+	"github.com/openmind/om1/internal/util"
+)
+
+func init() {
+	inputs.Register("ParallelASRInput", NewParallelASR)
+}
+
+// defaultParallelDedupWindow is how long, after one provider's transcript is
+// accepted, transcripts from the *other* providers are suppressed.
+const defaultParallelDedupWindow = 3 * time.Second
+
+// ParallelASRProviderConfig configures one ASR provider within a parallel sensor.
+type ParallelASRProviderConfig struct {
+	Provider             string   `json:"model"`   // provider type: "riva" | "google" | "elevenlabs"
+	APIKey               string   `json:"api_key"` // required for google/elevenlabs
+	APIVersion           string   `json:"api_version"`
+	BaseURL              string   `json:"base_url"` // override WS endpoint
+	Language             string   `json:"language"`
+	AlternativeLanguages []string `json:"alternative_languages"` // google v1 only
+	GoogleModel          string   `json:"google_model"`          // optional Google ASR model query param (google only)
+}
+
+// ParallelASRConfig configures a sensor that captures audio once and streams it to
+// multiple ASR providers concurrently, surfacing whichever transcript arrives first.
+type ParallelASRConfig struct {
+	Source             string                      `json:"source"`               // "mic" (default) | "rtsp"
+	APIKey             string                      `json:"api_key"`              // default key for providers that omit one (e.g. the global config key)
+	Rate               int                         `json:"rate"`                 // sample rate Hz
+	Chunk              int                         `json:"chunk"`                // frames/samples per chunk
+	MicDeviceIndex     int                         `json:"microphone_device_id"` // -1 = default (mic source)
+	RTSPURL            string                      `json:"rtsp_url"`             // rtsp source
+	DedupWindowMS      int                         `json:"dedup_window_ms"`      // first-wins suppression window (default 3000)
+	EnableTTSInterrupt bool                        `json:"enable_tts_interrupt"`
+	Providers          []ParallelASRProviderConfig `json:"providers"`
+}
+
+// ParallelASRSensor captures audio from source, fans the PCM out, and forwards the first
+// transcript to the cortex loop while suppressing the slower duplicates.
+type ParallelASRSensor struct {
+	*asrSensorCore
+
+	cfg     ParallelASRConfig
+	streams []*transcriberStream
+
+	// mic source
+	paStream   *portaudio.Stream
+	audioChunk []int16
+
+	// first-wins dedup state
+	dedupWindow  time.Duration
+	dmu          sync.Mutex
+	lastProvider string
+	lastTime     time.Time
+}
+
+// NewParallelASR constructs a ParallelASRSensor with the given configuration.
+func NewParallelASR(configMap map[string]any) (inputs.Sensor, error) {
+	cfg := ParallelASRConfig{MicDeviceIndex: -1}
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+
+	cfg.Source = strings.TrimSpace(strings.ToLower(cfg.Source))
+	if cfg.Source == "" {
+		cfg.Source = "mic"
+	}
+	if cfg.Source != "mic" && cfg.Source != "rtsp" {
+		return nil, fmt.Errorf("ParallelASRInput: source must be \"mic\" or \"rtsp\", got %q", cfg.Source)
+	}
+
+	if len(cfg.Providers) == 0 {
+		return nil, fmt.Errorf("ParallelASRInput: at least one provider is required")
+	}
+
+	if cfg.Rate == 0 {
+		if cfg.Source == "mic" {
+			cfg.Rate = 48000
+		} else {
+			cfg.Rate = 16000
+		}
+	}
+	if cfg.Chunk == 0 {
+		if cfg.Source == "mic" {
+			cfg.Chunk = 4800
+		} else {
+			cfg.Chunk = 1600
+		}
+	}
+
+	dedupWindow := defaultParallelDedupWindow
+	if cfg.DedupWindowMS > 0 {
+		dedupWindow = time.Duration(cfg.DedupWindowMS) * time.Millisecond
+	}
+
+	s := &ParallelASRSensor{
+		asrSensorCore: newSensorCore("ParallelASRInput", cfg.EnableTTSInterrupt, defaultASRCooldown),
+		cfg:           cfg,
+		dedupWindow:   dedupWindow,
+	}
+	if cfg.Source == "mic" {
+		s.audioChunk = make([]int16, cfg.Chunk)
+	}
+
+	for i, p := range cfg.Providers {
+		streamCfg, err := s.buildStreamConfig(p)
+		if err != nil {
+			return nil, fmt.Errorf("ParallelASRInput: provider %d: %w", i, err)
+		}
+		s.streams = append(s.streams, newTranscriberStream(streamCfg, s.log, s.deliver))
+	}
+
+	s.log.Info("ParallelASRInput: configured",
+		zap.String("source", cfg.Source),
+		zap.Int("rate", cfg.Rate),
+		zap.Int("chunk", cfg.Chunk),
+		zap.Int("providers", len(s.streams)),
+		zap.Duration("dedup_window", dedupWindow),
+	)
+
+	return s, nil
+}
+
+// buildStreamConfig resolves one provider entry into a transcriberStream config,
+// reusing each vendor's existing config resolution (endpoints, language mapping).
+func (s *ParallelASRSensor) buildStreamConfig(p ParallelASRProviderConfig) (asrCommonConfig, error) {
+	provider := strings.TrimSpace(strings.ToLower(p.Provider))
+	name := fmt.Sprintf("ParallelASRInput[%s]", provider)
+
+	// Providers inherit the sensor-level api_key
+	apiKey := p.APIKey
+	if apiKey == "" {
+		apiKey = s.cfg.APIKey
+	}
+
+	switch provider {
+	case "riva":
+		return resolveRivaASRConfig(rivaASRParams{
+			name:               name,
+			baseURL:            p.BaseURL,
+			rate:               s.cfg.Rate,
+			language:           p.Language,
+			enableTTSInterrupt: s.cfg.EnableTTSInterrupt,
+		}), nil
+	case "google":
+		if apiKey == "" {
+			return asrCommonConfig{}, fmt.Errorf("google provider requires api_key")
+		}
+		return resolveGoogleASRConfig(googleASRParams{
+			name:                 name,
+			apiKey:               apiKey,
+			apiVersion:           p.APIVersion,
+			baseURL:              p.BaseURL,
+			model:                p.GoogleModel,
+			rate:                 s.cfg.Rate,
+			language:             p.Language,
+			alternativeLanguages: p.AlternativeLanguages,
+			enableTTSInterrupt:   s.cfg.EnableTTSInterrupt,
+		}), nil
+	case "elevenlabs":
+		if apiKey == "" {
+			return asrCommonConfig{}, fmt.Errorf("elevenlabs provider requires api_key")
+		}
+		return resolveElevenLabsASRConfig(elevenlabsASRParams{
+			name:               name,
+			apiKey:             apiKey,
+			baseURL:            p.BaseURL,
+			rate:               s.cfg.Rate,
+			language:           p.Language,
+			enableTTSInterrupt: s.cfg.EnableTTSInterrupt,
+		}), nil
+	default:
+		return asrCommonConfig{}, fmt.Errorf("unknown provider %q (want riva, google, or elevenlabs)", p.Provider)
+	}
+}
+
+// deliver applies first-wins dedup: the first provider to transcribe an utterance
+// wins and is forwarded.
+func (s *ParallelASRSensor) deliver(provider, text string) {
+	s.dmu.Lock()
+	now := time.Now()
+	if provider != s.lastProvider && now.Sub(s.lastTime) < s.dedupWindow {
+		winner := s.lastProvider
+		s.dmu.Unlock()
+		metrics.ASRParallelTranscripts.WithLabelValues(provider, "suppressed").Inc()
+		s.log.Info("ParallelASRInput: lost race, suppressed duplicate",
+			zap.String("loser", provider),
+			zap.String("winner", winner),
+			zap.String("text", text),
+		)
+		return
+	}
+	s.lastProvider = provider
+	s.lastTime = now
+	s.dmu.Unlock()
+
+	metrics.ASRParallelTranscripts.WithLabelValues(provider, "won").Inc()
+	s.log.Info("ParallelASRInput: winner", zap.String("winner", provider), zap.String("text", text))
+	s.pushTranscript(text)
+}
+
+// Listen starts the sensor: it connects every provider stream, begins capture from
+// the configured source, and forwards merged transcripts until ctx is cancelled.
+func (s *ParallelASRSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		if s.cfg.Source == "mic" {
+			if err := providers.PortAudio.Acquire(); err != nil {
+				s.log.Error("ParallelASRInput: portaudio init failed", zap.Error(err))
+				return
+			}
+		}
+
+		s.connectStreams()
+
+		for _, st := range s.streams {
+			go st.statsLoop(ctx)
+		}
+
+		if s.cfg.Source == "mic" {
+			if err := s.openMic(ctx); err != nil {
+				s.log.Error("ParallelASRInput: mic open failed", zap.Error(err))
+				return
+			}
+		} else {
+			s.mu.Lock()
+			s.captureDone = make(chan struct{})
+			s.mu.Unlock()
+			go s.rtspCaptureLoop(ctx)
+		}
+
+		s.pollLoop(ctx, out)
+	}()
+	return out, nil
+}
+
+// connectStreams dials every provider websocket concurrently.
+func (s *ParallelASRSensor) connectStreams() {
+	var wg sync.WaitGroup
+	for _, st := range s.streams {
+		wg.Add(1)
+		go func(st *transcriberStream) {
+			defer wg.Done()
+			if err := st.connect(); err != nil {
+				s.log.Warn("ParallelASRInput: provider ws connect failed, will retry",
+					zap.String("provider", st.provider), zap.Error(err))
+			}
+		}(st)
+	}
+	wg.Wait()
+}
+
+// sendToAll fans one PCM chunk out to every provider stream. Each stream packages
+// the audio with its own header, so the shared chunk is only read, never mutated.
+func (s *ParallelASRSensor) sendToAll(pcm []byte) {
+	for _, st := range s.streams {
+		st.sendChunk(pcm)
+	}
+}
+
+// Stop signals capture to stop, waits for it to finish, and cleans up resources.
+func (s *ParallelASRSensor) Stop() {
+	first, captureDone := s.markStopped()
+	if !first {
+		return
+	}
+
+	s.log.Info("ParallelASRInput: stopping sensor")
+
+	s.waitCapture(captureDone)
+	for _, st := range s.streams {
+		st.closeWS()
+	}
+	if s.cfg.Source == "mic" {
+		providers.PortAudio.Release()
+	}
+	s.closeZenoh()
+
+	s.log.Info("ParallelASRInput: sensor stopped")
+}
+
+// openMic opens the configured microphone stream and starts the capture loop.
+func (s *ParallelASRSensor) openMic(ctx context.Context) error {
+	var device *portaudio.DeviceInfo
+	var err error
+
+	if s.cfg.MicDeviceIndex >= 0 {
+		devices, err := portaudio.Devices()
+		if err != nil {
+			return fmt.Errorf("ParallelASRInput: list devices: %w", err)
+		}
+		if s.cfg.MicDeviceIndex >= len(devices) {
+			return fmt.Errorf("ParallelASRInput: device index %d out of range", s.cfg.MicDeviceIndex)
+		}
+		device = devices[s.cfg.MicDeviceIndex]
+	} else {
+		device, err = portaudio.DefaultInputDevice()
+		if err != nil {
+			return fmt.Errorf("ParallelASRInput: default device: %w", err)
+		}
+	}
+
+	s.log.Info("ParallelASRInput: microphone",
+		zap.String("device", device.Name),
+		zap.Int("rate", s.cfg.Rate),
+		zap.Int("chunk", s.cfg.Chunk),
+		zap.Float64("chunk_ms", float64(s.cfg.Chunk)/float64(s.cfg.Rate)*1000),
+	)
+
+	params := portaudio.StreamParameters{
+		Input: portaudio.StreamDeviceParameters{
+			Device:   device,
+			Channels: 1,
+			Latency:  device.DefaultHighInputLatency,
+		},
+		SampleRate:      float64(s.cfg.Rate),
+		FramesPerBuffer: s.cfg.Chunk,
+	}
+
+	stream, err := portaudio.OpenStream(params, s.audioChunk)
+	if err != nil {
+		return fmt.Errorf("ParallelASRInput: open stream: %w", err)
+	}
+
+	if err := stream.Start(); err != nil {
+		_ = stream.Close()
+		return fmt.Errorf("ParallelASRInput: start stream: %w", err)
+	}
+
+	s.mu.Lock()
+	s.paStream = stream
+	s.captureDone = make(chan struct{})
+	s.mu.Unlock()
+
+	go s.micCaptureLoop(ctx, stream)
+	s.log.Info("ParallelASRInput: microphone started")
+	return nil
+}
+
+// micCaptureLoop reads PCM from the microphone and fans it out to all providers.
+func (s *ParallelASRSensor) micCaptureLoop(ctx context.Context, stream *portaudio.Stream) {
+	defer func() {
+		_ = stream.Stop()
+		_ = stream.Close()
+
+		s.mu.Lock()
+		if s.paStream == stream {
+			s.paStream = nil
+		}
+		done := s.captureDone
+		s.mu.Unlock()
+
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+
+		if err := stream.Read(); err != nil && err.Error() != "Input overflowed" {
+			s.log.Warn("ParallelASRInput: read error", zap.Error(err))
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, len(s.audioChunk)*2)
+		for i, sample := range s.audioChunk {
+			binary.LittleEndian.PutUint16(pcm[i*2:], uint16(sample))
+		}
+
+		s.sendToAll(pcm)
+	}
+}
+
+// rtspCaptureLoop runs the RTSP stream and reconnects on failure until ctx is cancelled.
+func (s *ParallelASRSensor) rtspCaptureLoop(ctx context.Context) {
+	defer func() {
+		s.mu.Lock()
+		done := s.captureDone
+		s.mu.Unlock()
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		if ctx.Err() != nil {
+			return
+		}
+
+		if err := s.streamRTSP(ctx); err != nil && ctx.Err() == nil {
+			s.log.Warn("ParallelASRInput: RTSP audio error", zap.Error(err))
+			s.log.Info("ParallelASRInput: reconnecting", zap.Duration("delay", rtspReconnectDelay))
+			if !util.Sleep(ctx, rtspReconnectDelay) {
+				return
+			}
+		}
+	}
+}
+
+// streamRTSP runs ffmpeg to capture PCM audio from the RTSP URL and fans it out to
+// all providers until an error occurs or ctx is cancelled.
+func (s *ParallelASRSensor) streamRTSP(ctx context.Context) error {
+	cmd := exec.CommandContext(ctx, "ffmpeg",
+		"-rtsp_transport", "tcp",
+		"-i", s.cfg.RTSPURL,
+		"-vn",
+		"-f", "s16le",
+		"-acodec", "pcm_s16le",
+		"-ac", "1",
+		"-ar", strconv.Itoa(s.cfg.Rate),
+		"-loglevel", "error",
+		"pipe:1",
+	)
+
+	stdout, err := cmd.StdoutPipe()
+	if err != nil {
+		return fmt.Errorf("stdout pipe: %w", err)
+	}
+	if err := cmd.Start(); err != nil {
+		return fmt.Errorf("start ffmpeg: %w", err)
+	}
+	defer func() {
+		if cmd.Process != nil {
+			_ = cmd.Process.Kill()
+		}
+		_ = cmd.Wait()
+	}()
+
+	s.log.Info("ParallelASRInput: RTSP audio stream connected", zap.String("rtsp_url", s.cfg.RTSPURL))
+
+	chunkBytes := s.cfg.Chunk * 2 // int16 samples
+	buf := make([]byte, chunkBytes)
+	for {
+		if ctx.Err() != nil {
+			return ctx.Err()
+		}
+
+		if _, err := io.ReadFull(stdout, buf); err != nil {
+			return fmt.Errorf("read pcm: %w", err)
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, chunkBytes)
+		copy(pcm, buf)
+		s.sendToAll(pcm)
+	}
+}
diff --git a/plugins/inputs/asr/parallel_asr_test.go b/plugins/inputs/asr/parallel_asr_test.go
new file mode 100644
index 0000000000..57d05b9706
--- /dev/null
+++ b/plugins/inputs/asr/parallel_asr_test.go
@@ -0,0 +1,88 @@
+package asr
+
+import (
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+)
+
+func newTestParallelSensor(window time.Duration) *ParallelASRSensor {
+	return &ParallelASRSensor{
+		asrSensorCore: newTestSensorCore(),
+		dedupWindow:   window,
+	}
+}
+
+func TestParallelDeliverFirstWins(t *testing.T) {
+	s := newTestParallelSensor(time.Hour)
+
+	// First provider to transcribe an utterance wins.
+	s.deliver("riva", "hello there world")
+	got, ok := recvTranscript(t, s.transcriptCh)
+	require.True(t, ok)
+	require.Equal(t, "hello there world", got)
+
+	// A different provider's transcript within the window is suppressed as a duplicate.
+	s.deliver("google", "hello there world again")
+	_, ok = recvTranscript(t, s.transcriptCh)
+	require.False(t, ok, "the slower provider must be suppressed within the dedup window")
+
+	// The winning provider is never suppressed; its next utterance passes through.
+	s.deliver("riva", "second utterance here")
+	got, ok = recvTranscript(t, s.transcriptCh)
+	require.True(t, ok)
+	require.Equal(t, "second utterance here", got)
+}
+
+func TestParallelDeliverFailover(t *testing.T) {
+	s := newTestParallelSensor(time.Hour)
+
+	s.deliver("riva", "winner takes this")
+	got, ok := recvTranscript(t, s.transcriptCh)
+	require.True(t, ok)
+	require.Equal(t, "winner takes this", got)
+
+	// Simulate the winner going silent past the window: another provider takes over.
+	s.dmu.Lock()
+	s.lastTime = time.Now().Add(-2 * time.Hour)
+	s.dmu.Unlock()
+
+	s.deliver("google", "failover transcript")
+	got, ok = recvTranscript(t, s.transcriptCh)
+	require.True(t, ok, "after the window expires a different provider should win")
+	require.Equal(t, "failover transcript", got)
+
+	s.dmu.Lock()
+	require.Equal(t, "google", s.lastProvider)
+	s.dmu.Unlock()
+}
+
+func TestParallelBuildStreamConfig(t *testing.T) {
+	s := &ParallelASRSensor{cfg: ParallelASRConfig{Rate: 16000}}
+
+	riva, err := s.buildStreamConfig(ParallelASRProviderConfig{Provider: "riva", BaseURL: "ws://localhost:6790"})
+	require.NoError(t, err)
+	require.Equal(t, "riva", riva.Provider)
+	require.Equal(t, "ws://localhost:6790", riva.WSURL)
+
+	_, err = s.buildStreamConfig(ParallelASRProviderConfig{Provider: "google"})
+	require.Error(t, err, "google requires an api_key")
+
+	_, err = s.buildStreamConfig(ParallelASRProviderConfig{Provider: "elevenlabs"})
+	require.Error(t, err, "elevenlabs requires an api_key")
+
+	_, err = s.buildStreamConfig(ParallelASRProviderConfig{Provider: "whisper"})
+	require.Error(t, err, "unknown provider must be rejected")
+}
+
+func TestNewParallelASRValidation(t *testing.T) {
+	_, err := NewParallelASR(map[string]any{"providers": []any{}})
+	require.Error(t, err, "at least one provider is required")
+
+	_, err = NewParallelASR(map[string]any{
+		"source":    "carrier_pigeon",
+		"providers": []any{map[string]any{"model": "riva"}},
+	})
+	require.Error(t, err, "invalid source must be rejected")
+}
diff --git a/plugins/inputs/asr/riva_asr.go b/plugins/inputs/asr/riva_asr.go
new file mode 100644
index 0000000000..74d109e028
--- /dev/null
+++ b/plugins/inputs/asr/riva_asr.go
@@ -0,0 +1,293 @@
+package asr
+
+import (
+	"context"
+	"encoding/binary"
+	"encoding/json"
+	"fmt"
+	"strings"
+
+	"github.com/gordonklaus/portaudio"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/providers/tts"
+)
+
+func init() {
+	inputs.Register("RivaASRInput", NewRivaASR)
+}
+
+// rivaLanguageCodeMap maps friendly language names to Riva's BCP-47 codes.
+var rivaLanguageCodeMap = map[string]string{
+	"english":    "en-US",
+	"chinese":    "cmn-Hans-CN",
+	"german":     "de-DE",
+	"french":     "fr-FR",
+	"japanese":   "ja-JP",
+	"korean":     "ko-KR",
+	"spanish":    "es-ES",
+	"italian":    "it-IT",
+	"portuguese": "pt-BR",
+	"russian":    "ru-RU",
+	"arabic":     "ar-SA",
+}
+
+// rivaAPIVersion is the fixed api_version label used for Riva ASR metrics.
+const rivaAPIVersion = "v1"
+
+// rivaDefaultBaseURL is the default Riva ASR websocket endpoint.
+const rivaDefaultBaseURL = "ws://localhost:6790"
+
+// RivaASRConfig configures the local microphone-sourced Riva ASR sensor.
+type RivaASRConfig struct {
+	APIKey             string `json:"api_key"`
+	Rate               int    `json:"rate"`                 // sample rate Hz (default 48000)
+	Chunk              int    `json:"chunk"`                // frames per buffer (default 12144)
+	BaseURL            string `json:"base_url"`             // override WS endpoint
+	MicDeviceIndex     int    `json:"microphone_device_id"` // -1 = default
+	Language           string `json:"language"`             // default "english"
+	EnableTTSInterrupt bool   `json:"enable_tts_interrupt"`
+}
+
+// rivaASRParams carries the vendor inputs needed to build a Riva asrCommon.
+type rivaASRParams struct {
+	name               string
+	baseURL            string
+	rate               int
+	language           string
+	enableTTSInterrupt bool
+}
+
+// RivaASRSensor streams local microphone audio to Riva ASR via the shared asrCommon.
+type RivaASRSensor struct {
+	*asrCommon
+
+	cfg        RivaASRConfig
+	paStream   *portaudio.Stream
+	audioChunk []int16
+}
+
+// NewRivaASR constructs a RivaASRSensor with the given configuration.
+func NewRivaASR(configMap map[string]any) (inputs.Sensor, error) {
+	cfg := RivaASRConfig{MicDeviceIndex: -1}
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = 48000
+	}
+	if cfg.Chunk == 0 {
+		cfg.Chunk = 12144
+	}
+
+	core := newRivaASRCommon(rivaASRParams{
+		name:               "RivaASRInput",
+		baseURL:            cfg.BaseURL,
+		rate:               cfg.Rate,
+		language:           cfg.Language,
+		enableTTSInterrupt: cfg.EnableTTSInterrupt,
+	})
+	core.log.Info("RivaASRInput: microphone config", zap.Int("chunk", cfg.Chunk))
+
+	return &RivaASRSensor{
+		asrCommon:  core,
+		cfg:        cfg,
+		audioChunk: make([]int16, cfg.Chunk),
+	}, nil
+}
+
+// Listen starts the sensor by connecting to the ASR websocket and running the microphone capture loop.
+func (s *RivaASRSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		if err := providers.PortAudio.Acquire(); err != nil {
+			s.log.Error("RivaASRInput: portaudio init failed", zap.Error(err))
+			return
+		}
+
+		if err := s.connect(); err != nil {
+			s.log.Error("RivaASRInput: ws connect failed", zap.Error(err))
+			return
+		}
+
+		if err := s.openMic(ctx); err != nil {
+			s.log.Error("RivaASRInput: mic open failed", zap.Error(err))
+			return
+		}
+
+		s.pollLoop(ctx, out)
+	}()
+	return out, nil
+}
+
+// Stop signals the capture loop to stop, waits for it to finish, and cleans up resources.
+func (s *RivaASRSensor) Stop() {
+	first, captureDone := s.markStopped()
+	if !first {
+		return
+	}
+
+	s.log.Info("RivaASRInput: stopping sensor")
+
+	s.waitCapture(captureDone)
+	s.closeWS()
+	providers.PortAudio.Release()
+	s.closeZenoh()
+
+	s.log.Info("RivaASRInput: sensor stopped")
+}
+
+// openMic initializes PortAudio, opens the configured microphone stream, and starts the capture loop.
+func (s *RivaASRSensor) openMic(ctx context.Context) error {
+	var device *portaudio.DeviceInfo
+	var err error
+
+	if s.cfg.MicDeviceIndex >= 0 {
+		devices, err := portaudio.Devices()
+		if err != nil {
+			return fmt.Errorf("RivaASRInput: list devices: %w", err)
+		}
+
+		if s.cfg.MicDeviceIndex >= len(devices) {
+			return fmt.Errorf("RivaASRInput: device index %d out of range", s.cfg.MicDeviceIndex)
+		}
+
+		device = devices[s.cfg.MicDeviceIndex]
+	} else {
+		device, err = portaudio.DefaultInputDevice()
+
+		if err != nil {
+			return fmt.Errorf("RivaASRInput: default device: %w", err)
+		}
+	}
+
+	s.log.Info("RivaASRInput: microphone",
+		zap.String("device", device.Name),
+		zap.Int("rate", s.cfg.Rate),
+		zap.Int("chunk", s.cfg.Chunk),
+		zap.Float64("chunk_ms", float64(s.cfg.Chunk)/float64(s.cfg.Rate)*1000),
+	)
+
+	params := portaudio.StreamParameters{
+		Input: portaudio.StreamDeviceParameters{
+			Device:   device,
+			Channels: 1,
+			Latency:  device.DefaultHighInputLatency,
+		},
+		SampleRate:      float64(s.cfg.Rate),
+		FramesPerBuffer: s.cfg.Chunk,
+	}
+
+	stream, err := portaudio.OpenStream(params, s.audioChunk)
+	if err != nil {
+		return fmt.Errorf("RivaASRInput: open stream: %w", err)
+	}
+
+	if err := stream.Start(); err != nil {
+		_ = stream.Close()
+		return fmt.Errorf("RivaASRInput: start stream: %w", err)
+	}
+
+	s.mu.Lock()
+	s.paStream = stream
+	s.captureDone = make(chan struct{})
+	s.mu.Unlock()
+
+	go s.captureLoop(ctx, stream)
+	go s.statsLoop(ctx)
+	s.log.Info("RivaASRInput: microphone started")
+	return nil
+}
+
+func (s *RivaASRSensor) captureLoop(ctx context.Context, stream *portaudio.Stream) {
+	defer func() {
+		_ = stream.Stop()
+		_ = stream.Close()
+
+		s.mu.Lock()
+		if s.paStream == stream {
+			s.paStream = nil
+		}
+		done := s.captureDone
+		s.mu.Unlock()
+
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+
+		if err := stream.Read(); err != nil && err.Error() != "Input overflowed" {
+			s.log.Warn("RivaASRInput: read error", zap.Error(err))
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, len(s.audioChunk)*2)
+		for i, sample := range s.audioChunk {
+			binary.LittleEndian.PutUint16(pcm[i*2:], uint16(sample))
+		}
+
+		s.sendChunk(pcm)
+	}
+}
+
+// newRivaASRCommon resolves Riva-specific config and builds the shared asrCommon with the Riva parser.
+func newRivaASRCommon(p rivaASRParams) *asrCommon {
+	return newASRCommon(resolveRivaASRConfig(p))
+}
+
+// resolveRivaASRConfig maps Riva vendor parameters to a transcriberStream config.
+func resolveRivaASRConfig(p rivaASRParams) asrCommonConfig {
+	language := strings.TrimSpace(strings.ToLower(p.language))
+	if language == "" {
+		language = "english"
+	}
+	languageCode, ok := rivaLanguageCodeMap[language]
+	if !ok {
+		languageCode = "en-US"
+	}
+
+	wsURL := p.baseURL
+	if wsURL == "" {
+		wsURL = rivaDefaultBaseURL
+	}
+
+	return asrCommonConfig{
+		Name:               p.name,
+		Provider:           "riva",
+		APIVersion:         rivaAPIVersion,
+		WSURL:              wsURL,
+		Rate:               p.rate,
+		Language:           language,
+		LanguageCode:       languageCode,
+		EnableTTSInterrupt: p.enableTTSInterrupt,
+		ParseMessage:       rivaParseMessage,
+	}
+}
+
+// acceptRivaTranscript reports whether a Riva transcript is long enough to keep.
+func acceptRivaTranscript(text string) bool {
+	return len(strings.Fields(text)) > 2
+}
+
+// rivaParseMessage simply forwards any reply that clears the length threshold.
+func rivaParseMessage(_ *transcriberStream, msg ASRMessage) string {
+	if msg.ASRReply == "" || !acceptRivaTranscript(msg.ASRReply) {
+		return ""
+	}
+	return msg.ASRReply
+}
diff --git a/plugins/inputs/asr/riva_asr_rtsp.go b/plugins/inputs/asr/riva_asr_rtsp.go
new file mode 100644
index 0000000000..92b82b341f
--- /dev/null
+++ b/plugins/inputs/asr/riva_asr_rtsp.go
@@ -0,0 +1,190 @@
+package asr
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"io"
+	"os/exec"
+	"strconv"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/providers/tts"
+	"github.com/openmind/om1/internal/util"
+)
+
+func init() {
+	inputs.Register("RivaASRRTSPInput", NewRivaASRRTSP)
+}
+
+// RivaASRRTSPConfig configures the RTSP-sourced Riva ASR sensor.
+type RivaASRRTSPConfig struct {
+	APIKey             string `json:"api_key"`
+	RTSPURL            string `json:"rtsp_url"` // RTSP audio source
+	Rate               int    `json:"rate"`     // sample rate Hz (default 16000)
+	Chunk              int    `json:"chunk"`    // samples per chunk (default 1600)
+	BaseURL            string `json:"base_url"` // override WS endpoint
+	Language           string `json:"language"` // default "english"
+	EnableTTSInterrupt bool   `json:"enable_tts_interrupt"`
+}
+
+// RivaASRRTSPSensor streams audio from an RTSP URL (decoded via ffmpeg) and
+// forwards PCM to the Riva ASR websocket through the shared asrCommon.
+type RivaASRRTSPSensor struct {
+	*asrCommon
+
+	cfg RivaASRRTSPConfig
+}
+
+// NewRivaASRRTSP constructs a RivaASRRTSPSensor with the given configuration.
+func NewRivaASRRTSP(configMap map[string]any) (inputs.Sensor, error) {
+	var cfg RivaASRRTSPConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.RTSPURL == "" {
+		cfg.RTSPURL = "rtsp://localhost:8554/audio"
+	}
+	if cfg.Rate == 0 {
+		cfg.Rate = 16000
+	}
+	if cfg.Chunk == 0 {
+		cfg.Chunk = 1600
+	}
+
+	core := newRivaASRCommon(rivaASRParams{
+		name:               "RivaASRRTSPInput",
+		baseURL:            cfg.BaseURL,
+		rate:               cfg.Rate,
+		language:           cfg.Language,
+		enableTTSInterrupt: cfg.EnableTTSInterrupt,
+	})
+	core.log.Info("RivaASRRTSPInput: rtsp config",
+		zap.String("rtsp_url", cfg.RTSPURL),
+		zap.Int("chunk", cfg.Chunk),
+	)
+
+	return &RivaASRRTSPSensor{
+		asrCommon: core,
+		cfg:       cfg,
+	}, nil
+}
+
+// Listen starts the sensor by connecting to the ASR websocket and running the RTSP capture loop.
+func (s *RivaASRRTSPSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		if err := s.connect(); err != nil {
+			s.log.Error("RivaASRRTSPInput: ws connect failed", zap.Error(err))
+			return
+		}
+
+		s.mu.Lock()
+		s.captureDone = make(chan struct{})
+		s.mu.Unlock()
+		go s.captureLoop(ctx)
+		go s.statsLoop(ctx)
+
+		s.pollLoop(ctx, out)
+	}()
+	return out, nil
+}
+
+// Stop signals the capture loop to stop, waits for it to finish, and cleans up resources.
+func (s *RivaASRRTSPSensor) Stop() {
+	first, captureDone := s.markStopped()
+	if !first {
+		return
+	}
+
+	s.log.Info("RivaASRRTSPInput: stopping sensor")
+
+	s.waitCapture(captureDone)
+	s.closeWS()
+	s.closeZenoh()
+
+	s.log.Info("RivaASRRTSPInput: sensor stopped")
+}
+
+// captureLoop runs the RTSP stream and reconnects on failure until ctx is cancelled.
+func (s *RivaASRRTSPSensor) captureLoop(ctx context.Context) {
+	defer func() {
+		s.mu.Lock()
+		done := s.captureDone
+		s.mu.Unlock()
+		if done != nil {
+			close(done)
+		}
+	}()
+
+	for {
+		if ctx.Err() != nil {
+			return
+		}
+
+		if err := s.streamRTSP(ctx); err != nil && ctx.Err() == nil {
+			s.log.Warn("RivaASRRTSPInput: RTSP audio error", zap.Error(err))
+			s.log.Info("RivaASRRTSPInput: reconnecting", zap.Duration("delay", rtspReconnectDelay))
+			if !util.Sleep(ctx, rtspReconnectDelay) {
+				return
+			}
+		}
+	}
+}
+
+// streamRTSP runs ffmpeg to capture PCM audio from the RTSP URL and
+// sends it to the ASR websocket until an error occurs or ctx is cancelled.
+func (s *RivaASRRTSPSensor) streamRTSP(ctx context.Context) error {
+	cmd := exec.CommandContext(ctx, "ffmpeg",
+		"-rtsp_transport", "tcp",
+		"-i", s.cfg.RTSPURL,
+		"-vn",
+		"-f", "s16le",
+		"-acodec", "pcm_s16le",
+		"-ac", "1",
+		"-ar", strconv.Itoa(s.cfg.Rate),
+		"-loglevel", "error",
+		"pipe:1",
+	)
+
+	stdout, err := cmd.StdoutPipe()
+	if err != nil {
+		return fmt.Errorf("stdout pipe: %w", err)
+	}
+	if err := cmd.Start(); err != nil {
+		return fmt.Errorf("start ffmpeg: %w", err)
+	}
+	defer func() {
+		if cmd.Process != nil {
+			_ = cmd.Process.Kill()
+		}
+		_ = cmd.Wait()
+	}()
+
+	s.log.Info("RivaASRRTSPInput: RTSP audio stream connected", zap.String("rtsp_url", s.cfg.RTSPURL))
+
+	chunkBytes := s.cfg.Chunk * 2 // int16 samples
+	buf := make([]byte, chunkBytes)
+	for {
+		if ctx.Err() != nil {
+			return ctx.Err()
+		}
+
+		if _, err := io.ReadFull(stdout, buf); err != nil {
+			return fmt.Errorf("read pcm: %w", err)
+		}
+
+		if tts.Speaking.Load() && !s.cfg.EnableTTSInterrupt {
+			continue
+		}
+
+		pcm := make([]byte, chunkBytes)
+		copy(pcm, buf)
+		s.sendChunk(pcm)
+	}
+}
diff --git a/plugins/inputs/asr/riva_asr_test.go b/plugins/inputs/asr/riva_asr_test.go
new file mode 100644
index 0000000000..a1a6c75169
--- /dev/null
+++ b/plugins/inputs/asr/riva_asr_test.go
@@ -0,0 +1,118 @@
+package asr
+
+import (
+	"encoding/binary"
+	"encoding/json"
+	"testing"
+
+	"github.com/gorilla/websocket"
+	"github.com/stretchr/testify/require"
+)
+
+func newTestRivaStream(ch chan string) *transcriberStream {
+	s := newTestStream("riva", "en-US", rivaParseMessage, ch)
+	s.rate = 48000
+	s.apiVersion = rivaAPIVersion
+	return s
+}
+
+func rivaReplyMsg(t *testing.T, reply string) []byte {
+	t.Helper()
+	b, err := json.Marshal(ASRMessage{ASRReply: reply})
+	require.NoError(t, err)
+	return b
+}
+
+func TestAcceptRivaTranscript(t *testing.T) {
+	cases := []struct {
+		name string
+		text string
+		want bool
+	}{
+		{"empty", "", false},
+		{"single word", "hello", false},
+		{"two words", "hello world", false},
+		{"three words", "hello there world", true},
+		{"leading/trailing spaces two words", "   hello world   ", false},
+		{"four words", "how are you doing", true},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			require.Equal(t, tc.want, acceptRivaTranscript(tc.text))
+		})
+	}
+}
+
+func TestRivaLanguageCodeMap(t *testing.T) {
+	require.Equal(t, "en-US", rivaLanguageCodeMap["english"])
+	require.Equal(t, "cmn-Hans-CN", rivaLanguageCodeMap["chinese"])
+
+	_, ok := rivaLanguageCodeMap["klingon"]
+	require.False(t, ok, "unsupported language must be absent so the caller falls back to en-US")
+
+	for name, code := range rivaLanguageCodeMap {
+		require.NotEmpty(t, code, "language %q maps to an empty code", name)
+	}
+}
+
+func TestRivaParseMessage(t *testing.T) {
+	require.Equal(t, "hello there world", rivaParseMessage(nil, ASRMessage{ASRReply: "hello there world"}))
+	require.Empty(t, rivaParseMessage(nil, ASRMessage{ASRReply: "hello world"}), "two words must be rejected")
+	require.Empty(t, rivaParseMessage(nil, ASRMessage{ASRReply: ""}), "empty reply must be rejected")
+}
+
+func TestRivaPackageAudioHeader(t *testing.T) {
+	s := newTestRivaStream(make(chan string, 1))
+	s.rate = 48000
+	s.languageCode = "en-US"
+
+	pcm := []byte{0x01, 0x02, 0x03, 0x04}
+	packet, err := s.packageAudio(pcm)
+	require.NoError(t, err)
+
+	hLen := binary.BigEndian.Uint32(packet[0:4])
+	require.Equal(t, len(packet), 4+int(hLen)+len(pcm))
+
+	var header map[string]any
+	require.NoError(t, json.Unmarshal(packet[4:4+hLen], &header))
+	require.EqualValues(t, 48000, header["rate"])
+	require.Equal(t, "en-US", header["language_code"])
+	require.Contains(t, header, "timestamp")
+	require.NotContains(t, header, "alternative_language_codes",
+		"Riva sends no alternative language codes; omitempty must drop the field")
+
+	require.Equal(t, pcm, packet[4+hLen:])
+}
+
+func TestRivaOnWSMessageDelivers(t *testing.T) {
+	ch := make(chan string, 1)
+	s := newTestRivaStream(ch)
+
+	s.onWSMessage(websocket.TextMessage, rivaReplyMsg(t, "hello there world"))
+
+	got, ok := recvTranscript(t, ch)
+	require.True(t, ok, "expected a transcript to be delivered")
+	require.Equal(t, "hello there world", got)
+}
+
+func TestRivaOnWSMessageIgnoresInvalidOrShort(t *testing.T) {
+	cases := []struct {
+		name    string
+		msgType int
+		data    []byte
+	}{
+		{"too short (two words)", websocket.TextMessage, rivaReplyMsg(t, "hello world")},
+		{"empty reply", websocket.TextMessage, rivaReplyMsg(t, "")},
+		{"invalid json", websocket.TextMessage, []byte("{not json")},
+		{"binary message", websocket.BinaryMessage, rivaReplyMsg(t, "hello there world")},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			ch := make(chan string, 1)
+			s := newTestRivaStream(ch)
+			s.onWSMessage(tc.msgType, tc.data)
+			_, ok := recvTranscript(t, ch)
+			require.False(t, ok, "no transcript should be delivered for %q", tc.name)
+		})
+	}
+}
diff --git a/plugins/inputs/conversation_history.go b/plugins/inputs/conversation_history.go
new file mode 100644
index 0000000000..69fce82334
--- /dev/null
+++ b/plugins/inputs/conversation_history.go
@@ -0,0 +1,184 @@
+package inputs
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"strings"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+)
+
+func init() {
+	inputs.Register("ConversationHistoryInput", NewConversationHistory)
+}
+
+const (
+	conversationHistoryDescriptor    = "Conversation History"
+	conversationHistoryVoiceKey      = "Voice"
+	conversationHistoryPollInterval  = 500 * time.Millisecond
+	conversationHistoryDefaultRounds = 3
+)
+
+// ConversationHistoryConfig is the JSON configuration for the ConversationHistory sensor.
+type ConversationHistoryConfig struct {
+	MaxRounds int `json:"max_rounds"`
+}
+
+// ConversationHistorySensor polls the IOProvider for voice inputs and maintains a
+// sliding window of conversation history for the LLM prompt.
+type ConversationHistorySensor struct {
+	cfg      ConversationHistoryConfig
+	log      *zap.Logger
+	provider *providers.IOProvider
+
+	mu               sync.Mutex
+	messages         []inputs.Message
+	lastRecordedTick int
+	stopped          bool
+}
+
+// NewConversationHistory constructs a ConversationHistorySensor with the given configuration.
+func NewConversationHistory(configMap map[string]any) (inputs.Sensor, error) {
+	var cfg ConversationHistoryConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.MaxRounds <= 0 {
+		cfg.MaxRounds = conversationHistoryDefaultRounds
+	}
+
+	log := logger.Get()
+	log.Info("ConversationHistoryInput: initializing",
+		zap.Int("max_rounds", cfg.MaxRounds),
+	)
+
+	return &ConversationHistorySensor{
+		cfg:              cfg,
+		log:              log,
+		provider:         providers.IO(),
+		lastRecordedTick: -1,
+	}, nil
+}
+
+// Listen polls the IOProvider for voice inputs at a fixed cadence and yields each
+// new voice line on the returned channel until ctx is cancelled.
+func (s *ConversationHistorySensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		ticker := time.NewTicker(conversationHistoryPollInterval)
+		defer ticker.Stop()
+
+		for {
+			select {
+			case <-ctx.Done():
+				return
+			case <-ticker.C:
+			}
+
+			raw, err := s.Poll(ctx)
+			if err != nil || raw == nil {
+				continue
+			}
+
+			select {
+			case out <- raw:
+			case <-ctx.Done():
+				return
+			}
+		}
+	}()
+	return out, nil
+}
+
+// Poll checks the IOProvider for new voice input on the current tick. It returns
+// the voice text if new, or nil otherwise.
+func (s *ConversationHistorySensor) Poll(_ context.Context) (any, error) {
+	s.mu.Lock()
+	if s.stopped {
+		s.mu.Unlock()
+		return nil, nil
+	}
+	lastRecorded := s.lastRecordedTick
+	s.mu.Unlock()
+
+	currentTick := s.provider.TickCounter()
+	if currentTick <= lastRecorded {
+		return nil, nil
+	}
+
+	voiceInput := s.provider.GetInput(conversationHistoryVoiceKey)
+	if voiceInput != nil && voiceInput.Input != "" && voiceInput.Tick == currentTick {
+		text := strings.TrimSpace(voiceInput.Input)
+		if text != "" {
+			s.mu.Lock()
+			s.lastRecordedTick = currentTick
+			s.mu.Unlock()
+			return text, nil
+		}
+	}
+
+	return nil, nil
+}
+
+// RawToText converts a raw voice line into a timestamped Message and appends it to
+// the bounded sliding-window history.
+func (s *ConversationHistorySensor) RawToText(_ context.Context, raw any) (*inputs.Message, error) {
+	text, ok := raw.(string)
+	if !ok || text == "" {
+		return nil, nil
+	}
+
+	msg := inputs.NewMessage(text)
+
+	s.mu.Lock()
+	s.messages = append(s.messages, *msg)
+	if len(s.messages) > s.cfg.MaxRounds {
+		s.messages = s.messages[len(s.messages)-s.cfg.MaxRounds:]
+	}
+	s.mu.Unlock()
+
+	return msg, nil
+}
+
+// FormattedLatestBuffer returns the current conversation history as a single formatted string
+// for LLM prompting. Each line is prefixed with "User: " and separated by "; ".
+func (s *ConversationHistorySensor) FormattedLatestBuffer() string {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if len(s.messages) == 0 {
+		return ""
+	}
+
+	lines := make([]string, len(s.messages))
+	for i, msg := range s.messages {
+		lines[i] = fmt.Sprintf("User: %s", msg.Message)
+	}
+
+	return fmt.Sprintf("%s: %q", conversationHistoryDescriptor, strings.Join(lines, "; "))
+}
+
+// Stop clears the message history and resets state. The polling goroutine
+// terminates via context cancellation in Listen.
+func (s *ConversationHistorySensor) Stop() {
+	s.mu.Lock()
+	if s.stopped {
+		s.mu.Unlock()
+		return
+	}
+	s.stopped = true
+	s.messages = nil
+	s.mu.Unlock()
+
+	s.log.Info("ConversationHistoryInput: stopping sensor")
+}
diff --git a/plugins/inputs/conversation_history_test.go b/plugins/inputs/conversation_history_test.go
new file mode 100644
index 0000000000..c92cdfdcd3
--- /dev/null
+++ b/plugins/inputs/conversation_history_test.go
@@ -0,0 +1,85 @@
+package inputs
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+
+	"github.com/openmind/om1/internal/providers"
+)
+
+func newConvHistory(t *testing.T, cfg map[string]any) *ConversationHistorySensor {
+	t.Helper()
+	s, err := NewConversationHistory(cfg)
+	require.NoError(t, err)
+	return s.(*ConversationHistorySensor)
+}
+
+func TestConversationHistoryDefaultRounds(t *testing.T) {
+	require.Equal(t, conversationHistoryDefaultRounds, newConvHistory(t, nil).cfg.MaxRounds)
+	require.Equal(t, 5, newConvHistory(t, map[string]any{"max_rounds": float64(5)}).cfg.MaxRounds)
+}
+
+func TestConversationHistoryRawToTextBounded(t *testing.T) {
+	s := newConvHistory(t, map[string]any{"max_rounds": float64(2)})
+
+	for _, text := range []string{"one", "two", "three"} {
+		_, err := s.RawToText(context.Background(), text)
+		require.NoError(t, err)
+	}
+	require.Len(t, s.messages, 2, "history is bounded to max_rounds")
+	require.Equal(t, "two", s.messages[0].Message)
+	require.Equal(t, "three", s.messages[1].Message)
+
+	empty, err := s.RawToText(context.Background(), "")
+	require.NoError(t, err)
+	require.Nil(t, empty, "empty text is ignored")
+}
+
+func TestConversationHistoryFormattedBuffer(t *testing.T) {
+	s := newConvHistory(t, nil)
+	require.Equal(t, "", s.FormattedLatestBuffer(), "empty history yields empty string")
+
+	_, _ = s.RawToText(context.Background(), "hi")
+	_, _ = s.RawToText(context.Background(), "bye")
+	out := s.FormattedLatestBuffer()
+	require.Contains(t, out, "Conversation History")
+	require.Contains(t, out, "User: hi; User: bye")
+}
+
+func TestConversationHistoryPoll(t *testing.T) {
+	io := providers.IO()
+	io.ResetTickCounter()
+	io.RemoveInput(conversationHistoryVoiceKey)
+	t.Cleanup(func() { io.RemoveInput(conversationHistoryVoiceKey); io.ResetTickCounter() })
+
+	s := newConvHistory(t, nil)
+
+	got, err := s.Poll(context.Background())
+	require.NoError(t, err)
+	require.Nil(t, got)
+
+	io.IncrementTick()
+	io.AddInput(conversationHistoryVoiceKey, "  hello  ", time.Now())
+
+	got, err = s.Poll(context.Background())
+	require.NoError(t, err)
+	require.Equal(t, "hello", got, "voice text is trimmed and returned once per tick")
+
+	got, err = s.Poll(context.Background())
+	require.NoError(t, err)
+	require.Nil(t, got, "a tick is only emitted once")
+}
+
+func TestConversationHistoryStopClears(t *testing.T) {
+	s := newConvHistory(t, nil)
+	_, _ = s.RawToText(context.Background(), "hi")
+	s.Stop()
+	require.Empty(t, s.messages)
+
+	got, err := s.Poll(context.Background())
+	require.NoError(t, err)
+	require.Nil(t, got, "a stopped sensor polls nothing")
+}
diff --git a/plugins/inputs/face_presence.go b/plugins/inputs/face_presence.go
new file mode 100644
index 0000000000..62dd3bdf71
--- /dev/null
+++ b/plugins/inputs/face_presence.go
@@ -0,0 +1,186 @@
+package inputs
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/util"
+)
+
+func init() {
+	inputs.Register("FacePresence", NewFacePresence)
+}
+
+const (
+	facePresenceDescriptor  = "Face Presence Sensor"
+	facePresenceIOKey       = "FacePresence"
+	facePresenceMaxMessages = 10
+)
+
+// FacePresenceConfig is the JSON configuration for the FacePresence sensor.
+type FacePresenceConfig struct {
+	// BaseURL is the base URL for the face HTTP service.
+	BaseURL string `json:"face_http_base_url"`
+	// RecentSec is the time window in seconds used to consider a face present.
+	RecentSec float64 `json:"face_recent_sec"`
+	// PollIntervalSec is the interval in seconds between successive polls.
+	PollIntervalSec float64 `json:"face_poll_interval_sec"`
+}
+
+// FacePresenceSensor implements the inputs.Sensor interface for face presence data.
+type FacePresenceSensor struct {
+	cfg      FacePresenceConfig
+	log      *zap.Logger
+	provider *providers.FacePresenceProvider
+	period   time.Duration
+
+	mu       sync.Mutex
+	messages []inputs.Message
+	stopped  bool
+}
+
+// NewFacePresence constructs a FacePresenceSensor from the decoded config map.
+func NewFacePresence(configMap map[string]any) (inputs.Sensor, error) {
+	var cfg FacePresenceConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.BaseURL == "" {
+		cfg.BaseURL = "http://127.0.0.1:6793"
+	}
+	if cfg.RecentSec <= 0 {
+		cfg.RecentSec = 1.0
+	}
+	if cfg.PollIntervalSec <= 0 {
+		cfg.PollIntervalSec = 0.2
+	}
+
+	log := logger.Get()
+	provider := providers.NewFacePresenceProvider(providers.FacePresenceConfig{
+		BaseURL:   cfg.BaseURL,
+		RecentSec: cfg.RecentSec,
+		Timeout:   2 * time.Second,
+	})
+
+	log.Info("FacePresence: initializing",
+		zap.String("base_url", cfg.BaseURL),
+		zap.Float64("recent_sec", cfg.RecentSec),
+		zap.Float64("poll_interval_sec", cfg.PollIntervalSec),
+	)
+
+	return &FacePresenceSensor{
+		cfg:      cfg,
+		log:      log,
+		provider: provider,
+		period:   time.Duration(cfg.PollIntervalSec * float64(time.Second)),
+	}, nil
+}
+
+// Listen polls the face-presence service at the configured cadence and yields
+// each formatted presence line on the returned channel until ctx is cancelled.
+func (s *FacePresenceSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		ticker := time.NewTicker(s.period)
+		defer ticker.Stop()
+
+		for {
+			select {
+			case <-ctx.Done():
+				return
+			case <-ticker.C:
+			}
+
+			raw, err := s.Poll(ctx)
+			if err != nil {
+				if ctx.Err() != nil {
+					return
+				}
+				s.log.Warn("FacePresence: failed to fetch snapshot", zap.Error(err))
+				util.Sleep(ctx, 2*time.Second)
+				continue
+			}
+
+			select {
+			case out <- raw:
+			case <-ctx.Done():
+				return
+			}
+		}
+	}()
+	return out, nil
+}
+
+// Poll fetches a single presence snapshot and returns its formatted text line.
+func (s *FacePresenceSensor) Poll(ctx context.Context) (any, error) {
+	snap, err := s.provider.FetchSnapshot(ctx)
+	if err != nil {
+		return nil, err
+	}
+	return snap.ToText(), nil
+}
+
+// RawToText converts a raw presence line into a timestamped Message and appends
+// it to the bounded in-memory history.
+func (s *FacePresenceSensor) RawToText(_ context.Context, raw any) (*inputs.Message, error) {
+	text, ok := raw.(string)
+	if !ok || text == "" {
+		return nil, nil
+	}
+
+	msg := inputs.NewMessage(text)
+
+	s.mu.Lock()
+	s.messages = append(s.messages, *msg)
+	if len(s.messages) > facePresenceMaxMessages {
+		s.messages = s.messages[len(s.messages)-facePresenceMaxMessages:]
+	}
+	s.mu.Unlock()
+
+	return msg, nil
+}
+
+// FormattedLatestBuffer returns the newest presence line as a compact,
+// prompt-ready block and clears the history. It returns "" when empty.
+func (s *FacePresenceSensor) FormattedLatestBuffer() string {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if len(s.messages) == 0 {
+		return ""
+	}
+
+	latest := s.messages[len(s.messages)-1]
+	result := fmt.Sprintf("\n%s: %q\n", facePresenceDescriptor, latest.Message)
+
+	ts := time.Unix(0, int64(latest.Timestamp*1e9))
+	providers.IO().AddInput(facePresenceIOKey, latest.Message, ts)
+	s.messages = nil
+
+	return result
+}
+
+// Stop marks the sensor stopped. The polling goroutine terminates via context
+// cancellation in Listen.
+func (s *FacePresenceSensor) Stop() {
+	s.mu.Lock()
+	if s.stopped {
+		s.mu.Unlock()
+		return
+	}
+	s.stopped = true
+	s.mu.Unlock()
+
+	s.log.Info("FacePresence: stopping sensor")
+}
diff --git a/plugins/inputs/greeting_status.go b/plugins/inputs/greeting_status.go
new file mode 100644
index 0000000000..d82e4642a7
--- /dev/null
+++ b/plugins/inputs/greeting_status.go
@@ -0,0 +1,55 @@
+package inputs
+
+import (
+	"context"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+)
+
+func init() {
+	inputs.Register("GreetingStatus", NewGreetingStatus)
+}
+
+type GreetingStatusSensor struct {
+	log      *zap.Logger
+	greeting *providers.GreetingConversationStateMachineProvider
+}
+
+// NewGreetingStatus constructs a GreetingStatusSensor.
+func NewGreetingStatus(_ map[string]any) (inputs.Sensor, error) {
+	log := logger.Get()
+	log.Info("GreetingStatus: initializing")
+	return &GreetingStatusSensor{
+		log:      log,
+		greeting: providers.Greeting(),
+	}, nil
+}
+
+func (s *GreetingStatusSensor) Listen(ctx context.Context) (<-chan any, error) {
+	out := make(chan any)
+	go func() {
+		defer close(out)
+		<-ctx.Done()
+	}()
+	return out, nil
+}
+
+func (s *GreetingStatusSensor) Poll(_ context.Context) (any, error) {
+	return nil, nil
+}
+
+func (s *GreetingStatusSensor) RawToText(_ context.Context, _ any) (*inputs.Message, error) {
+	return nil, nil
+}
+
+func (s *GreetingStatusSensor) FormattedLatestBuffer() string {
+	return s.greeting.EndingGuidance()
+}
+
+func (s *GreetingStatusSensor) Stop() {
+	s.log.Info("GreetingStatus: stopping sensor")
+}
diff --git a/plugins/inputs/inputs.go b/plugins/inputs/inputs.go
new file mode 100644
index 0000000000..018a2ccefc
--- /dev/null
+++ b/plugins/inputs/inputs.go
@@ -0,0 +1,6 @@
+package inputs
+
+import (
+	_ "github.com/openmind/om1/plugins/inputs/asr"
+	_ "github.com/openmind/om1/plugins/inputs/vlm"
+)
diff --git a/plugins/inputs/vlm/vlm.go b/plugins/inputs/vlm/vlm.go
new file mode 100644
index 0000000000..53379e82ba
--- /dev/null
+++ b/plugins/inputs/vlm/vlm.go
@@ -0,0 +1,282 @@
+package vlm
+
+import (
+	"context"
+	"encoding/base64"
+	"encoding/json"
+	"fmt"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/logger"
+	"github.com/openmind/om1/internal/providers"
+	video "github.com/openmind/om1/internal/providers/vlm"
+)
+
+func init() {
+	inputs.Register("VLMOpenAI", NewVLMOpenAI)
+	inputs.Register("VLMOpenAIRTSP", NewVLMOpenAIRTSP)
+}
+
+const (
+	vlmDescriptor  = "Vision"
+	vlmMaxMessages = 10
+	defaultFPS     = 10
+	defaultRTSPURL = "rtsp://localhost:8554/top_camera_raw"
+)
+
+type providerDefaults struct {
+	baseURL   string
+	model     string
+	prompt    string
+	maxTokens int
+}
+
+var openAIDefaults = providerDefaults{
+	baseURL:   "https://api.openmind.com/api/core/openai",
+	model:     "gpt-4o-mini",
+	prompt:    "What is the most interesting aspect in this series of images?",
+	maxTokens: 300,
+}
+
+// frameSource abstracts the source of video frames, whether from a camera or an RTSP stream, allowing vlmSensor to process them uniformly.
+type frameSource interface {
+	Start(ctx context.Context) <-chan video.Frame
+	Stop()
+}
+
+type VLMConfig struct {
+	APIKey      string `json:"api_key"`
+	BaseURL     string `json:"base_url"`
+	Model       string `json:"model"`
+	Prompt      string `json:"prompt"`
+	FPS         int    `json:"fps"`
+	MaxTokens   int    `json:"max_tokens"`
+	JPEGQuality int    `json:"jpeg_quality"`
+	Width       int    `json:"resolution_width"`
+	Height      int    `json:"resolution_height"`
+
+	// Camera-only.
+	CameraIndex int `json:"camera_index"`
+
+	// RTSP-only.
+	RTSPURL string `json:"rtsp_url"`
+}
+
+// vlmSensor implements the inputs.Sensor interface, capturing video frames, sending them to a vision API for description, and emitting the descriptions as messages.
+type vlmSensor struct {
+	name      string
+	log       *zap.Logger
+	describer *video.Describer
+	source    frameSource
+
+	mu       sync.Mutex
+	messages []inputs.Message
+	stopped  bool
+	cancel   context.CancelFunc
+}
+
+// NewVLMOpenAI constructs a camera-backed OpenAI VLM sensor.
+func NewVLMOpenAI(configMap map[string]any) (inputs.Sensor, error) {
+	return NewCameraSensor("VLMOpenAI", openAIDefaults, configMap)
+}
+
+// NewVLMOpenAIRTSP constructs an RTSP-backed OpenAI VLM sensor.
+func NewVLMOpenAIRTSP(configMap map[string]any) (inputs.Sensor, error) {
+	return NewRTSPSensor("VLMOpenAIRTSP", openAIDefaults, configMap)
+}
+
+// NewCameraSensor builds a camera-backed VLM sensor for the given backend.
+func NewCameraSensor(name string, defaults providerDefaults, configMap map[string]any) (inputs.Sensor, error) {
+	cfg, err := parseConfig(configMap, defaults)
+	if err != nil {
+		return nil, err
+	}
+	source := video.NewVideoStream(video.VideoStreamConfig{
+		DeviceIndex: cfg.CameraIndex,
+		FPS:         cfg.FPS,
+		Width:       cfg.Width,
+		Height:      cfg.Height,
+		JPEGQuality: cfg.JPEGQuality,
+	})
+	return NewSensor(name, cfg, source), nil
+}
+
+// NewRTSPSensor builds an RTSP-backed VLM sensor for the given backend.
+func NewRTSPSensor(name string, defaults providerDefaults, configMap map[string]any) (inputs.Sensor, error) {
+	cfg, err := parseConfig(configMap, defaults)
+	if err != nil {
+		return nil, err
+	}
+	if cfg.RTSPURL == "" {
+		cfg.RTSPURL = defaultRTSPURL
+	}
+	source := video.NewVideoRTSPStream(video.VideoRTSPStreamConfig{
+		RTSPURL:     cfg.RTSPURL,
+		FPS:         cfg.FPS,
+		Width:       cfg.Width,
+		Height:      cfg.Height,
+		JPEGQuality: cfg.JPEGQuality,
+	})
+	return NewSensor(name, cfg, source), nil
+}
+
+func parseConfig(configMap map[string]any, defaults providerDefaults) (VLMConfig, error) {
+	var cfg VLMConfig
+	if b, err := json.Marshal(configMap); err == nil {
+		_ = json.Unmarshal(b, &cfg)
+	}
+	if cfg.APIKey == "" {
+		return cfg, fmt.Errorf("vlm: api_key is required")
+	}
+	if cfg.BaseURL == "" {
+		cfg.BaseURL = defaults.baseURL
+	}
+	if cfg.Model == "" {
+		cfg.Model = defaults.model
+	}
+	if cfg.Prompt == "" {
+		cfg.Prompt = defaults.prompt
+	}
+	if cfg.FPS <= 0 {
+		cfg.FPS = defaultFPS
+	}
+	if cfg.MaxTokens <= 0 {
+		cfg.MaxTokens = defaults.maxTokens
+	}
+	return cfg, nil
+}
+
+func NewSensor(name string, cfg VLMConfig, source frameSource) *vlmSensor {
+	log := logger.Get()
+	log.Info(name+": initializing",
+		zap.String("base_url", cfg.BaseURL),
+		zap.String("model", cfg.Model),
+		zap.Int("fps", cfg.FPS),
+	)
+	return &vlmSensor{
+		name:   name,
+		log:    log,
+		source: source,
+		describer: video.NewDescriber(video.Describer{
+			Name:      name,
+			APIKey:    cfg.APIKey,
+			BaseURL:   cfg.BaseURL,
+			Model:     cfg.Model,
+			Prompt:    cfg.Prompt,
+			MaxTokens: cfg.MaxTokens,
+			Log:       log,
+		}),
+	}
+}
+
+// Listen starts the frame capture and description loop, emitting each description as it arrives.
+func (s *vlmSensor) Listen(ctx context.Context) (<-chan any, error) {
+	ctx, cancel := context.WithCancel(ctx)
+	s.mu.Lock()
+	s.cancel = cancel
+	s.mu.Unlock()
+
+	frames := s.source.Start(ctx)
+	out := make(chan any)
+
+	go func() {
+		defer close(out)
+		defer s.Stop()
+
+		for {
+			select {
+			case <-ctx.Done():
+				return
+			case frame, ok := <-frames:
+				if !ok {
+					return
+				}
+
+				providers.LatestFrame().Set(frame.JPEG, frame.Timestamp)
+				text, err := s.describer.Describe(ctx, base64.StdEncoding.EncodeToString(frame.JPEG))
+				if err != nil {
+					if ctx.Err() != nil {
+						return
+					}
+					s.log.Warn(s.name+": vision request failed", zap.Error(err))
+					continue
+				}
+				if text == "" {
+					continue
+				}
+
+				select {
+				case out <- text:
+				case <-ctx.Done():
+					return
+				}
+			}
+		}
+	}()
+
+	return out, nil
+}
+
+func (s *vlmSensor) Poll(context.Context) (any, error) {
+	return nil, nil
+}
+
+// RawToText appends a new description to the message buffer, returning it as an inputs.Message for downstream processing.
+func (s *vlmSensor) RawToText(_ context.Context, raw any) (*inputs.Message, error) {
+	text, ok := raw.(string)
+	if !ok || text == "" {
+		return nil, nil
+	}
+
+	msg := inputs.NewMessage(text)
+
+	s.mu.Lock()
+	s.messages = append(s.messages, *msg)
+	if len(s.messages) > vlmMaxMessages {
+		s.messages = s.messages[len(s.messages)-vlmMaxMessages:]
+	}
+	s.mu.Unlock()
+
+	return msg, nil
+}
+
+// FormattedLatestBuffer returns the most recent description in the buffer, prefixed by the descriptor and suffixed by a newline.
+func (s *vlmSensor) FormattedLatestBuffer() string {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if len(s.messages) == 0 {
+		return ""
+	}
+
+	latest := s.messages[len(s.messages)-1]
+	result := fmt.Sprintf("\n%q: %q\n", vlmDescriptor, latest.Message)
+
+	ts := time.Unix(0, int64(latest.Timestamp*1e9))
+	providers.IO().AddInput(s.name, latest.Message, ts)
+	s.messages = nil
+
+	return result
+}
+
+func (s *vlmSensor) Stop() {
+	s.mu.Lock()
+	if s.stopped {
+		s.mu.Unlock()
+		return
+	}
+
+	s.stopped = true
+	cancel := s.cancel
+	s.mu.Unlock()
+
+	if cancel != nil {
+		cancel()
+	}
+	s.source.Stop()
+	s.log.Info(s.name + ": stopping sensor")
+}
diff --git a/plugins/inputs/vlm/vlm_gemini.go b/plugins/inputs/vlm/vlm_gemini.go
new file mode 100644
index 0000000000..48e193dec2
--- /dev/null
+++ b/plugins/inputs/vlm/vlm_gemini.go
@@ -0,0 +1,26 @@
+package vlm
+
+import (
+	"github.com/openmind/om1/internal/inputs"
+)
+
+func init() {
+	inputs.Register("VLMGemini", NewVLMGemini)
+	inputs.Register("VLMGeminiRTSP", NewVLMGeminiRTSP)
+}
+
+var geminiDefaults = providerDefaults{
+	baseURL: "https://api.openmind.com/api/core/gemini",
+	model:   "gemini-2.5-flash",
+	prompt: "In one concise sentence, describe what you see in this image. " +
+		"Just the description — no explanation of your reasoning.",
+	maxTokens: 1024,
+}
+
+func NewVLMGemini(configMap map[string]any) (inputs.Sensor, error) {
+	return NewCameraSensor("VLMGemini", geminiDefaults, configMap)
+}
+
+func NewVLMGeminiRTSP(configMap map[string]any) (inputs.Sensor, error) {
+	return NewRTSPSensor("VLMGeminiRTSP", geminiDefaults, configMap)
+}
diff --git a/plugins/inputs/vlm/vlm_test.go b/plugins/inputs/vlm/vlm_test.go
new file mode 100644
index 0000000000..d0f6a20bbb
--- /dev/null
+++ b/plugins/inputs/vlm/vlm_test.go
@@ -0,0 +1,176 @@
+package vlm
+
+import (
+	"context"
+	"encoding/json"
+	"net/http"
+	"net/http/httptest"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/assert"
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/inputs"
+	video "github.com/openmind/om1/internal/providers/vlm"
+)
+
+type fakeSource struct {
+	frames  []video.Frame
+	started chan struct{}
+	stopped chan struct{}
+}
+
+func newFakeSource(frames ...video.Frame) *fakeSource {
+	return &fakeSource{
+		frames:  frames,
+		started: make(chan struct{}, 1),
+		stopped: make(chan struct{}, 1),
+	}
+}
+
+func (f *fakeSource) Start(ctx context.Context) <-chan video.Frame {
+	out := make(chan video.Frame)
+	select {
+	case f.started <- struct{}{}:
+	default:
+	}
+	go func() {
+		defer close(out)
+		for _, fr := range f.frames {
+			select {
+			case out <- fr:
+			case <-ctx.Done():
+				return
+			}
+		}
+		<-ctx.Done()
+	}()
+	return out
+}
+
+func (f *fakeSource) Stop() {
+	select {
+	case f.stopped <- struct{}{}:
+	default:
+	}
+}
+
+func TestParseConfigDefaults(t *testing.T) {
+	cfg, err := parseConfig(map[string]any{"api_key": "k"}, openAIDefaults)
+	require.NoError(t, err)
+	assert.Equal(t, openAIDefaults.baseURL, cfg.BaseURL)
+	assert.Equal(t, openAIDefaults.model, cfg.Model)
+	assert.Equal(t, openAIDefaults.prompt, cfg.Prompt)
+	assert.Equal(t, defaultFPS, cfg.FPS)
+	assert.Equal(t, openAIDefaults.maxTokens, cfg.MaxTokens)
+}
+
+func TestParseConfigGeminiDefaults(t *testing.T) {
+	cfg, err := parseConfig(map[string]any{"api_key": "k"}, geminiDefaults)
+	require.NoError(t, err)
+	assert.Equal(t, geminiDefaults.baseURL, cfg.BaseURL)
+	assert.Equal(t, "gemini-2.5-flash", cfg.Model)
+	assert.Equal(t, geminiDefaults.maxTokens, cfg.MaxTokens)
+}
+
+func TestParseConfigOverrides(t *testing.T) {
+	cfg, err := parseConfig(map[string]any{
+		"api_key": "k",
+		"model":   "custom-model",
+		"prompt":  "custom prompt",
+	}, geminiDefaults)
+	require.NoError(t, err)
+	assert.Equal(t, "custom-model", cfg.Model)
+	assert.Equal(t, "custom prompt", cfg.Prompt)
+}
+
+func TestParseConfigRequiresAPIKey(t *testing.T) {
+	_, err := parseConfig(map[string]any{}, openAIDefaults)
+	require.Error(t, err)
+}
+
+func TestGeminiSensorsRegistered(t *testing.T) {
+	for _, name := range []string{"VLMOpenAI", "VLMOpenAIRTSP", "VLMGemini", "VLMGeminiRTSP"} {
+		s, err := inputs.Load(name, map[string]any{"api_key": "k", "rtsp_url": "rtsp://x"})
+		require.NoError(t, err, name)
+		require.NotNil(t, s, name)
+		s.Stop()
+	}
+}
+
+func TestSensorListenDescribesFramesAndBuffers(t *testing.T) {
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		var body struct {
+			Messages []struct {
+				Content []struct {
+					Type     string `json:"type"`
+					ImageURL struct {
+						URL string `json:"url"`
+					} `json:"image_url"`
+				} `json:"content"`
+			} `json:"messages"`
+		}
+		require.NoError(t, json.NewDecoder(r.Body).Decode(&body))
+		require.NotEmpty(t, body.Messages)
+		assert.Contains(t, body.Messages[0].Content[1].ImageURL.URL, "data:image/jpeg;base64,")
+
+		_, _ = w.Write([]byte(`{"choices":[{"message":{"content":"a robot"}}]}`))
+	}))
+	defer srv.Close()
+
+	source := newFakeSource(video.Frame{Timestamp: time.Unix(1, 0), JPEG: []byte{0x01, 0x02}})
+	s := NewSensor("VLMOpenAI", VLMConfig{
+		APIKey:  "k",
+		BaseURL: srv.URL,
+		Model:   "test",
+		Prompt:  "describe",
+	}, source)
+
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+
+	out, err := s.Listen(ctx)
+	require.NoError(t, err)
+
+	select {
+	case raw := <-out:
+		assert.Equal(t, "a robot", raw)
+		_, err := s.RawToText(ctx, raw)
+		require.NoError(t, err)
+	case <-time.After(2 * time.Second):
+		t.Fatal("timed out waiting for description")
+	}
+
+	formatted := s.FormattedLatestBuffer()
+	assert.Contains(t, formatted, "Vision")
+	assert.Contains(t, formatted, "a robot")
+
+	assert.Equal(t, "", s.FormattedLatestBuffer())
+
+	s.Stop()
+	select {
+	case <-source.stopped:
+	case <-time.After(time.Second):
+		t.Fatal("source was not stopped")
+	}
+}
+
+func TestRawToTextIgnoresNonStrings(t *testing.T) {
+	s := NewSensor("VLMOpenAI", VLMConfig{APIKey: "k", BaseURL: "http://x"}, newFakeSource())
+	msg, err := s.RawToText(context.Background(), 123)
+	require.NoError(t, err)
+	assert.Nil(t, msg)
+	assert.Equal(t, "", s.FormattedLatestBuffer())
+}
+
+func TestRawToTextBoundsHistory(t *testing.T) {
+	s := &vlmSensor{name: "VLMOpenAI", log: zap.NewNop()}
+	for i := 0; i < vlmMaxMessages+5; i++ {
+		_, _ = s.RawToText(context.Background(), "msg")
+	}
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	assert.Len(t, s.messages, vlmMaxMessages)
+}
diff --git a/plugins/llm/common.go b/plugins/llm/common.go
new file mode 100644
index 0000000000..d20ee2295d
--- /dev/null
+++ b/plugins/llm/common.go
@@ -0,0 +1,76 @@
+package llm
+
+import (
+	"encoding/json"
+	"fmt"
+
+	"github.com/openmind/om1/internal/llm"
+)
+
+// openAIResp models the structure of the response from OpenAI's API.
+type openAIResp struct {
+	Choices []struct {
+		Message struct {
+			Content   string `json:"content"`
+			ToolCalls []struct {
+				Function struct {
+					Name      string `json:"name"`
+					Arguments string `json:"arguments"`
+				} `json:"function"`
+			} `json:"tool_calls"`
+		} `json:"message"`
+	} `json:"choices"`
+	Usage struct {
+		PromptTokens     int `json:"prompt_tokens"`
+		CompletionTokens int `json:"completion_tokens"`
+	} `json:"usage"`
+}
+
+// parseOpenAIResponse converts the raw JSON response from OpenAI into the internal llm.Response format.
+func parseOpenAIResponse(responseBytes []byte) (*llm.Response, error) {
+	var apiResponse openAIResp
+	if err := json.Unmarshal(responseBytes, &apiResponse); err != nil {
+		return nil, err
+	}
+	if len(apiResponse.Choices) == 0 {
+		return nil, fmt.Errorf("openai: empty choices")
+	}
+
+	firstChoice := apiResponse.Choices[0].Message
+	response := &llm.Response{
+		TextContent: firstChoice.Content,
+		Usage: llm.Usage{
+			PromptTokens:     apiResponse.Usage.PromptTokens,
+			CompletionTokens: apiResponse.Usage.CompletionTokens,
+		},
+	}
+
+	for _, toolCall := range firstChoice.ToolCalls {
+		var arguments map[string]any
+		_ = json.Unmarshal([]byte(toolCall.Function.Arguments), &arguments)
+		response.ToolCalls = append(response.ToolCalls, llm.ToolCall{
+			Name:      toolCall.Function.Name,
+			Arguments: arguments,
+		})
+	}
+	return response, nil
+}
+
+// buildMessages constructs the message history in the format expected by the OpenAI API.
+func buildMessages(prompt string, history []llm.Message) []map[string]any {
+	messages := make([]map[string]any, 0, len(history)+1)
+	for _, turn := range history {
+		messages = append(messages, map[string]any{"role": turn.Role, "content": turn.Content})
+	}
+	messages = append(messages, map[string]any{"role": "user", "content": prompt})
+	return messages
+}
+
+// remarshal is a helper function that converts between two struct types by marshaling to JSON and then unmarshalling.
+func remarshal(src any, dst any) error {
+	jsonBytes, err := json.Marshal(src)
+	if err != nil {
+		return err
+	}
+	return json.Unmarshal(jsonBytes, dst)
+}
diff --git a/plugins/llm/deepseek.go b/plugins/llm/deepseek.go
new file mode 100644
index 0000000000..9a624e8603
--- /dev/null
+++ b/plugins/llm/deepseek.go
@@ -0,0 +1,22 @@
+package llm
+
+import (
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("DeepSeekLLM", NewDeepSeek)
+}
+
+type deepSeekModel = string
+
+const (
+	DeepSeekModelChat deepSeekModel = "deepseek-chat"
+
+	defaultDeepSeekModel   deepSeekModel = DeepSeekModelChat
+	defaultDeepSeekBaseURL string        = "https://api.openmind.com/api/core/deepseek"
+)
+
+func NewDeepSeek(configMap map[string]any) (llm.LLM, error) {
+	return newOpenAICompat("DeepSeekLLM", configMap, defaultDeepSeekModel, defaultDeepSeekBaseURL, "auto", true)
+}
diff --git a/plugins/llm/dual.go b/plugins/llm/dual.go
new file mode 100644
index 0000000000..b8bcfdb048
--- /dev/null
+++ b/plugins/llm/dual.go
@@ -0,0 +1,293 @@
+package llm
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"regexp"
+	"strings"
+	"time"
+
+	"github.com/openmind/om1/internal/llm"
+	"github.com/openmind/om1/internal/logger"
+	"go.uber.org/zap"
+)
+
+func init() {
+	llm.Register("DualLLM", NewDual)
+}
+
+const (
+	dualTimeout     = 3200 * time.Millisecond
+	dualEvalTimeout = 2 * time.Second
+
+	dualEvalBaseURL = "http://127.0.0.1:8860/v1"
+	dualEvalAPIKey  = "local"
+
+	defaultDualLocalType  = "QwenLLM"
+	defaultDualLocalModel = "RedHatAI/Qwen3-30B-A3B-quantized.w4a16"
+	defaultDualCloudType  = "OpenAILLM"
+	defaultDualCloudModel = "gpt-4.1"
+)
+
+var voiceInputRe = regexp.MustCompile(`Voice:\s*([^\n]+)`)
+
+type dualConfig struct {
+	LocalType   string         `json:"local_llm_type"`
+	LocalConfig map[string]any `json:"local_llm_config"`
+	CloudType   string         `json:"cloud_llm_type"`
+	CloudConfig map[string]any `json:"cloud_llm_config"`
+	APIKey      string         `json:"api_key"`
+}
+
+// dualLLM races a local and a cloud sub-LLM and selects between them:
+//  1. both respond in time → prefer the one with function calls, else evaluate quality;
+//  2. one responds in time → use it;
+//  3. neither in time → use whichever completes first.
+type dualLLM struct {
+	local llm.LLM
+	cloud llm.LLM
+	eval  *openAICompatLLM
+}
+
+// NewDual creates a DualLLM that wraps a local and cloud sub-LLM from the registry.
+func NewDual(configMap map[string]any) (llm.LLM, error) {
+	var cfg dualConfig
+	if err := remarshal(configMap, &cfg); err != nil {
+		return nil, fmt.Errorf("DualLLM config: %w", err)
+	}
+
+	if cfg.LocalType == "" {
+		cfg.LocalType = defaultDualLocalType
+	}
+
+	if cfg.CloudType == "" {
+		cfg.CloudType = defaultDualCloudType
+	}
+
+	localCfg := cloneStringAnyMap(cfg.LocalConfig)
+	if _, ok := localCfg["model"]; !ok {
+		localCfg["model"] = defaultDualLocalModel
+	}
+
+	cloudCfg := cloneStringAnyMap(cfg.CloudConfig)
+	if _, ok := cloudCfg["model"]; !ok {
+		cloudCfg["model"] = defaultDualCloudModel
+	}
+
+	if cfg.APIKey != "" {
+		cloudCfg["api_key"] = cfg.APIKey
+	}
+
+	local, err := llm.Load(cfg.LocalType, localCfg)
+	if err != nil {
+		return nil, fmt.Errorf("DualLLM: load local %q: %w", cfg.LocalType, err)
+	}
+
+	cloud, err := llm.Load(cfg.CloudType, cloudCfg)
+	if err != nil {
+		return nil, fmt.Errorf("DualLLM: load cloud %q: %w", cfg.CloudType, err)
+	}
+
+	evalModel := defaultDualLocalModel
+	if m, ok := localCfg["model"].(string); ok && m != "" {
+		evalModel = m
+	}
+	eval := &openAICompatLLM{
+		provider: "DualLLM-eval",
+		config:   compatConfig{APIKey: dualEvalAPIKey, Model: evalModel, BaseURL: dualEvalBaseURL},
+		extraBody: map[string]any{
+			"temperature":          0.0,
+			"max_tokens":           10,
+			"chat_template_kwargs": map[string]any{"enable_thinking": false},
+		},
+	}
+
+	return &dualLLM{local: local, cloud: cloud, eval: eval}, nil
+}
+
+// SetSchemas propagates the tool schemas to both sub-LLMs.
+func (d *dualLLM) SetSchemas(schemas []map[string]any) {
+	d.local.SetSchemas(schemas)
+	d.cloud.SetSchemas(schemas)
+}
+
+// FunctionSchemas returns the schemas configured on the local sub-LLM.
+func (d *dualLLM) FunctionSchemas() []map[string]any { return d.local.FunctionSchemas() }
+
+// dualResult carries a sub-LLM response along with which source produced it and how long it took.
+type dualResult struct {
+	resp    *llm.Response
+	elapsed time.Duration
+	source  string
+}
+
+// Call races the two sub-LLMs and returns the selected response.
+func (d *dualLLM) Call(ctx context.Context, prompt string, history []llm.Message) (*llm.Response, error) {
+	start := time.Now()
+	voiceInput := extractVoiceInput(prompt)
+
+	callCtx, cancel := context.WithCancel(ctx)
+	defer cancel()
+
+	results := make(chan dualResult, 2)
+	run := func(sub llm.LLM, source string) {
+		callStart := time.Now()
+		resp, err := sub.Call(callCtx, prompt, history)
+		if err != nil {
+			logger.Get().Warn("DualLLM sub-call failed", zap.String("source", source), zap.Error(err))
+			resp = nil
+		}
+		results <- dualResult{resp: resp, elapsed: time.Since(callStart), source: source}
+	}
+	go run(d.local, "local")
+	go run(d.cloud, "cloud")
+
+	var arrived []dualResult
+	deadline := time.NewTimer(dualTimeout)
+	defer deadline.Stop()
+collect:
+	for len(arrived) < 2 {
+		select {
+		case r := <-results:
+			arrived = append(arrived, r)
+		case <-deadline.C:
+			break collect
+		}
+	}
+
+	inTime := map[string]dualResult{}
+	for _, r := range arrived {
+		if r.resp != nil && r.elapsed <= dualTimeout {
+			inTime[r.source] = r
+		}
+	}
+
+	var chosen *llm.Response
+	switch len(inTime) {
+	case 2:
+		chosen = d.selectBest(callCtx, inTime["local"].resp, inTime["cloud"].resp, voiceInput)
+	case 1:
+		for _, r := range inTime {
+			chosen = r.resp
+		}
+		cancel()
+	default:
+		chosen = firstUsable(arrived)
+		for chosen == nil && len(arrived) < 2 {
+			r := <-results
+			arrived = append(arrived, r)
+
+			if r.resp != nil {
+				chosen = r.resp
+			}
+		}
+		cancel()
+	}
+
+	logger.Get().Info("DualLLM",
+		zap.Int("in_time", len(inTime)),
+		zap.Int64("elapsed_ms", time.Since(start).Milliseconds()),
+	)
+
+	if chosen == nil {
+		return &llm.Response{}, nil
+	}
+	return chosen, nil
+}
+
+// selectBest applies the dual selection rules when both sub-LLMs responded in time.
+func (d *dualLLM) selectBest(ctx context.Context, local, cloud *llm.Response, voiceInput string) *llm.Response {
+	localHasCalls := len(local.ToolCalls) > 0
+	cloudHasCalls := len(cloud.ToolCalls) > 0
+
+	switch {
+	case localHasCalls && !cloudHasCalls:
+		return local
+	case cloudHasCalls && !localHasCalls:
+		return cloud
+	case !localHasCalls && !cloudHasCalls:
+		return local
+	}
+
+	if d.evaluateQuality(ctx, local, cloud, voiceInput) == "cloud" {
+		return cloud
+	}
+	return local
+}
+
+// evaluateQuality prompts the eval LLM to choose which response is better based on the original prompt and the tool calls made by each response.
+func (d *dualLLM) evaluateQuality(ctx context.Context, local, cloud *llm.Response, prompt string) string {
+	localActions, _ := json.MarshalIndent(toolCallsToEval(local.ToolCalls), "", "  ")
+	cloudActions, _ := json.MarshalIndent(toolCallsToEval(cloud.ToolCalls), "", "  ")
+	if len(prompt) > 500 {
+		prompt = prompt[:500]
+	}
+
+	evalPrompt := fmt.Sprintf(`You are evaluating two AI responses to determine which better answers the user's question.
+
+Original User Question/Context:
+%s
+
+Response A (local model):
+%s
+
+Response B (cloud model):
+%s
+
+Evaluate based on:
+1. Relevance - Which response better addresses the user's question?
+2. Completeness - Does it fully answer what was asked?
+3. Appropriateness - Are the actions suitable for the context?
+4. Quality - Is the content natural and engaging?
+
+Respond with ONLY a single word: either "A" or "B" for the better response.`, prompt, localActions, cloudActions)
+
+	evalCtx, cancel := context.WithTimeout(ctx, dualEvalTimeout)
+	defer cancel()
+
+	resp, err := d.eval.Call(evalCtx, evalPrompt, nil)
+	if err != nil || resp == nil {
+		logger.Get().Warn("DualLLM quality evaluation failed, defaulting to local", zap.Error(err))
+		return "local"
+	}
+	if strings.Contains(strings.ToUpper(strings.TrimSpace(resp.TextContent)), "A") {
+		return "local"
+	}
+	return "cloud"
+}
+
+// toolCallsToEval renders tool calls as {"type","value"} entries for the eval prompt.
+func toolCallsToEval(calls []llm.ToolCall) []map[string]any {
+	out := make([]map[string]any, 0, len(calls))
+	for _, tc := range calls {
+		out = append(out, map[string]any{"type": tc.Name, "value": tc.Arguments})
+	}
+	return out
+}
+
+// firstUsable returns the first non-nil response in arrival order, or nil.
+func firstUsable(results []dualResult) *llm.Response {
+	for _, r := range results {
+		if r.resp != nil {
+			return r.resp
+		}
+	}
+	return nil
+}
+
+// extractVoiceInput pulls the "Voice: ..." line out of a fused prompt.
+func extractVoiceInput(prompt string) string {
+	if m := voiceInputRe.FindStringSubmatch(prompt); m != nil {
+		return strings.TrimSpace(m[1])
+	}
+	return ""
+}
+
+func cloneStringAnyMap(m map[string]any) map[string]any {
+	clone := make(map[string]any, len(m)+1)
+	for k, v := range m {
+		clone[k] = v
+	}
+	return clone
+}
diff --git a/plugins/llm/dual_test.go b/plugins/llm/dual_test.go
new file mode 100644
index 0000000000..4f34531150
--- /dev/null
+++ b/plugins/llm/dual_test.go
@@ -0,0 +1,137 @@
+package llm
+
+import (
+	"context"
+	"errors"
+	"net/http"
+	"testing"
+	"time"
+
+	"github.com/openmind/om1/internal/llm"
+	"github.com/stretchr/testify/require"
+)
+
+type stubLLM struct {
+	resp    *llm.Response
+	err     error
+	delay   time.Duration
+	schemas []map[string]any
+}
+
+func (s *stubLLM) Call(ctx context.Context, _ string, _ []llm.Message) (*llm.Response, error) {
+	if s.delay > 0 {
+		select {
+		case <-time.After(s.delay):
+		case <-ctx.Done():
+			return nil, ctx.Err()
+		}
+	}
+	return s.resp, s.err
+}
+
+func (s *stubLLM) SetSchemas(sc []map[string]any)    { s.schemas = sc }
+func (s *stubLLM) FunctionSchemas() []map[string]any { return s.schemas }
+
+func respWithCalls(names ...string) *llm.Response {
+	r := &llm.Response{}
+	for _, n := range names {
+		r.ToolCalls = append(r.ToolCalls, llm.ToolCall{Name: n})
+	}
+	return r
+}
+
+func TestDualCallBothInTimeLocalHasCalls(t *testing.T) {
+	d := &dualLLM{
+		local: &stubLLM{resp: respWithCalls("speak")},
+		cloud: &stubLLM{resp: &llm.Response{}},
+	}
+	resp, err := d.Call(context.Background(), "INPUT Voice: hi there", nil)
+	require.NoError(t, err)
+	require.Len(t, resp.ToolCalls, 1)
+	require.Equal(t, "speak", resp.ToolCalls[0].Name)
+}
+
+func TestDualCallBothInTimeCloudHasCalls(t *testing.T) {
+	d := &dualLLM{
+		local: &stubLLM{resp: &llm.Response{}},
+		cloud: &stubLLM{resp: respWithCalls("move")},
+	}
+	resp, err := d.Call(context.Background(), "Voice: move", nil)
+	require.NoError(t, err)
+	require.Len(t, resp.ToolCalls, 1)
+	require.Equal(t, "move", resp.ToolCalls[0].Name)
+}
+
+func TestDualCallBothInTimeEvalPicksCloud(t *testing.T) {
+	srv, _ := captureServer(t, http.StatusOK, `{"choices":[{"message":{"content":"B"}}]}`)
+	d := &dualLLM{
+		local: &stubLLM{resp: respWithCalls("speak")},
+		cloud: &stubLLM{resp: respWithCalls("move")},
+		eval:  &openAICompatLLM{provider: "eval", config: compatConfig{BaseURL: srv.URL, APIKey: "k", Model: "m"}},
+	}
+	resp, err := d.Call(context.Background(), "Voice: do something", nil)
+	require.NoError(t, err)
+	require.Equal(t, "move", resp.ToolCalls[0].Name)
+}
+
+func TestDualCallBothFailReturnsEmpty(t *testing.T) {
+	d := &dualLLM{
+		local: &stubLLM{err: errors.New("local down")},
+		cloud: &stubLLM{err: errors.New("cloud down")},
+	}
+	resp, err := d.Call(context.Background(), "prompt", nil)
+	require.NoError(t, err)
+	require.NotNil(t, resp)
+	require.Empty(t, resp.ToolCalls)
+}
+
+func TestDualSelectBest(t *testing.T) {
+	d := &dualLLM{}
+	local := respWithCalls("speak")
+	cloud := respWithCalls("move")
+	empty := &llm.Response{}
+
+	require.Same(t, local, d.selectBest(context.Background(), local, empty, ""), "only local has calls")
+	require.Same(t, cloud, d.selectBest(context.Background(), empty, cloud, ""), "only cloud has calls")
+	require.Same(t, empty, d.selectBest(context.Background(), empty, empty, ""), "neither has calls → local")
+}
+
+func TestDualEvaluateQuality(t *testing.T) {
+	local := respWithCalls("speak")
+	cloud := respWithCalls("move")
+
+	cases := []struct {
+		name     string
+		response string
+		want     string
+	}{
+		{"picks local on A", `{"choices":[{"message":{"content":"A"}}]}`, "local"},
+		{"picks cloud on B", `{"choices":[{"message":{"content":"B"}}]}`, "cloud"},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			srv, _ := captureServer(t, http.StatusOK, tc.response)
+			d := &dualLLM{eval: &openAICompatLLM{config: compatConfig{BaseURL: srv.URL, APIKey: "k", Model: "m"}}}
+			require.Equal(t, tc.want, d.evaluateQuality(context.Background(), local, cloud, "ctx"))
+		})
+	}
+}
+
+func TestDualEvaluateQualityDefaultsToLocalOnError(t *testing.T) {
+	srv, _ := captureServer(t, http.StatusInternalServerError, `boom`)
+	d := &dualLLM{eval: &openAICompatLLM{config: compatConfig{BaseURL: srv.URL, APIKey: "k", Model: "m"}}}
+	require.Equal(t, "local", d.evaluateQuality(context.Background(), respWithCalls("a"), respWithCalls("b"), "ctx"))
+}
+
+func TestToolCallsToEval(t *testing.T) {
+	got := toolCallsToEval([]llm.ToolCall{{Name: "speak", Arguments: map[string]any{"text": "hi"}}})
+	require.Len(t, got, 1)
+	require.Equal(t, "speak", got[0]["type"])
+	require.Equal(t, map[string]any{"text": "hi"}, got[0]["value"])
+}
+
+func TestFirstUsable(t *testing.T) {
+	usable := respWithCalls("speak")
+	require.Nil(t, firstUsable([]dualResult{{resp: nil}, {resp: nil}}))
+	require.Same(t, usable, firstUsable([]dualResult{{resp: nil}, {resp: usable}}))
+}
diff --git a/plugins/llm/functiongemma.go b/plugins/llm/functiongemma.go
new file mode 100644
index 0000000000..6e73f2c36e
--- /dev/null
+++ b/plugins/llm/functiongemma.go
@@ -0,0 +1,22 @@
+package llm
+
+import (
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("FunctionGemmaLLM", NewFunctionGemma)
+}
+
+type functionGemmaModel = string
+
+const (
+	FunctionGemmaModelMultilingual functionGemmaModel = "functiongemma-finetuned-g1-multilingual"
+
+	defaultFunctionGemmaModel   functionGemmaModel = FunctionGemmaModelMultilingual
+	defaultFunctionGemmaBaseURL string             = "http://localhost:8200/v1"
+)
+
+func NewFunctionGemma(configMap map[string]any) (llm.LLM, error) {
+	return newOpenAICompat("FunctionGemmaLLM", configMap, defaultFunctionGemmaModel, defaultFunctionGemmaBaseURL, "auto", true)
+}
diff --git a/plugins/llm/gemini.go b/plugins/llm/gemini.go
new file mode 100644
index 0000000000..0ec0612749
--- /dev/null
+++ b/plugins/llm/gemini.go
@@ -0,0 +1,27 @@
+package llm
+
+import (
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("GeminiLLM", NewGemini)
+}
+
+type geminiModel = string
+
+const (
+	GeminiModel25Flash      geminiModel = "gemini-2.5-flash"
+	GeminiModel25FlashLite  geminiModel = "gemini-2.5-flash-lite"
+	GeminiModel25Pro        geminiModel = "gemini-2.5-pro"
+	GeminiModel31ProPreview geminiModel = "gemini-3.1-pro-preview"
+	GeminiModel31FlashLite  geminiModel = "gemini-3.1-flash-lite"
+	GeminiModel35Flash      geminiModel = "gemini-3.5-flash"
+
+	defaultGeminiModel   geminiModel = GeminiModel31FlashLite
+	defaultGeminiBaseURL string      = "https://api.openmind.com/api/core/gemini"
+)
+
+func NewGemini(configMap map[string]any) (llm.LLM, error) {
+	return newOpenAICompat("GeminiLLM", configMap, defaultGeminiModel, defaultGeminiBaseURL, "required", true)
+}
diff --git a/plugins/llm/near_ai.go b/plugins/llm/near_ai.go
new file mode 100644
index 0000000000..61b2eddc5c
--- /dev/null
+++ b/plugins/llm/near_ai.go
@@ -0,0 +1,24 @@
+package llm
+
+import (
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("NearAILLM", NewNearAI)
+}
+
+type nearAIModel = string
+
+const (
+	NearAIModelQwen30BA3BInstruct2507 nearAIModel = "qwen3-30b-a3b-instruct-2507"
+	NearAIModelQwenVl72BInstruct      nearAIModel = "qwen2.5-vl-72b-instruct"
+	NearAIModelQwen7BInstruct         nearAIModel = "qwen2.5-7b-instruct"
+
+	defaultNearAIModel   nearAIModel = NearAIModelQwen30BA3BInstruct2507
+	defaultNearAIBaseURL string      = "https://api.openmind.com/api/core/nearai"
+)
+
+func NewNearAI(configMap map[string]any) (llm.LLM, error) {
+	return newOpenAICompat("NearAILLM", configMap, defaultNearAIModel, defaultNearAIBaseURL, "auto", true)
+}
diff --git a/plugins/llm/ollama.go b/plugins/llm/ollama.go
new file mode 100644
index 0000000000..1e050d1011
--- /dev/null
+++ b/plugins/llm/ollama.go
@@ -0,0 +1,135 @@
+package llm
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"io"
+	"net/http"
+	"strings"
+	"time"
+
+	"github.com/openmind/om1/internal/httpclient"
+	"github.com/openmind/om1/internal/llm"
+	"github.com/openmind/om1/internal/metrics"
+)
+
+func init() {
+	llm.Register("OllamaLLM", NewOllama)
+}
+
+const (
+	defaultOllamaModel   string  = "llama3.2"
+	defaultOllamaBaseURL string  = "http://localhost:11434"
+	defaultOllamaTemp    float64 = 0.7
+	defaultOllamaNumCtx  int     = 4096
+)
+
+type ollamaConfig struct {
+	BaseURL     string  `json:"base_url"`
+	Model       string  `json:"model"`
+	Temperature float64 `json:"temperature"`
+	NumCtx      int     `json:"num_ctx"`
+}
+
+type ollamaLLM struct {
+	config  ollamaConfig
+	chatURL string
+	schemas []map[string]any
+}
+
+// NewOllama creates an Ollama LLM backed by a local Ollama server.
+func NewOllama(configMap map[string]any) (llm.LLM, error) {
+	cfg := ollamaConfig{Temperature: defaultOllamaTemp, NumCtx: defaultOllamaNumCtx}
+	if err := remarshal(configMap, &cfg); err != nil {
+		return nil, fmt.Errorf("OllamaLLM config: %w", err)
+	}
+	if cfg.Model == "" {
+		cfg.Model = defaultOllamaModel
+	}
+	if cfg.BaseURL == "" {
+		cfg.BaseURL = defaultOllamaBaseURL
+	}
+	baseURL := strings.Trim(cfg.BaseURL, "/")
+	return &ollamaLLM{config: cfg, chatURL: baseURL + "/api/chat"}, nil
+}
+
+func (o *ollamaLLM) FunctionSchemas() []map[string]any { return o.schemas }
+
+func (o *ollamaLLM) SetSchemas(schemas []map[string]any) { o.schemas = schemas }
+
+type OllamaResp struct {
+	Message struct {
+		Content   string `json:"content"`
+		ToolCalls []struct {
+			Function struct {
+				Name      string         `json:"name"`
+				Arguments map[string]any `json:"arguments"`
+			} `json:"function"`
+		} `json:"tool_calls"`
+	} `json:"message"`
+	PromptEvalCount int `json:"prompt_eval_count"`
+	EvalCount       int `json:"eval_count"`
+}
+
+func (o *ollamaLLM) Call(ctx context.Context, prompt string, history []llm.Message) (*llm.Response, error) {
+	requestBody := map[string]any{
+		"model":    o.config.Model,
+		"messages": buildMessages(prompt, history),
+		"stream":   false,
+		"options": map[string]any{
+			"temperature": o.config.Temperature,
+			"num_ctx":     o.config.NumCtx,
+		},
+	}
+	if len(o.schemas) > 0 {
+		requestBody["tools"] = o.schemas
+	}
+
+	requestBytes, err := json.Marshal(requestBody)
+	if err != nil {
+		return nil, fmt.Errorf("OllamaLLM: marshal request: %w", err)
+	}
+
+	req, err := http.NewRequestWithContext(ctx, http.MethodPost, o.chatURL, bytes.NewReader(requestBytes))
+	if err != nil {
+		return nil, fmt.Errorf("OllamaLLM: build request: %w", err)
+	}
+	req.Header.Set("Content-Type", "application/json")
+
+	start := time.Now()
+	resp, err := httpclient.Default().Do(req)
+	if err != nil {
+		return nil, fmt.Errorf("OllamaLLM: http (is Ollama running at %s?): %w", o.chatURL, err)
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	metrics.RecordResponseLatency(metrics.LLMLatency, metrics.LLMLatencyLast,
+		"OllamaLLM", o.config.Model, o.chatURL, req, resp, start)
+
+	body, _ := io.ReadAll(resp.Body)
+	if resp.StatusCode != http.StatusOK {
+		return nil, fmt.Errorf("OllamaLLM: api %d: %s", resp.StatusCode, body)
+	}
+
+	var apiResponse OllamaResp
+	if err := json.Unmarshal(body, &apiResponse); err != nil {
+		return nil, fmt.Errorf("OllamaLLM: parse response: %w", err)
+	}
+
+	response := &llm.Response{
+		TextContent: apiResponse.Message.Content,
+		Usage: llm.Usage{
+			PromptTokens:     apiResponse.PromptEvalCount,
+			CompletionTokens: apiResponse.EvalCount,
+		},
+	}
+	for _, toolCall := range apiResponse.Message.ToolCalls {
+		response.ToolCalls = append(response.ToolCalls, llm.ToolCall{
+			Name:      toolCall.Function.Name,
+			Arguments: toolCall.Function.Arguments,
+		})
+	}
+	return response, nil
+}
diff --git a/plugins/llm/ollama_test.go b/plugins/llm/ollama_test.go
new file mode 100644
index 0000000000..22573428f9
--- /dev/null
+++ b/plugins/llm/ollama_test.go
@@ -0,0 +1,88 @@
+package llm
+
+import (
+	"context"
+	"net/http"
+	"testing"
+
+	"github.com/openmind/om1/internal/llm"
+	"github.com/stretchr/testify/require"
+)
+
+func TestOllamaDefaults(t *testing.T) {
+	instance, err := llm.Load("OllamaLLM", map[string]any{})
+	require.NoError(t, err)
+	o := instance.(*ollamaLLM)
+	require.Equal(t, defaultOllamaModel, o.config.Model)
+	require.Equal(t, defaultOllamaBaseURL+"/api/chat", o.chatURL)
+	require.Equal(t, defaultOllamaTemp, o.config.Temperature)
+	require.Equal(t, defaultOllamaNumCtx, o.config.NumCtx)
+}
+
+func newTestOllama(t *testing.T, baseURL string) *ollamaLLM {
+	t.Helper()
+	instance, err := NewOllama(map[string]any{
+		"base_url": baseURL,
+		"model":    "test-model",
+	})
+	require.NoError(t, err)
+	return instance.(*ollamaLLM)
+}
+
+func TestOllamaCallRequestAndParse(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{
+		"message":{"content":"woof","tool_calls":[
+			{"function":{"name":"emotion","arguments":{"type":"happy"}}}
+		]},
+		"prompt_eval_count":5,"eval_count":9
+	}`)
+
+	o := newTestOllama(t, srv.URL)
+	o.SetSchemas([]map[string]any{{"type": "function", "function": map[string]any{"name": "emotion"}}})
+
+	resp, err := o.Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+
+	require.Equal(t, "/api/chat", cap.path)
+	require.Equal(t, "test-model", cap.body["model"])
+	require.Equal(t, false, cap.body["stream"])
+	require.Contains(t, cap.body, "tools")
+	options := cap.body["options"].(map[string]any)
+	require.Equal(t, defaultOllamaTemp, options["temperature"])
+	require.Equal(t, float64(defaultOllamaNumCtx), options["num_ctx"])
+
+	require.Equal(t, "woof", resp.TextContent)
+	require.Len(t, resp.ToolCalls, 1)
+	require.Equal(t, "emotion", resp.ToolCalls[0].Name)
+	require.Equal(t, "happy", resp.ToolCalls[0].Arguments["type"])
+	require.Equal(t, 5, resp.Usage.PromptTokens)
+	require.Equal(t, 9, resp.Usage.CompletionTokens)
+}
+
+func TestOllamaCallOmitsToolsWithoutSchemas(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{"message":{"content":"hi"}}`)
+
+	o := newTestOllama(t, srv.URL)
+	_, err := o.Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+	require.NotContains(t, cap.body, "tools")
+}
+
+func TestOllamaCallErrorStatus(t *testing.T) {
+	srv, _ := captureServer(t, http.StatusInternalServerError, `nope`)
+
+	o := newTestOllama(t, srv.URL)
+	_, err := o.Call(context.Background(), "hello", nil)
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "500")
+}
+
+func TestOllamaTrimsTrailingSlash(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{"message":{"content":"hi"}}`)
+
+	instance, err := NewOllama(map[string]any{"base_url": srv.URL + "/", "model": "m"})
+	require.NoError(t, err)
+	_, err = instance.(*ollamaLLM).Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+	require.Equal(t, "/api/chat", cap.path)
+}
diff --git a/plugins/llm/openai.go b/plugins/llm/openai.go
new file mode 100644
index 0000000000..e2114e1910
--- /dev/null
+++ b/plugins/llm/openai.go
@@ -0,0 +1,31 @@
+package llm
+
+import (
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("OpenAILLM", NewOpenAI)
+}
+
+type openAIModel = string
+
+const (
+	OpenAIModelGPT4o     openAIModel = "gpt-4o"
+	OpenAIModelGPT4oMini openAIModel = "gpt-4o-mini"
+	OpenAIModelGPT41     openAIModel = "gpt-4.1"
+	OpenAIModelGPT41Mini openAIModel = "gpt-4.1-mini"
+	OpenAIModelGPT41Nano openAIModel = "gpt-4.1-nano"
+	OpenAIModelGPT5      openAIModel = "gpt-5"
+	OpenAIModelGPT5Mini  openAIModel = "gpt-5-mini"
+	OpenAIModelGPT5Nano  openAIModel = "gpt-5-nano"
+	OpenAIModelGPT51     openAIModel = "gpt-5.1"
+	OpenAIModelGPT52     openAIModel = "gpt-5.2"
+
+	defaultOpenAIModel   openAIModel = OpenAIModelGPT41Mini
+	defaultOpenAIBaseURL string      = "https://api.openmind.com/api/core/openai"
+)
+
+func NewOpenAI(configMap map[string]any) (llm.LLM, error) {
+	return newOpenAICompat("OpenAILLM", configMap, defaultOpenAIModel, defaultOpenAIBaseURL, "auto", true)
+}
diff --git a/plugins/llm/openai_compat.go b/plugins/llm/openai_compat.go
new file mode 100644
index 0000000000..965c48ecc5
--- /dev/null
+++ b/plugins/llm/openai_compat.go
@@ -0,0 +1,106 @@
+package llm
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"io"
+	"net/http"
+	"time"
+
+	"github.com/openmind/om1/internal/httpclient"
+	"github.com/openmind/om1/internal/llm"
+	"github.com/openmind/om1/internal/metrics"
+)
+
+type compatConfig struct {
+	APIKey     string `json:"api_key"`
+	Model      string `json:"model"`
+	BaseURL    string `json:"base_url"`
+	AgentName  string `json:"agent_name"`
+	HistoryLen int    `json:"history_length"`
+}
+
+type openAICompatLLM struct {
+	provider   string
+	config     compatConfig
+	toolChoice string // "auto" or "required"
+	extraBody  map[string]any
+	schemas    []map[string]any
+}
+
+func newOpenAICompat(provider string, configMap map[string]any, defaultModel, defaultBaseURL, toolChoice string, requireAPIKey bool) (*openAICompatLLM, error) {
+	var cfg compatConfig
+	if err := remarshal(configMap, &cfg); err != nil {
+		return nil, fmt.Errorf("%s config: %w", provider, err)
+	}
+	if requireAPIKey && cfg.APIKey == "" {
+		return nil, fmt.Errorf("%s: api_key is required", provider)
+	}
+	if cfg.Model == "" {
+		cfg.Model = defaultModel
+	}
+	if cfg.BaseURL == "" {
+		cfg.BaseURL = defaultBaseURL
+	}
+	return &openAICompatLLM{provider: provider, config: cfg, toolChoice: toolChoice}, nil
+}
+
+func (c *openAICompatLLM) FunctionSchemas() []map[string]any { return c.schemas }
+
+func (c *openAICompatLLM) SetSchemas(schemas []map[string]any) { c.schemas = schemas }
+
+func (c *openAICompatLLM) Call(ctx context.Context, prompt string, history []llm.Message) (*llm.Response, error) {
+	requestBody := map[string]any{
+		"model":    c.config.Model,
+		"messages": buildMessages(prompt, history),
+	}
+
+	if len(c.schemas) > 0 {
+		requestBody["tools"] = c.schemas
+		requestBody["tool_choice"] = c.toolChoice
+	}
+
+	for k, v := range c.extraBody {
+		requestBody[k] = v
+	}
+
+	body, err := c.doRequest(ctx, requestBody)
+	if err != nil {
+		return nil, err
+	}
+	return parseOpenAIResponse(body)
+}
+
+func (c *openAICompatLLM) doRequest(ctx context.Context, requestBody map[string]any) ([]byte, error) {
+	requestBytes, err := json.Marshal(requestBody)
+	if err != nil {
+		return nil, fmt.Errorf("%s: marshal request: %w", c.provider, err)
+	}
+
+	req, err := http.NewRequestWithContext(ctx, http.MethodPost,
+		c.config.BaseURL+"/chat/completions", bytes.NewReader(requestBytes))
+	if err != nil {
+		return nil, fmt.Errorf("%s: build request: %w", c.provider, err)
+	}
+
+	req.Header.Set("Content-Type", "application/json")
+	req.Header.Set("Authorization", "Bearer "+c.config.APIKey)
+
+	start := time.Now()
+	resp, err := httpclient.Default().Do(req)
+	if err != nil {
+		return nil, fmt.Errorf("%s: http: %w", c.provider, err)
+	}
+	defer func() { _ = resp.Body.Close() }()
+
+	metrics.RecordResponseLatency(metrics.LLMLatency, metrics.LLMLatencyLast,
+		c.provider, c.config.Model, c.config.BaseURL, req, resp, start)
+
+	body, _ := io.ReadAll(resp.Body)
+	if resp.StatusCode != http.StatusOK {
+		return nil, fmt.Errorf("%s: api %d: %s", c.provider, resp.StatusCode, body)
+	}
+	return body, nil
+}
diff --git a/plugins/llm/openai_compat_test.go b/plugins/llm/openai_compat_test.go
new file mode 100644
index 0000000000..643470ae07
--- /dev/null
+++ b/plugins/llm/openai_compat_test.go
@@ -0,0 +1,160 @@
+package llm
+
+import (
+	"context"
+	"encoding/json"
+	"io"
+	"net/http"
+	"net/http/httptest"
+	"testing"
+
+	"github.com/openmind/om1/internal/llm"
+	"github.com/stretchr/testify/require"
+)
+
+func captureServer(t *testing.T, status int, responseJSON string) (*httptest.Server, *capturedRequest) {
+	t.Helper()
+	cap := &capturedRequest{}
+	srv := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		cap.path = r.URL.Path
+		cap.auth = r.Header.Get("Authorization")
+		raw, _ := io.ReadAll(r.Body)
+		_ = json.Unmarshal(raw, &cap.body)
+		w.WriteHeader(status)
+		_, _ = w.Write([]byte(responseJSON))
+	}))
+	t.Cleanup(srv.Close)
+	return srv, cap
+}
+
+type capturedRequest struct {
+	path string
+	auth string
+	body map[string]any
+}
+
+func TestProviderDefaults(t *testing.T) {
+	cases := []struct {
+		name    string
+		cfg     map[string]any
+		model   string
+		baseURL string
+	}{
+		{"GeminiLLM", map[string]any{"api_key": "k"}, defaultGeminiModel, defaultGeminiBaseURL},
+		{"OpenAILLM", map[string]any{"api_key": "k"}, defaultOpenAIModel, defaultOpenAIBaseURL},
+		{"DeepSeekLLM", map[string]any{"api_key": "k"}, defaultDeepSeekModel, defaultDeepSeekBaseURL},
+		{"XAILLM", map[string]any{"api_key": "k"}, defaultXAIModel, defaultXAIBaseURL},
+		{"OpenRouter", map[string]any{"api_key": "k"}, defaultOpenRouterModel, defaultOpenRouterBaseURL},
+		{"NearAILLM", map[string]any{"api_key": "k"}, defaultNearAIModel, defaultNearAIBaseURL},
+		{"FunctionGemmaLLM", map[string]any{"api_key": "k"}, defaultFunctionGemmaModel, defaultFunctionGemmaBaseURL},
+	}
+	for _, tc := range cases {
+		t.Run(tc.name, func(t *testing.T) {
+			instance, err := llm.Load(tc.name, tc.cfg)
+			require.NoError(t, err)
+			c, ok := instance.(*openAICompatLLM)
+			require.Truef(t, ok, "expected *openAICompatLLM, got %T", instance)
+			require.Equal(t, tc.model, c.config.Model)
+			require.Equal(t, tc.baseURL, c.config.BaseURL)
+		})
+	}
+}
+
+func TestConfigOverridesDefaults(t *testing.T) {
+	instance, err := llm.Load("OpenAILLM", map[string]any{
+		"api_key":  "k",
+		"model":    "gpt-5.2",
+		"base_url": "https://example.com/v1",
+	})
+	require.NoError(t, err)
+	c := instance.(*openAICompatLLM)
+	require.Equal(t, "gpt-5.2", c.config.Model)
+	require.Equal(t, "https://example.com/v1", c.config.BaseURL)
+}
+
+func newTestCompat(t *testing.T, baseURL, toolChoice string) *openAICompatLLM {
+	t.Helper()
+	c, err := newOpenAICompat("TestLLM", map[string]any{
+		"api_key":  "test-key",
+		"model":    "test-model",
+		"base_url": baseURL,
+	}, "default-model", "https://unused", toolChoice, true)
+	require.NoError(t, err)
+	return c
+}
+
+func TestOpenAICompatCallParsesResponse(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{
+		"choices":[{"message":{"content":"hi there","tool_calls":[
+			{"function":{"name":"speak","arguments":"{\"text\":\"woof\"}"}}
+		]}}],
+		"usage":{"prompt_tokens":12,"completion_tokens":7}
+	}`)
+
+	c := newTestCompat(t, srv.URL, "auto")
+	c.SetSchemas([]map[string]any{{"type": "function", "function": map[string]any{"name": "speak"}}})
+
+	resp, err := c.Call(context.Background(), "hello", []llm.Message{{Role: "assistant", Content: "prev"}})
+	require.NoError(t, err)
+	require.NotNil(t, resp)
+
+	require.Equal(t, "/chat/completions", cap.path)
+	require.Equal(t, "Bearer test-key", cap.auth)
+	require.Equal(t, "test-model", cap.body["model"])
+	require.Equal(t, "auto", cap.body["tool_choice"])
+	require.Contains(t, cap.body, "tools")
+
+	messages := cap.body["messages"].([]any)
+	require.Len(t, messages, 2)
+	require.Equal(t, "assistant", messages[0].(map[string]any)["role"])
+	last := messages[1].(map[string]any)
+	require.Equal(t, "user", last["role"])
+	require.Equal(t, "hello", last["content"])
+
+	require.Equal(t, "hi there", resp.TextContent)
+	require.Len(t, resp.ToolCalls, 1)
+	require.Equal(t, "speak", resp.ToolCalls[0].Name)
+	require.Equal(t, "woof", resp.ToolCalls[0].Arguments["text"])
+	require.Equal(t, 12, resp.Usage.PromptTokens)
+	require.Equal(t, 7, resp.Usage.CompletionTokens)
+}
+
+func TestOpenAICompatCallOmitsToolsWithoutSchemas(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{"choices":[{"message":{"content":"ok"}}]}`)
+
+	c := newTestCompat(t, srv.URL, "auto")
+	resp, err := c.Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+	require.Equal(t, "ok", resp.TextContent)
+	require.NotContains(t, cap.body, "tools")
+	require.NotContains(t, cap.body, "tool_choice")
+}
+
+func TestOpenAICompatCallMergesExtraBody(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{"choices":[{"message":{"content":"ok"}}]}`)
+
+	c := newTestCompat(t, srv.URL, "auto")
+	c.extraBody = map[string]any{"temperature": 0.5, "max_tokens": 10}
+
+	_, err := c.Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+	require.Equal(t, 0.5, cap.body["temperature"])
+	require.Equal(t, float64(10), cap.body["max_tokens"])
+}
+
+func TestOpenAICompatCallErrorStatus(t *testing.T) {
+	srv, _ := captureServer(t, http.StatusInternalServerError, `{"error":"boom"}`)
+
+	c := newTestCompat(t, srv.URL, "auto")
+	_, err := c.Call(context.Background(), "hello", nil)
+	require.Error(t, err)
+	require.Contains(t, err.Error(), "500")
+}
+
+func TestOpenAICompatCallEmptyChoices(t *testing.T) {
+	srv, _ := captureServer(t, http.StatusOK, `{"choices":[]}`)
+
+	c := newTestCompat(t, srv.URL, "auto")
+	_, err := c.Call(context.Background(), "hello", nil)
+	require.Error(t, err)
+}
diff --git a/plugins/llm/openrouter.go b/plugins/llm/openrouter.go
new file mode 100644
index 0000000000..1c63bf19fd
--- /dev/null
+++ b/plugins/llm/openrouter.go
@@ -0,0 +1,30 @@
+package llm
+
+import (
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("OpenRouter", NewOpenRouter)
+}
+
+type openRouterModel = string
+
+const (
+	OpenRouterModelAnthropicSonnet45 openRouterModel = "anthropic/claude-sonnet-4.5"
+	OpenRouterModelAnthropicOpus45   openRouterModel = "anthropic/claude-opus-4.5"
+	OpenRouterModelAnthropicHaiku45  openRouterModel = "anthropic/claude-haiku-4.5"
+	OpenRouterModelMoonshotKimiK25   openRouterModel = "moonshotai/kimi-k2.5"
+	OpenRouterModelMinimaxM21        openRouterModel = "minimax/minimax-m2.1"
+	OpenRouterModelZAIGLM47          openRouterModel = "z-ai/glm-4.7"
+	OpenRouterModelXAIGrok4Fast      openRouterModel = "x-ai/grok-4-fast"
+	OpenRouterModelDeepSeekV32       openRouterModel = "deepseek/deepseek-v3.2"
+	OpenRouterModelLlama3370B        openRouterModel = "meta-llama/llama-3.3-70b-instruct"
+
+	defaultOpenRouterModel   openRouterModel = OpenRouterModelAnthropicSonnet45
+	defaultOpenRouterBaseURL string          = "https://api.openmind.com/api/core/openrouter"
+)
+
+func NewOpenRouter(configMap map[string]any) (llm.LLM, error) {
+	return newOpenAICompat("OpenRouter", configMap, defaultOpenRouterModel, defaultOpenRouterBaseURL, "auto", true)
+}
diff --git a/plugins/llm/qwen.go b/plugins/llm/qwen.go
new file mode 100644
index 0000000000..932259e588
--- /dev/null
+++ b/plugins/llm/qwen.go
@@ -0,0 +1,103 @@
+package llm
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"regexp"
+	"strings"
+
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("QwenLLM", NewQwen)
+}
+
+const (
+	defaultQwenModel   string = "RedHatAI/Qwen3-30B-A3B-quantized.w4a16"
+	defaultQwenBaseURL string = "http://127.0.0.1:8860/v1"
+	defaultQwenAPIKey  string = "placeholder"
+)
+
+var qwenToolCallRe = regexp.MustCompile(`(?s)<tool_call>\s*(\{.*?\})\s*</tool_call>`)
+
+type qwenLLM struct {
+	*openAICompatLLM
+	enableReasoning bool
+}
+
+// NewQwen creates a local Qwen LLM using the OpenAI-compatible API.
+func NewQwen(configMap map[string]any) (llm.LLM, error) {
+	base, err := newOpenAICompat("QwenLLM", configMap, defaultQwenModel, defaultQwenBaseURL, "required", false)
+	if err != nil {
+		return nil, err
+	}
+	if base.config.APIKey == "" {
+		base.config.APIKey = defaultQwenAPIKey
+	}
+	base.extraBody = map[string]any{
+		"chat_template_kwargs": map[string]any{"enable_thinking": false},
+	}
+
+	var opts struct {
+		EnableReasoning bool `json:"enable_reasoning"`
+	}
+	if err := remarshal(configMap, &opts); err != nil {
+		return nil, fmt.Errorf("QwenLLM config: %w", err)
+	}
+
+	return &qwenLLM{openAICompatLLM: base, enableReasoning: opts.EnableReasoning}, nil
+}
+
+func (q *qwenLLM) Call(ctx context.Context, prompt string, history []llm.Message) (*llm.Response, error) {
+	userPrompt := prompt
+	if !q.enableReasoning {
+		userPrompt = prompt + " /no_think"
+	}
+
+	requestBody := map[string]any{
+		"model":    q.config.Model,
+		"messages": buildMessages(userPrompt, history),
+	}
+	if len(q.schemas) > 0 {
+		requestBody["tools"] = q.schemas
+		requestBody["tool_choice"] = q.toolChoice
+	}
+	for k, v := range q.extraBody {
+		requestBody[k] = v
+	}
+
+	body, err := q.doRequest(ctx, requestBody)
+	if err != nil {
+		return nil, err
+	}
+
+	resp, err := parseOpenAIResponse(body)
+	if err != nil {
+		return nil, err
+	}
+
+	if len(resp.ToolCalls) == 0 && strings.Contains(resp.TextContent, "<tool_call>") {
+		resp.ToolCalls = parseQwenToolCalls(resp.TextContent)
+	}
+	return resp, nil
+}
+
+func parseQwenToolCalls(text string) []llm.ToolCall {
+	var toolCalls []llm.ToolCall
+	for _, match := range qwenToolCallRe.FindAllStringSubmatch(text, -1) {
+		var obj struct {
+			Name      string         `json:"name"`
+			Arguments map[string]any `json:"arguments"`
+		}
+		if err := json.Unmarshal([]byte(match[1]), &obj); err != nil {
+			continue
+		}
+		if obj.Name == "" {
+			continue
+		}
+		toolCalls = append(toolCalls, llm.ToolCall{Name: obj.Name, Arguments: obj.Arguments})
+	}
+	return toolCalls
+}
diff --git a/plugins/llm/qwen_test.go b/plugins/llm/qwen_test.go
new file mode 100644
index 0000000000..69c4b20ada
--- /dev/null
+++ b/plugins/llm/qwen_test.go
@@ -0,0 +1,103 @@
+package llm
+
+import (
+	"context"
+	"net/http"
+	"testing"
+
+	"github.com/openmind/om1/internal/llm"
+	"github.com/stretchr/testify/require"
+)
+
+func TestQwenDefaultsAndReasoning(t *testing.T) {
+	instance, err := llm.Load("QwenLLM", map[string]any{})
+	require.NoError(t, err)
+	q := instance.(*qwenLLM)
+	require.Equal(t, defaultQwenAPIKey, q.config.APIKey)
+	require.Equal(t, defaultQwenModel, q.config.Model)
+	require.Equal(t, "required", q.toolChoice)
+	require.False(t, q.enableReasoning)
+
+	withReasoning, err := llm.Load("QwenLLM", map[string]any{"enable_reasoning": true})
+	require.NoError(t, err)
+	require.True(t, withReasoning.(*qwenLLM).enableReasoning)
+}
+
+func TestParseQwenToolCalls(t *testing.T) {
+	text := `thinking... <tool_call>{"name": "speak", "arguments": {"text": "hello"}}</tool_call> ` +
+		`and <tool_call>{"name": "move", "arguments": {"dir": "forward"}}</tool_call>`
+	calls := parseQwenToolCalls(text)
+	require.Len(t, calls, 2)
+	require.Equal(t, "speak", calls[0].Name)
+	require.Equal(t, "hello", calls[0].Arguments["text"])
+	require.Equal(t, "move", calls[1].Name)
+	require.Equal(t, "forward", calls[1].Arguments["dir"])
+
+	require.Empty(t, parseQwenToolCalls(`<tool_call>{bad json}</tool_call><tool_call>{"arguments":{}}</tool_call>`))
+}
+
+func newTestQwen(t *testing.T, baseURL string, reasoning bool) *qwenLLM {
+	t.Helper()
+	instance, err := NewQwen(map[string]any{
+		"base_url":         baseURL,
+		"enable_reasoning": reasoning,
+	})
+	require.NoError(t, err)
+	return instance.(*qwenLLM)
+}
+
+func lastMessageContent(t *testing.T, cap *capturedRequest) string {
+	t.Helper()
+	messages := cap.body["messages"].([]any)
+	require.NotEmpty(t, messages)
+	return messages[len(messages)-1].(map[string]any)["content"].(string)
+}
+
+func TestQwenCallAppendsNoThink(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{"choices":[{"message":{"content":"ok"}}]}`)
+
+	q := newTestQwen(t, srv.URL, false)
+	q.SetSchemas([]map[string]any{{"type": "function", "function": map[string]any{"name": "speak"}}})
+
+	_, err := q.Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+
+	require.Equal(t, "hello /no_think", lastMessageContent(t, cap))
+	require.Equal(t, "required", cap.body["tool_choice"])
+	require.Contains(t, cap.body, "chat_template_kwargs")
+}
+
+func TestQwenCallReasoningKeepsPromptVerbatim(t *testing.T) {
+	srv, cap := captureServer(t, http.StatusOK, `{"choices":[{"message":{"content":"ok"}}]}`)
+
+	q := newTestQwen(t, srv.URL, true)
+	_, err := q.Call(context.Background(), "hello", nil)
+	require.NoError(t, err)
+	require.Equal(t, "hello", lastMessageContent(t, cap))
+}
+
+func TestQwenCallParsesTextToolCalls(t *testing.T) {
+	srv, _ := captureServer(t, http.StatusOK, `{"choices":[{"message":{"content":
+		"sure <tool_call>{\"name\":\"move\",\"arguments\":{\"dir\":\"left\"}}</tool_call>"}}]}`)
+
+	q := newTestQwen(t, srv.URL, false)
+	resp, err := q.Call(context.Background(), "go left", nil)
+	require.NoError(t, err)
+	require.Len(t, resp.ToolCalls, 1)
+	require.Equal(t, "move", resp.ToolCalls[0].Name)
+	require.Equal(t, "left", resp.ToolCalls[0].Arguments["dir"])
+}
+
+func TestQwenCallPrefersStructuredToolCalls(t *testing.T) {
+	srv, _ := captureServer(t, http.StatusOK, `{"choices":[{"message":{
+		"content":"<tool_call>{\"name\":\"ignored\",\"arguments\":{}}</tool_call>",
+		"tool_calls":[{"function":{"name":"speak","arguments":"{\"text\":\"hi\"}"}}]
+	}}]}`)
+
+	q := newTestQwen(t, srv.URL, false)
+	resp, err := q.Call(context.Background(), "say hi", nil)
+	require.NoError(t, err)
+	require.Len(t, resp.ToolCalls, 1)
+	require.Equal(t, "speak", resp.ToolCalls[0].Name)
+	require.Equal(t, "hi", resp.ToolCalls[0].Arguments["text"])
+}
diff --git a/plugins/llm/xai.go b/plugins/llm/xai.go
new file mode 100644
index 0000000000..1261fc35ea
--- /dev/null
+++ b/plugins/llm/xai.go
@@ -0,0 +1,25 @@
+package llm
+
+import (
+	"github.com/openmind/om1/internal/llm"
+)
+
+func init() {
+	llm.Register("XAILLM", NewXAI)
+}
+
+type xaiModel = string
+
+const (
+	XAIModelGrok2Latest xaiModel = "grok-2-latest"
+	XAIModelGrok3Beta   xaiModel = "grok-3-beta"
+	XAIModelGrok4Latest xaiModel = "grok-4-latest"
+	XAIModelGrok4       xaiModel = "grok-4"
+
+	defaultXAIModel   xaiModel = XAIModelGrok4Latest
+	defaultXAIBaseURL string   = "https://api.openmind.com/api/core/xai"
+)
+
+func NewXAI(configMap map[string]any) (llm.LLM, error) {
+	return newOpenAICompat("XAILLM", configMap, defaultXAIModel, defaultXAIBaseURL, "auto", true)
+}
diff --git a/pyproject.toml b/pyproject.toml
deleted file mode 100644
index 94c712634b..0000000000
--- a/pyproject.toml
+++ /dev/null
@@ -1,142 +0,0 @@
-[project]
-name = "om1"
-version = "1.0.1"
-description = "OM1 - a modern agent and robotics runtime system"
-readme = "README.md"
-requires-python = ">=3.11"
-dependencies = [
-    "ultralytics==8.3.156",
-    "soundfile==0.13.1",
-    "sounddevice==0.5.2",
-    "pynmeagps==1.1.2",
-    "bleak==0.22.3",
-    "matplotlib==3.10.1",
-    "json5==0.10.0",
-    "jsonschema==4.23.0",
-    "pycdr2==1.0.0",
-    "eclipse-zenoh==1.4.0",
-    "pyaudio==0.2.14",
-    "openai==1.60.1",
-    "pillow==12.2.0",
-    "python-dotenv==1.2.2",
-    "typer==0.15.1",
-    "opencv-python==4.11.0.86",
-    "deepface==0.0.93",
-    "web3==7.6.0",
-    "numpy==1.26.4",
-    "cdp-sdk==1.40.0",
-    "hid==1.0.6",
-    "cv_bridge==1.13.0.post0",
-    "torch==2.8.0",
-    "torchvision==0.23.0",
-    "pyserial==3.5",
-    "py-mjpeg==1.0.1",
-    "fastapi==0.135.3",
-    "uvicorn==0.34.0",
-    "websockets==13.1",
-    "om1-modules @ git+https://github.com/OpenMind/om1-modules.git@4ee799e25843b8c0984cc2bd008fab23ebded343",
-    "aiohttp==3.13.4",
-    "pynput==1.8.1",
-    "dimo-python-sdk @ git+https://github.com/openminddev/dimo-python-sdk.git@6b47fcd28654a4145cedee649a0999a8eb08a2f6",
-    "nest-asyncio==1.6.0",
-    "tf-keras==2.18.0",
-    "faiss-cpu==1.13.2",
-    "mcp==1.26.0",
-    "prometheus-client==0.25.0",
-    "httpx[http2]==0.28.1",
-]
-
-[project.optional-dependencies]
-dds = [
-    "cyclonedds==0.10.2"
-]
-macos = ["osascript"]
-
-[dependency-groups]
-dev = [
-    "black==26.3.1",
-    "isort==6.0.0",
-    "pre-commit==4.1.0",
-    "pyright==1.1.408",
-    "pytest==9.0.3",
-    "pytest-asyncio==1.3.0",
-    "pytest-cov==6.0.0",
-    "ruff==0.9.3",
-    "vulture==2.14",
-]
-
-[tool.pytest.ini_options]
-pythonpath = ["src"]
-asyncio_mode = "strict"
-asyncio_default_fixture_loop_scope = "function"
-addopts = "-m \"not integration\""
-norecursedirs = ["src/unitree", "system_hw_test", "src/ubtech"]
-markers = [
-    "integration: marks tests as integration tests",
-]
-filterwarnings = [
-    "ignore:builtin type.*has no __module__ attribute:DeprecationWarning",
-    "ignore:coroutine 'AsyncMockMixin._execute_mock_call' was never awaited:RuntimeWarning",
-]
-
-[tool.coverage.run]
-source = ["src"]
-omit = [
-    "src/unitree/*",
-    "src/ubtech/*",
-    "*/tests/*",
-    "*/__pycache__/*",
-]
-
-[tool.coverage.report]
-exclude_lines = [
-    "pragma: no cover",
-    "def __repr__",
-    "raise AssertionError",
-    "raise NotImplementedError",
-    "if __name__ == .__main__.:",
-    "if TYPE_CHECKING:",
-    "class .*\\bProtocol\\):",
-    "@(abc\\.)?abstractmethod",
-]
-fail_under = 65
-show_missing = true
-skip_covered = false
-
-[tool.black]
-line-length = 120
-target-version = ["py312"]
-include = '\.pyi?$'
-exclude = "(.venv)|(/src/unitree)|(/src/ubtech)"
-
-[tool.isort]
-profile = "black"
-multi_line_output = 3
-line_length = 120
-sources = ["src", "tests"]
-skip_glob = [".venv*", "/src/unitree", "/src/ubtech"]
-
-[tool.ruff]
-line-length = 120
-indent-width = 4
-src = ["src"]
-exclude = ["src/unitree", "src/ubtech"]
-
-[tool.ruff.lint]
-select = ["E", "F", "D"]
-ignore = ["E203", "E501", "D100", "D104", "D200", "D205", "D401", "D404"]
-fixable = ["ALL"]
-unfixable = []
-dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
-
-[tool.ruff.lint.per-file-ignores]
-"tests/**" = ["D"]
-"system_hw_test/**" = ["D"]
-
-[tool.ruff.lint.pydocstyle]
-convention = "numpy"
-
-[tool.vulture]
-exclude = ["src/unitree/", "src/ubtech/", "system_hw_test/"]
-min_confidence = 80
-paths = ["src"]
diff --git a/pyrightconfig.json b/pyrightconfig.json
deleted file mode 100644
index ba545132ef..0000000000
--- a/pyrightconfig.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
-  "include": ["src", "tests"],
-  "exclude": [
-    "**/system_hw_test",
-    "**/__pycache__",
-    "**/unitree",
-    "**/ubtech"
-  ],
-  "typeCheckingMode": "standard",
-  "reportMissingImports": "warning",
-  "pythonVersion": "3.12"
-}
diff --git a/scripts/generate_schema.py b/scripts/generate_schema.py
deleted file mode 100644
index d72ec73e87..0000000000
--- a/scripts/generate_schema.py
+++ /dev/null
@@ -1,613 +0,0 @@
-"""Generate OM1 configuration schema from codebase."""
-
-import ast
-import json
-import logging
-import os
-import sys
-from typing import Any, Dict, List
-
-logging.basicConfig(level=logging.INFO, format="%(levelname)s: %(message)s")
-
-
-class ConfigSchemaGenerator:
-    """Scans OM1 codebase and generates configuration schema."""
-
-    def __init__(self, root_dir: str):
-        """Initialize the schema generator.
-
-        Parameters
-        ----------
-        root_dir : str
-            Absolute path to the OM1 root directory.
-        """
-        self.root_dir = root_dir
-        self.src_dir = os.path.join(root_dir, "src")
-        self.inputs_dir = os.path.join(self.src_dir, "inputs/plugins")
-        self.llm_dir = os.path.join(self.src_dir, "llm/plugins")
-        self.llm_config_path = os.path.join(self.src_dir, "llm/__init__.py")
-        self.backgrounds_dir = os.path.join(self.src_dir, "backgrounds/plugins")
-        self.actions_dir = os.path.join(self.src_dir, "actions")
-        self.hooks_dir = os.path.join(self.src_dir, "hooks")
-        self.schema_path = os.path.join(root_dir, "config/schema/multi_mode_schema.json")
-
-    def generate(self) -> str:
-        """Generate complete configuration schema and save to JSON5 file.
-
-        Scans all component types (inputs, LLMs, backgrounds, actions, hooks)
-        and generates a comprehensive schema file.
-
-        Returns
-        -------
-        str
-            Absolute path to the generated schema file.
-        """
-        import json5
-
-        inputs = self.scan_inputs()
-        llms = self.scan_llms()
-        backgrounds = self.scan_backgrounds()
-        actions = self.scan_actions()
-        hooks = self.scan_hooks()
-        transition_rules = self.scan_transition_rules()
-
-        logging.info(
-            f"Extracted from {len(inputs)} inputs, {len(llms)} LLMs, {len(backgrounds)} backgrounds, {len(actions)} actions, {len(hooks.get('available_functions', []))} hook modules, {len(transition_rules.get('transition_types', []))} transition types"
-        )
-
-        schema = {
-            "agent_inputs": inputs,
-            "cortex_llm": llms,
-            "backgrounds": backgrounds,
-            "agent_actions": actions,
-            "lifecycle_hooks": hooks,
-            "transition_rules": transition_rules,
-        }
-
-        schema_path = os.path.join(self.root_dir, "OM1_config_schema.json5")
-        with open(schema_path, "w") as f:
-            json5.dump(schema, f, indent=2)
-
-        return schema_path
-
-    # Input
-    def scan_inputs(self) -> List[Dict[str, Any]]:
-        """Scan input plugins for FuserInput and Sensor classes.
-
-        Returns
-        -------
-        List[Dict[str, Any]]
-            List of input component schemas.
-        """
-        results = []
-        if not os.path.exists(self.inputs_dir):
-            return results
-
-        for filepath in self._py_files(self.inputs_dir):
-            try:
-                tree = ast.parse(open(filepath, "r", encoding="utf-8").read())
-
-                config_node = None
-                sensor_node = None
-
-                for node in tree.body:
-                    if isinstance(node, ast.ClassDef):
-                        if self._extends(node, ["InputConfig", "SensorConfig"]):
-                            config_node = node
-                        if self._extends(node, ["FuserInput", "Sensor"]):
-                            sensor_node = node
-
-                if sensor_node:
-                    fields = self._parse_pydantic_fields_from_node(config_node) if config_node else []
-
-                    results.append(
-                        {
-                            "type": sensor_node.name,
-                            "category": "input",
-                            "fields": fields,
-                            "description": ast.get_docstring(sensor_node) or "",
-                        }
-                    )
-            except Exception as e:
-                logging.error(f"Error parsing {filepath}: {e}")
-        return results
-
-    # LLM
-    def scan_llms(self) -> List[Dict[str, Any]]:
-        """Scan LLM plugins.
-
-        Returns
-        -------
-        List[Dict[str, Any]]
-            List of LLM component schemas.
-        """
-        results = []
-        if not os.path.exists(self.llm_dir):
-            return results
-
-        # Get base fields from LLMConfig
-        base_fields = self._parse_pydantic_class("LLMConfig", self.llm_config_path)
-
-        for filepath in self._py_files(self.llm_dir):
-            try:
-                tree = ast.parse(open(filepath, "r", encoding="utf-8").read())
-
-                config_node = None
-                llm_node = None
-
-                for node in tree.body:
-                    if isinstance(node, ast.ClassDef):
-                        if self._extends(node, ["LLMConfig"]):
-                            config_node = node
-                        if self._extends(node, ["LLM"]):
-                            llm_node = node
-
-                if llm_node:
-                    fields = {f["name"]: f for f in base_fields}
-
-                    if config_node:
-                        for f in self._parse_pydantic_fields_from_node(config_node):
-                            fields[f["name"]] = f
-
-                    results.append(
-                        {
-                            "type": llm_node.name,
-                            "category": "llm",
-                            "fields": list(fields.values()),
-                            "description": ast.get_docstring(llm_node) or "",
-                        }
-                    )
-            except Exception as e:
-                logging.error(f"Error parsing {filepath}: {e}")
-        return results
-
-    # Background
-    def scan_backgrounds(self) -> List[Dict[str, Any]]:
-        """Scan background plugins directory for Background classes.
-
-        Returns
-        -------
-        List[Dict[str, Any]]
-            List of background component schemas.
-        """
-        results = []
-        if not os.path.exists(self.backgrounds_dir):
-            return results
-
-        for filepath in self._py_files(self.backgrounds_dir):
-            try:
-                tree = ast.parse(open(filepath, "r", encoding="utf-8").read())
-
-                config_node = None
-                background_node = None
-
-                for node in tree.body:
-                    if isinstance(node, ast.ClassDef):
-                        if self._extends(node, ["BackgroundConfig"]):
-                            config_node = node
-                        if self._extends(node, ["Background"]):
-                            background_node = node
-
-                if background_node:
-                    fields = self._parse_pydantic_fields_from_node(config_node) if config_node else []
-
-                    results.append(
-                        {
-                            "type": background_node.name,
-                            "category": "background",
-                            "fields": fields,
-                            "description": ast.get_docstring(background_node) or "",
-                        }
-                    )
-            except Exception as e:
-                logging.error(f"Error parsing {filepath}: {e}")
-        return results
-
-    # Action
-    def scan_actions(self) -> List[Dict[str, Any]]:
-        """Scan action connectors in the actions directory.
-
-        Returns
-        -------
-        List[Dict[str, Any]]
-            List of action connector schemas.
-        """
-        results = []
-        if not os.path.exists(self.actions_dir):
-            return results
-
-        for action_name in os.listdir(self.actions_dir):
-            action_dir = os.path.join(self.actions_dir, action_name)
-            connector_dir = os.path.join(action_dir, "connector")
-
-            if not os.path.isdir(action_dir) or action_name == "__pycache__":
-                continue
-            if not os.path.exists(connector_dir):
-                continue
-
-            for filepath in self._py_files(connector_dir):
-                try:
-                    tree = ast.parse(open(filepath, "r", encoding="utf-8").read())
-
-                    # Find config class and connector class in the file
-                    config_node = None
-                    connector_node = None
-
-                    for node in tree.body:
-                        if isinstance(node, ast.ClassDef):
-                            if self._extends(node, ["ActionConfig"]):
-                                config_node = node
-                            if self._extends_connector(node):
-                                connector_node = node
-
-                    if connector_node:
-                        if config_node:
-                            fields = self._parse_pydantic_fields_from_node(config_node)
-                        else:
-                            fields = []
-
-                        connector = os.path.basename(filepath)[:-3]
-                        type_name = action_name if connector == "default" else f"{action_name}_{connector}"
-
-                        results.append(
-                            {
-                                "type": type_name,
-                                "category": "action",
-                                "fields": fields,
-                                "description": ast.get_docstring(connector_node) or "",
-                                "action_name": action_name,
-                                "connector_name": connector,
-                            }
-                        )
-                except Exception as e:
-                    logging.error(f"Error parsing {filepath}: {e}")
-        return results
-
-    # Hooks
-    def scan_hooks(self) -> Dict[str, Any]:
-        """Scan lifecycle hooks.
-
-        Returns
-        -------
-        Dict[str, Any]
-            Schema structure and available hook functions.
-        """
-        result = {
-            "schema": self._get_hooks_schema(),
-            "available_functions": self._scan_hook_functions(),
-        }
-        return result
-
-    def _get_hooks_schema(self) -> Dict[str, Any]:
-        """Extract lifecycle_hooks schema.
-
-        Returns
-        -------
-        Dict[str, Any]
-            The hooks schema structure with enums and field types.
-        """
-        if not os.path.exists(self.schema_path):
-            logging.warning(f"Schema file not found: {self.schema_path}")
-            return {}
-
-        try:
-            with open(self.schema_path, "r") as f:
-                schema = json.load(f)
-
-            hooks_schema = schema.get("properties", {}).get("global_lifecycle_hooks", {})
-            if hooks_schema:
-                return hooks_schema.get("items", {}).get("properties", {})
-            return {}
-        except Exception as e:
-            logging.error(f"Error parsing schema file: {e}")
-            return {}
-
-    def _scan_hook_functions(self) -> List[Dict[str, Any]]:
-        """Scan available hook functions from hooks directory.
-
-        Returns
-        -------
-        List[Dict[str, Any]]
-            List of hook modules with their function names.
-        """
-        results = []
-        if not os.path.exists(self.hooks_dir):
-            return results
-
-        for filepath in self._py_files(self.hooks_dir):
-            try:
-                module_name = os.path.basename(filepath)[:-3]
-                tree = ast.parse(open(filepath, "r", encoding="utf-8").read())
-
-                functions = [node.name for node in tree.body if isinstance(node, ast.AsyncFunctionDef)]
-
-                if functions:
-                    results.append({"module_name": module_name, "functions": functions})
-            except Exception as e:
-                logging.error(f"Error parsing {filepath}: {e}")
-        return results
-
-    # Transition Rules
-    def scan_transition_rules(self) -> Dict[str, Any]:
-        """Extract transition_rules schema from multi_mode_schema.json.
-
-        Returns
-        -------
-        Dict[str, Any]
-            Transition rules schema with types and properties.
-        """
-        if not os.path.exists(self.schema_path):
-            logging.warning(f"Schema file not found: {self.schema_path}")
-            return {}
-
-        try:
-            with open(self.schema_path, "r") as f:
-                schema = json.load(f)
-
-            transition_schema = schema.get("properties", {}).get("transition_rules", {})
-            if not transition_schema:
-                return {}
-
-            items = transition_schema.get("items", {})
-            properties = items.get("properties", {})
-            required = items.get("required", [])
-
-            transition_types = []
-            if "transition_type" in properties:
-                transition_types = properties["transition_type"].get("enum", [])
-
-            return {
-                "required": required,
-                "transition_types": transition_types,
-                "properties": properties,
-            }
-        except Exception as e:
-            logging.error(f"Error parsing transition_rules schema: {e}")
-            return {}
-
-    def _py_files(self, directory: str) -> List[str]:
-        """List Python files in a directory, excluding init files.
-
-        Parameters
-        ----------
-        directory : str
-            Directory path to scan for Python files.
-
-        Returns
-        -------
-        List[str]
-            List of absolute paths to Python files.
-        """
-        return [os.path.join(directory, f) for f in os.listdir(directory) if f.endswith(".py") and f != "__init__.py"]
-
-    def _extends(self, node: ast.ClassDef, base_classes: List[str]) -> bool:
-        """Check if a class extends any of the specified base classes.
-
-        Parameters
-        ----------
-        node : ast.ClassDef
-            AST node representing a class definition.
-        base_classes : List[str]
-            List of base class names to check against.
-
-        Returns
-        -------
-        bool
-            True if the class extends any of the base classes, False otherwise.
-        """
-        for base in node.bases:
-            if isinstance(base, ast.Name) and base.id in base_classes:
-                return True
-            if isinstance(base, ast.Subscript) and isinstance(base.value, ast.Name):
-                if base.value.id in base_classes:
-                    return True
-        return False
-
-    def _extends_connector(self, node: ast.ClassDef) -> bool:
-        """Check if a class is a Connector subclass.
-
-        Parameters
-        ----------
-        node : ast.ClassDef
-            AST node representing a class definition.
-
-        Returns
-        -------
-        bool
-            True if the class name contains "Connector" in its base classes.
-        """
-        for base in node.bases:
-            if isinstance(base, ast.Name) and "Connector" in base.id:
-                return True
-            if isinstance(base, ast.Subscript) and isinstance(base.value, ast.Name):
-                if "Connector" in base.value.id:
-                    return True
-        return False
-
-    def _parse_pydantic_class(self, class_name: str, file_path: str) -> List[Dict[str, Any]]:
-        """Extract fields from a Pydantic BaseModel class definition.
-
-        Parameters
-        ----------
-        class_name : str
-            Name of the Pydantic model class to extract fields from.
-        file_path : str
-            Absolute path to the file containing the class definition.
-
-        Returns
-        -------
-        List[Dict[str, Any]]
-            List of field definitions extracted from the Pydantic model.
-        """
-        if not os.path.exists(file_path):
-            return []
-
-        try:
-            tree = ast.parse(open(file_path, "r", encoding="utf-8").read())
-            for node in tree.body:
-                if isinstance(node, ast.ClassDef) and node.name == class_name:
-                    return self._parse_pydantic_fields_from_node(node)
-        except Exception as e:
-            logging.error(f"Error parsing Pydantic class: {e}")
-        return []
-
-    def _parse_pydantic_fields_from_node(self, node: ast.ClassDef) -> List[Dict[str, Any]]:
-        """Extract fields from a Pydantic ClassDef node.
-
-        Parameters
-        ----------
-        node : ast.ClassDef
-            The class definition node.
-
-        Returns
-        -------
-        List[Dict[str, Any]]
-            List of extracted fields.
-        """
-        fields = []
-        for item in node.body:
-            if not (isinstance(item, ast.AnnAssign) and isinstance(item.target, ast.Name)):
-                continue
-
-            name = item.target.id
-            if name.startswith("_") or name == "model_config":
-                continue
-
-            description = ""
-            default = None
-
-            if item.value:
-                default = self._get_pydantic_default(item.value)
-
-                if (
-                    isinstance(item.value, ast.Call)
-                    and isinstance(item.value.func, ast.Name)
-                    and item.value.func.id == "Field"
-                ):
-                    for keyword in item.value.keywords:
-                        if keyword.arg == "description" and isinstance(keyword.value, ast.Constant):
-                            description = keyword.value.value
-            else:
-                default = None
-
-            if default == "__SKIP__":
-                continue
-
-            has_default = default is not None
-            if default == "__HAS_DEFAULT__":
-                has_default = True
-                default = None
-
-            field = {
-                "name": name,
-                "type": self._annotation_to_type(item.annotation),
-                "label": name.replace("_", " ").title(),
-                "required": not has_default,
-                "description": description,
-            }
-
-            if default is not None:
-                field["defaultValue"] = default
-
-            fields.append(field)
-
-        return fields
-
-    def _annotation_to_type(self, annotation: ast.expr) -> str:
-        """Convert Python type annotation to JSON schema type.
-
-        Handles:
-            - T.Optional[str] -> "string"
-            - Optional[int] -> "number"
-            - bool -> "boolean"
-            - Dict/List -> "object"
-
-        Parameters
-        ----------
-        annotation : ast.expr
-            AST node representing a type annotation.
-
-        Returns
-        -------
-        str
-            JSON schema type string.
-        """
-        if annotation is None:
-            return "string"
-
-        if isinstance(annotation, ast.Subscript):
-            if isinstance(annotation.slice, ast.Name):
-                t = annotation.slice.id
-                if t in ("str", "string"):
-                    return "string"
-                if t in ("int", "float"):
-                    return "number"
-                if t == "bool":
-                    return "boolean"
-            return "object"
-
-        if isinstance(annotation, ast.Name):
-            t = annotation.id
-            if t in ("str", "string"):
-                return "string"
-            if t in ("int", "float"):
-                return "number"
-            if t == "bool":
-                return "boolean"
-
-        return "string"
-
-    def _get_pydantic_default(self, value_node: ast.expr):
-        """Extract default value from Pydantic field AST node.
-
-        Parameters
-        ----------
-        value_node : ast.expr
-            AST node representing the default value expression.
-
-        Returns
-        -------
-        Any or str
-            The default value, None if no default.
-        """
-        if value_node is None:
-            return None
-        if isinstance(value_node, ast.Constant):
-            if value_node.value is ...:
-                return None
-            return value_node.value
-        if isinstance(value_node, ast.Call):
-            if isinstance(value_node.func, ast.Name) and value_node.func.id == "Field":
-                for keyword in value_node.keywords:
-                    if keyword.arg == "default":
-                        return self._get_pydantic_default(keyword.value)
-                    if keyword.arg == "default_factory":
-                        return "__HAS_DEFAULT__"
-                if value_node.args:
-                    return self._get_pydantic_default(value_node.args[0])
-                return None
-            return "__SKIP__"
-        return None
-
-
-def main():
-    """
-    Main entry point for schema generation script.
-    """
-    script_dir = os.path.dirname(os.path.abspath(__file__))
-    root_dir = os.path.dirname(script_dir)
-
-    try:
-        schema_path = ConfigSchemaGenerator(root_dir).generate()
-        logging.info(f"✓ Schema generated successfully: {schema_path}")
-        return 0
-    except Exception as e:
-        logging.error(f"✗ Error: {e}")
-        import traceback
-
-        traceback.print_exc()
-        return 1
-
-
-if __name__ == "__main__":
-    sys.exit(main())
diff --git a/src/actions/__init__.py b/src/actions/__init__.py
deleted file mode 100644
index 380675adda..0000000000
--- a/src/actions/__init__.py
+++ /dev/null
@@ -1,125 +0,0 @@
-import importlib
-import typing as T
-from enum import Enum
-from typing import Optional
-
-from actions.base import ActionConfig, ActionConnector, AgentAction, Interface
-
-
-def describe_action(action_name: str, llm_label: str, exclude_from_prompt: bool) -> Optional[str]:
-    """
-    Generate a description of the action for use in prompts.
-
-    Parameters
-    ----------
-    action_name : str
-        The name of the action.
-    llm_label : str
-        The label used by the LLM for this action.
-    exclude_from_prompt : bool
-        Whether to exclude this action from the prompt. If True, returns None.
-
-    Returns
-    -------
-    Optional[str]
-        A formatted description of the action, or None if excluded.
-    """
-    if exclude_from_prompt:
-        return None
-
-    interface = None
-    action = importlib.import_module(f"actions.{action_name}.interface")
-
-    for obj in action.__dict__.values():
-        if isinstance(obj, type) and issubclass(obj, Interface) and obj != Interface:
-            interface = obj
-
-    if interface is None:
-        raise ValueError(f"No interface found for action {action_name}")
-
-    # Get docstring from interface class
-    doc = interface.__doc__ or ""
-    doc = doc.replace("\n", "")
-
-    # Build type hint descriptions
-    hints = {}
-    input_interface = T.get_type_hints(interface)["input"]
-    for field_name, field_type in T.get_type_hints(input_interface).items():
-        if hasattr(field_type, "__origin__") and isinstance(field_type.__origin__, type):
-            # Handle generic types
-            hints[field_name] = str(field_type)
-        elif isinstance(field_type, type) and issubclass(field_type, Enum):
-            # Handle enums by listing allowed values
-            values = [f"'{v.value}'" for v in field_type]
-            hints[field_name] = "value={" + f"{', '.join(values)}" + "}"
-        else:
-            hints[field_name] = f"value={str(field_type)}"
-
-    # Format the full docstring
-    type_hints = "\n".join(f"{desc}" for name, desc in hints.items())
-    final_description = f"{llm_label.upper()}: {doc}\ntype={llm_label}\n{type_hints}"
-    final_description = final_description.replace("    ", "")
-
-    return final_description
-
-
-def load_action(
-    action_config: T.Dict[str, T.Union[str, T.Dict[str, str]]],
-) -> AgentAction:
-    """
-    Load an action based on the provided configuration.
-
-    Parameters
-    ----------
-    action_config : Dict[str, Union[str, Dict[str, str]]]
-        Configuration dictionary for the action, including 'name', 'llm_label',
-        'connector', and optional 'config' and 'exclude_from_prompt' keys.
-
-    Returns
-    -------
-    AgentAction
-        An instance of AgentAction with the specified interface and connector.
-    """
-    interface = None
-    action = importlib.import_module(f"actions.{action_config['name']}.interface")
-
-    for obj in action.__dict__.values():
-        if isinstance(obj, type) and issubclass(obj, Interface) and obj != Interface:
-            interface = obj
-
-    if interface is None:
-        raise ValueError(f"No interface found for action {action_config['name']}")
-
-    connector = importlib.import_module(f"actions.{action_config['name']}.connector.{action_config['connector']}")
-
-    connector_class = None
-    config_class = None
-    for obj in connector.__dict__.values():
-        if isinstance(obj, type) and issubclass(obj, ActionConnector):
-            connector_class = obj
-        if isinstance(obj, type) and issubclass(obj, ActionConfig) and obj != ActionConfig:
-            config_class = obj
-
-    if connector_class is None:
-        raise ValueError(
-            f"No connector found for action {action_config['name']} connector {action_config['connector']}"
-        )
-
-    if config_class is not None:
-        config_dict = action_config.get("config", {})
-        config = config_class(**(config_dict if isinstance(config_dict, dict) else {}))
-    else:
-        config_dict = action_config.get("config", {})
-        config = ActionConfig(**(config_dict if isinstance(config_dict, dict) else {}))
-
-    exclude_from_prompt = False
-    if "exclude_from_prompt" in action_config:
-        exclude_from_prompt = bool(action_config["exclude_from_prompt"])
-
-    return AgentAction(
-        name=action_config["name"],  # type: ignore
-        llm_label=action_config["llm_label"],  # type: ignore
-        interface=interface,
-        connector=connector_class(config),
-        exclude_from_prompt=exclude_from_prompt,
-    )
diff --git a/src/actions/arm_g1/connector/unitree_sdk.py b/src/actions/arm_g1/connector/unitree_sdk.py
deleted file mode 100644
index 3cd2ba89f6..0000000000
--- a/src/actions/arm_g1/connector/unitree_sdk.py
+++ /dev/null
@@ -1,68 +0,0 @@
-import logging
-
-from actions.arm_g1.interface import ArmInput
-from actions.base import ActionConfig, ActionConnector
-from unitree.unitree_sdk2py.g1.arm.g1_arm_action_client import G1ArmActionClient
-
-
-class ARMUnitreeSDKConnector(ActionConnector[ActionConfig, ArmInput]):
-    """
-    Connector that interacts with the G1 Arm Action Client to perform arm actions.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the ARMUnitreeSDKConnector.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        try:
-            self.client = G1ArmActionClient()
-            self.client.SetTimeout(10.0)
-            self.client.Init()
-            logging.info("G1 Arm Action Client initialized successfully.")
-        except Exception as e:
-            logging.error(f"Failed to initialize G1 Arm Action Client: {e}")
-
-    async def connect(self, output_interface: ArmInput) -> None:
-        """
-        Connects to the G1 Arm Action Client and executes the specified action.
-
-        Parameters
-        ----------
-        output_interface : ArmInput
-            The output interface containing the arm action command.
-        """
-        logging.info(f"AI command.action: {output_interface.action}")
-
-        if output_interface.action == "idle":
-            logging.info("No action to perform, returning.")
-            return
-
-        action_id = None
-
-        if output_interface.action == "left_kiss":
-            action_id = 12
-        elif output_interface.action == "right_kiss":
-            action_id = 13
-        elif output_interface.action == "clap":
-            action_id = 17
-        elif output_interface.action == "high_five":
-            action_id = 18
-        elif output_interface.action == "shake_hand":
-            action_id = 27
-        elif output_interface.action == "heart":
-            action_id = 20
-        elif output_interface.action == "high_wave":
-            action_id = 26
-        else:
-            logging.warning(f"Unknown action: {output_interface.action}")
-            return
-
-        logging.info(f"Executing action with ID: {action_id}")
-        self.client.ExecuteAction(action_id)
diff --git a/src/actions/arm_g1/connector/zenoh.py b/src/actions/arm_g1/connector/zenoh.py
deleted file mode 100644
index 06dc6665e2..0000000000
--- a/src/actions/arm_g1/connector/zenoh.py
+++ /dev/null
@@ -1,133 +0,0 @@
-import asyncio
-import json
-import logging
-from typing import Optional
-
-from zenoh import ZBytes
-
-from actions.arm_g1.interface import ArmInput
-from actions.base import ActionConfig, ActionConnector
-from zenoh_msgs import (
-    UnitreeRequest,
-    UnitreeRequestHeader,
-    UnitreeRequestIdentity,
-    ZenohSessionType,
-    open_zenoh_session,
-)
-
-CUSTOM_API_ID = 9001
-SPORT_REQUEST_TOPIC = "api/sport/request"
-
-CUSTOM_ACTION_MAP = {
-    "shake_hand": "shake_hand",
-    "face_wave": "face_wave",
-    "hands_up": "hands_up",
-    "stand_still": "stand_still",
-    "wave": "face_wave",
-    "show_hand": "show_hand",
-    "show_hand1": "show_hand1",
-    "show_hand2": "show_hand2",
-    "my_gesture": "my_gesture",
-    # "do_payment": "do_payment",
-    # "down_payment": "down_payment",
-}
-
-
-class ARMZenohConnector(ActionConnector[ActionConfig, ArmInput]):
-    """
-    Connector that sends custom arm action commands via Zenoh.
-
-    Publishes UnitreeRequest messages to the /api/sport/request topic
-    through the zenoh-bridge-ros2dds, targeting the g1_arm_action ROS2
-    node (api_id=9001).
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the ARMZenohConnector.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-        self.session: Optional[ZenohSessionType] = None
-
-        try:
-            self.session = open_zenoh_session()
-            logging.info("ARMZenohConnector: Zenoh session opened")
-        except Exception as e:
-            logging.error(f"ARMZenohConnector: Failed to open Zenoh session: {e}")
-
-    async def connect(self, output_interface: ArmInput) -> None:
-        """
-        Publish the arm action command via Zenoh.
-
-        Parameters
-        ----------
-        output_interface : ArmInput
-            The output interface containing the arm action command.
-        """
-        try:
-            action = output_interface.action
-
-            if action == "idle":
-                return
-
-            if self.session is None:
-                logging.error("ARMZenohConnector: No Zenoh session available")
-                return
-
-            action_name = CUSTOM_ACTION_MAP.get(action)
-            if action_name is None:
-                logging.warning(f"ARMZenohConnector: Unknown action '{action}'")
-                return
-
-            identity = UnitreeRequestIdentity(id=0, api_id=CUSTOM_API_ID)
-            header = UnitreeRequestHeader(identity=identity)
-            request = UnitreeRequest(
-                header=header,
-                parameter=json.dumps({"action": action_name}),
-            )
-
-            payload = ZBytes(request.serialize())
-            self.session.put(SPORT_REQUEST_TOPIC, payload)
-            logging.info(f"ARMZenohConnector: Published '{action}' -> action={action_name}")
-
-            if action == "do_payment":
-                asyncio.create_task(self._auto_down_payment())
-        except Exception:
-            logging.exception("ARMZenohConnector: Exception in connect method")
-
-    async def _auto_down_payment(self) -> None:
-        """
-        Automatically issue down payment action after 10 seconds. This is triggered after do_payment is executed.
-        """
-        try:
-            await asyncio.sleep(10)
-
-            if self.session is None:
-                logging.error("ARMZenohConnector: No Zenoh session available for auto down_payment")
-                return
-
-            action_name = CUSTOM_ACTION_MAP.get("down_payment")
-            identity = UnitreeRequestIdentity(id=0, api_id=CUSTOM_API_ID)
-            header = UnitreeRequestHeader(identity=identity)
-            request = UnitreeRequest(
-                header=header,
-                parameter=json.dumps({"action": action_name}),
-            )
-
-            payload = ZBytes(request.serialize())
-            self.session.put(SPORT_REQUEST_TOPIC, payload)
-            logging.info("ARMZenohConnector: Auto-published 'down_payment' after 10 seconds")
-        except Exception:
-            logging.exception("ARMZenohConnector: Exception in auto down_payment task")
-
-    def stop(self) -> None:
-        """Close the Zenoh session."""
-        if self.session:
-            self.session.close()
-            self.session = None
-            logging.info("ARMZenohConnector: Zenoh session closed")
diff --git a/src/actions/arm_g1/interface.py b/src/actions/arm_g1/interface.py
deleted file mode 100644
index 712e48a637..0000000000
--- a/src/actions/arm_g1/interface.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class ArmAction(str, Enum):
-    """
-    Enumeration of possible arm actions.
-
-    Built-in actions are handled by Unitree firmware (api_id=7106).
-    Custom actions are handled by the g1_arm_action ROS2 node (api_id=9001).
-    """
-
-    IDLE = "idle"
-    # LEFT_KISS = "left kiss"
-    # RIGHT_KISS = "right kiss"
-    # CLAP = "clap"
-    # HIGH_FIVE = "high five"
-    # HEART = "heart"
-    # HIGH_WAVE = "high wave"
-    SHAKE_HAND = "shake_hand"
-    FACE_WAVE = "face_wave"
-    HANDS_UP = "hands_up"
-    STAND_STILL = "stand_still"
-    SHOW_HAND = "show_hand"
-    # DO_PAYMENT = "do_payment"
-    # DOWN_PAYMENT = "down_payment"
-    WAVE = "wave"
-    # MOVE = "move"
-
-
-@dataclass
-class ArmInput:
-    """
-    Input interface for the Arm action.
-
-    Parameters
-    ----------
-    action : ArmAction
-        The arm movement to perform. Must be one of the predefined actions
-        from the ArmAction enumeration.
-    """
-
-    action: ArmAction
-
-
-@dataclass
-class Arm(Interface[ArmInput, ArmInput]):
-    """
-    An arm movement to be performed by the agent.
-    Effect: Allows the agent to perform arm movements.
-    """
-
-    input: ArmInput
-    output: ArmInput
diff --git a/src/actions/base.py b/src/actions/base.py
deleted file mode 100644
index dec3bdf9a8..0000000000
--- a/src/actions/base.py
+++ /dev/null
@@ -1,181 +0,0 @@
-import threading
-import time
-import typing as T
-from abc import ABC, abstractmethod
-from dataclasses import dataclass
-
-from pydantic import BaseModel, ConfigDict
-
-IT = T.TypeVar("IT")
-OT = T.TypeVar("OT")
-CT = T.TypeVar("CT", bound="ActionConfig")
-
-
-@dataclass
-class MoveCommand:
-    """
-    Move command interface.
-
-    Parameters
-    ----------
-    dx : float
-        Distance to move in the x direction.
-    yaw : float
-        Yaw angle to turn.
-    start_x : float
-        Starting x position.
-    start_y : float
-        Starting y position.
-    turn_complete : bool
-        Whether the turn is complete.
-    speed : float
-        Speed of movement.
-    """
-
-    dx: float
-    yaw: float
-    start_x: float = 0.0
-    start_y: float = 0.0
-    turn_complete: bool = False
-    speed: float = 0.5
-
-
-class ActionConfig(BaseModel):
-    """
-    Configuration class for Action implementations.
-    """
-
-    model_config = ConfigDict(extra="allow")
-
-
-@dataclass
-class Interface(T.Generic[IT, OT]):
-    """
-    An interface for an action.
-
-    Parameters
-    ----------
-    input : IT
-        The input type for the interface.
-    output : OT
-        The output type for the interface.
-    """
-
-    input: IT
-    output: OT
-
-
-class ActionConnector(ABC, T.Generic[CT, OT]):
-    """
-    A connector for an action.
-    """
-
-    def __init__(self, config: CT):
-        """
-        Initialize the ActionConnector.
-
-        Parameters
-        ----------
-        config : CT
-            Configuration for the action connector.
-        """
-        self.config: CT = config
-        self._stop_event: T.Optional[threading.Event] = None
-
-    def set_stop_event(self, stop_event: threading.Event) -> None:
-        """
-        Set the stop event for this action connector.
-
-        Parameters
-        ----------
-        stop_event : threading.Event
-            Event that signals when the connector should stop
-        """
-        self._stop_event = stop_event
-
-    def should_stop(self) -> bool:
-        """
-        Check if the connector should stop.
-
-        Returns
-        -------
-        bool
-            True if the connector should stop, False otherwise
-        """
-        return self._stop_event is not None and self._stop_event.is_set()
-
-    def sleep(self, duration: float) -> bool:
-        """
-        Sleep for the specified duration, but wake immediately if stop signal is received.
-
-        Parameters
-        ----------
-        duration : float
-            Total duration to sleep in seconds
-
-        Returns
-        -------
-        bool
-            True if sleep completed normally, False if interrupted by stop signal
-        """
-        if self._stop_event is None:
-            time.sleep(duration)
-            return True
-
-        was_stopped = self._stop_event.wait(timeout=duration)
-
-        return not was_stopped
-
-    @abstractmethod
-    async def connect(self, output_interface: OT) -> None:
-        """
-        Connect the output interface to the action.
-
-        Parameters
-        ----------
-        output_interface : OT
-            The output interface containing the action details.
-        """
-        pass
-
-    def tick(self) -> None:
-        """
-        Tick method for periodic updates.
-        """
-        self.sleep(60)
-
-    def stop(self) -> None:
-        """
-        Stop the connector and clean up resources.
-
-        This method should be overridden by subclasses that need to perform
-        cleanup operations (e.g., closing connections, releasing resources).
-        The base implementation does nothing.
-        """
-        pass
-
-
-@dataclass
-class AgentAction:
-    """
-    Base class for agent actions.
-
-    Parameters
-    ----------
-    name : str
-        The name of the action.
-    llm_label : str
-        The label used by the LLM for this action.
-    interface : Type[Interface]
-        The interface type for this action.
-    connector : ActionConnector
-        The connector for this action.
-    exclude_from_prompt : bool
-        Whether to exclude this action from the prompt.
-    """
-
-    name: str
-    llm_label: str
-    interface: T.Type[Interface]
-    connector: ActionConnector
-    exclude_from_prompt: bool
diff --git a/src/actions/discord/connector/webhook.py b/src/actions/discord/connector/webhook.py
deleted file mode 100644
index 9d63d15d02..0000000000
--- a/src/actions/discord/connector/webhook.py
+++ /dev/null
@@ -1,112 +0,0 @@
-import logging
-from typing import Optional
-
-import aiohttp
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.discord.interface import DiscordInput
-
-DISCORD_MAX_CONTENT_LENGTH = 2000
-
-
-class DiscordWebhookConfig(ActionConfig):
-    """
-    Configuration class for Discord Webhook Connector.
-
-    Parameters
-    ----------
-    webhook_url : str
-        Discord webhook URL for sending messages.
-    username : str, optional
-        Override the default webhook username.
-    avatar_url : str, optional
-        Override the default webhook avatar URL.
-    """
-
-    webhook_url: str = Field(description="Discord webhook URL")
-    username: Optional[str] = Field(default=None, description="Override webhook username")
-    avatar_url: Optional[str] = Field(default=None, description="Override webhook avatar URL")
-
-
-class DiscordWebhookConnector(ActionConnector[DiscordWebhookConfig, DiscordInput]):
-    """
-    Connector for Discord Webhook API.
-
-    This connector sends messages to Discord channels using webhooks.
-    Webhooks provide a simple way to post messages without a bot token.
-    """
-
-    def __init__(self, config: DiscordWebhookConfig):
-        """
-        Initialize the Discord Webhook connector.
-
-        Parameters
-        ----------
-        config : DiscordWebhookConfig
-            Configuration object for the connector.
-        """
-        super().__init__(config)
-
-        if not self.config.webhook_url:
-            logging.warning("Discord webhook URL not provided in configuration")
-
-    async def connect(self, output_interface: DiscordInput) -> None:
-        """
-        Send message via Discord Webhook.
-
-        Parameters
-        ----------
-        output_interface : DiscordInput
-            The DiscordInput interface containing the message text.
-        """
-        if not self.config.webhook_url:
-            logging.error("Discord webhook URL not configured")
-            return
-
-        message_text = output_interface.action
-        if not message_text:
-            logging.warning("Empty Discord message, skipping send")
-            return
-
-        if len(message_text) > DISCORD_MAX_CONTENT_LENGTH:
-            logging.warning(
-                f"Discord message truncated from {len(message_text)} " f"to {DISCORD_MAX_CONTENT_LENGTH} characters"
-            )
-            message_text = message_text[:DISCORD_MAX_CONTENT_LENGTH]
-
-        try:
-            logging.info(f"SendThisToDiscord: {message_text}")
-
-            payload: dict = {"content": message_text}
-
-            if self.config.username:
-                payload["username"] = self.config.username
-            if self.config.avatar_url:
-                payload["avatar_url"] = self.config.avatar_url
-
-            async with aiohttp.ClientSession() as session:
-                async with session.post(
-                    self.config.webhook_url,
-                    json=payload,
-                ) as response:
-                    if response.status in (200, 204):
-                        logging.info("Discord message sent successfully!")
-                    else:
-                        error_text = await response.text()
-                        logging.error(f"Discord webhook error: {response.status} - {error_text}")
-                        raise aiohttp.ClientResponseError(
-                            response.request_info,
-                            response.history,
-                            status=response.status,
-                            message=error_text,
-                        )
-
-        except aiohttp.ClientResponseError:
-            raise
-        except aiohttp.ClientError as e:
-            logging.error(f"Network error sending Discord message: {str(e)}")
-            raise
-        except Exception as e:
-            logging.error(f"Failed to send Discord message: {str(e)}")
-            raise
diff --git a/src/actions/discord/interface.py b/src/actions/discord/interface.py
deleted file mode 100644
index c055c0acce..0000000000
--- a/src/actions/discord/interface.py
+++ /dev/null
@@ -1,32 +0,0 @@
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class DiscordInput:
-    """
-    Input interface for the Discord Webhook action.
-
-    Parameters
-    ----------
-    action : str
-        The text content to be sent as a message to Discord.
-        Can include markdown formatting supported by Discord.
-    """
-
-    action: str = ""
-
-
-@dataclass
-class Discord(Interface[DiscordInput, DiscordInput]):
-    """
-    This action allows the robot to send messages to Discord via webhooks.
-
-    Effect: Sends the specified text content as a message to the configured
-    Discord channel using a webhook URL. The message is sent immediately
-    and logged upon successful delivery.
-    """
-
-    input: DiscordInput
-    output: DiscordInput
diff --git a/src/actions/emergency_alert/connector/elevenlabs_tts.py b/src/actions/emergency_alert/connector/elevenlabs_tts.py
deleted file mode 100644
index 6e964a5d2a..0000000000
--- a/src/actions/emergency_alert/connector/elevenlabs_tts.py
+++ /dev/null
@@ -1,230 +0,0 @@
-import json
-import logging
-import time
-from typing import Optional
-from uuid import uuid4
-
-import zenoh
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.emergency_alert.interface import EmergencyAlertInput
-from providers.asr_rtsp_provider import ASRRTSPProvider
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from providers.io_provider import IOProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import (
-    AudioStatus,
-    String,
-    TTSStatusRequest,
-    open_zenoh_session,
-    prepare_header,
-)
-
-
-class SpeakElevenLabsTTSConfig(ActionConfig):
-    """
-    Configuration for ElevenLabs TTS connector.
-
-    Parameters
-    ----------
-    elevenlabs_api_key : Optional[str]
-        ElevenLabs API key.
-    voice_id : str
-        ElevenLabs voice ID.
-    model_id : str
-        ElevenLabs model ID.
-    output_format : str
-        ElevenLabs output format.
-    silence_rate : int
-        Number of responses to skip before speaking.
-    """
-
-    elevenlabs_api_key: Optional[str] = Field(
-        default=None,
-        description="ElevenLabs API key",
-    )
-    voice_id: str = Field(
-        default="JBFqnCBsd6RMkjVDRZzb",
-        description="ElevenLabs voice ID",
-    )
-    model_id: str = Field(
-        default="eleven_flash_v2_5",
-        description="ElevenLabs model ID",
-    )
-    output_format: str = Field(
-        default="pcm_16000",
-        description="ElevenLabs output format",
-    )
-    silence_rate: int = Field(
-        default=0,
-        description="Number of responses to skip before speaking",
-    )
-
-
-# unstable / not released
-# from zenoh.ext import HistoryConfig, Miss, RecoveryConfig, declare_advanced_subscriber
-class EmergencyAlertElevenLabsTTSConnector(ActionConnector[SpeakElevenLabsTTSConfig, EmergencyAlertInput]):
-    """
-    Connector that uses ElevenLabs TTS for emergency alerts.
-    """
-
-    def __init__(self, config: SpeakElevenLabsTTSConfig):
-        """
-        Initialize the EmergencyAlertElevenLabsTTSConnector.
-
-        Parameters
-        ----------
-        config : SpeakElevenLabsTTSConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        # OM API key
-        api_key = getattr(self.config, "api_key", None)
-
-        # Sleep mode configuration
-        self.io_provider = IOProvider()
-        self.last_voice_command_time = time.time()
-
-        # Eleven Labs TTS configuration
-        elevenlabs_api_key = self.config.elevenlabs_api_key
-        voice_id = self.config.voice_id
-        model_id = self.config.model_id
-        output_format = self.config.output_format
-
-        # IO Provider
-        self.io_provider = IOProvider()
-
-        self.audio_topic = "robot/status/audio"
-        self.tts_status_request_topic = "om/tts/request"
-        self.session = None
-        self.audio_pub = None
-
-        self.audio_status = AudioStatus(
-            header=prepare_header(str(uuid4())),
-            status_mic=AudioStatus.STATUS_MIC.UNKNOWN.value,
-            status_speaker=AudioStatus.STATUS_SPEAKER.READY.value,
-            sentence_to_speak=String(""),
-        )
-
-        try:
-            self.session = open_zenoh_session()
-            self.audio_pub = self.session.declare_publisher(self.audio_topic)
-            self.session.declare_subscriber(self.audio_topic, self.zenoh_audio_message)
-            self.session.declare_subscriber(self.tts_status_request_topic, self._zenoh_tts_status_request)
-
-            # Unstable / not released
-            # advanced_sub = declare_advanced_subscriber(
-            #     self.session,
-            #     self.audio_topic,
-            #     self.audio_message,
-            #     history=HistoryConfig(detect_late_publishers=True),
-            #     recovery=RecoveryConfig(heartbeat=True),
-            #     subscriber_detection=True,
-            # )
-            # advanced_sub.sample_miss_listener(self.miss_listener)
-
-            if self.audio_pub:
-                self.audio_pub.put(self.audio_status.serialize())
-
-            logging.info("Elevenlabs TTS Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Elevenlabs TTS Zenoh client: {e}")
-
-        base_url = getattr(
-            self.config,
-            "base_url",
-            f"wss://api.openmind.com/api/core/google/asr?api_key={api_key}",
-        )
-        self.asr = ASRRTSPProvider(ws_url=base_url)
-
-        self.tts = ElevenLabsTTSProvider(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=api_key,
-            elevenlabs_api_key=elevenlabs_api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-        )
-        self.tts.start()
-
-        # TTS status
-        self.tts_enabled = True
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-    def zenoh_audio_message(self, data: zenoh.Sample):
-        """
-        Process an incoming audio status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        self.audio_status = AudioStatus.deserialize(data.payload.to_bytes())
-
-    async def connect(self, output_interface: EmergencyAlertInput) -> None:
-        """
-        Connect the input protocol to the ElevenLabs TTS action for emergency alerts.
-
-        Parameters
-        ----------
-        output_interface : EmergencyAlertInput
-            The input protocol containing the action details.
-        """
-        if self.tts_enabled is False:
-            logging.info("TTS is disabled, skipping TTS action")
-            return
-
-        # Add pending message to TTS
-        pending_message = self.tts.create_pending_message(output_interface.action)
-
-        # Store robot message to conversation history only if there was ASR input
-        if self.io_provider.llm_prompt is not None and "Voice:" in self.io_provider.llm_prompt:
-            self.conversation_provider.store_robot_message(output_interface.action)
-
-        # Avoid queuing too many TTS messages
-        if self.tts.get_pending_message_count() > 0:
-            logging.warning("Too many pending TTS messages, skipping adding new message")
-            return
-
-        state = AudioStatus(
-            header=prepare_header(str(uuid4())),
-            status_mic=self.audio_status.status_mic,
-            status_speaker=AudioStatus.STATUS_SPEAKER.ACTIVE.value,
-            sentence_to_speak=String(json.dumps(pending_message)),
-        )
-
-        if self.audio_pub:
-            self.audio_pub.put(state.serialize())
-            return
-
-        self.tts.register_tts_state_callback(self.asr.audio_stream.on_tts_state_change)
-        self.tts.add_pending_message(pending_message)
-
-    def _zenoh_tts_status_request(self, data: zenoh.Sample):
-        """
-        Process an incoming TTS control status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        tts_status = TTSStatusRequest.deserialize(data.payload.to_bytes())
-        logging.debug(f"Received TTS Control Status message: {tts_status}")
-
-        code = tts_status.code
-
-        # Enable the TTS
-        if code == 1:
-            self.tts_enabled = True
-            logging.debug("TTS Enabled")
-
-        # Disable the TTS
-        if code == 0:
-            self.tts_enabled = False
-            logging.debug("TTS Disabled")
diff --git a/src/actions/emergency_alert/interface.py b/src/actions/emergency_alert/interface.py
deleted file mode 100644
index c75598dadc..0000000000
--- a/src/actions/emergency_alert/interface.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class EmergencyAlertInput:
-    """
-    Input interface for the EmergencyAlert action.
-
-    Parameters
-    ----------
-    action : str
-        The emergency message to be announced immediately through text-to-speech.
-        Should contain a clear description of the emergency situation.
-    """
-
-    action: str
-
-
-@dataclass
-class EmergencyAlert(Interface[EmergencyAlertInput, EmergencyAlertInput]):
-    """
-    This action allows the robot to broadcast emergency alert messages.
-
-    Effect: Immediately announces critical information through text-to-speech.
-    Designed for urgent situations requiring immediate attention (e.g., security alerts,
-    injury detection, distress calls). Unlike regular speak actions, emergency alerts
-    skip message queuing and cannot be interrupted, ensuring critical messages are
-    delivered without delay.
-
-    Primary use case: Security/guard mode when detecting unknown people, injuries,
-    or situations requiring immediate human intervention.
-    """
-
-    input: EmergencyAlertInput
-    output: EmergencyAlertInput
diff --git a/src/actions/emotion/connector/unitree_sdk.py b/src/actions/emotion/connector/unitree_sdk.py
deleted file mode 100644
index 04bbda7e73..0000000000
--- a/src/actions/emotion/connector/unitree_sdk.py
+++ /dev/null
@@ -1,93 +0,0 @@
-import logging
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.emotion.interface import EmotionInput
-from unitree.unitree_sdk2py.g1.audio.g1_audio_client import AudioClient
-
-
-class EmotionUnitreeConfig(ActionConfig):
-    """
-    Configuration for Emotion Unitree connector.
-
-    Parameters
-    ----------
-    unitree_ethernet : Optional[str]
-        The Ethernet adapter name for Unitree connection.
-    """
-
-    unitree_ethernet: str = Field(
-        default="",
-        description="The Ethernet adapter name for Unitree connection.",
-    )
-
-
-class EmotionUnitreeConnector(ActionConnector[EmotionUnitreeConfig, EmotionInput]):
-    """
-    Connector that manages emotional expressions on Unitree robots.
-    """
-
-    def __init__(self, config: EmotionUnitreeConfig):
-        """
-        Initialize the EmotionUnitreeConnector.
-
-        Parameters
-        ----------
-        config : EmotionUnitreeConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        logging.info(f"Emotion system config {config}")
-
-        # create audio_optical client
-        self.ao_client = None
-
-        self.unitree_ethernet = self.config.unitree_ethernet
-        logging.info(f"EmotionUnitreeConnector using ethernet: {self.unitree_ethernet}")
-
-        if self.unitree_ethernet and self.unitree_ethernet != "":
-            # ChannelFactoryInitialize(0, self.UNITREE_WIRED_ETHERNET)
-            # this can only be done once, at top level
-            logging.info(f"Emotion system using {self.unitree_ethernet} as the network Ethernet adapter")
-            self.ao_client = AudioClient()
-            self.ao_client.SetTimeout(10.0)
-            self.ao_client.Init()
-            self.ao_client.LedControl(0, 255, 0)
-
-    async def connect(self, output_interface: EmotionInput) -> None:
-        """
-        Connect to the output interface and process the emotion command.
-
-        Parameters
-        ----------
-        output_interface : EmotionInput
-            The output interface containing the emotion command.
-        """
-        if not self.ao_client:
-            logging.error("No Unitree Emotion Client")
-            return
-
-        if output_interface.action == "happy":
-            logging.info("Unitree: happy")  # green
-            self.ao_client.LedControlNoReply(0, 255, 0)
-        elif output_interface.action == "sad":
-            logging.info("Unitree: sad")  # yellow
-            self.ao_client.LedControlNoReply(255, 255, 0)
-        elif output_interface.action == "mad":
-            logging.info("Unitree: mad")  # red
-            self.ao_client.LedControlNoReply(255, 0, 0)
-        elif output_interface.action == "curious":
-            logging.info("Unitree: curious")  # blue
-            self.ao_client.LedControlNoReply(0, 0, 255)
-        else:
-            logging.info(f"Unknown emotion: {output_interface.action}")
-
-        logging.info(f"SendThisToUTClient: {output_interface.action}")
-
-    def tick(self) -> None:
-        """
-        Periodic tick function to maintain connection.
-        """
-        self.sleep(5)
diff --git a/src/actions/emotion/interface.py b/src/actions/emotion/interface.py
deleted file mode 100644
index 5a0efc9c85..0000000000
--- a/src/actions/emotion/interface.py
+++ /dev/null
@@ -1,48 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class EmotionAction(str, Enum):
-    """
-    Enumeration of possible emotions.
-    """
-
-    HAPPY = "happy"
-    SAD = "sad"
-    MAD = "mad"
-    CURIOUS = "curious"
-
-
-@dataclass
-class EmotionInput:
-    """
-    Input interface for the Emotion action.
-
-    Parameters
-    ----------
-    action : EmotionAction
-        The emotion to express. Must be one of the predefined emotions from the
-        EmotionAction enumeration (e.g., HAPPY, SAD, MAD, CURIOUS).
-    """
-
-    action: EmotionAction
-
-
-@dataclass
-class Emotion(Interface[EmotionInput, EmotionInput]):
-    """
-    Action interface for robot emotion expression.
-
-    This action enables the robot to express various emotional states through
-    its behavior and appearance. The specific emotion is determined by the
-    EmotionAction enum value provided in the input.
-
-    The emotion system allows the robot to communicate its internal state or
-    respond empathetically to user interactions, enhancing the naturalness
-    of human-robot communication.
-    """
-
-    input: EmotionInput
-    output: EmotionInput
diff --git a/src/actions/face/connector/avatar.py b/src/actions/face/connector/avatar.py
deleted file mode 100644
index e38899ab4c..0000000000
--- a/src/actions/face/connector/avatar.py
+++ /dev/null
@@ -1,57 +0,0 @@
-import logging
-
-from actions.base import ActionConfig, ActionConnector
-from actions.face.interface import FaceInput
-from providers.avatar_provider import AvatarProvider
-
-
-class FaceAvatarConnector(ActionConnector[ActionConfig, FaceInput]):
-    """
-    Connector to link Face action with AvatarProvider.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the FaceAvatarConnector with AvatarProvider.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration parameters for the connector.
-        """
-        super().__init__(config)
-
-        self.avatar_provider = AvatarProvider()
-        logging.info("Face system initiated with AvatarProvider")
-
-    async def connect(self, output_interface: FaceInput) -> None:
-        """
-        Send face command via AvatarProvider.
-
-        Parameters
-        ----------
-        output_interface : FaceInput
-        """
-        if output_interface.action == "happy":
-            self.avatar_provider.send_avatar_command("Happy")
-        elif output_interface.action == "sad":
-            self.avatar_provider.send_avatar_command("Sad")
-        elif output_interface.action == "curious":
-            self.avatar_provider.send_avatar_command("Curious")
-        elif output_interface.action == "confused":
-            self.avatar_provider.send_avatar_command("Confused")
-        elif output_interface.action == "think":
-            self.avatar_provider.send_avatar_command("Think")
-        elif output_interface.action == "excited":
-            self.avatar_provider.send_avatar_command("Excited")
-        else:
-            logging.warning("Failed to send avatar face command")
-
-        logging.info(f"Avatar face command sent: {output_interface.action}")
-
-    def stop(self):
-        """
-        Stop and cleanup AvatarProvider.
-        """
-        self.avatar_provider.stop()
-        logging.info("AvatarProvider stopped")
diff --git a/src/actions/face/connector/ros2.py b/src/actions/face/connector/ros2.py
deleted file mode 100644
index 44a871ae3f..0000000000
--- a/src/actions/face/connector/ros2.py
+++ /dev/null
@@ -1,49 +0,0 @@
-import logging
-
-from actions.base import ActionConfig, ActionConnector
-from actions.face.interface import FaceInput
-
-
-class FaceRos2Connector(ActionConnector[ActionConfig, FaceInput]):
-    """
-    Connector to link Face action with ROS2.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the FaceRos2Connector with the given configuration.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration parameters for the connector.
-        """
-        super().__init__(config)
-
-    async def connect(self, output_interface: FaceInput) -> None:
-        """
-        Connect to the ROS2 system and send the appropriate face command.
-
-        Parameters
-        ----------
-        output_interface : FaceInput
-            The face input containing the action to be performed.
-        """
-        new_msg = {"face": ""}
-
-        if output_interface.action == "happy":
-            new_msg["face"] = "happy"
-        elif output_interface.action == "confused":
-            new_msg["face"] = "confused"
-        elif output_interface.action == "curious":
-            new_msg["face"] = "curious"
-        elif output_interface.action == "excited":
-            new_msg["face"] = "excited"
-        elif output_interface.action == "sad":
-            new_msg["face"] = "sad"
-        elif output_interface.action == "think":
-            new_msg["face"] = "think"
-        else:
-            logging.info(f"Unknown face type: {output_interface.action}")
-
-        logging.info(f"SendThisToROS2: {new_msg}")
diff --git a/src/actions/face/interface.py b/src/actions/face/interface.py
deleted file mode 100644
index 5cf33a5b21..0000000000
--- a/src/actions/face/interface.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class FaceAction(str, Enum):
-    """
-    Enumeration of possible facial expressions.
-    """
-
-    HAPPY = "happy"
-    CONFUSED = "confused"
-    CURIOUS = "curious"
-    EXCITED = "excited"
-    SAD = "sad"
-    THINK = "think"
-
-
-@dataclass
-class FaceInput:
-    """
-    Input interface for the Face action.
-
-    Parameters
-    ----------
-    action : FaceAction
-        The facial expression to display. Must be one of the predefined expressions
-        from the FaceAction enumeration (e.g., HAPPY, CONFUSED, CURIOUS, EXCITED,
-        SAD, THINK).
-    """
-
-    action: FaceAction
-
-
-@dataclass
-class Face(Interface[FaceInput, FaceInput]):
-    """
-    Action interface for robot facial expression control.
-
-    This action enables the robot to display various facial expressions to convey
-    emotional states or cognitive states. The specific expression is determined
-    by the FaceAction enum value provided in the input.
-
-    Supported expressions include emotional states (HAPPY, SAD, EXCITED) and
-    cognitive states (THINK, CURIOUS, CONFUSED), allowing the robot to provide
-    visual feedback that enhances human-robot interaction.
-    """
-
-    input: FaceInput
-    output: FaceInput
diff --git a/src/actions/gps/connector/fabric.py b/src/actions/gps/connector/fabric.py
deleted file mode 100644
index e259604f64..0000000000
--- a/src/actions/gps/connector/fabric.py
+++ /dev/null
@@ -1,100 +0,0 @@
-import logging
-
-import requests
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.gps.interface import GPSAction, GPSInput
-from providers.io_provider import IOProvider
-
-
-class GPSFabricConfig(ActionConfig):
-    """
-    Configuration for GPS Fabric connector.
-
-    Parameters
-    ----------
-    fabric_endpoint : str
-        The endpoint URL for the Fabric network.
-    """
-
-    fabric_endpoint: str = Field(
-        default="http://localhost:8545",
-        description="The endpoint URL for the Fabric network.",
-    )
-
-
-class GPSFabricConnector(ActionConnector[GPSFabricConfig, GPSInput]):
-    """
-    Connector that shares GPS coordinates via a Fabric network.
-    """
-
-    def __init__(self, config: GPSFabricConfig):
-        """
-        Initialize the GPSFabricConnector.
-
-        Parameters
-        ----------
-        config : GPSFabricConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        # Set IO Provider
-        self.io_provider = IOProvider()
-
-        # Set fabric endpoint configuration
-        self.fabric_endpoint = self.config.fabric_endpoint
-
-    async def connect(self, output_interface: GPSInput) -> None:
-        """
-        Connect to the Fabric network and send GPS coordinates.
-
-        Parameters
-        ----------
-        output_interface : GPSInput
-            The GPS input containing the action to be performed.
-        """
-        logging.info(f"GPSFabricConnector: {output_interface.action}")
-
-        if output_interface.action == GPSAction.SHARE_LOCATION:
-            # Send GPS coordinates to the Fabric network
-            self.send_coordinates()
-
-    def send_coordinates(self) -> None:
-        """
-        Send GPS coordinates to the Fabric network.
-        """
-        logging.info("GPSFabricConnector: Sending coordinates to Fabric network.")
-        latitude = self.io_provider.get_dynamic_variable("latitude")
-        longitude = self.io_provider.get_dynamic_variable("longitude")
-        yaw = self.io_provider.get_dynamic_variable("yaw_deg")
-        logging.info(f"GPSFabricConnector: Latitude: {latitude}")
-        logging.info(f"GPSFabricConnector: Longitude: {longitude}")
-        logging.info(f"GPSFabricConnector: Yaw: {yaw}")
-
-        if latitude is None and longitude is None and yaw is None:
-            # If no coordinates are available, log an error and return
-            logging.error("GPSFabricConnector: Coordinates not available.")
-            return None
-
-        try:
-            share_status_response = requests.post(
-                f"{self.fabric_endpoint}",
-                json={
-                    "method": "omp2p_shareStatus",
-                    "params": [{"latitude": latitude, "longitude": longitude, "yaw": yaw}],
-                    "id": 1,
-                    "jsonrpc": "2.0",
-                },
-                headers={"Content-Type": "application/json"},
-                timeout=10,
-            )
-            response = share_status_response.json()
-            if "result" in response and response["result"]:
-                logging.info("GPSFabricConnector: Coordinates shared successfully.")
-            else:
-                logging.error("GPSFabricConnector: Failed to share coordinates.")
-                return None
-        except requests.RequestException as e:
-            logging.error(f"GPSFabricConnector: Error sending coordinates: {e}")
diff --git a/src/actions/gps/interface.py b/src/actions/gps/interface.py
deleted file mode 100644
index 257812e4fa..0000000000
--- a/src/actions/gps/interface.py
+++ /dev/null
@@ -1,34 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class GPSAction(str, Enum):
-    """
-    Enumeration of possible GPS actions.
-    """
-
-    SHARE_LOCATION = "share location"
-    IDLE = "idle"
-
-
-@dataclass
-class GPSInput:
-    """
-    Input interface for the GPS action.
-    """
-
-    action: GPSAction
-
-
-@dataclass
-class GPS(Interface[GPSInput, GPSInput]):
-    """
-    GPS location to be shared by the agent.
-
-    Effect: Allows the agent to share its location.
-    """
-
-    input: GPSInput
-    output: GPSInput
diff --git a/src/actions/greeting_conversation/connector/base_greeting_conversation.py b/src/actions/greeting_conversation/connector/base_greeting_conversation.py
deleted file mode 100644
index b1dc77dbb2..0000000000
--- a/src/actions/greeting_conversation/connector/base_greeting_conversation.py
+++ /dev/null
@@ -1,321 +0,0 @@
-import json
-import logging
-import re
-import time
-from abc import abstractmethod
-from typing import Any, Generic, TypeVar
-from uuid import uuid4
-
-import zenoh
-
-from actions.base import ActionConfig, ActionConnector
-from actions.greeting_conversation.interface import GreetingConversationInput
-from providers.context_provider import ContextProvider
-from providers.greeting_conversation_state_provider import (
-    ConversationState,
-    GreetingConversationStateMachineProvider,
-)
-from zenoh_msgs import (
-    AudioStatus,
-    PersonGreetingStatus,
-    String,
-    open_zenoh_session,
-    prepare_header,
-)
-
-_TTS_CORRECTIONS = [
-    # Month abbreviations
-    (re.compile(r"\bJan\b"), "January"),
-    (re.compile(r"\bFeb\b"), "February"),
-    (re.compile(r"\bMar\b"), "March"),
-    (re.compile(r"\bApr\b"), "April"),
-    (re.compile(r"\bJun\b"), "June"),
-    (re.compile(r"\bJul\b"), "July"),
-    (re.compile(r"\bAug\b"), "August"),
-    (re.compile(r"\bSep(?:t)?\b"), "September"),
-    (re.compile(r"\bOct\b"), "October"),
-    (re.compile(r"\bNov\b"), "November"),
-    (re.compile(r"\bDec\b"), "December"),
-    # Address abbreviations
-    (re.compile(r"\bSt\b\.?"), "Street"),
-    (re.compile(r"\bAve\b\.?"), "Avenue"),
-    (re.compile(r"\bBlvd\b\.?"), "Boulevard"),
-    (re.compile(r"\bDr\b\.?"), "Drive"),
-    (re.compile(r"\bRd\b\.?"), "Road"),
-    (re.compile(r"\bLn\b\.?"), "Lane"),
-    (re.compile(r"\bCt\b\.?"), "Court"),
-    (re.compile(r"\bPl\b\.?"), "Place"),
-    (re.compile(r"\bPkwy\b\.?"), "Parkway"),
-    (re.compile(r"\bHwy\b\.?"), "Highway"),
-    # Directional abbreviations
-    (re.compile(r"\bN\b\.?(?=\s+[A-Z])"), "North"),
-    (re.compile(r"\bS\b\.?(?=\s+[A-Z])"), "South"),
-    (re.compile(r"\bE\b\.?(?=\s+[A-Z])"), "East"),
-    (re.compile(r"\bW\b\.?(?=\s+[A-Z])"), "West"),
-]
-
-# Time patterns: "11:00 a.m." -> "11 a.m.", "3:30 p.m." -> "3 30 p.m."
-_TIME_ON_HOUR = re.compile(r"\b(\d{1,2}):00\b")
-_TIME_WITH_MINUTES = re.compile(r"\b(\d{1,2}):(\d{2})\b")
-
-
-def normalize_tts_text(text: str) -> str:
-    """
-    Expand abbreviations and reformat times for cleaner TTS output.
-
-    Parameters
-    ----------
-    text : str
-        The original text to be spoken by TTS.
-
-    Returns
-    -------
-    str
-        The normalized text with expanded abbreviations and reformatted times.
-    """
-    text = _TIME_ON_HOUR.sub(r"\1", text)
-    text = _TIME_WITH_MINUTES.sub(r"\1 \2", text)
-
-    for pattern, replacement in _TTS_CORRECTIONS:
-        text = pattern.sub(replacement, text)
-
-    return text
-
-
-ConfigT = TypeVar("ConfigT", bound=ActionConfig)
-
-
-class BaseGreetingConversationConnector(ActionConnector[ConfigT, GreetingConversationInput], Generic[ConfigT]):
-    """
-    Base connector that manages greeting conversations for the robot.
-
-    This class provides common functionality for greeting conversation connectors
-    with different TTS providers. Subclasses should implement the `create_tts_provider`
-    method to instantiate their specific TTS provider.
-    """
-
-    def __init__(self, config: ConfigT):
-        """
-        Initialize the BaseGreetingConversationConnector.
-
-        Parameters
-        ----------
-        config : ConfigT
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.greeting_state_provider = GreetingConversationStateMachineProvider()
-        self.greeting_state_provider.start_conversation()
-
-        self.context_provider = ContextProvider()
-
-        # Create TTS provider
-        self.tts = self.create_tts_provider()
-        self.tts.start()
-
-        self.tts_request_id: str | None = None
-        self.tts_playing = False
-        self.tts_playing_start_time: float = 0.0
-        self.tts_timeout: float = 30.0
-
-        self.conversation_finished_sent = False
-        self.pending_finished_update = False
-
-        self.person_greeting_topic = "om/person_greeting"
-        self.audio_topic = "robot/status/audio"
-
-        try:
-            self.session = open_zenoh_session()
-            self.audio_pub = self.session.declare_publisher(self.audio_topic)
-            self.session.declare_subscriber(self.audio_topic, self._on_audio_status)
-            logging.info("Zenoh session opened for AudioStatus and PersonGreetingStatus")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh session: {e}")
-            self.audio_pub = None
-            self.session = None
-
-        self.greeting_status = ConversationState.CONVERSING.value
-
-    def _on_audio_status(self, data: zenoh.Sample) -> None:
-        """
-        Callback for Zenoh audio status messages.
-
-        Matches the frame_id (UUID) to determine when TTS
-        message finishes playing.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample containing audio status data.
-        """
-        audio_status = AudioStatus.deserialize(data.payload.to_bytes())
-        if (
-            audio_status.header.frame_id == self.tts_request_id
-            and audio_status.status_speaker == AudioStatus.STATUS_SPEAKER.READY.value
-        ):
-            self.tts_playing = False
-            logging.info(f"TTS playback completed for UUID: {self.tts_request_id}")
-
-            if self.pending_finished_update:
-                logging.info("TTS completed. Updating context: greeting_conversation_finished = True")
-                self.context_provider.update_context({"greeting_conversation_finished": True})
-                self.pending_finished_update = False
-
-    @abstractmethod
-    def create_tts_provider(self) -> Any:
-        """
-        Create and return the TTS provider for this connector.
-
-        This method must be implemented by subclasses to instantiate
-        their specific TTS provider (e.g., ElevenLabsTTSProvider, KokoroTTSProvider).
-
-        Returns
-        -------
-        Any
-            The instantiated TTS provider with `start()` and `add_pending_message()` methods.
-        """
-        pass
-
-    async def connect(self, output_interface: GreetingConversationInput) -> None:
-        """
-        Connects to the greeting conversation system and processes the input.
-
-        Parameters
-        ----------
-        output_interface : GreetingConversationInput
-            The output interface containing the greeting conversation data.
-        """
-        logging.info(f"Conversation State: {output_interface.conversation_state}")
-        logging.info(f"Greeting Response: {output_interface.response}")
-        logging.info(f"Confidence Score: {output_interface.confidence}")
-        logging.info(f"Speech Clarity Score: {output_interface.speech_clarity}")
-
-        llm_output = {
-            "conversation_state": output_interface.conversation_state,
-            "response": output_interface.response,
-            "confidence": output_interface.confidence,
-            "speech_clarity": output_interface.speech_clarity,
-        }
-
-        tts_text = normalize_tts_text(output_interface.response)
-        pending_message = self.tts.create_pending_message(tts_text)
-        request_id = str(uuid4())
-
-        state = AudioStatus(
-            header=prepare_header(request_id),
-            status_mic=AudioStatus.STATUS_MIC.UNKNOWN.value,
-            status_speaker=AudioStatus.STATUS_SPEAKER.ACTIVE.value,
-            sentence_to_speak=String(json.dumps(pending_message)),
-        )
-
-        if self.audio_pub:
-            self.tts_request_id = request_id
-            self.tts_playing = True
-            self.tts_playing_start_time = time.time()
-            self.audio_pub.put(state.serialize())
-        else:
-            self.tts_request_id = None
-            self.tts_playing = False
-
-        state_update = self.greeting_state_provider.process_conversation(llm_output)
-        current_state = state_update.get("current_state", self.greeting_status)
-        self.greeting_status = current_state
-        self.publish_countdown_status(self.greeting_status)
-
-        logging.info(f"Greeting Conversation Response: {state_update}")
-
-        if self.greeting_status == ConversationState.FINISHED.value and not self.conversation_finished_sent:
-            self.conversation_finished_sent = True
-            if self.tts_playing:
-                logging.info(
-                    "Greeting conversation has finished. " "Waiting for TTS to complete before updating context."
-                )
-                self.pending_finished_update = True
-            else:
-                logging.info("Greeting conversation has finished.")
-                self.context_provider.update_context({"greeting_conversation_finished": True})
-
-    def tick(self) -> None:
-        """
-        Tick method for the connector.
-
-        Periodically updates the conversation state even without LLM input.
-        """
-        logging.info("GreetingConversationConnector tick called")
-
-        self.sleep(10)
-
-        if self.tts_playing:
-            tts_playing_time = time.time() - self.tts_playing_start_time
-            if tts_playing_time > self.tts_timeout:
-                logging.warning(f"TTS playback timed out after {tts_playing_time:.1f}s. ")
-                self.tts_playing = False
-            else:
-                logging.info("Skipping tick update due to active TTS playback.")
-                return
-
-        state_update = self.greeting_state_provider.update_state_without_llm()
-        current_state = state_update.get("current_state", self.greeting_status)
-        self.greeting_status = current_state
-        self.publish_countdown_status(self.greeting_status)
-
-        if current_state == ConversationState.FINISHED.value and not self.conversation_finished_sent:
-            logging.info("Greeting conversation has finished (detected in tick).")
-            self.conversation_finished_sent = True
-            self.context_provider.update_context({"greeting_conversation_finished": True})
-
-        logging.info(
-            f"State: {current_state}, "
-            f"Confidence: {state_update.get('confidence', {}).get('overall', 0):.2f}, "
-            f"Silence: {state_update.get('silence_duration', 0):.1f}s"
-        )
-
-    def publish_countdown_status(self, current_state: str) -> None:
-        """
-        Publish the countdown status to Zenoh based on the current conversation state.
-
-        Parameters
-        ----------
-        current_state : str
-            The current state of the conversation.
-        """
-        if current_state == ConversationState.CONVERSING.value:
-            seconds_until_finished = 20
-        elif current_state == ConversationState.CONCLUDING.value:
-            seconds_until_finished = 10
-        else:
-            seconds_until_finished = 0
-
-        if self.session:
-            request_id = str(uuid4())
-            message_text = json.dumps({"seconds_until_finished": seconds_until_finished})
-
-            try:
-                self.session.put(
-                    self.person_greeting_topic,
-                    PersonGreetingStatus(
-                        header=prepare_header(request_id),
-                        request_id=String(data=request_id),
-                        status=PersonGreetingStatus.STATUS.CONVERSATION.value,
-                        message=String(data=message_text),
-                    ).serialize(),
-                )
-                logging.info(f"Published PersonGreetingStatus: {message_text}")
-            except Exception as e:
-                logging.error(f"Error publishing PersonGreetingStatus: {e}")
-
-    def stop(self):
-        """
-        Stop the connector and clean up resources.
-        """
-        logging.info("Stopping Greeting Conversation action...")
-
-        if self.session:
-            session = self.session
-            self.session = None
-            try:
-                session.close()
-                logging.info("Greeting Zenoh session closed")
-            except Exception as e:
-                logging.warning(f"Error closing greeting Zenoh session: {e}")
diff --git a/src/actions/greeting_conversation/connector/greeting_conversation_elevenlabs.py b/src/actions/greeting_conversation/connector/greeting_conversation_elevenlabs.py
deleted file mode 100644
index 9f4f46ca56..0000000000
--- a/src/actions/greeting_conversation/connector/greeting_conversation_elevenlabs.py
+++ /dev/null
@@ -1,84 +0,0 @@
-import logging
-from typing import Any, Optional
-
-from pydantic import Field
-
-from actions.base import ActionConfig
-from actions.greeting_conversation.connector.base_greeting_conversation import (
-    BaseGreetingConversationConnector,
-)
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-
-
-class SpeakElevenLabsTTSConfig(ActionConfig):
-    """
-    Configuration for ElevenLabs TTS connector.
-
-    Parameters
-    ----------
-    elevenlabs_api_key : Optional[str]
-        ElevenLabs API key.
-    voice_id : str
-        ElevenLabs voice ID.
-    model_id : str
-        ElevenLabs model ID.
-    output_format : str
-        ElevenLabs output format.
-    silence_rate : int
-        Number of responses to skip before speaking.
-    """
-
-    elevenlabs_api_key: Optional[str] = Field(
-        default=None,
-        description="ElevenLabs API key",
-    )
-    voice_id: str = Field(
-        default="JBFqnCBsd6RMkjVDRZzb",
-        description="ElevenLabs voice ID",
-    )
-    model_id: str = Field(
-        default="eleven_flash_v2_5",
-        description="ElevenLabs model ID",
-    )
-    output_format: str = Field(
-        default="pcm_16000",
-        description="ElevenLabs output format",
-    )
-    silence_rate: int = Field(
-        default=0,
-        description="Number of responses to skip before speaking",
-    )
-
-
-class GreetingConversationConnector(BaseGreetingConversationConnector[SpeakElevenLabsTTSConfig]):
-    """
-    Connector that manages greeting conversations using ElevenLabs TTS.
-    """
-
-    def create_tts_provider(self) -> Any:
-        """
-        Create and return the ElevenLabs TTS provider.
-
-        Returns
-        -------
-        ElevenLabsTTSProvider
-            The instantiated ElevenLabs TTS provider.
-        """
-        # OM API key
-        api_key = getattr(self.config, "api_key", None)
-
-        # Eleven Labs TTS configuration
-        elevenlabs_api_key = self.config.elevenlabs_api_key
-        voice_id = self.config.voice_id
-        model_id = self.config.model_id
-        output_format = self.config.output_format
-
-        logging.info("Creating ElevenLabs TTS provider")
-        return ElevenLabsTTSProvider(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=api_key,
-            elevenlabs_api_key=elevenlabs_api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-        )
diff --git a/src/actions/greeting_conversation/connector/greeting_conversation_kokoro.py b/src/actions/greeting_conversation/connector/greeting_conversation_kokoro.py
deleted file mode 100644
index b4bc66785c..0000000000
--- a/src/actions/greeting_conversation/connector/greeting_conversation_kokoro.py
+++ /dev/null
@@ -1,99 +0,0 @@
-import logging
-from typing import Any
-
-from pydantic import Field
-
-from actions.base import ActionConfig
-from actions.greeting_conversation.connector.base_greeting_conversation import (
-    BaseGreetingConversationConnector,
-)
-from providers.kokoro_tts_provider import KokoroTTSProvider
-
-
-class SpeakKokoroTTSConfig(ActionConfig):
-    """
-    Configuration for Kokoro TTS connector.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for Kokoro TTS API.
-    voice_id : str
-        Kokoro voice ID.
-    model_id : str
-        Kokoro model ID.
-    output_format : str
-        Kokoro output format.
-    rate : int
-        Audio sample rate in Hz.
-    enable_tts_interrupt : bool
-        Enable TTS interrupt when ASR detects speech during playback.
-    silence_rate : int
-        Number of responses to skip before speaking.
-    """
-
-    base_url: str = Field(
-        default="http://127.0.0.1:8880/v1",
-        description="Base URL for Kokoro TTS API",
-    )
-    voice_id: str = Field(
-        default="af_bella",
-        description="Kokoro voice ID",
-    )
-    model_id: str = Field(
-        default="kokoro",
-        description="Kokoro model ID",
-    )
-    output_format: str = Field(
-        default="pcm",
-        description="Kokoro output format",
-    )
-    rate: int = Field(
-        default=24000,
-        description="Audio sample rate in Hz",
-    )
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt when ASR detects speech during playback",
-    )
-    silence_rate: int = Field(
-        default=0,
-        description="Number of responses to skip before speaking",
-    )
-
-
-class GreetingConversationConnector(BaseGreetingConversationConnector[SpeakKokoroTTSConfig]):
-    """
-    Connector that manages greeting conversations using Kokoro TTS.
-    """
-
-    def create_tts_provider(self) -> Any:
-        """
-        Create and return the Kokoro TTS provider.
-
-        Returns
-        -------
-        KokoroTTSProvider
-            The instantiated Kokoro TTS provider.
-        """
-        # OM API key
-        api_key = getattr(self.config, "api_key", None)
-
-        # Kokoro TTS configuration
-        base_url = self.config.base_url
-        voice_id = self.config.voice_id
-        model_id = self.config.model_id
-        output_format = self.config.output_format
-        rate = self.config.rate
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        logging.info("Creating Kokoro TTS provider")
-        return KokoroTTSProvider(
-            url=base_url,
-            api_key=api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-            rate=rate,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
diff --git a/src/actions/greeting_conversation/interface.py b/src/actions/greeting_conversation/interface.py
deleted file mode 100644
index 8ae0cf2128..0000000000
--- a/src/actions/greeting_conversation/interface.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class ConversationState(Enum):
-    """
-    States for greeting conversation.
-    """
-
-    CONVERSING = "conversing"
-    CONCLUDING = "concluding"
-    FINISHED = "finished"
-
-
-@dataclass
-class GreetingConversationInput:
-    """
-    Input interface for the GreetingConversation action.
-
-    Parameters
-    ----------
-    response : str
-        The speech output from the robot.
-    conversation_state: ConversationState
-        The current state of the greeting conversation.
-    confidence : float
-        Confidence score of the conversation state recognition from 0.0 to 1.0.
-    speech_clarity : float
-        User's voice input clarity score from 0.0 to 1.0.
-    """
-
-    response: str
-    conversation_state: ConversationState
-    confidence: float
-    speech_clarity: float
-
-
-@dataclass
-class GreetingConversation(Interface[GreetingConversationInput, GreetingConversationInput]):
-    """
-    This action responds to the user.
-    - response: The spoken text.
-    - conversation_state: The current state of the conversation.
-    - confidence: Confidence score from 0.0 to 1.0.
-    - speech_clarity: User's voice clarity score from 0.0 to 1.0.
-    """
-
-    input: GreetingConversationInput
-    output: GreetingConversationInput
diff --git a/src/actions/move/connector/ros2.py b/src/actions/move/connector/ros2.py
deleted file mode 100644
index 4f33e66222..0000000000
--- a/src/actions/move/connector/ros2.py
+++ /dev/null
@@ -1,57 +0,0 @@
-import logging
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move.interface import MoveInput
-
-
-class MoveUnitreeSDKConnector(ActionConnector[ActionConfig, MoveInput]):
-    """
-    Connector to link Move action with Unitree SDK via ROS2.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the MoveUnitreeSDKConnector.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect the input protocol to the move action via Unitree SDK.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The input protocol containing the action details.
-        """
-        new_msg = {"move": ""}
-
-        # stub to show how to do this
-        if output_interface.action == "stand still":
-            new_msg["move"] = "stand still"
-        elif output_interface.action == "sit":
-            new_msg["move"] = "sit"
-        elif output_interface.action == "dance":
-            new_msg["move"] = "dance"
-        elif output_interface.action == "shake paw":
-            new_msg["move"] = "shake paw"
-        elif output_interface.action == "walk":
-            new_msg["move"] = "walk"
-        elif output_interface.action == "walk back":
-            new_msg["move"] = "walk back"
-        elif output_interface.action == "run":
-            new_msg["move"] = "run"
-        elif output_interface.action == "jump":
-            new_msg["move"] = "jump"
-        elif output_interface.action == "wag tail":
-            new_msg["move"] = "wag tail"
-        else:
-            logging.info(f"Other move type: {output_interface.action}")
-            # raise ValueError(f"Unknown move type: {output_interface.action}")
-
-        logging.info(f"SendThisToROS2: {new_msg}")
diff --git a/src/actions/move/interface.py b/src/actions/move/interface.py
deleted file mode 100644
index f6402e3229..0000000000
--- a/src/actions/move/interface.py
+++ /dev/null
@@ -1,55 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    STAND_STILL = "stand still"
-    SIT = "sit"
-    DANCE = "dance"
-    SHAKE_PAW = "shake paw"
-    WALK = "walk"
-    WALK_BACK = "walk back"
-    RUN = "run"
-    JUMP = "jump"
-    WAG_TAIL = "wag tail"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-
-    Parameters
-    ----------
-    action : MovementAction
-        The movement action to execute. Must be one of the predefined movement
-        actions from the MovementAction enumeration (e.g., STAND_STILL, SIT,
-        DANCE, WALK, RUN, JUMP).
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    Action interface for robot movement commands.
-
-    This action enables the robot to perform various predefined movement behaviors
-    such as standing still, sitting, dancing, walking, running, and jumping. The
-    specific movement is determined by the MovementAction enum value provided
-    in the input.
-
-    The action supports both static poses (e.g., STAND_STILL, SIT) and dynamic
-    movements (e.g., WALK, RUN, JUMP), allowing for flexible robot behavior
-    control through the LLM interface.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_game_controller/connector/go2_game_controller.py b/src/actions/move_game_controller/connector/go2_game_controller.py
deleted file mode 100644
index 2c1403dab5..0000000000
--- a/src/actions/move_game_controller/connector/go2_game_controller.py
+++ /dev/null
@@ -1,528 +0,0 @@
-import logging
-import threading
-from typing import Optional
-
-import zenoh
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move_game_controller.interface import IDLEInput
-from providers.unitree_go2_odom_provider import RobotState, UnitreeGo2OdomProvider
-from providers.unitree_go2_state_provider import UnitreeGo2StateProvider
-from unitree.unitree_sdk2py.go2.sport.sport_client import SportClient
-from zenoh_msgs import AudioStatus, open_zenoh_session
-
-try:
-    import hid
-except ImportError:
-    logging.warning("HID library not found. Please install the HIDAPI library to use this plugin.")
-    hid = None
-
-
-class Go2GameControllerConfig(ActionConfig):
-    """
-    Configuration for Go2GameController connector.
-
-    Parameters
-    ----------
-    speed_x : float
-        Movement speed in the x direction (m/s).
-    speed_yaw : float
-        Rotation speed around the yaw axis (rad/s).
-    yaw_correction : float
-        Yaw correction factor.
-    lateral_correction : float
-        Lateral correction factor.
-    unitree_ethernet : Optional[str]
-        Ethernet channel for Unitree Go2 odometry.
-    """
-
-    speed_x: float = Field(
-        default=0.9,
-        description="Movement speed in the x direction (m/s).",
-    )
-    speed_yaw: float = Field(
-        default=0.6,
-        description="Rotation speed around the yaw axis (rad/s).",
-    )
-    yaw_correction: float = Field(
-        default=0.0,
-        description="Yaw correction factor.",
-    )
-    lateral_correction: float = Field(
-        default=0.0,
-        description="Lateral correction factor.",
-    )
-    unitree_ethernet: Optional[str] = Field(
-        default=None,
-        description="Ethernet channel for Unitree Go2 odometry.",
-    )
-
-
-class Go2GameControllerConnector(ActionConnector[Go2GameControllerConfig, IDLEInput]):
-    """
-    Game controller for Unitree Go2 robots.
-
-    NOTE: This connector has been deprecated. OM1 Orchestrator docker automatically supports game controller.
-    """
-
-    def __init__(self, config: Go2GameControllerConfig):
-        """
-        Initialize the game controller connector.
-
-        Parameters
-        ----------
-        config : Go2GameControllerConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.config = config
-
-        # Movement speed m/s and rad/s
-        self.move_speed = self.config.speed_x
-        self.turn_speed = self.config.speed_yaw
-        self.yaw_correction = self.config.yaw_correction
-        self.lateral_correction = self.config.lateral_correction
-
-        self.topic = "robot/status/audio"
-        self.session = None
-        try:
-            self.session = open_zenoh_session()
-            self.session.declare_subscriber(self.topic, self.zenoh_audio_message)
-            logging.info("Game Controller Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Game Controller Zenoh client: {e}")
-
-        self.gamepad = None
-        self.sony_dualsense = False
-        self.sony_edge = False
-        self.xbox = False
-        self._init_controller()
-
-        if self.gamepad is None:
-            logging.warning("Game controller not found")
-
-        self.sport_client = None
-        try:
-            self.sport_client = SportClient()
-            self.sport_client.SetTimeout(10.0)
-            self.sport_client.Init()
-            self.sport_client.StopMove()
-            self.sport_client.Move(0.05, 0, 0)
-            logging.info("Game controller Unitree sport client initialized")
-        except Exception as e:
-            self.sport_client = None
-            logging.error(f"Error initializing game controller Unitree sport client: {e}")
-
-        # Pad buttons
-        self.rt_previous = 0
-        self.lt_previous = 0
-        self.d_pad_previous = 0
-        self.button_previous = 0
-
-        self.lt_value = 0
-        self.rt_value = 0
-        self.d_pad_value = 0
-        self.button_value = 0
-
-        self.RTLT_moving = False
-
-        unitree_ethernet = self.config.unitree_ethernet
-        self.odom = UnitreeGo2OdomProvider(channel=unitree_ethernet)
-        self.unitree_state_provider = UnitreeGo2StateProvider()
-
-        self.thread_lock = threading.Lock()
-
-    def zenoh_audio_message(self, data: zenoh.Sample) -> None:
-        """
-        Callback function to handle incoming Zenoh audio messages.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        self.audio_status = AudioStatus.deserialize(data.payload.to_bytes())
-
-    def _init_controller(self) -> None:
-        """
-        Initialize or reinitialize the game controller.
-        """
-        self.sony_dualsense = False
-        self.xbox = False
-        self.sony_edge = False
-
-        if hid is not None:
-            for device in hid.enumerate():
-                logging.debug(f"device {device['product_string']}")
-                if "Xbox Wireless Controller" in device["product_string"]:
-                    vendor_id = device["vendor_id"]
-                    product_id = device["product_id"]
-                    try:
-                        self.gamepad = hid.Device(vendor_id, product_id)
-                        logging.info(f"Connected {device['product_string']} {vendor_id} {product_id}")
-                        self.xbox = True
-                        break
-                    except Exception as e:
-                        logging.error(f"Failed to connect to Xbox controller: {e}")
-                        continue
-                if "DualSense Wireless Controller" in device["product_string"]:
-                    vendor_id = device["vendor_id"]
-                    product_id = device["product_id"]
-                    try:
-                        self.gamepad = hid.Device(vendor_id, product_id)
-                        logging.info(f"Connected {device['product_string']} {vendor_id} {product_id}")
-                        self.sony_dualsense = True
-                        break
-                    except Exception as e:
-                        logging.error(f"Failed to connect to DualSense controller: {e}")
-                        continue
-                if "DualSense Edge Wireless Controller" in device["product_string"]:
-                    vendor_id = device["vendor_id"]
-                    product_id = device["product_id"]
-                    try:
-                        self.gamepad = hid.Device(vendor_id, product_id)
-                        logging.info(f"Connected {device['product_string']} {vendor_id} {product_id}")
-                        self.sony_edge = True
-                        break
-                    except Exception as e:
-                        logging.error(f"Failed to connect to DualSense Edge controller: {e}")
-                        continue
-
-    def _execute_command_thread(self, command: str) -> None:
-        """
-        Execute a Unitree command in a separate thread.
-
-        Parameters
-        ----------
-        command : str
-            The command to execute.
-        """
-        try:
-            if command == "StandUp" and self.odom.position["body_attitude"] is RobotState.STANDING:
-                logging.info("Already standing, skipping command")
-                return
-            elif command == "StandDown" and self.odom.position["body_attitude"] is RobotState.SITTING:
-                logging.info("Already sitting, skipping command")
-                return
-
-            if self.unitree_state_provider.state_code == 1002:
-                if self.sport_client:
-                    logging.info("Robot is in jointLock state - issuing BalanceStand()")
-                    self.sport_client.BalanceStand()
-                    self.sport_client.Move(0.05, 0, 0)
-
-            code = getattr(self.sport_client, command)()
-            logging.info(f"Unitree command {command} executed with code {code}")
-
-            if self.unitree_state_provider.state_code == 1002:
-                if self.sport_client:
-                    logging.info("Robot is in jointLock state - issuing BalanceStand()")
-                    self.sport_client.BalanceStand()
-                    self.sport_client.Move(0.05, 0, 0)
-
-        except Exception as e:
-            logging.error(f"Error in command thread {command}: {e}")
-        finally:
-            self.thread_lock.release()
-
-    def _execute_sport_command_sync(self, command: str) -> None:
-        """
-        Execute a sport command synchronously using the sport client.
-
-        Parameters
-        ----------
-        command : str
-            The sport command string to execute.
-
-        Returns
-        -------
-        None
-            Returns early if sport client is unavailable or action is in progress.
-        """
-        logging.debug(f"_execute_sport_command_sync({command})")
-
-        if self.sport_client is None:
-            logging.debug("No sport client, skipping")
-            return
-
-        if not self.thread_lock.acquire(blocking=False):
-            logging.debug("Action already in progress, skipping")
-            return
-
-        try:
-            thread = threading.Thread(target=self._execute_command_thread, args=(command,), daemon=True)
-            thread.start()
-        except Exception as e:
-            logging.error(f"Error executing Unitree command {command}: {e}")
-            self.thread_lock.release()
-
-    async def connect(self, output_interface: IDLEInput) -> None:
-        """
-        Connect to actions from LLM.
-
-        Parameters
-        ----------
-        output_interface : IDLEInput
-            The output interface to connect to.
-
-        Returns
-        -------
-        None
-        """
-        pass
-
-    def _move_robot(self, vx, vy, vturn=0.0) -> None:
-        """
-        Move the robot using the sport client.
-
-        Parameters
-        ----------
-        vx : float
-            The speed in the x direction.
-        vy : float
-            The speed in the y direction.
-        vturn : float
-            The speed of rotation.
-
-        Returns
-        -------
-        None
-        """
-        logging.info(f"GAME _move_robot: vx={vx}, vy={vy}, vturn={vturn}")
-
-        if not self.sport_client:
-            return
-
-        if self.odom.position["body_attitude"] is not RobotState.STANDING:
-            logging.info("self.sport_client.Move blocked - dog is sitting")
-            return
-
-        if self.unitree_state_provider.state == "jointLock":
-            self.sport_client.BalanceStand()
-            self.sport_client.Move(0.05, 0, 0)
-
-        try:
-            logging.info(f"self.sport_client.Move: vx={vx}, vy={vy}, vturn={vturn}")
-            self.sport_client.Move(vx, vy, vturn)
-        except Exception as e:
-            logging.error(f"Error moving robot: {e}")
-
-    def tick(self) -> None:
-        """
-        Tick function is called periodically to check for input from the Xbox controller.
-        It reads the input from the controller and sends the corresponding commands to the robot.
-
-        Returns
-        -------
-        None
-        """
-        self.sleep(0.05)
-        logging.debug("Gamepad tick")
-
-        data = None
-
-        # Attempt reconnection if no gamepad is currently attached
-        if self.gamepad is None and hid is not None:
-            logging.warning("Controller disconnected - will try to reconnect")
-            self._init_controller()
-
-        if self.gamepad:
-            try:
-                # try to read USB data, and if there is nothing, timeout
-                data = list(self.gamepad.read(64, timeout=50))
-            except Exception as e:
-                logging.warning(f"Controller disconnected: {e}")
-                self.gamepad = None
-
-        # special case for no data if the D-pad or LT and RT is kept pressed
-        if data is None or len(data) == 0:
-            if self.rt_previous > 0 or self.lt_previous > 0:
-                # we always execute the left turn first
-                if self.lt_previous > 0:
-                    logging.info("Left Trigger is kept pressed - Counter-clockwise rotation")
-                    self._move_robot(0.0, 0.0, self.turn_speed)
-                    return
-                if self.rt_previous > 0:
-                    logging.info("Right Trigger is kept pressed - Clockwise rotation")
-                    self._move_robot(0.0, 0.0, -self.turn_speed)
-                    return
-
-            if self.d_pad_previous and self.d_pad_previous > 0:
-                if self.d_pad_previous == 1:  # Up
-                    logging.info("D-pad UP - Moving forward")
-                    self._move_robot(self.move_speed, self.lateral_correction, self.yaw_correction)
-                elif self.d_pad_previous == 5:  # Down
-                    logging.info("D-pad DOWN - Moving backward")
-                    self._move_robot(-self.move_speed, -self.lateral_correction, -self.yaw_correction)
-                elif self.d_pad_previous == 7:  # Left
-                    logging.info("D-pad LEFT - Moving left")
-                    self._move_robot(0.0, self.move_speed)
-                elif self.d_pad_previous == 3:  # Right
-                    logging.info("D-pad RIGHT - Moving right")
-                    self._move_robot(0.0, -self.move_speed)
-
-            return
-
-        if data and len(data) > 0:
-
-            logging.debug(f"Gamepad data: {data}")
-
-            # deal with the different mappings
-            if self.xbox:
-                logging.debug(f"Gamepad data Xbox: {data}")
-                self.lt_value = data[9]  # Left Trigger
-                self.rt_value = data[11]  # Right Trigger
-                self.d_pad_value = data[13]
-                self.button_value = data[14]
-            elif self.sony_dualsense or self.sony_edge:
-                logging.debug(f"Gamepad data Sony: {data}")
-
-                multi = 0
-
-                if len(data) > 10:
-                    logging.debug("Gamepad data Sony length > 10")
-                    self.lt_value = data[5]  # Left Trigger
-                    self.rt_value = data[6]  # Right Trigger
-                    multi = data[8]
-                elif len(data) == 10:
-                    logging.debug("Gamepad data Sony length == 10")
-                    self.lt_value = data[8]  # Left Trigger
-                    self.rt_value = data[9]  # Right Trigger
-                    multi = data[5]
-
-                if multi == 8:
-                    self.d_pad_value = 0
-                    self.button_value = 0
-                elif multi == 0:
-                    self.d_pad_value = 1  # up
-                    self.button_value = 0
-                elif multi == 6:
-                    self.d_pad_value = 7  # left
-                    self.button_value = 0
-                elif multi == 2:
-                    self.d_pad_value = 3  # right
-                    self.button_value = 0
-                elif multi == 4:
-                    self.d_pad_value = 5  # back
-                    self.button_value = 0
-                elif multi == 40:
-                    # "A" aka X button
-                    self.d_pad_value = 0
-                    self.button_value = 1
-                elif multi == 72:
-                    # "B" aka 0 button
-                    self.d_pad_value = 0
-                    self.button_value = 2
-
-                logging.debug(f"Gamepad data lt: {self.lt_value}")
-                logging.debug(f"Gamepad data rt: {self.rt_value}")
-                logging.debug(f"Gamepad data multi: {multi}")
-
-            move_triggered_RTLT = False
-            move_triggered_dpad = False
-
-            # Trigger values range from 0 to 255
-            # Check if the triggers have changed significantly
-            # rt_changed = abs(self.rt_value - self.rt_previous) > 5
-            # lt_changed = abs(self.lt_value - self.lt_previous) > 5
-
-            # Normalize trigger values from 0-255 to 0-1.0
-            rt = self.rt_value / 255.0
-            lt = self.lt_value / 255.0
-
-            previous_RTLT = self.lt_previous + self.rt_previous
-
-            # Right Trigger - clockwise rotation
-            if rt > 0.8 and rt > lt:
-                move_triggered_RTLT = True
-                self._move_robot(0.0, 0.0, -self.turn_speed)
-            # Left Trigger - counter-clockwise rotation
-            elif lt > 0.8 and lt > rt:
-                move_triggered_RTLT = True
-                self._move_robot(0.0, 0.0, self.turn_speed)
-            # Both triggers released or below threshold
-            elif (rt <= 0.8 and lt <= 0.8) and previous_RTLT > 0.8:
-                # we WERE moving, but we just let go of one or both triggers
-                move_triggered_RTLT = True
-                logging.debug("Triggers released - Stopping rotation")
-
-            # Update previous Trigger values
-            self.rt_previous = rt
-            self.lt_previous = lt
-
-            if move_triggered_RTLT:
-                # update the previous value of the button
-                self.button_previous = self.button_value
-                # and return, since we just issued a action command in this tick
-                return
-
-            # Control robot movement based on D-pad
-            logging.debug(f"Gamepad DPAD: {self.d_pad_value}")
-
-            if self.d_pad_value == 1:  # Up
-                logging.info("D-pad UP - Moving forward")
-                move_triggered_dpad = True
-                self._move_robot(self.move_speed, self.lateral_correction, self.yaw_correction)
-            elif self.d_pad_value == 5:  # Down
-                logging.info("D-pad DOWN - Moving backward")
-                move_triggered_dpad = True
-                self._move_robot(-self.move_speed, -self.lateral_correction, -self.yaw_correction)
-            elif self.d_pad_value == 7:  # Left
-                logging.info("D-pad LEFT - Moving left")
-                move_triggered_dpad = True
-                self._move_robot(0.0, self.move_speed)
-            elif self.d_pad_value == 3:  # Right
-                logging.info("D-pad RIGHT - Moving right")
-                move_triggered_dpad = True
-                self._move_robot(0.0, -self.move_speed)
-            elif self.d_pad_previous > 0 and self.d_pad_value == 0:
-                # User just released DPAD
-                logging.info("D-pad released - Stopping movement")
-                move_triggered_dpad = True
-                self._move_robot(0.0, 0.0)
-
-            # update the value of d_pad_previous
-            self.d_pad_previous = self.d_pad_value
-
-            if move_triggered_dpad:
-                self.button_previous = self.button_value
-                # return, since we just issued a DPAD move command in this tick
-                return
-
-            # logging.debug(f"Gamepad button value {button_value}")
-
-            if self.button_previous == 0 and self.button_value > 0:
-
-                # logging.debug(f"Gamepad button pressed")
-
-                # We need this logic because when the user presses a button
-                # the gamepad sends a 'press' indication numerous times
-                # for several hundred ms, creating numerous
-                # duplicated movement commands with a single button press.
-                # To prevent this, which would freeze/crash the robot,
-                # we only act when the button state changes from 0 to > 0
-                # This is basically a software button debounce
-
-                # button A
-                if self.button_value == 1:
-                    logging.info("Controller unitree: stand_up")
-                    self._execute_sport_command_sync("StandUp")
-                # button B
-                elif self.button_value == 2:
-                    logging.info("Controller unitree: lay_down")
-                    self._execute_sport_command_sync("StandDown")
-                # # X button
-                # elif button_value == 8:
-                #     self._execute_sport_command_sync("Hello")
-                #     logging.info("Controller unitree: say_hello")
-                # # Y button
-                # elif button_value == 16:
-                #     self._execute_sport_command_sync("Stretch")
-                #     logging.info("Controller unitree: stretch")
-
-                logging.info(f"Gamepad button depressed edge {self.button_value}")
-
-            # update the value of button_previous
-            self.button_previous = self.button_value
diff --git a/src/actions/move_game_controller/interface.py b/src/actions/move_game_controller/interface.py
deleted file mode 100644
index 1f75c8c897..0000000000
--- a/src/actions/move_game_controller/interface.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class IDLEInput:
-    """
-    Input interface for the Game Controller action.
-
-    Parameters
-    ----------
-    action : str
-        The game controller command to be executed. This field is not actively used
-        as the connector directly reads hardware input from the game controller.
-    """
-
-    action: str
-
-
-@dataclass
-class GameController(Interface[IDLEInput, IDLEInput]):
-    """
-    This action allows manual control of Unitree GO2 robots using game controllers.
-
-    Effect: Enables teleoperation through physical game controllers (Xbox Wireless Controller,
-    Sony DualSense, or Sony DualSense Edge). D-pad controls movement (forward/backward/left/right),
-    triggers control rotation (clockwise/counter-clockwise), and face buttons control stance
-    (stand up/sit down).
-
-    Note: This connector has been deprecated. The OM1 Orchestrator now automatically
-    handles game controller input without requiring this action to be explicitly called.
-    The connector remains for backward compatibility with older configurations.
-    """
-
-    input: IDLEInput
-    output: IDLEInput
diff --git a/src/actions/move_go2_action/connector/unitree_sdk.py b/src/actions/move_go2_action/connector/unitree_sdk.py
deleted file mode 100644
index 11b3fcea42..0000000000
--- a/src/actions/move_go2_action/connector/unitree_sdk.py
+++ /dev/null
@@ -1,125 +0,0 @@
-import logging
-import random
-from queue import Queue
-from typing import Optional
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector, MoveCommand
-from actions.move_go2_action.interface import ActionInput
-from providers.unitree_go2_odom_provider import UnitreeGo2OdomProvider
-from providers.unitree_go2_rplidar_provider import UnitreeGo2RPLidarProvider
-from providers.unitree_go2_state_provider import UnitreeGo2StateProvider
-from unitree.unitree_sdk2py.go2.sport.sport_client import SportClient
-
-
-class ActionUnitreeSDKConfig(ActionConfig):
-    """
-    Configuration for ActionUnitreeSDK connector.
-
-    Parameters
-    ----------
-    unitree_ethernet : Optional[str]
-        Ethernet channel for Unitree Go2 odometry.
-    """
-
-    unitree_ethernet: Optional[str] = Field(
-        default=None,
-        description="Ethernet channel for Unitree Go2 odometry.",
-    )
-
-
-class ActionUnitreeSDKConnector(ActionConnector[ActionUnitreeSDKConfig, ActionInput]):
-    """
-    This connector allows you to do the actions supported by the Unitree Go2 SDK.
-    """
-
-    def __init__(self, config: ActionUnitreeSDKConfig):
-        """
-        Initialize the ActionUnitreeSDK connector.
-
-        Parameters
-        ----------
-        config : ActionUnitreeSDKConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.dog_attitude = None
-
-        # Movement parameters
-        self.turn_speed = 0.8
-        self.angle_tolerance = 5.0  # degrees
-        self.distance_tolerance = 0.05  # meters
-        self.pending_movements: Queue[Optional[MoveCommand]] = Queue()
-        self.movement_attempts = 0
-        self.movement_attempt_limit = 15
-        self.gap_previous = 0
-
-        self.lidar = UnitreeGo2RPLidarProvider()
-        self.unitree_go2_state = UnitreeGo2StateProvider()
-
-        # create sport client
-        self.sport_client = None
-        try:
-            self.sport_client = SportClient()
-            self.sport_client.SetTimeout(10.0)
-            self.sport_client.Init()
-            self.sport_client.StopMove()
-            self.sport_client.Move(0.05, 0, 0)
-            logging.info("Autonomy Unitree sport client initialized")
-        except Exception as e:
-            logging.error(f"Error initializing Unitree sport client: {e}")
-
-        unitree_ethernet = self.config.unitree_ethernet
-        self.odom = UnitreeGo2OdomProvider(channel=unitree_ethernet)
-        logging.info(f"Autonomy Odom Provider: {self.odom}")
-
-    async def connect(self, output_interface: ActionInput) -> None:
-        """
-        Connect the input protocol to the Unitree Go2 action.
-
-        Parameters
-        ----------
-        output_interface : ActionInput
-            The input protocol containing the action details.
-        """
-        action = output_interface.action
-        logging.info(f"ActionUnitreeSDKConnector received action: {action}")
-
-        if action == "stand still" or action == "do nothing":
-            logging.info("ActionUnitreeSDKConnector: Standing still")
-            pass
-        elif action == "shake paw":
-            if self.unitree_go2_state.go2_action_progress == 0:
-                logging.info("ActionUnitreeSDKConnector: Shaking paw")
-                try:
-                    if self.sport_client is not None:
-                        self.sport_client.Hello()
-                except Exception as e:
-                    logging.error(f"Error sending ShakeHand command: {e}")
-            else:
-                logging.info("ActionUnitreeSDKConnector: Still performing previous action")
-        elif action == "dance":
-            if self.unitree_go2_state.go2_action_progress == 0:
-                logging.info("ActionUnitreeSDKConnector: Dancing")
-                try:
-                    if self.sport_client is not None:
-                        dance_move = random.choice([self.sport_client.Dance1, self.sport_client.Dance2])
-                        dance_move()
-                except Exception as e:
-                    logging.error(f"Error sending Dance command: {e}")
-            else:
-                logging.info("ActionUnitreeSDKConnector: Still performing previous action")
-        elif action == "stretch":
-            if self.unitree_go2_state.go2_action_progress == 0:
-                logging.info("ActionUnitreeSDKConnector: Stretching")
-                try:
-                    if self.sport_client is not None:
-                        self.sport_client.Stretch()
-                except Exception as e:
-                    logging.error(f"Error sending Stretch command: {e}")
-            else:
-                logging.info("ActionUnitreeSDKConnector: Still performing previous action")
-        else:
-            logging.warning(f"Action '{action}' not recognized or not implemented.")
diff --git a/src/actions/move_go2_action/interface.py b/src/actions/move_go2_action/interface.py
deleted file mode 100644
index 17bd227ad7..0000000000
--- a/src/actions/move_go2_action/interface.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class Action(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    SHAKE_PAW = "shake paw"
-    DANCE = "dance"
-    STRETCH = "stretch"
-    STAND_STILL = "stand still"
-    DO_NOTHING = "stand still"
-
-
-@dataclass
-class ActionInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: Action
-
-
-@dataclass
-class Move(Interface[ActionInput, ActionInput]):
-    """
-    This action allows you to move. Important: pick only safe values.
-    """
-
-    input: ActionInput
-    output: ActionInput
diff --git a/src/actions/move_go2_autonomy/connector/idle.py b/src/actions/move_go2_autonomy/connector/idle.py
deleted file mode 100644
index ee687ce28a..0000000000
--- a/src/actions/move_go2_autonomy/connector/idle.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import logging
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move_go2_autonomy.interface import MoveInput
-
-
-class IDLEConnector(ActionConnector[ActionConfig, MoveInput]):
-    """
-    IDLE connector for Go2 that performs no action.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the IDLE connector.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration object for the connector.
-        """
-        super().__init__(config)
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        IDLE connector that performs no action.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The input protocol for the action. (Not used in this connector)
-
-        Returns
-        -------
-        None
-            This connector does not return any output.
-        """
-        logging.info("IDLE connector called, doing nothing.")
-        return
diff --git a/src/actions/move_go2_autonomy/connector/unitree_om_path_sdk.py b/src/actions/move_go2_autonomy/connector/unitree_om_path_sdk.py
deleted file mode 100644
index 15086dd003..0000000000
--- a/src/actions/move_go2_autonomy/connector/unitree_om_path_sdk.py
+++ /dev/null
@@ -1,619 +0,0 @@
-import json
-import logging
-import math
-import random
-from queue import Queue
-from typing import Any, List, Optional
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector, MoveCommand
-from actions.move_go2_autonomy.interface import MoveInput
-from providers.face_presence_provider import FacePresenceProvider
-from providers.simple_paths_provider import SimplePathsProvider
-from providers.unitree_go2_odom_provider import RobotState, UnitreeGo2OdomProvider
-from providers.unitree_go2_odom_zenoh_provider import UnitreeGo2OdomZenohProvider
-from providers.unitree_go2_state_provider import UnitreeGo2StateProvider
-from providers.unitree_go2_state_zenoh_provider import UnitreeGo2StateZenohProvider
-from unitree.unitree_sdk2py.go2.sport.sport_client import SportClient
-from zenoh_msgs import (
-    AIStatusRequest,
-    AIStatusResponse,
-    String,
-    UnitreeRequest,
-    UnitreeRequestHeader,
-    UnitreeRequestIdentity,
-    ZenohSampleType,
-    ZenohSessionType,
-    open_zenoh_session,
-    prepare_header,
-)
-
-SPORT_API_ID_MOVE = 1008
-SPORT_API_ID_STOPMOVE = 1003
-SPORT_API_ID_BALANCESTAND = 1002
-
-
-class MoveUnitreeOMPathSDKConfig(ActionConfig):
-    """
-    Configuration for MoveUnitreeOMPathSDKConfig connector.
-
-    Parameters
-    ----------
-    unitree_ethernet : str
-        Ethernet channel for Unitree Go2 odometry data.
-    mode : Optional[str]
-        Operation mode, e.g., "guard".
-    sport_request_topic : str
-        Unitree sport API Zenoh topic for receiving movement requests.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    """
-
-    unitree_ethernet: str = Field(
-        default="eth0",
-        description="Ethernet channel for Unitree Go2 odometry data.",
-    )
-    mode: Optional[str] = Field(
-        default=None,
-        description='Operation mode, e.g., "guard".',
-    )
-    sport_request_topic: str = Field(
-        default="api/sport/request",
-        description="Unitree sport API Zenoh topic for receiving movement requests.",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator.",
-    )
-
-
-class MoveUnitreeOMPathSDKConnector(ActionConnector[MoveUnitreeOMPathSDKConfig, MoveInput]):
-    """
-    Connector for moving Unitree Go2 robot using OM Path SDK for obstacle detection.
-
-    This plugin loads the possible paths from the SimplePathsProvider and uses them to
-    safely execute movement commands received from the AI system. The SimplePathsProvider
-    includes both obstacle detection and slope detection for safer navigation.
-    """
-
-    def __init__(self, config: MoveUnitreeOMPathSDKConfig):
-        """
-        Initialize the MoveUnitreeOMPathSDKConnector connector.
-
-        Parameters
-        ----------
-        config : MoveUnitreeOMPathSDKConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.dog_attitude = None
-
-        # Movement parameters
-        self.move_speed = 0.5
-        self.turn_speed = 0.8
-        self.angle_tolerance = 5.0  # degrees
-        self.distance_tolerance = 0.05  # meters
-        self.pending_movements: Queue[Optional[MoveCommand]] = Queue()
-        self.movement_attempts = 0
-        self.movement_attempt_limit = 15
-        self.gap_previous = 0
-
-        self.path_provider = SimplePathsProvider()
-        self.face_presence_provider = FacePresenceProvider()
-
-        # create sport client
-        self.sport_client = None
-
-        if self.config.use_sim:
-            self.odom = UnitreeGo2OdomZenohProvider()
-            self.unitree_go2_state = UnitreeGo2StateZenohProvider()
-        else:
-            try:
-                self.sport_client = SportClient()
-                self.sport_client.SetTimeout(10.0)
-                self.sport_client.Init()
-                self.sport_client.StopMove()
-                self.sport_client.Move(0.05, 0, 0)
-                logging.info("Autonomy Unitree sport client initialized")
-            except Exception as e:
-                logging.error(f"Error initializing Unitree sport client: {e}")
-
-            unitree_ethernet = self.config.unitree_ethernet
-            if unitree_ethernet is None:
-                raise ValueError("unitree_ethernet must be specified in the config")
-
-            self.odom = UnitreeGo2OdomProvider(channel=unitree_ethernet)
-            self.unitree_go2_state = UnitreeGo2StateProvider()
-
-        # Zenoh topic for AI control status
-        self.ai_status_request = "om/ai/request"
-        self.ai_status_response = "om/ai/response"
-        self.session: Optional[ZenohSessionType] = None
-        self.session_sport_pub: Optional[Any] = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.session.declare_subscriber(self.ai_status_request, self._zenoh_ai_status_request)
-            self._zenoh_ai_status_response_pub = self.session.declare_publisher(self.ai_status_response)
-
-            if self.config.use_sim:
-                logging.info("MoveUnitreeOMPathSDKConnector initialized in simulator mode")
-                self.session_sport_pub = self.session.declare_publisher(self.config.sport_request_topic)
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-            self.session = None
-            self.session_sport_pub = None
-
-        # AI control status
-        self.ai_control_enabled = True
-
-        # Mode
-        self.mode = self.config.mode
-
-        logging.info(f"Autonomy Odom Provider: {self.odom}")
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the output interface and process the AI movement command.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The output interface containing the AI movement command.
-        """
-        logging.info(f"AI command.connect: {output_interface.action}")
-
-        if self.mode == "guard" and self.face_presence_provider.unknown_faces > 0:
-            logging.info("Guard mode active and unknown face detected - disregarding AI command")
-            return
-
-        if not self.ai_control_enabled:
-            logging.info("AI Control is disabled - disregarding AI command")
-            return
-
-        if self.unitree_go2_state.state_code == 1002 and self.sport_client and not self.config.use_sim:
-            logging.info("Robot is in jointLock state - issuing BalanceStand()")
-            self.sport_client.BalanceStand()
-
-        if self.unitree_go2_state.action_progress != 0:
-            logging.info(f"Action in progress: {self.unitree_go2_state.action_progress}")
-            return
-
-        # fallback to the odom provider
-        if not self.unitree_go2_state.state_code and self.odom.position["moving"]:
-            # for example due to a teleops or game controller command
-            logging.info("Disregard new AI movement command - robot is already moving")
-            return
-
-        if self.pending_movements.qsize() > 0:
-            logging.info("Movement in progress: disregarding new AI command")
-            return
-
-        if self.odom.position["odom_x"] == 0.0:
-            # this value is never precisely zero EXCEPT while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for location data")
-            return
-
-        # Process movement commands with lidar safety checks
-        movement_map = {
-            "turn left": self._process_turn_left,
-            "turn right": self._process_turn_right,
-            "move forwards": self._process_move_forward,
-            "move back": self._process_move_back,
-            "stand still": lambda: logging.info("AI movement command: stand still"),
-        }
-
-        handler = movement_map.get(output_interface.action)
-        if handler:
-            handler()
-        else:
-            logging.info(f"AI movement command unknown: {output_interface.action}")
-
-        # This is a subset of Go2 movements that are
-        # generally safe. Note that the "stretch" action involves
-        # about 40 cm of back and forth motion, and the "dance"
-        # action involves copious jumping in place for about 10 seconds.
-
-        # if output_interface.action == "stand up":
-        #     logging.info("Unitree AI command: stand up")
-        #     await self._execute_sport_command("StandUp")
-        # elif output_interface.action == "sit":
-        #     logging.info("Unitree AI command: lay down")
-        #     await self._execute_sport_command("StandDown")
-        # elif output_interface.action == "shake paw":
-        #     logging.info("Unitree AI command: shake paw")
-        #     await self._execute_sport_command("Hello")
-        # elif output_interface.action == "stretch":
-        #     logging.info("Unitree AI command: stretch")
-        #     await self._execute_sport_command("Stretch")
-        # elif output_interface.action == "dance":
-        #     logging.info("Unitree AI command: dance")
-        #     await self._execute_sport_command("Dance1")
-
-    def _move_robot(self, vx: float, vy: float, vturn=0.0) -> None:
-        """
-        Move the robot with specified velocities.
-
-        Parameters
-        ----------
-        vx : float
-            Linear velocity in the x direction (m/s).
-        vy : float
-            Linear velocity in the y direction (m/s).
-        vturn : float, optional
-            Angular velocity (turning speed) in radians per second (default is 0.0).
-        """
-        logging.info(f"_move_robot: vx={vx}, vy={vy}, vturn={vturn}")
-
-        if self.odom.position["body_attitude"] != RobotState.STANDING:
-            return
-
-        if self.config.use_sim:
-            request = UnitreeRequest(
-                header=UnitreeRequestHeader(identity=UnitreeRequestIdentity(id=0, api_id=SPORT_API_ID_MOVE)),
-                parameter=json.dumps({"x": vx, "y": vy, "z": vturn}),
-            )
-
-            if self.session_sport_pub is None:
-                logging.warning("session_sport_pub: zenoh session sport publisher not ready")
-                return
-
-            self.session_sport_pub.put(request.serialize())
-
-            return
-
-        if not self.sport_client:
-            return
-
-        if self.unitree_go2_state.state == "jointLock":
-            self.sport_client.BalanceStand()
-
-        try:
-            logging.info(f"self.sport_client.Move: vx={vx}, vy={vy}, vturn={vturn}")
-            self.sport_client.Move(vx, vy, vturn)
-        except Exception as e:
-            logging.error(f"Error moving robot: {e}")
-
-    def clean_abort(self) -> None:
-        """
-        Cleanly abort current movement and reset state.
-        """
-        self.movement_attempts = 0
-        if not self.pending_movements.empty():
-            self.pending_movements.get()
-
-    def tick(self) -> None:
-        """
-        Process the AI motion tick.
-        """
-        logging.debug("AI Motion Tick")
-
-        if self.odom is None:
-            logging.info("Waiting for odom data = self.odom is None")
-            self.sleep(0.5)
-            return
-
-        if self.odom.position["odom_x"] == 0.0:
-            # this value is never precisely zero except while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for odom data, x == 0.0")
-            self.sleep(0.5)
-            return
-
-        if self.odom.position["body_attitude"] != RobotState.STANDING:
-            logging.info("Cannot move - dog is sitting")
-            self.sleep(0.5)
-            return
-
-        # if we got to this point, we have good data and we are able to
-        # safely proceed
-        target: List[MoveCommand] = list(self.pending_movements.queue)
-
-        if len(target) > 0:
-
-            current_target = target[0]
-
-            logging.info(f"Target: {current_target} current yaw: {self.odom.position['odom_yaw_m180_p180']}")
-
-            if self.movement_attempts > self.movement_attempt_limit:
-                # abort - we are not converging
-                self.clean_abort()
-                logging.info(f"TIMEOUT - not converging after {self.movement_attempt_limit} attempts - StopMove()")
-                return
-
-            goal_dx = current_target.dx
-            goal_yaw = current_target.yaw
-
-            # Phase 1: Turn to face the target direction
-            if not current_target.turn_complete:
-                gap = self._calculate_angle_gap(-1 * self.odom.position["odom_yaw_m180_p180"], goal_yaw)
-                logging.info(f"Phase 1 - Turning remaining GAP: {gap}DEG")
-
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 1 - Turn GAP delta: {progress}DEG")
-
-                if abs(gap) > 10.0:
-                    logging.debug("Phase 1 - Gap is big, using large displacements")
-                    self.movement_attempts += 1
-                    if not self._execute_turn(gap):
-                        self.clean_abort()
-                        return
-                elif abs(gap) > self.angle_tolerance and abs(gap) <= 10.0:
-                    logging.debug("Phase 1 - Gap is decreasing, using smaller steps")
-                    self.movement_attempts += 1
-                    # rotate only because we are so close
-                    # no need to check barriers because we are just performing small rotations
-                    if gap > 0:
-                        self._move_robot(0, 0, 0.2)
-                    elif gap < 0:
-                        self._move_robot(0, 0, -0.2)
-                elif abs(gap) <= self.angle_tolerance:
-                    logging.info("Phase 1 - Turn completed, starting movement")
-                    current_target.turn_complete = True
-                    self.gap_previous = 0
-
-            else:
-                # Phase 2: Move towards the target position, if needed
-                if goal_dx == 0:
-                    logging.info("No movement required, processing next AI command")
-                    self.clean_abort()
-                    return
-
-                s_x = current_target.start_x
-                s_y = current_target.start_y
-                speed = current_target.speed
-
-                distance_traveled = math.sqrt(
-                    (self.odom.position["odom_x"] - s_x) ** 2 + (self.odom.position["odom_y"] - s_y) ** 2
-                )
-                gap = round(abs(goal_dx - distance_traveled), 2)
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 2 - Forward/retreat GAP delta: {progress}m")
-
-                fb = 0
-                if goal_dx > 0:
-                    if 4 not in self.path_provider.advance:
-                        logging.warning("Cannot advance due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = 1
-
-                if goal_dx < 0:
-                    if not self.path_provider.retreat:
-                        logging.warning("Cannot retreat due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = -1
-
-                if gap > self.distance_tolerance:
-                    self.movement_attempts += 1
-                    if distance_traveled < abs(goal_dx):
-                        logging.info(f"Phase 2 - Keep moving. Remaining: {gap}m ")
-                        self._move_robot(fb * speed, 0.0, 0.0)
-                    elif distance_traveled > abs(goal_dx):
-                        logging.debug(f"Phase 2 - OVERSHOOT: move other way. Remaining: {gap}m")
-                        self._move_robot(-1 * fb * 0.2, 0.0, 0.0)
-                else:
-                    logging.info("Phase 2 - Movement completed normally, processing next AI command")
-                    self.clean_abort()
-
-        self.sleep(0.1)
-
-    def _process_turn_left(self):
-        """
-        Process turn left command with safety check.
-        """
-        if not self.path_provider.turn_left:
-            logging.warning("Cannot turn left due to barrier")
-            return
-
-        path = random.choice(self.path_provider.turn_left)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_turn_right(self):
-        """
-        Process turn right command with safety check.
-        """
-        if not self.path_provider.turn_right:
-            logging.warning("Cannot turn right due to barrier")
-            return
-
-        path = random.choice(self.path_provider.turn_right)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_move_forward(self):
-        """
-        Process move forward command with safety check.
-        """
-        if not self.path_provider.advance:
-            logging.warning("Cannot advance due to barrier")
-            return
-
-        path = random.choice(self.path_provider.advance)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=target_yaw,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=path_angle == 0,
-            )
-        )
-
-    def _process_move_back(self):
-        """
-        Process move back command with safety check.
-        """
-        if not self.path_provider.retreat:
-            logging.warning("Cannot retreat due to barrier")
-            return
-
-        self.pending_movements.put(
-            MoveCommand(
-                dx=-0.5,
-                yaw=0.0,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=True,
-                speed=0.2,
-            )
-        )
-
-    def _normalize_angle(self, angle: float) -> float:
-        """
-        Normalize angle to [-180, 180] range.
-
-        Parameters
-        ----------
-        angle : float
-            Angle in degrees to normalize.
-
-        Returns
-        -------
-        float
-            Normalized angle in degrees within the range [-180, 180].
-        """
-        if angle < -180:
-            angle += 360.0
-        elif angle > 180:
-            angle -= 360.0
-        return angle
-
-    def _calculate_angle_gap(self, current: float, target: float) -> float:
-        """
-        Calculate shortest angular distance between two angles.
-
-        Parameters
-        ----------
-        current : float
-            Current angle in degrees.
-        target : float
-            Target angle in degrees.
-
-        Returns
-        -------
-        float
-            Shortest angular distance in degrees, rounded to 2 decimal places.
-        """
-        gap = current - target
-        if gap > 180.0:
-            gap -= 360.0
-        elif gap < -180.0:
-            gap += 360.0
-        return round(gap, 2)
-
-    def _execute_turn(self, gap: float) -> bool:
-        """
-        Execute turn based on gap direction and lidar constraints.
-
-        Parameters
-        ----------
-        gap : float
-            The angle gap in degrees to turn.
-
-        Returns
-        -------
-        bool
-            True if the turn was executed successfully, False if blocked by a barrier.
-        """
-        if gap > 0:  # Turn left
-            if not self.path_provider.turn_left:
-                logging.warning("Cannot turn left due to barrier")
-                return False
-            sharpness = min(self.path_provider.turn_left)
-            self._move_robot(sharpness * 0.15, 0, self.turn_speed)
-        else:  # Turn right
-            if not self.path_provider.turn_right:
-                logging.warning("Cannot turn right due to barrier")
-                return False
-            sharpness = 8 - max(self.path_provider.turn_right)
-            self._move_robot(sharpness * 0.15, 0, -self.turn_speed)
-        return True
-
-    def _zenoh_ai_status_request(self, data: ZenohSampleType):
-        """
-        Process an incoming AI control status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if self._zenoh_ai_status_response_pub is None:
-            logging.error("Zenoh AI status response publisher not initialized")
-            return
-
-        ai_control_status = AIStatusRequest.deserialize(data.payload.to_bytes())
-        logging.info(f"Received AI Control Status message: {ai_control_status}")
-
-        code = ai_control_status.code
-        request_id = ai_control_status.request_id
-
-        # Read the current status
-        if code == 2:
-            ai_status_response = AIStatusResponse(
-                header=prepare_header(ai_control_status.header.frame_id),
-                request_id=request_id,
-                code=1 if self.ai_control_enabled else 0,
-                status=String(data=("AI Control Enabled" if self.ai_control_enabled else "AI Control Disabled")),
-            )
-            return self._zenoh_ai_status_response_pub.put(ai_status_response.serialize())
-
-        # Enable the AI control
-        if code == 1:
-            self.ai_control_enabled = True
-            logging.info("AI Control Enabled")
-
-            ai_status_response = AIStatusResponse(
-                header=prepare_header(ai_control_status.header.frame_id),
-                request_id=request_id,
-                code=1,
-                status=String(data="AI Control Enabled"),
-            )
-            return self._zenoh_ai_status_response_pub.put(ai_status_response.serialize())
-
-        # Disable the AI control
-        if code == 0:
-            self.ai_control_enabled = False
-            logging.info("AI Control Disabled")
-            ai_status_response = AIStatusResponse(
-                header=prepare_header(ai_control_status.header.frame_id),
-                request_id=request_id,
-                code=0,
-                status=String(data="AI Control Disabled"),
-            )
-
-            return self._zenoh_ai_status_response_pub.put(ai_status_response.serialize())
diff --git a/src/actions/move_go2_autonomy/connector/unitree_rplidar_sdk.py b/src/actions/move_go2_autonomy/connector/unitree_rplidar_sdk.py
deleted file mode 100644
index d4031d9e34..0000000000
--- a/src/actions/move_go2_autonomy/connector/unitree_rplidar_sdk.py
+++ /dev/null
@@ -1,468 +0,0 @@
-import logging
-import math
-import random
-from queue import Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector, MoveCommand
-from actions.move_go2_autonomy.interface import MoveInput
-from providers.unitree_go2_odom_provider import RobotState, UnitreeGo2OdomProvider
-from providers.unitree_go2_rplidar_provider import UnitreeGo2RPLidarProvider
-from providers.unitree_go2_state_provider import UnitreeGo2StateProvider
-from unitree.unitree_sdk2py.go2.sport.sport_client import SportClient
-
-
-class MoveUnitreeRPLidarSDKConfig(ActionConfig):
-    """
-    Configuration for MoveUnitreeRPLidarSDKConfig connector.
-
-    Parameters
-    ----------
-    unitree_ethernet : str
-        Ethernet channel for Unitree Go2 odometry.
-    """
-
-    unitree_ethernet: str = Field(
-        default="eth0",
-        description="Ethernet channel for Unitree Go2 odometry.",
-    )
-
-
-class MoveUnitreeRPLidarSDKConnector(ActionConnector[MoveUnitreeRPLidarSDKConfig, MoveInput]):
-    """
-    Connector for moving Unitree Go2 robot using RPLidar for obstacle detection.
-
-    This plugin loads the possible paths from the RPLidarProvider and uses them to
-    safely execute movement commands received from the AI system.
-    """
-
-    def __init__(self, config: MoveUnitreeRPLidarSDKConfig):
-        """
-        Initialize the MoveUnitreeRPLidarSDK connector.
-
-        Parameters
-        ----------
-        config : MoveUnitreeRPLidarSDKConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.dog_attitude = None
-
-        # Movement parameters
-        self.turn_speed = 0.8
-        self.angle_tolerance = 5.0  # degrees
-        self.distance_tolerance = 0.05  # meters
-        self.pending_movements: Queue[Optional[MoveCommand]] = Queue()
-        self.movement_attempts = 0
-        self.movement_attempt_limit = 15
-        self.gap_previous = 0
-
-        self.lidar = UnitreeGo2RPLidarProvider()
-        self.unitree_go2_state = UnitreeGo2StateProvider()
-
-        # create sport client
-        self.sport_client = None
-        try:
-            self.sport_client = SportClient()
-            self.sport_client.SetTimeout(10.0)
-            self.sport_client.Init()
-            self.sport_client.StopMove()
-            self.sport_client.Move(0.05, 0, 0)
-            logging.info("Autonomy Unitree sport client initialized")
-        except Exception as e:
-            logging.error(f"Error initializing Unitree sport client: {e}")
-
-        unitree_ethernet = self.config.unitree_ethernet
-        self.odom = UnitreeGo2OdomProvider(channel=unitree_ethernet)
-        logging.info(f"Autonomy Odom Provider: {self.odom}")
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the output interface and process the AI movement command.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The output interface containing the AI movement command.
-        """
-        # this is used only by the LLM
-        logging.info(f"AI command.connect: {output_interface.action}")
-
-        if self.unitree_go2_state.state_code == 1002 and self.sport_client:
-            logging.info("Robot is in jointLock state - issuing BalanceStand()")
-            self.sport_client.BalanceStand()
-
-        if self.unitree_go2_state.action_progress != 0:
-            logging.info(f"Action in progress: {self.unitree_go2_state.action_progress}")
-            return
-
-        # fallback to the odom provider
-        if not self.unitree_go2_state.state_code and self.odom.position["moving"]:
-            # for example due to a teleops or game controller command
-            logging.info("Disregard new AI movement command - robot is already moving")
-            return
-
-        if self.pending_movements.qsize() > 0:
-            logging.info("Movement in progress: disregarding new AI command")
-            return
-
-        if self.odom.position["odom_x"] == 0.0:
-            # this value is never precisely zero EXCEPT while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for location data")
-            return
-
-        # Process movement commands with lidar safety checks
-        movement_map = {
-            "turn left": self._process_turn_left,
-            "turn right": self._process_turn_right,
-            "move forwards": self._process_move_forward,
-            "move back": self._process_move_back,
-            "stand still": lambda: logging.info("AI movement command: stand still"),
-        }
-
-        handler = movement_map.get(output_interface.action)
-        if handler:
-            handler()
-        else:
-            logging.info(f"AI movement command unknown: {output_interface.action}")
-
-        # This is a subset of Go2 movements that are
-        # generally safe. Note that the "stretch" action involves
-        # about 40 cm of back and forth motion, and the "dance"
-        # action involves copious jumping in place for about 10 seconds.
-
-        # if output_interface.action == "stand up":
-        #     logging.info("Unitree AI command: stand up")
-        #     await self._execute_sport_command("StandUp")
-        # elif output_interface.action == "sit":
-        #     logging.info("Unitree AI command: lay down")
-        #     await self._execute_sport_command("StandDown")
-        # elif output_interface.action == "shake paw":
-        #     logging.info("Unitree AI command: shake paw")
-        #     await self._execute_sport_command("Hello")
-        # elif output_interface.action == "stretch":
-        #     logging.info("Unitree AI command: stretch")
-        #     await self._execute_sport_command("Stretch")
-        # elif output_interface.action == "dance":
-        #     logging.info("Unitree AI command: dance")
-        #     await self._execute_sport_command("Dance1")
-
-    def _move_robot(self, vx: float, vy: float, vturn=0.0) -> None:
-        """
-        Move the robot with specified velocities.
-
-        Parameters
-        ----------
-        vx : float
-            Linear velocity in the x direction (m/s).
-        vy : float
-            Linear velocity in the y direction (m/s).
-        vturn : float, optional
-            Angular velocity (turning speed) in radians per second (default is 0.0).
-        """
-        logging.info(f"_move_robot: vx={vx}, vy={vy}, vturn={vturn}")
-
-        if not self.sport_client:
-            return
-
-        if self.odom.position["body_attitude"] != RobotState.STANDING:
-            return
-
-        if self.unitree_go2_state.state == "jointLock":
-            self.sport_client.BalanceStand()
-
-        try:
-            logging.info(f"self.sport_client.Move: vx={vx}, vy={vy}, vturn={vturn}")
-            self.sport_client.Move(vx, vy, vturn)
-        except Exception as e:
-            logging.error(f"Error moving robot: {e}")
-
-    def clean_abort(self) -> None:
-        """
-        Cleanly abort current movement and reset state.
-        """
-        self.movement_attempts = 0
-        if not self.pending_movements.empty():
-            self.pending_movements.get()
-
-    def tick(self) -> None:
-        """
-        Process the AI motion tick.
-        """
-        logging.debug("AI Motion Tick")
-
-        if self.odom is None:
-            logging.info("Waiting for odom data = self.odom is None")
-            self.sleep(0.5)
-            return
-
-        if self.odom.position["odom_x"] == 0.0:
-            # this value is never precisely zero except while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for odom data, x == 0.0")
-            self.sleep(0.5)
-            return
-
-        if self.odom.position["body_attitude"] != RobotState.STANDING:
-            logging.info("Cannot move - dog is sitting")
-            self.sleep(0.5)
-            return
-
-        # if we got to this point, we have good data and we are able to
-        # safely proceed
-        target: List[MoveCommand] = list(self.pending_movements.queue)
-
-        if len(target) > 0:
-
-            current_target = target[0]
-
-            logging.info(f"Target: {current_target} current yaw: {self.odom.position['odom_yaw_m180_p180']}")
-
-            if self.movement_attempts > self.movement_attempt_limit:
-                # abort - we are not converging
-                self.clean_abort()
-                logging.info(f"TIMEOUT - not converging after {self.movement_attempt_limit} attempts - StopMove()")
-                return
-
-            goal_dx = current_target.dx
-            goal_yaw = current_target.yaw
-
-            # Phase 1: Turn to face the target direction
-            if not current_target.turn_complete:
-                gap = self._calculate_angle_gap(-1 * self.odom.position["odom_yaw_m180_p180"], goal_yaw)
-                logging.info(f"Phase 1 - Turning remaining GAP: {gap}DEG")
-
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 1 - Turn GAP delta: {progress}DEG")
-
-                if abs(gap) > 10.0:
-                    logging.debug("Phase 1 - Gap is big, using large displacements")
-                    self.movement_attempts += 1
-                    if not self._execute_turn(gap):
-                        self.clean_abort()
-                        return
-                elif abs(gap) > self.angle_tolerance and abs(gap) <= 10.0:
-                    logging.debug("Phase 1 - Gap is decreasing, using smaller steps")
-                    self.movement_attempts += 1
-                    # rotate only because we are so close
-                    # no need to check barriers because we are just performing small rotations
-                    if gap > 0:
-                        self._move_robot(0, 0, 0.2)
-                    elif gap < 0:
-                        self._move_robot(0, 0, -0.2)
-                elif abs(gap) <= self.angle_tolerance:
-                    logging.info("Phase 1 - Turn completed, starting movement")
-                    current_target.turn_complete = True
-                    self.gap_previous = 0
-
-            else:
-                # Phase 2: Move towards the target position, if needed
-                if goal_dx == 0:
-                    logging.info("No movement required, processing next AI command")
-                    self.clean_abort()
-                    return
-
-                s_x = current_target.start_x
-                s_y = current_target.start_y
-                speed = current_target.speed
-
-                distance_traveled = math.sqrt(
-                    (self.odom.position["odom_x"] - s_x) ** 2 + (self.odom.position["odom_y"] - s_y) ** 2
-                )
-                gap = round(abs(goal_dx - distance_traveled), 2)
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 2 - Forward/retreat GAP delta: {progress}m")
-
-                fb = 0
-                if goal_dx > 0:
-                    if 4 not in self.lidar.advance:
-                        logging.warning("Cannot advance due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = 1
-
-                if goal_dx < 0:
-                    if not self.lidar.retreat:
-                        logging.warning("Cannot retreat due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = -1
-
-                if gap > self.distance_tolerance:
-                    self.movement_attempts += 1
-                    if distance_traveled < abs(goal_dx):
-                        logging.info(f"Phase 2 - Keep moving. Remaining: {gap}m ")
-                        self._move_robot(fb * speed, 0.0, 0.0)
-                    elif distance_traveled > abs(goal_dx):
-                        logging.debug(f"Phase 2 - OVERSHOOT: move other way. Remaining: {gap}m")
-                        self._move_robot(-1 * fb * 0.2, 0.0, 0.0)
-                else:
-                    logging.info("Phase 2 - Movement completed normally, processing next AI command")
-                    self.clean_abort()
-
-        self.sleep(0.1)
-
-    def _process_turn_left(self):
-        """
-        Process turn left command with safety check.
-        """
-        if not self.lidar.turn_left:
-            logging.warning("Cannot turn left due to barrier")
-            return
-
-        path = random.choice(self.lidar.turn_left)
-        path_angle = self.lidar.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_turn_right(self):
-        """
-        Process turn right command with safety check.
-        """
-        if not self.lidar.turn_right:
-            logging.warning("Cannot turn right due to barrier")
-            return
-
-        path = random.choice(self.lidar.turn_right)
-        path_angle = self.lidar.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_move_forward(self):
-        """
-        Process move forward command with safety check.
-        """
-        if not self.lidar.advance:
-            logging.warning("Cannot advance due to barrier")
-            return
-
-        path = random.choice(self.lidar.advance)
-        path_angle = self.lidar.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=target_yaw,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=path_angle == 0,
-            )
-        )
-
-    def _process_move_back(self):
-        """
-        Process move back command with safety check.
-        """
-        if not self.lidar.retreat:
-            logging.warning("Cannot retreat due to barrier")
-            return
-
-        self.pending_movements.put(
-            MoveCommand(
-                dx=-0.5,
-                yaw=0.0,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=True,
-                speed=0.3,
-            )
-        )
-
-    def _normalize_angle(self, angle: float) -> float:
-        """
-        Normalize angle to [-180, 180] range.
-
-        Parameters
-        ----------
-        angle : float
-            Angle in degrees to normalize.
-
-        Returns
-        -------
-        float
-            Normalized angle in degrees within the range [-180, 180].
-        """
-        if angle < -180:
-            angle += 360.0
-        elif angle > 180:
-            angle -= 360.0
-        return angle
-
-    def _calculate_angle_gap(self, current: float, target: float) -> float:
-        """
-        Calculate shortest angular distance between two angles.
-
-        Parameters
-        ----------
-        current : float
-            Current angle in degrees.
-        target : float
-            Target angle in degrees.
-
-        Returns
-        -------
-        float
-            Shortest angular distance in degrees, rounded to 2 decimal places.
-        """
-        gap = current - target
-        if gap > 180.0:
-            gap -= 360.0
-        elif gap < -180.0:
-            gap += 360.0
-        return round(gap, 2)
-
-    def _execute_turn(self, gap: float) -> bool:
-        """
-        Execute turn based on gap direction and lidar constraints.
-
-        Parameters
-        ----------
-        gap : float
-            The angle gap in degrees to turn.
-
-        Returns
-        -------
-        bool
-            True if the turn was executed successfully, False if blocked by a barrier.
-        """
-        if gap > 0:  # Turn left
-            if not self.lidar.turn_left:
-                logging.warning("Cannot turn left due to barrier")
-                return False
-            sharpness = min(self.lidar.turn_left)
-            self._move_robot(sharpness * 0.15, 0, self.turn_speed)
-        else:  # Turn right
-            if not self.lidar.turn_right:
-                logging.warning("Cannot turn right due to barrier")
-                return False
-            sharpness = 8 - max(self.lidar.turn_right)
-            self._move_robot(sharpness * 0.15, 0, -self.turn_speed)
-        return True
diff --git a/src/actions/move_go2_autonomy/interface.py b/src/actions/move_go2_autonomy/interface.py
deleted file mode 100644
index 3d77edb455..0000000000
--- a/src/actions/move_go2_autonomy/interface.py
+++ /dev/null
@@ -1,43 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    TURN_LEFT = "turn left"
-    TURN_RIGHT = "turn right"
-    MOVE_FORWARDS = "move forwards"
-    MOVE_BACK = "move back"
-    STAND_STILL = "stand still"
-    DO_NOTHING = "stand still"
-    # STAND_UP = "stand up"
-    # SIT = "sit"
-    # SHAKE_PAW = "shake paw"
-    # DANCE = "dance"
-    # STRETCH = "stretch"
-    # STAND_STILL = "stand still"
-    # DO_NOTHING = "stand still"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    This action allows you to move. Important: pick only safe values.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_go2_teleops/connector/remote.py b/src/actions/move_go2_teleops/connector/remote.py
deleted file mode 100644
index c9e1d80138..0000000000
--- a/src/actions/move_go2_teleops/connector/remote.py
+++ /dev/null
@@ -1,114 +0,0 @@
-import json
-import logging
-import time
-from enum import Enum
-
-from om1_utils import ws
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move_go2_teleops.interface import MoveInput
-from providers import CommandStatus
-from providers.unitree_go2_state_provider import UnitreeGo2StateProvider
-from unitree.unitree_sdk2py.go2.sport.sport_client import SportClient
-
-
-class RobotState(Enum):
-    """
-    Enumeration of possible robot states.
-    """
-
-    STANDING = "standing"
-    SITTING = "sitting"
-
-
-class MoveGo2RemoteConfig(ActionConfig):
-    """
-    Configuration for MoveGo2Remote connector.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        OM API key.
-    """
-
-    api_key: str = Field(
-        default="",
-        description="OM API key.",
-    )
-
-
-class MoveGo2RemoteConnector(ActionConnector[MoveGo2RemoteConfig, MoveInput]):
-    """
-    Remote connector for the Move Go2 teleops action.
-
-    NOTE: This connector has been deprecated. OM1 Orchestrator docker automatically supports remote teleops
-    """
-
-    def __init__(self, config: MoveGo2RemoteConfig):
-        """
-        Initialize the MoveGo2Remote connector.
-
-        Parameters
-        ----------
-        config : MoveGo2RemoteConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        api_key = self.config.api_key
-
-        self.sport_client = None
-        try:
-            self.sport_client = SportClient()
-            self.sport_client.SetTimeout(10.0)
-            self.sport_client.Init()
-            logging.info("Unitree sport client initialized")
-        except Exception as e:
-            logging.error(f"Error initializing Unitree sport client: {e}")
-
-        self.ws_client = ws.Client(url=f"wss://api.openmind.com/api/core/teleops/action?api_key={api_key}")
-        self.ws_client.register_message_callback(self._on_message)
-        self.ws_client.start()
-
-        self.unitree_state_provider = UnitreeGo2StateProvider()
-
-    def _on_message(self, message: str) -> None:
-        """
-        Callback function to handle incoming messages.
-
-        Parameters
-        ----------
-        message : str
-            The incoming message.
-        """
-        if self.sport_client is None:
-            logging.info("No open Unitree sport client, returning")
-            return
-
-        if self.unitree_state_provider.state_code == 1002:
-            self.sport_client.BalanceStand()
-
-        if self.unitree_state_provider.action_progress != 0:
-            logging.info(f"Action in progress: {self.unitree_state_provider.action_progress}")
-            return
-
-        try:
-            command_status = CommandStatus.from_dict(json.loads(message))
-            self.sport_client.Move(command_status.vx, command_status.vy, command_status.vyaw)
-            logging.info(
-                f"Published command: {command_status.to_dict()} - latency: {(time.time() - float(command_status.timestamp)):.3f} seconds"
-            )
-        except Exception as e:
-            logging.error(f"Error processing command status: {e}")
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the output interface and publish the command.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The output interface for the action.
-        """
-        pass
diff --git a/src/actions/move_go2_teleops/interface.py b/src/actions/move_go2_teleops/interface.py
deleted file mode 100644
index 2fc4e656b4..0000000000
--- a/src/actions/move_go2_teleops/interface.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    STAND_UP = "stand up"
-    SIT = "sit"
-    SHAKE_PAW = "shake paw"
-    DANCE = "dance"
-    STRETCH = "stretch"
-    STAND_STILL = "stand still"
-    DO_NOTHING = "stand still"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    A movement to be performed by the agent.
-    Effect: Allows the agent to move.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_k1_autonomy/connector/k1_sdk.py b/src/actions/move_k1_autonomy/connector/k1_sdk.py
deleted file mode 100644
index 856bdc2c73..0000000000
--- a/src/actions/move_k1_autonomy/connector/k1_sdk.py
+++ /dev/null
@@ -1,555 +0,0 @@
-import asyncio
-import json
-import logging
-import math
-import random
-import time
-from queue import Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector, MoveCommand
-from actions.move_k1_autonomy.interface import MoveInput
-from providers.k1_odom_provider import K1OdomProvider, RobotState
-from providers.simple_paths_provider import SimplePathsProvider
-from zenoh_msgs import (
-    BoosterApiReqMsg,
-    RpcServiceRequest,
-    RpcServiceResponse,
-    open_zenoh_session,
-)
-
-
-class MoveBoosterZenohConfig(ActionConfig):
-    """
-    Configuration for Booster Zenoh connector.
-    """
-
-    odom_topic: str = Field(
-        default="odometer_state",
-        description="Zenoh topic for odometry data.",
-    )
-    rpc_service_name: str = Field(
-        default="booster_rpc_service",
-        description="Zenoh key for the Booster ROS2 RPC service (e.g. booster_rpc_service).",
-    )
-
-    # Backward-compat: older configs used cmd_vel_topic for topic-based control.
-    # If provided, we treat it as the RPC service name.
-    cmd_vel_topic: Optional[str] = Field(
-        default=None,
-        description="DEPRECATED. Previously used for remote_controller_state topic; now interpreted as rpc_service_name.",
-    )
-
-    allow_move_without_odom: bool = Field(
-        default=False,
-        description="TESTING ONLY. If true, bypass odom/body-attitude gating and send movement RPC commands even when odom is missing.",
-    )
-
-
-class MoveBoosterZenohConnector(ActionConnector[MoveBoosterZenohConfig, MoveInput]):
-    """
-    Zenoh connector for the Move Booster autonomy action.
-    Uses Zenoh to publish cmd_vel commands and receive odom data from Booster robot.
-    """
-
-    def __init__(self, config: MoveBoosterZenohConfig):
-        """
-        Initialize the Zenoh connector for Booster robot.
-
-        Parameters
-        ----------
-        config : MoveBoosterZenohConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        # Movement parameters
-        self.move_speed = 0.1
-        self.turn_speed = 0.5  # 0.35
-        self.angle_tolerance = 5.0  # degrees
-        self.distance_tolerance = 0.05  # meters
-        self.pending_movements: Queue[Optional[MoveCommand]] = Queue()
-        self.movement_attempts = 0
-        self.movement_attempt_limit = 15
-        self.gap_previous = 0
-        self._consecutive_retreat_cmds = 0  # calculate whether 5 time retreat (move back), to prevent the odom inaccuracy causing continuous retreating
-
-        self.session = None
-
-        odom_topic = self.config.odom_topic
-        self.rpc_service_name = self.config.rpc_service_name or self.config.cmd_vel_topic or "booster_rpc_service"
-
-        try:
-            self.session = open_zenoh_session()
-            logging.info(f"Booster Zenoh move client opened {self.session}")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client for Booster: {e}")
-
-        self.path_provider = SimplePathsProvider()
-        self.odom = K1OdomProvider(topic=odom_topic)
-
-        logging.info(f"Booster Autonomy Odom Provider: {self.odom}")
-        logging.info(f"Booster Autonomy RPC service key: {self.rpc_service_name}")
-
-    def _has_fresh_odom(self, max_age_s: float = 2.0) -> bool:
-        # K1 odometry can legitimately be exactly (0.0, 0.0) while stationary,
-        # so we must not use odom_x==0.0 as a readiness signal.
-        ts = float(self.odom.position.get("odom_subscriber_ts", 0.0))
-        if ts <= 0.0:
-            return False
-        return (time.time() - ts) <= max_age_s
-
-    def _run_move_robot(self, vx: float, vy: float, vyaw: float) -> None:
-        # Called from both sync code (tick thread) and async code (connect).
-        try:
-            loop = asyncio.get_running_loop()
-        except RuntimeError:
-            asyncio.run(self._move_robot(vx, vy, vyaw))
-        else:
-            loop.create_task(self._move_robot(vx, vy, vyaw))
-
-    def _stop_robot(self) -> None:
-        try:
-            self._run_move_robot(0.0, 0.0, 0.0)
-        except Exception as e:
-            logging.debug(f"Stop robot failed: {e}")
-
-    async def _move_robot(self, vx: float, vy: float, vyaw: float) -> None:
-        """
-        Send movement command via Zenoh RPC service booster_rpc_service.
-
-        Parameters
-        ----------
-        vx : float
-            Linear velocity in the x direction (m/s).
-        vy : float
-            Linear velocity in the y direction (m/s).
-        vyaw : float
-            Angular velocity around the z axis (rad/s).
-        """
-        logging.debug(f"move: vx={vx}, vy={vy}, vyaw={vyaw}")
-
-        if self.session is None:
-            logging.info("No open Zenoh session, returning")
-            return
-
-        if not self.config.allow_move_without_odom:
-            if self.odom.position["body_attitude"] != RobotState.STANDING:
-                logging.info("Cannot move - robot is not standing")
-                return
-
-        try:
-            API_MOVE = 2001
-            # Create the inner request message
-            inner_request = BoosterApiReqMsg(api_id=API_MOVE, body=json.dumps({"vx": vx, "vy": vy, "vyaw": vyaw}))
-            # Wrap it in RpcServiceRequest
-            request = RpcServiceRequest(msg=inner_request)
-            # Serialize for Zenoh bridge
-            serialized_request = request.serialize()
-            service_name = self.rpc_service_name
-            # TODO: Add support for cloud sim for the service call
-            replies = self.session.get(  # type: ignore
-                service_name,
-                payload=serialized_request,
-                timeout=5.0,
-            )
-            for reply in replies:
-                if reply.ok:
-                    try:
-                        service_response = RpcServiceResponse.deserialize(reply.ok.payload.to_bytes())
-                        logging.info(
-                            f"RPC response status: {service_response.msg.status}, body: {service_response.msg.body}"
-                        )
-                    except Exception as e:
-                        logging.error(f"Error deserializing response: {e}")
-                else:
-                    logging.error(f"Service error: {reply.err}")
-        except Exception as e:
-            logging.error(f"Service call failed: {e}")
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the output interface and process the AI movement command.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The output interface containing the AI movement command.
-        """
-        logging.info(f"Booster AI command.connect: {output_interface.action}")
-
-        if self.odom.position["moving"]:
-            logging.info("Disregard new AI movement command - robot is already moving")
-            return
-
-        if self.pending_movements.qsize() > 0:
-            logging.info("Movement in progress: disregarding new AI command")
-            return
-
-        if not self._has_fresh_odom():
-            if self.config.allow_move_without_odom:
-                logging.warning("ODOM missing/stale but allow_move_without_odom=true; sending direct test command")
-
-                action = output_interface.action
-                if action == "move forwards":
-                    self._run_move_robot(0.1, 0.0, 0.0)
-                elif action == "move back":
-                    self._run_move_robot(-0.1, 0.0, 0.0)
-                elif action == "turn left":
-                    self._run_move_robot(0.0, 0.0, 0.15)
-                elif action == "turn right":
-                    self._run_move_robot(0.0, 0.0, -0.15)
-                elif action == "stand still":
-                    self._stop_robot()
-                else:
-                    logging.info(f"AI movement command unknown: {action}")
-                return
-
-            logging.info("Waiting for fresh odom data")
-            return
-
-        # Process movement commands with lidar safety checks
-        movement_map = {
-            "turn left": self._process_turn_left,
-            "turn right": self._process_turn_right,
-            "move forwards": self._process_move_forward,
-            "move back": self._process_move_back,
-            "stand still": self._stop_robot,
-        }
-
-        handler = movement_map.get(output_interface.action)
-        if handler:
-            handler()
-        else:
-            logging.info(f"AI movement command unknown: {output_interface.action}")
-
-    def clean_abort(self) -> None:
-        """
-        Cleanly abort current movement and reset state.
-        """
-        self._stop_robot()
-        self.movement_attempts = 0
-        self._consecutive_retreat_cmds = 0
-        if not self.pending_movements.empty():
-            self.pending_movements.get()
-
-    def tick(self) -> None:
-        """
-        Process the AI motion tick.
-        """
-        logging.debug("Booster AI Motion Tick")
-
-        if self.odom is None:
-            logging.info("Waiting for odom data = self.odom is None")
-            self.sleep(0.5)
-            return
-
-        if not self._has_fresh_odom():
-            logging.info("Waiting for fresh odom data")
-            self.sleep(0.5)
-            return
-
-        if self.odom.position["body_attitude"] != RobotState.STANDING:
-            logging.info("Cannot move - robot is not standing")
-            self.sleep(0.5)
-            return
-
-        # if we got to this point, we have good data and we are able to
-        # safely proceed
-        with self.pending_movements.mutex:
-            target: List[MoveCommand] = list(self.pending_movements.queue)
-
-        if len(target) > 0:
-
-            current_target = target[0]
-
-            logging.info(f"Target: {current_target} current yaw: {self.odom.position['odom_yaw_m180_p180']}")
-
-            if self.movement_attempts > self.movement_attempt_limit:
-                # abort - we are not converging
-                self.clean_abort()
-                logging.info(f"TIMEOUT - not converging after {self.movement_attempt_limit} attempts - StopMove()")
-                return
-
-            goal_dx = current_target.dx
-            goal_yaw = current_target.yaw
-
-            # Phase 1: Turn to face the target direction
-            if not current_target.turn_complete:
-                # Turning resets consecutive retreat accounting.
-                self._consecutive_retreat_cmds = 0
-                gap = self._calculate_angle_gap(-1 * self.odom.position["odom_yaw_m180_p180"], goal_yaw)
-                logging.info(f"Phase 1 - Turning remaining GAP: {gap}DEG")
-
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 1 - Turn GAP delta: {progress}DEG")
-
-                if abs(gap) > 10.0:
-                    logging.debug("Phase 1 - Gap is big, using large displacements")
-                    self.movement_attempts += 1
-                    if not self._execute_turn(gap):
-                        self.clean_abort()
-                        return
-                elif abs(gap) > self.angle_tolerance and abs(gap) <= 10.0:
-                    logging.debug("Phase 1 - Gap is decreasing, using smaller steps")
-                    self.movement_attempts += 1
-                    # rotate only because we are so close
-                    # no need to check barriers because we are just performing small rotations
-                    if gap > 0:
-                        self._run_move_robot(0, 0, 0.2)
-                    elif gap < 0:
-                        self._run_move_robot(0, 0, -0.2)
-                elif abs(gap) <= self.angle_tolerance:
-                    logging.info("Phase 1 - Turn completed, starting movement")
-                    current_target.turn_complete = True
-                    self.gap_previous = 0
-
-            else:
-                # Phase 2: Move towards the target position, if needed
-                if goal_dx == 0:
-                    logging.info("No movement required, processing next AI command")
-                    self.clean_abort()
-                    return
-
-                # If we've been retreating for several ticks and odom/progress is unreliable,
-                # stop retreating and decide what to do next based only on obstacle safety.
-                if goal_dx < 0 and self._consecutive_retreat_cmds >= 5:
-                    logging.warning(
-                        "Retreat attempted 5+ times; aborting retreat and checking if front is clear to move forward"
-                    )
-                    self.clean_abort()
-                    if self._enqueue_forward_if_front_clear(dx=0.1):
-                        self.movement_attempts = 0
-                        self.gap_previous = 0
-                    return
-                if goal_dx >= 0:
-                    # Any non-retreat target resets consecutive retreat accounting.
-                    self._consecutive_retreat_cmds = 0
-
-                s_x = current_target.start_x
-                s_y = current_target.start_y
-                speed = current_target.speed
-
-                distance_traveled = math.sqrt(
-                    (self.odom.position["odom_x"] - s_x) ** 2 + (self.odom.position["odom_y"] - s_y) ** 2
-                )
-                gap = round(abs(goal_dx - distance_traveled), 2)
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 2 - Forward/retreat GAP delta: {progress}m")
-
-                fb = 0
-                if goal_dx > 0:
-                    if 4 not in self.path_provider.advance:
-                        logging.warning("Cannot advance due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = 1
-
-                if goal_dx < 0:
-                    if not self.path_provider.retreat:
-                        logging.warning("Cannot retreat due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = -1
-
-                if gap > self.distance_tolerance:
-                    self.movement_attempts += 1
-                    if distance_traveled < abs(goal_dx):
-                        logging.info(f"Phase 2 - Keep moving. Remaining: {gap}m ")
-                        self._run_move_robot(fb * speed, 0.0, 0.0)
-                        if fb < 0:
-                            self._consecutive_retreat_cmds += 1
-                        else:
-                            self._consecutive_retreat_cmds = 0
-                    elif distance_traveled > abs(goal_dx):
-                        logging.debug(f"Phase 2 - OVERSHOOT: move other way. Remaining: {gap}m")
-                        self._run_move_robot(-1 * fb * 0.15, 0.0, 0.0)
-                        # Overshoot correction is opposite direction; reset retreat accounting.
-                        self._consecutive_retreat_cmds = 0
-                else:
-                    logging.info("Phase 2 - Movement completed normally, processing next AI command")
-                    self.clean_abort()
-
-        self.sleep(0.1)
-
-    def _process_turn_left(self):
-        """
-        Process turn left command with safety check.
-        """
-        if not self.path_provider.turn_left:
-            logging.warning("Cannot turn left due to barrier")
-            return
-
-        path = random.choice(self.path_provider.turn_left)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.0,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_turn_right(self):
-        """
-        Process turn right command with safety check.
-        """
-        if not self.path_provider.turn_right:
-            logging.warning("Cannot turn right due to barrier")
-            return
-
-        path = random.choice(self.path_provider.turn_right)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.0,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_move_forward(self):
-        """
-        Process move forward command with safety check.
-        """
-        if not self.path_provider.advance:
-            logging.warning("Cannot advance due to barrier")
-            return
-
-        path = random.choice(self.path_provider.advance)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.1,
-                yaw=target_yaw,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=True if path_angle == 0 else False,
-            )
-        )
-
-    def _process_move_back(self):
-        """
-        Process move back command with safety check.
-        """
-        if not self.path_provider.retreat:
-            logging.warning("Cannot retreat due to barrier")
-            return
-
-        self.pending_movements.put(
-            MoveCommand(
-                dx=-0.15,
-                yaw=0.0,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=True,
-                speed=0.1,
-            )
-        )
-
-    def _enqueue_forward_if_front_clear(self, dx: float = 0.1) -> bool:
-        # "Front clear" == straight path (index 4) is available.
-        if 4 not in (self.path_provider.advance or []):
-            logging.warning("Front not clear (path 4 not safe); staying stopped")
-            return False
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"])
-        self.pending_movements.put(
-            MoveCommand(
-                dx=dx,
-                yaw=target_yaw,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=True,
-                speed=self.move_speed,
-            )
-        )
-        return True
-
-    def _normalize_angle(self, angle: float) -> float:
-        """
-        Normalize angle to [-180, 180] range.
-
-        Parameters
-        ----------
-        angle : float
-            Angle in degrees to normalize.
-
-        Returns
-        -------
-        float
-            Normalized angle in degrees within the range [-180, 180].
-        """
-        if angle < -180:
-            angle += 360.0
-        elif angle > 180:
-            angle -= 360.0
-        return angle
-
-    def _calculate_angle_gap(self, current: float, target: float) -> float:
-        """
-        Calculate shortest angular distance between two angles.
-
-        Parameters
-        ----------
-        current : float
-            Current angle in degrees.
-        target : float
-            Target angle in degrees.
-
-        Returns
-        -------
-        float
-            Shortest angular distance in degrees, rounded to 2 decimal places.
-        """
-        gap = current - target
-        if gap > 180.0:
-            gap -= 360.0
-        elif gap < -180.0:
-            gap += 360.0
-        return round(gap, 2)
-
-    def _execute_turn(self, gap: float) -> bool:
-        """
-        Execute turn based on gap direction and lidar constraints.
-
-        Parameters
-        ----------
-        gap : float
-            The angle gap in degrees to turn.
-
-        Returns
-        -------
-        bool
-            True if the turn was executed successfully, False if blocked by a barrier.
-        """
-        if gap > 0:  # Turn left
-            if not self.path_provider.turn_left:
-                logging.warning("Cannot turn left due to barrier")
-                return False
-            sharpness = min(self.path_provider.turn_left)
-            self._run_move_robot(sharpness * 0.15, 0, self.turn_speed)
-        else:  # Turn right
-            if not self.path_provider.turn_right:
-                logging.warning("Cannot turn right due to barrier")
-                return False
-            sharpness = 8 - max(self.path_provider.turn_right)
-            self._run_move_robot(sharpness * 0.15, 0, -self.turn_speed)
-        return True
diff --git a/src/actions/move_k1_autonomy/interface.py b/src/actions/move_k1_autonomy/interface.py
deleted file mode 100644
index 9777b4c2b3..0000000000
--- a/src/actions/move_k1_autonomy/interface.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions for Booster robot.
-    """
-
-    TURN_LEFT = "turn left"
-    TURN_RIGHT = "turn right"
-    MOVE_FORWARDS = "move forwards"
-    MOVE_BACK = "move back"
-    STAND_STILL = "stand still"
-    DO_NOTHING = "stand still"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    This action allows you to move. Important: pick only safe values.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_serial_arduino/connector/serial_arduino.py b/src/actions/move_serial_arduino/connector/serial_arduino.py
deleted file mode 100644
index ac542a5682..0000000000
--- a/src/actions/move_serial_arduino/connector/serial_arduino.py
+++ /dev/null
@@ -1,88 +0,0 @@
-"""
-This only works if you actually have a serial port connected to your computer, such as, via a USB serial dongle. On Mac, you can determine the correct name to use via `ls /dev/cu.usb*`.
-"""
-
-import logging
-
-import serial
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move.interface import MoveInput
-
-
-class MoveSerialConfig(ActionConfig):
-    """
-    Configuration for Serial to Arduino connector.
-
-    Parameters
-    ----------
-    port : str
-        The serial port to connect to the Arduino (e.g., COM3 or /dev/cu.usbmodem14101). Leave empty to simulate.
-    """
-
-    port: str = Field(
-        default="",
-        description="The serial port to connect to the Arduino (e.g., COM3 or /dev/cu.usbmodem14101). Leave empty to simulate.",
-    )
-
-
-class MoveSerialConnector(ActionConnector[MoveSerialConfig, MoveInput]):
-    """
-    Connector that sends move commands via serial to an Arduino.
-    """
-
-    def __init__(self, config: MoveSerialConfig):
-        """
-        Initialize the MoveSerialConnector.
-
-        Parameters
-        ----------
-        config : MoveSerialConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.port = self.config.port
-        self.ser = None
-        if self.port:
-            self.ser = serial.Serial(self.port, 9600)
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect the input protocol to the move action via serial to Arduino.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The input protocol containing the action details.
-        """
-        new_msg = {"move": ""}
-
-        if output_interface.action == "be still":
-            new_msg["move"] = "0"
-        elif output_interface.action == "small jump":
-            new_msg["move"] = "1"
-        elif output_interface.action == "medium jump":
-            new_msg["move"] = "2"
-        elif output_interface.action == "big jump":
-            new_msg["move"] = "3"
-        else:
-            logging.info(f"Other move type: {output_interface.action}")
-            # raise ValueError(f"Unknown move type: {output_interface.action}")
-
-        message = f"actuator:{new_msg['move']}\r\n"
-        # Convert the string to bytes using UTF-8 encoding
-        byte_data = message.encode("utf-8")
-
-        if self.ser is not None and self.ser.is_open:
-            logging.info(f"SendToArduinoSerial: {message}")
-            self.ser.write(byte_data)
-        else:
-            logging.info(f"SerialNotOpen - Simulating transmit: {message}")
-
-    def tick(self) -> None:
-        """
-        Periodic tick function to maintain connection.
-        """
-        self.sleep(0.1)
diff --git a/src/actions/move_serial_arduino/interface.py b/src/actions/move_serial_arduino/interface.py
deleted file mode 100644
index 899d345e87..0000000000
--- a/src/actions/move_serial_arduino/interface.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    BE_STILL = "be still"
-    JUMP_SMALL = "small jump"
-    JUMP_MEDIUM = "medium jump"
-    JUMP_BIG = "big jump"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    A movement to be performed by the agent.
-    Effect: Allows the agent to move.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_to_peer/connector/ros2.py b/src/actions/move_to_peer/connector/ros2.py
deleted file mode 100644
index 0ea2ee0785..0000000000
--- a/src/actions/move_to_peer/connector/ros2.py
+++ /dev/null
@@ -1,115 +0,0 @@
-import asyncio
-import logging
-import math
-
-from actions.base import ActionConfig, ActionConnector
-from providers.io_provider import IOProvider
-
-from ..interface import MoveToPeerAction, MoveToPeerInput
-
-
-class MoveToPeerRos2Connector(ActionConnector[ActionConfig, MoveToPeerInput]):
-    """ROS 2 connector that turns toward the closest peer first, then drives.
-
-    The algorithm:
-    1. Retrieve current latitude/longitude (self) and closest‑peer lat/lon from
-       IOProvider dynamic variables (populated by `GPSMagSerialReader`).
-    2. Retrieve current yaw (° clockwise from geographic North) if available.
-    3. Compute bearing from current position to peer (° clockwise from North).
-    4. Compute heading error = (bearing − yaw) ∈ (‑180°, +180°].
-    5. If the error is above a configurable tolerance (default ≈ 5 deg),
-       rotate in place until within tolerance.
-    6. Drive straight toward the peer until the separation < `STOP_DIST` m.
-
-    All velocities are commanded in the body frame using Unitree's SportClient.
-    """
-
-    MAX_ROT_SPEED = 0.2  # rad/s (≈ 11.4 deg/s)
-    FWD_SPEED = 0.4  # m/s forward once aligned
-    ANG_TOL_DEG = 5.0  # degrees, acceptable pointing error
-    STOP_DIST = 4.0  # metres to stop in front of peer
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the MoveToPeerRos2Connector.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-        self.io = IOProvider()
-        # defer heavy import; SportClient requires DDS initialisation
-        from unitree.unitree_sdk2py.go2.sport.sport_client import SportClient
-
-        self.sport_client = SportClient()
-        self.sport_client.SetTimeout(10.0)
-        self.sport_client.Init()
-
-    async def connect(self, output_interface: MoveToPeerInput) -> None:
-        """
-        Execute the *navigate‑to‑peer* behaviour once.
-
-        Parameters
-        ----------
-        output_interface : MoveToPeerInput
-            The input protocol containing the action details.
-        """
-        if output_interface.action == MoveToPeerAction.IDLE:
-            logging.info("MoveToPeer: idle, no movement commanded.")
-            return
-
-        lat0 = self.io.get_dynamic_variable("latitude")
-        lon0 = self.io.get_dynamic_variable("longitude")
-        lat1 = self.io.get_dynamic_variable("closest_peer_lat")
-        lon1 = self.io.get_dynamic_variable("closest_peer_lon")
-        yaw_var = self.io.get_dynamic_variable("yaw_deg")
-
-        if None in (lat0, lon0):
-            logging.info("MoveToPeer: own location not available, not moving.")
-            return
-        if None in (lat1, lon1):
-            logging.info("MoveToPeer: peer location not available, not moving.")
-            return
-
-        lat0, lon0, lat1, lon1 = map(float, (lat0, lon0, lat1, lon1))
-        yaw_deg = float(yaw_var) if yaw_var is not None else None
-
-        R = 6_371_000.0  # Earth radius (m)
-        dlat = math.radians(lat1 - lat0)
-        dlon = math.radians(lon1 - lon0)
-        x_east = dlon * math.cos(math.radians((lat0 + lat1) / 2)) * R  # +E
-        y_north = dlat * R  # +N
-        distance = math.hypot(x_east, y_north)
-
-        if distance < self.STOP_DIST:
-            logging.info(f"MoveToPeer: already near peer (d={distance:.1f} m < {self.STOP_DIST} m).")
-            return
-
-        bearing_deg = math.degrees(math.atan2(x_east, y_north)) % 360.0
-
-        if yaw_deg is None:
-            logging.info("MoveToPeer: yaw unknown → driving body‑frame vector instead.")
-            # project desired displacement into body frame *assuming* current
-            # body‑frame aligns with world‑frame (worst‑case, but still works).
-            norm = distance or 1.0
-            vx = (y_north / norm) * self.FWD_SPEED
-            vy = (x_east / norm) * self.FWD_SPEED
-            self.sport_client.Move(vx, vy, 0.0)
-            return
-
-        # heading error – positive → need CW rotation
-        heading_err = ((bearing_deg - yaw_deg + 180.0) % 360.0) - 180.0  # -> (‑180,180]
-        logging.info(f"MoveToPeer: bearing={bearing_deg:.1f}°, yaw={yaw_deg:.1f}°, error={heading_err:.1f}°")
-
-        if abs(heading_err) > self.ANG_TOL_DEG:
-            yaw_rate = math.copysign(self.MAX_ROT_SPEED, -heading_err)
-            logging.info(f"MoveToPeer: rotating in place at {yaw_rate:.2f} rad/s")
-            self.sport_client.Move(0.0, 0.0, yaw_rate)
-            # give the robot time to rotate a bit before this action returns
-            await asyncio.sleep(0.5)
-            return  # caller may schedule subsequent actions for refinement
-
-        logging.info(f"MoveToPeer: aligned → driving forward {self.FWD_SPEED} m/s")
-        self.sport_client.Move(self.FWD_SPEED, 0.0, 0.0)
diff --git a/src/actions/move_to_peer/interface.py b/src/actions/move_to_peer/interface.py
deleted file mode 100644
index 1f2577a978..0000000000
--- a/src/actions/move_to_peer/interface.py
+++ /dev/null
@@ -1,33 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MoveToPeerAction(str, Enum):
-    """
-    Enumeration of possible MoveToPeer actions.
-    """
-
-    IDLE = "idle"
-    NAVIGATE = "navigate"
-
-
-@dataclass
-class MoveToPeerInput:
-    """
-    Input interface for the MoveToPeer action.
-    """
-
-    action: MoveToPeerAction
-
-
-@dataclass
-class MoveToPeer(Interface[MoveToPeerInput, MoveToPeerInput]):
-    """
-    Instruct Unitree to move toward the nearest peer discovered,
-    or do nothing if idle.
-    """
-
-    input: MoveToPeerInput
-    output: MoveToPeerInput
diff --git a/src/actions/move_tron/connector/tron_sdk.py b/src/actions/move_tron/connector/tron_sdk.py
deleted file mode 100644
index 1bd596bcb8..0000000000
--- a/src/actions/move_tron/connector/tron_sdk.py
+++ /dev/null
@@ -1,81 +0,0 @@
-import json
-import logging
-from uuid import uuid4
-
-from om1_utils import ws
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move_go2_autonomy.interface import MoveInput
-
-
-class MoveTronSDKConfig(ActionConfig):
-    """
-    Configuration class for MoveTronSDKConnector.
-    """
-
-    base_url: str = Field(
-        default="ws://10.192.1.2:5000",
-        description="Base URL for the Tron SDK API",
-    )
-    accid: str = Field(description="Robot Serial Number")
-
-
-class MoveTronSDKConnector(ActionConnector[MoveTronSDKConfig, MoveInput]):
-    """
-    Connector for Move action using the Tron SDK.
-    """
-
-    def __init__(self, config: MoveTronSDKConfig):
-        """
-        Initialize the MoveTronSDK connector.
-
-        Parameters
-        ----------
-        config : MoveTronSDKConfig
-            Configuration object for the connector.
-        """
-        super().__init__(config)
-
-        self.client = ws.Client(self.config.base_url)
-        self.client.start()
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the Tron SDK and execute the move command.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The input protocol for the action.
-
-        Returns
-        -------
-        None
-            This connector does not return any output.
-        """
-        logging.info(f"Executing move command: {output_interface.action}")
-
-        x, y, z = 0.0, 0.0, 0.0
-        if output_interface.action == "move forwards":
-            x = 0.5
-        elif output_interface.action == "move back":
-            x = -0.5
-        elif output_interface.action == "turn left":
-            z = 0.5
-        elif output_interface.action == "turn right":
-            z = -0.5
-
-        if self.client.connected:
-            self.client.send_message(
-                json.dumps(
-                    {
-                        "accid": self.config.accid,
-                        "title": "request_twist",
-                        "guid": str(uuid4()),
-                        "data": {"x": x, "y": y, "z": z},
-                    }
-                )
-            )
-        else:
-            logging.error("Tron webSocket client is not connected.")
diff --git a/src/actions/move_tron/interface.py b/src/actions/move_tron/interface.py
deleted file mode 100644
index 925ce747b7..0000000000
--- a/src/actions/move_tron/interface.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    TURN_LEFT = "turn left"
-    TURN_RIGHT = "turn right"
-    MOVE_FORWARDS = "move forwards"
-    MOVE_BACK = "move back"
-    STAND_STILL = "stand still"
-    DO_NOTHING = "stand still"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    This action allows you to move. Important: pick only safe values.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_tron_autonomy/connector/limx_sdk.py b/src/actions/move_tron_autonomy/connector/limx_sdk.py
deleted file mode 100644
index 8dc41ea011..0000000000
--- a/src/actions/move_tron_autonomy/connector/limx_sdk.py
+++ /dev/null
@@ -1,436 +0,0 @@
-import logging
-import math
-import random
-from queue import Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector, MoveCommand
-from actions.move_tron_autonomy.interface import MoveInput
-from providers.simple_paths_provider import SimplePathsProvider
-from providers.tron_odom_provider import RobotState, TronOdomProvider
-from zenoh_msgs import geometry_msgs, open_zenoh_session
-
-
-class MoveTronZenohConfig(ActionConfig):
-    """
-    Configuration for Tron Zenoh connector.
-
-    Parameters
-    ----------
-    odom_topic : str
-        Zenoh topic for odometry data.
-    cmd_vel_topic : str
-        Zenoh topic for velocity commands.
-    """
-
-    odom_topic: str = Field(
-        default="odom",
-        description="Zenoh topic for odometry data.",
-    )
-    cmd_vel_topic: str = Field(
-        default="cmd_vel",
-        description="Zenoh topic for velocity commands.",
-    )
-
-
-class MoveTronZenohConnector(ActionConnector[MoveTronZenohConfig, MoveInput]):
-    """
-    Zenoh connector for the Move Tron autonomy action.
-    Uses Zenoh to publish cmd_vel commands and receive odom data from limx-sdk.
-    """
-
-    def __init__(self, config: MoveTronZenohConfig):
-        """
-        Initialize the Zenoh connector for Tron robot.
-
-        Parameters
-        ----------
-        config : MoveTronZenohConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        # Movement parameters
-        self.move_speed = 0.25
-        self.turn_speed = 0.35
-        self.angle_tolerance = 5.0  # degrees
-        self.distance_tolerance = 0.05  # meters
-        self.pending_movements: Queue[Optional[MoveCommand]] = Queue()
-        self.movement_attempts = 0
-        self.movement_attempt_limit = 15
-        self.gap_previous = 0
-
-        self.session = None
-
-        odom_topic = self.config.odom_topic
-        self.cmd_vel_topic = self.config.cmd_vel_topic
-
-        try:
-            self.session = open_zenoh_session()
-            logging.info(f"Tron Zenoh move client opened {self.session}")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client for Tron: {e}")
-
-        self.path_provider = SimplePathsProvider()
-        self.odom = TronOdomProvider(topic=odom_topic)
-
-        logging.info(f"Tron Autonomy Odom Provider: {self.odom}")
-        logging.info(f"Tron Autonomy cmd_vel topic: {self.cmd_vel_topic}")
-
-    def _move_robot(self, vx: float, vy: float, vyaw: float) -> None:
-        """
-        Generate movement commands via Zenoh cmd_vel topic.
-
-        Parameters
-        ----------
-        vx : float
-            Linear velocity in the x direction (m/s).
-        vy : float
-            Linear velocity in the y direction (m/s).
-        vyaw : float
-            Angular velocity around the z axis (rad/s).
-        """
-        logging.debug(f"move: vx={vx}, vy={vy}, vyaw={vyaw}")
-
-        if self.session is None:
-            logging.info("No open Zenoh session, returning")
-            return
-
-        if self.odom.position["body_attitude"] != RobotState.STANDING:
-            logging.info("Cannot move - robot is not standing")
-            return
-
-        logging.debug(f"Pub twist: vx={vx}, vy={vy}, vyaw={vyaw}")
-        t = geometry_msgs.Twist(
-            linear=geometry_msgs.Vector3(x=float(vx), y=float(vy), z=0.0),
-            angular=geometry_msgs.Vector3(x=0.0, y=0.0, z=float(vyaw)),
-        )
-        self.session.put(self.cmd_vel_topic, t.serialize())
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the output interface and process the AI movement command.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The output interface containing the AI movement command.
-        """
-        logging.info(f"Tron AI command.connect: {output_interface.action}")
-
-        if self.odom.position["moving"]:
-            logging.info("Disregard new AI movement command - robot is already moving")
-            return
-
-        if self.pending_movements.qsize() > 0:
-            logging.info("Movement in progress: disregarding new AI command")
-            return
-
-        if self.odom.position["odom_x"] == 0.0:
-            # this value is never precisely zero EXCEPT while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for location data")
-            return
-
-        # Process movement commands with lidar safety checks
-        movement_map = {
-            "turn left": self._process_turn_left,
-            "turn right": self._process_turn_right,
-            "move forwards": self._process_move_forward,
-            "move back": self._process_move_back,
-            "stand still": lambda: logging.info("AI movement command: stand still"),
-        }
-
-        handler = movement_map.get(output_interface.action)
-        if handler:
-            handler()
-        else:
-            logging.info(f"AI movement command unknown: {output_interface.action}")
-
-    def clean_abort(self) -> None:
-        """
-        Cleanly abort current movement and reset state.
-        """
-        self.movement_attempts = 0
-        if not self.pending_movements.empty():
-            self.pending_movements.get()
-
-    def tick(self) -> None:
-        """
-        Process the AI motion tick.
-        """
-        logging.debug("Tron AI Motion Tick")
-
-        if self.odom is None:
-            logging.info("Waiting for odom data = self.odom is None")
-            self.sleep(0.5)
-            return
-
-        if self.odom.position["odom_x"] == 0.0:
-            # this value is never precisely zero except while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for odom data, x == 0.0")
-            self.sleep(0.5)
-            return
-
-        if self.odom.position["body_attitude"] != RobotState.STANDING:
-            logging.info("Cannot move - robot is not standing")
-            self.sleep(0.5)
-            return
-
-        # if we got to this point, we have good data and we are able to
-        # safely proceed
-        target: List[MoveCommand] = list(self.pending_movements.queue)
-
-        if len(target) > 0:
-
-            current_target = target[0]
-
-            logging.info(f"Target: {current_target} current yaw: {self.odom.position['odom_yaw_m180_p180']}")
-
-            if self.movement_attempts > self.movement_attempt_limit:
-                # abort - we are not converging
-                self.clean_abort()
-                logging.info(f"TIMEOUT - not converging after {self.movement_attempt_limit} attempts - StopMove()")
-                return
-
-            goal_dx = current_target.dx
-            goal_yaw = current_target.yaw
-
-            # Phase 1: Turn to face the target direction
-            if not current_target.turn_complete:
-                gap = self._calculate_angle_gap(-1 * self.odom.position["odom_yaw_m180_p180"], goal_yaw)
-                logging.info(f"Phase 1 - Turning remaining GAP: {gap}DEG")
-
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 1 - Turn GAP delta: {progress}DEG")
-
-                if abs(gap) > 10.0:
-                    logging.debug("Phase 1 - Gap is big, using large displacements")
-                    self.movement_attempts += 1
-                    if not self._execute_turn(gap):
-                        self.clean_abort()
-                        return
-                elif abs(gap) > self.angle_tolerance and abs(gap) <= 10.0:
-                    logging.debug("Phase 1 - Gap is decreasing, using smaller steps")
-                    self.movement_attempts += 1
-                    # rotate only because we are so close
-                    # no need to check barriers because we are just performing small rotations
-                    if gap > 0:
-                        self._move_robot(0, 0, 0.2)
-                    elif gap < 0:
-                        self._move_robot(0, 0, -0.2)
-                elif abs(gap) <= self.angle_tolerance:
-                    logging.info("Phase 1 - Turn completed, starting movement")
-                    current_target.turn_complete = True
-                    self.gap_previous = 0
-
-            else:
-                # Phase 2: Move towards the target position, if needed
-                if goal_dx == 0:
-                    logging.info("No movement required, processing next AI command")
-                    self.clean_abort()
-                    return
-
-                s_x = current_target.start_x
-                s_y = current_target.start_y
-                speed = current_target.speed
-
-                distance_traveled = math.sqrt(
-                    (self.odom.position["odom_x"] - s_x) ** 2 + (self.odom.position["odom_y"] - s_y) ** 2
-                )
-                gap = round(abs(goal_dx - distance_traveled), 2)
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 2 - Forward/retreat GAP delta: {progress}m")
-
-                fb = 0
-                if goal_dx > 0:
-                    if 4 not in self.path_provider.advance:
-                        logging.warning("Cannot advance due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = 1
-
-                if goal_dx < 0:
-                    if not self.path_provider.retreat:
-                        logging.warning("Cannot retreat due to barrier")
-                        self.clean_abort()
-                        return
-                    fb = -1
-
-                if gap > self.distance_tolerance:
-                    self.movement_attempts += 1
-                    if distance_traveled < abs(goal_dx):
-                        logging.info(f"Phase 2 - Keep moving. Remaining: {gap}m ")
-                        self._move_robot(fb * speed, 0.0, 0.0)
-                    elif distance_traveled > abs(goal_dx):
-                        logging.debug(f"Phase 2 - OVERSHOOT: move other way. Remaining: {gap}m")
-                        self._move_robot(-1 * fb * 0.15, 0.0, 0.0)
-                else:
-                    logging.info("Phase 2 - Movement completed normally, processing next AI command")
-                    self.clean_abort()
-
-        self.sleep(0.1)
-
-    def _process_turn_left(self):
-        """
-        Process turn left command with safety check.
-        """
-        if not self.path_provider.turn_left:
-            logging.warning("Cannot turn left due to barrier")
-            return
-
-        path = random.choice(self.path_provider.turn_left)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_turn_right(self):
-        """
-        Process turn right command with safety check.
-        """
-        if not self.path_provider.turn_right:
-            logging.warning("Cannot turn right due to barrier")
-            return
-
-        path = random.choice(self.path_provider.turn_right)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=round(target_yaw, 2),
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=False,
-            )
-        )
-
-    def _process_move_forward(self):
-        """
-        Process move forward command with safety check.
-        """
-        if not self.path_provider.advance:
-            logging.warning("Cannot advance due to barrier")
-            return
-
-        path = random.choice(self.path_provider.advance)
-        path_angle = self.path_provider.path_angles[path]
-
-        target_yaw = self._normalize_angle(-1 * self.odom.position["odom_yaw_m180_p180"] + path_angle)
-        self.pending_movements.put(
-            MoveCommand(
-                dx=0.5,
-                yaw=target_yaw,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=True if path_angle == 0 else False,
-            )
-        )
-
-    def _process_move_back(self):
-        """
-        Process move back command with safety check.
-        """
-        if not self.path_provider.retreat:
-            logging.warning("Cannot retreat due to barrier")
-            return
-
-        self.pending_movements.put(
-            MoveCommand(
-                dx=-0.5,
-                yaw=0.0,
-                start_x=round(self.odom.position["odom_x"], 2),
-                start_y=round(self.odom.position["odom_y"], 2),
-                turn_complete=True,
-                speed=0.25,
-            )
-        )
-
-    def _normalize_angle(self, angle: float) -> float:
-        """
-        Normalize angle to [-180, 180] range.
-
-        Parameters
-        ----------
-        angle : float
-            Angle in degrees to normalize.
-
-        Returns
-        -------
-        float
-            Normalized angle in degrees within the range [-180, 180].
-        """
-        if angle < -180:
-            angle += 360.0
-        elif angle > 180:
-            angle -= 360.0
-        return angle
-
-    def _calculate_angle_gap(self, current: float, target: float) -> float:
-        """
-        Calculate shortest angular distance between two angles.
-
-        Parameters
-        ----------
-        current : float
-            Current angle in degrees.
-        target : float
-            Target angle in degrees.
-
-        Returns
-        -------
-        float
-            Shortest angular distance in degrees, rounded to 2 decimal places.
-        """
-        gap = current - target
-        if gap > 180.0:
-            gap -= 360.0
-        elif gap < -180.0:
-            gap += 360.0
-        return round(gap, 2)
-
-    def _execute_turn(self, gap: float) -> bool:
-        """
-        Execute turn based on gap direction and lidar constraints.
-
-        Parameters
-        ----------
-        gap : float
-            The angle gap in degrees to turn.
-
-        Returns
-        -------
-        bool
-            True if the turn was executed successfully, False if blocked by a barrier.
-        """
-        if gap > 0:  # Turn left
-            if not self.path_provider.turn_left:
-                logging.warning("Cannot turn left due to barrier")
-                return False
-            sharpness = min(self.path_provider.turn_left)
-            self._move_robot(sharpness * 0.15, 0, self.turn_speed)
-        else:  # Turn right
-            if not self.path_provider.turn_right:
-                logging.warning("Cannot turn right due to barrier")
-                return False
-            sharpness = 8 - max(self.path_provider.turn_right)
-            self._move_robot(sharpness * 0.15, 0, -self.turn_speed)
-        return True
diff --git a/src/actions/move_tron_autonomy/interface.py b/src/actions/move_tron_autonomy/interface.py
deleted file mode 100644
index 15907665f3..0000000000
--- a/src/actions/move_tron_autonomy/interface.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions for Tron robot.
-    """
-
-    TURN_LEFT = "turn left"
-    TURN_RIGHT = "turn right"
-    MOVE_FORWARDS = "move forwards"
-    MOVE_BACK = "move back"
-    STAND_STILL = "stand still"
-    DO_NOTHING = "stand still"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    This action allows you to move. Important: pick only safe values.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_turtle/connector/zenoh.py b/src/actions/move_turtle/connector/zenoh.py
deleted file mode 100644
index 03aeea158b..0000000000
--- a/src/actions/move_turtle/connector/zenoh.py
+++ /dev/null
@@ -1,424 +0,0 @@
-import logging
-import math
-import random
-from queue import Queue
-from typing import List, Optional
-
-import zenoh
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector, MoveCommand
-from actions.move_turtle.interface import MoveInput
-from providers.turtlebot4_odom_provider import TurtleBot4OdomProvider
-from providers.turtlebot4_rplidar_provider import TurtleBot4RPLidarProvider
-from zenoh_msgs import geometry_msgs, open_zenoh_session, sensor_msgs
-
-
-class MoveZenohConfig(ActionConfig):
-    """
-    Configuration for Zenoh connector.
-
-    Parameters
-    ----------
-    URID : Optional[str]
-        URID for Zenoh topics.
-    """
-
-    URID: Optional[str] = Field(
-        default=None,
-        description="URID for Zenoh topics.",
-    )
-
-
-class MoveZenohConnector(ActionConnector[MoveZenohConfig, MoveInput]):
-    """
-    Zenoh connector for the Move Turtlebot4 action.
-    """
-
-    def __init__(self, config: MoveZenohConfig):
-        """
-        Initialize the Zenoh connector.
-
-        Parameters
-        ----------
-        config : MoveZenohConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.turn_speed = 0.8
-        self.angle_tolerance = 5.0
-        self.distance_tolerance = 0.05  # m
-
-        self.pending_movements: Queue[Optional[MoveCommand]] = Queue()
-
-        self.hazard = None
-        self.emergency = None
-
-        self.session = None
-
-        URID = self.config.URID
-
-        if URID is None:
-            logging.warning("Aborting TurtleBot4 Move system, no URID provided")
-            return
-        else:
-            logging.info(f"TurtleBot4 Move system is using URID: {URID}")
-
-        self.cmd_vel = f"{URID}/c3/cmd_vel"
-
-        try:
-            self.session = open_zenoh_session()
-            logging.info(f"Zenoh move client opened {self.session}")
-            logging.info(f"TurtleBot4 hazard listener starting with URID: {URID}")
-            self.session.declare_subscriber(f"{URID}/c3/hazard_detection", self.listen_hazard)
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-
-        self.lidar = TurtleBot4RPLidarProvider()
-        self.odom = TurtleBot4OdomProvider(URID=URID)
-
-    def listen_hazard(self, data: zenoh.Sample) -> None:
-        """
-        Callback for Zenoh hazard detection messages.
-        This method is called when a hazard detection message is received.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample containing the hazard detection data.
-        """
-        self.hazard = sensor_msgs.HazardDetectionVector.deserialize(data.payload.to_bytes())
-        if self.hazard is not None and self.hazard.detections and len(self.hazard.detections) > 0:  # type: ignore
-            for haz in self.hazard.detections:  # type: ignore
-                if haz.type == 1:
-                    logging.info(f"Hazard Type:{haz.type} direction:{haz.header.frame_id}")
-                    if "right" in haz.header.frame_id:
-                        self.hazard = "TURN_LEFT"
-                    elif "left" in haz.header.frame_id:
-                        self.hazard = "TURN_RIGHT"
-                    elif "center" in haz.header.frame_id:
-                        if random.randint(1, 2) == 1:
-                            self.hazard = "TURN_LEFT"
-                        else:
-                            self.hazard = "TURN_RIGHT"
-                    logging.info(f"Hazard decision: {self.hazard}")
-
-    def move(self, vx: float, vyaw: float) -> None:
-        """
-        Generate movement commands.
-
-        Parameters
-        ----------
-        vx : float
-            Linear velocity in the x direction.
-        vyaw : float
-            Angular velocity around the z axis.
-        """
-        logging.debug(f"move: {vx} - {vyaw}")
-
-        if self.session is None:
-            logging.info("No open Zenoh session, returning")
-            return
-
-        logging.debug(f"Pub twist: {vx} - {vyaw}")
-        t = geometry_msgs.Twist(
-            linear=geometry_msgs.Vector3(x=float(vx), y=0.0, z=0.0),
-            angular=geometry_msgs.Vector3(x=0.0, y=0.0, z=float(vyaw)),
-        )
-        self.session.put(self.cmd_vel, t.serialize())
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the output interface and process the move action.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The output interface for the move action.
-        """
-        logging.info(f"AI motion command: {output_interface.action}")
-
-        if self.pending_movements.qsize() > 0:
-            logging.info("Movement in progress: disregarding new AI command")
-            return
-
-        if self.emergency:
-            logging.info("Avoiding barrier: disregarding new AI command")
-            return
-
-        if self.odom.x == 0.0:
-            # this value is never precisely zero EXCEPT while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for location data")
-            return
-
-        # reconfirm possible paths
-        # this is needed due to the 2s latency of the LLMs
-        possible_paths = self.lidar.valid_paths
-
-        advance_danger = True
-        retreat_danger = True
-
-        if possible_paths:
-            logging.info(f"Action - Valid paths: {possible_paths}")
-            if 4 in possible_paths:
-                advance_danger = False
-            if 9 in possible_paths:
-                retreat_danger = False
-
-        if output_interface.action == "turn left":
-            # turn 30 Deg to the left (CCW)
-            target_yaw = self.odom.odom_yaw_m180_p180 - 30.0
-            if target_yaw <= -180:
-                target_yaw += 360.0
-            self.pending_movements.put(MoveCommand(dx=0.0, yaw=target_yaw))
-        elif output_interface.action == "turn right":
-            # turn 30 Deg to the right (CW)
-            target_yaw = self.odom.odom_yaw_m180_p180 + 30.0
-            if target_yaw >= 180.0:
-                target_yaw -= 360.0
-            self.pending_movements.put(MoveCommand(dx=0.0, yaw=target_yaw))
-        elif output_interface.action == "move forwards":
-            if advance_danger:
-                return
-            self.pending_movements.put(
-                MoveCommand(
-                    dx=0.5,
-                    yaw=0.0,
-                    start_x=self.odom.x,
-                    start_y=self.odom.y,
-                )
-            )
-        elif output_interface.action == "move back":
-            if retreat_danger:
-                return
-            self.pending_movements.put(
-                MoveCommand(
-                    dx=-0.5,
-                    yaw=0.0,
-                    start_x=self.odom.x,
-                    start_y=self.odom.y,
-                )
-            )
-        elif output_interface.action == "stand still":
-            logging.info(f"AI movement command: {output_interface.action}")
-            # do nothing
-        else:
-            logging.info(f"AI movement command unknown: {output_interface.action}")
-
-    def _calculate_angle_gap(self, current: float, target: float) -> float:
-        """
-        Calculate shortest angular distance between two angles.
-
-        Parameters
-        ----------
-        current : float
-            Current angle in degrees.
-        target : float
-            Target angle in degrees.
-
-        Returns
-        -------
-        float
-            Shortest angular distance in degrees, rounded to 2 decimal places.
-        """
-        gap = current - target
-        if gap > 180.0:
-            gap -= 360.0
-        elif gap < -180.0:
-            gap += 360.0
-        return round(gap, 2)
-
-    def clean_abort(self) -> None:
-        """
-        Cleanly abort current movement and reset state.
-        """
-        self.movement_attempts = 0
-        if not self.pending_movements.empty():
-            self.pending_movements.get()
-
-    def tick(self) -> None:
-        """
-        Periodic tick to process movement commands.
-        """
-        self.sleep(0.1)
-
-        logging.debug("Move tick")
-
-        if self.odom.x == 0.0:
-            # this value is never precisely zero except while
-            # booting and waiting for data to arrive
-            logging.info("Waiting for odom data")
-            self.sleep(0.5)
-            return
-
-        # physical collision event ALWAYS takes precedence
-        if self.hazard is not None:
-            if self.hazard == "TURN_RIGHT":
-                target_yaw = self.odom.odom_yaw_m180_p180 + 100.0
-                if target_yaw >= 180.0:
-                    target_yaw -= 360.0
-                self.emergency = target_yaw
-            elif self.hazard == "TURN_LEFT":
-                target_yaw = self.odom.odom_yaw_m180_p180 - 100.0
-                if target_yaw <= -180:
-                    target_yaw += 360.0
-                self.emergency = target_yaw
-            else:
-                logging.error(f"Cannot parse self.hazard: {self.hazard}")
-
-            # clear the hazard flag
-            self.hazard = None
-            logging.info(f"Should have non-zero avoidance yaw: {self.emergency}")
-
-        if self.emergency:
-
-            # target = self.emergency
-            target = [MoveCommand(dx=0.0, yaw=self.emergency)]
-            logging.info(f"Emergency target: {target}")
-
-            gap = self.odom.odom_yaw_m180_p180 - target[0].yaw
-            if gap > 180.0:
-                gap -= 360.0
-            elif gap < -180.0:
-                gap += 360.0
-
-            """
-            gap is a SIGNED value indicating:
-                * the direction to turn to get to goal, and
-                * the magnitude remaining to turn
-
-            a mathematically equivalent way to do this is
-
-            a = targetA - sourceA
-            a = (a + 180) % 360 - 180
-            where mod = (a, n) -> a - floor(a/n) * n
-            """
-            logging.info(f"GAP: {gap}")
-            if abs(gap) > 10.0:
-                logging.debug("gap is big, using large displacements")
-                if gap > 0:
-                    self.move(0.0, 0.3)
-                elif gap < 0:
-                    self.move(0.0, -0.3)
-            elif abs(gap) > self.angle_tolerance and abs(gap) <= 10.0:
-                logging.debug("gap is getting smaller, using smaller steps")
-                if gap > 0:
-                    self.move(0.0, 0.1)
-                elif gap < 0:
-                    self.move(0.0, -0.1)
-            elif abs(gap) <= self.angle_tolerance:
-                logging.info("avoidance motion completed, clear emergency")
-                self.emergency = None
-
-            # when there is a hazard, focus on clearing it
-            return
-
-        # if we got to this point, we have good data and there is hard wall
-        # touch emergency
-
-        target: List[MoveCommand] = list(self.pending_movements.queue)
-
-        if len(target) > 0:
-
-            current_target = target[0]
-
-            logging.debug(f"Target: {current_target} current yaw: {self.odom.odom_yaw_m180_p180}")
-
-            goal_dx = current_target.dx
-            goal_yaw = current_target.yaw
-
-            if not current_target.turn_complete:
-                gap = self._calculate_angle_gap(-1 * self.odom.position["odom_yaw_m180_p180"], goal_yaw)
-                logging.info(f"Phase 1 - Turning remaining GAP: {gap}DEG")
-
-                progress = round(abs(self.gap_previous - gap), 2)
-                self.gap_previous = gap
-                if self.movement_attempts > 0:
-                    logging.info(f"Phase 1 - Turn GAP delta: {progress}DEG")
-
-                if abs(gap) > 10.0:
-                    logging.debug("Phase 1 - Gap is big, using large displacements")
-                    self.movement_attempts += 1
-                    if not self._execute_turn(gap):
-                        self.clean_abort()
-                        return
-                elif abs(gap) > self.angle_tolerance and abs(gap) <= 10.0:
-                    logging.debug("Phase 1 - Gap is decreasing, using smaller steps")
-                    self.movement_attempts += 1
-                    # rotate only because we are so close
-                    # no need to check barriers because we are just performing small rotations
-                    if gap > 0:
-                        self.move(0, 0.2)
-                    elif gap < 0:
-                        self.move(0, -0.2)
-                elif abs(gap) <= self.angle_tolerance:
-                    logging.info("Phase 1 - Turn completed, starting movement")
-                    current_target.turn_complete = True
-                    self.gap_previous = 0
-            else:
-                if goal_dx == 0:
-                    logging.info("No movement required, processing next AI command")
-                    self.clean_abort()
-                    return
-
-                # reconfirm possible paths
-                pp = self.lidar.valid_paths
-
-                logging.debug(f"Action - Valid paths: {pp}")
-
-                s_x = current_target.start_x
-                s_y = current_target.start_y
-                distance_traveled = math.sqrt((self.odom.x - s_x) ** 2 + (self.odom.y - s_y) ** 2)
-                remaining = abs(goal_dx - distance_traveled)
-                logging.info(f"remaining advance GAP: {round(remaining,2)}")
-
-                fb = 0
-                if pp is not None and 4 in pp:
-                    fb = 1
-                elif pp is not None and 9 in pp:
-                    fb = -1
-                else:
-                    logging.info("danger, pop 1 off queue")
-                    self.pending_movements.get()
-                    return
-
-                if remaining > self.distance_tolerance:
-                    if distance_traveled < goal_dx:  # keep advancing
-                        logging.debug(f"keep moving. remaining:{remaining} ")
-                        self.move(fb * 0.4, 0.0)
-                    elif distance_traveled > goal_dx:  # you moved too far
-                        logging.debug(f"OVERSHOOT: move other way. remaining:{remaining} ")
-                        self.move(-1 * fb * 0.1, 0.0)
-                else:
-                    logging.info("advance is completed, gap is small enough, done, pop 1 off queue")
-                    self.pending_movements.get()
-
-    def _execute_turn(self, gap: float) -> bool:
-        """
-        Execute turn based on gap direction and lidar constraints.
-
-        Parameters
-        ----------
-        gap : float
-            The angle gap in degrees to turn.
-
-        Returns
-        -------
-        bool
-            True if the turn was executed successfully, False if blocked by a barrier.
-        """
-        if gap > 0:  # Turn left
-            if not self.lidar.turn_left:
-                logging.warning("Cannot turn left due to barrier")
-                return False
-            sharpness = min(self.lidar.turn_left)
-            self.move(sharpness * 0.15, self.turn_speed)
-        else:  # Turn right
-            if not self.lidar.turn_right:
-                logging.warning("Cannot turn right due to barrier")
-                return False
-            sharpness = 8 - max(self.lidar.turn_right)
-            self.move(sharpness * 0.15, -self.turn_speed)
-        return True
diff --git a/src/actions/move_turtle/connector/zenoh_remote.py b/src/actions/move_turtle/connector/zenoh_remote.py
deleted file mode 100644
index 4d929cc6da..0000000000
--- a/src/actions/move_turtle/connector/zenoh_remote.py
+++ /dev/null
@@ -1,104 +0,0 @@
-import json
-import logging
-import time
-from typing import Optional
-
-from om1_utils import ws
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move_turtle.interface import MoveInput
-from providers import CommandStatus
-from zenoh_msgs import geometry_msgs, open_zenoh_session
-
-
-class MoveZenohRemoteConfig(ActionConfig):
-    """
-    Configuration for Zenoh remote connector.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        OM API key.
-    URID : Optional[str]
-        URID for Zenoh topics.
-    """
-
-    api_key: Optional[str] = Field(
-        default=None,
-        description="OM API key",
-    )
-    URID: Optional[str] = Field(
-        default=None,
-        description="URID for Zenoh topics",
-    )
-
-
-class MoveZenohRemoteConnector(ActionConnector[MoveZenohRemoteConfig, MoveInput]):
-    """
-    Zenoh remote connector for the Move TurtleBot4 remotely action.
-    """
-
-    def __init__(self, config: MoveZenohRemoteConfig):
-        """
-        Initialize the Zenoh remote connector.
-
-        Parameters
-        ----------
-        config : MoveZenohRemoteConfig
-            The configuration for the action connector.
-        """
-        super().__init__(config)
-
-        api_key = self.config.api_key
-        URID = self.config.URID
-        self.cmd_vel = f"{URID}/c3/cmd_vel"
-
-        self.session = None
-        try:
-            self.session = open_zenoh_session()
-            logging.info("Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-
-        self.ws_client = ws.Client(url=f"wss://api.openmind.com/api/core/teleops/action?api_key={api_key}")
-        self.ws_client.start()
-        self.ws_client.register_message_callback(self._on_message)
-
-    def _on_message(self, message: str) -> None:
-        """
-        Callback function to handle incoming messages.
-
-        Parameters
-        ----------
-        message : str
-            The incoming message.
-        """
-        if self.session is None:
-            logging.info("No open Zenoh session, returning")
-            return
-
-        try:
-            command_status = CommandStatus.from_dict(json.loads(message))
-            t = geometry_msgs.Twist(
-                linear=geometry_msgs.Vector3(x=float(command_status.vx), y=0.0, z=0.0),
-                angular=geometry_msgs.Vector3(x=0.0, y=0.0, z=float(command_status.vyaw)),
-            )
-            self.session.put(self.cmd_vel, t.serialize())
-            logging.info(
-                f"Published command: {command_status.to_dict()} - latency: {(time.time() - float(command_status.timestamp)):.3f} seconds"
-            )
-        except Exception as e:
-            logging.error(f"Error processing message: {e}")
-            return
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Connect to the output interface and publish the command.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The output interface for the action.
-        """
-        pass
diff --git a/src/actions/move_turtle/interface.py b/src/actions/move_turtle/interface.py
deleted file mode 100644
index d0c3fb81ad..0000000000
--- a/src/actions/move_turtle/interface.py
+++ /dev/null
@@ -1,34 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    TURN_LEFT = "turn left"
-    TURN_RIGHT = "turn right"
-    MOVE_FORWARDS = "move forwards"
-    STAND_STILL = "stand still"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    This action allows you to move. Important: pick only safe values.
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/move_ub/connector/yanshee_motion.py b/src/actions/move_ub/connector/yanshee_motion.py
deleted file mode 100644
index 8949d854bc..0000000000
--- a/src/actions/move_ub/connector/yanshee_motion.py
+++ /dev/null
@@ -1,307 +0,0 @@
-import concurrent.futures
-import logging
-import threading
-from dataclasses import asdict, dataclass, field
-from typing import Optional
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.move_ub.interface import MoveInput
-from ubtech.ubtechapi import YanAPI
-
-
-@dataclass
-class Motion:
-    """
-    Represents a motion command for the UBTECH Yanshee robot.
-    """
-
-    name: str
-    direction: Optional[str] = field(default=None)
-    speed: Optional[str] = field(default=None)
-    repeat: Optional[int] = field(default=None)
-    version: Optional[str] = field(default=None)
-
-    # map name → defaults
-    _defaults = {
-        "reset": {"direction": "", "speed": "normal", "repeat": 1, "version": "v1"},
-        "wave": {"direction": "both", "speed": "normal", "repeat": 1, "version": "v1"},
-        "bow": {"direction": "", "speed": "normal", "repeat": 1, "version": "v1"},
-        "crouch": {"direction": "", "speed": "normal", "repeat": 1, "version": "v1"},
-        "come on": {"direction": "", "speed": "normal", "repeat": 1, "version": "v1"},
-        "walk": {
-            "direction": "forward",
-            "speed": "normal",
-            "repeat": 1,
-            "version": "v1",
-        },
-        "head": {
-            "direction": "forward",
-            "speed": "normal",
-            "repeat": 1,
-            "version": "v1",
-        },
-        "turn around": {
-            "direction": "left",
-            "speed": "normal",
-            "repeat": 1,
-            "version": "v1",
-        },
-        "WakaWaka": {
-            "direction": "both",
-            "speed": "normal",
-            "repeat": 1,
-            "version": "v1",
-        },
-        "Hug": {"direction": "", "speed": "normal", "repeat": 1, "version": "v1"},
-        "RaiseRightHand": {
-            "direction": "",
-            "speed": "normal",
-            "repeat": 1,
-            "version": "v1",
-        },
-        "PushUp": {
-            "direction": "",
-            "speed": "normal",
-            "repeat": 1,
-            "version": "v1",
-        },
-    }
-
-    def __post_init__(self):
-        """
-        Set default values for optional fields based on the motion name.
-        """
-        defaults = self._defaults.get(self.name)
-        if defaults is None:
-            raise ValueError(f"Unknown motion name {self.name!r}")
-        for field_name, default_val in defaults.items():
-            if getattr(self, field_name) is None:
-                setattr(self, field_name, default_val)
-
-
-class MoveYansheeConfig(ActionConfig):
-    """
-    Configuration for Yanshee motion connector.
-
-    Parameters
-    ----------
-    robot_ip : str
-        IP address of the Yanshee robot.
-    """
-
-    robot_ip: str = Field(
-        default="127.0.0.1",
-        description="IP address of the Yanshee robot.",
-    )
-
-
-class MoveYansheeConnector(ActionConnector[MoveYansheeConfig, MoveInput]):
-    """
-    Connector that sends move commands to a Yanshee robot using the UBTECH YanAPI.
-    """
-
-    def __init__(self, config: MoveYansheeConfig):
-        """
-        Initializes the connector with the given configuration.
-
-        Parameters
-        ----------
-        config : MoveYansheeConfig
-            Configuration for the Yanshee motion connector.
-        """
-        super().__init__(config)
-
-        self.joysticks = []
-
-        self.vendor_id = ""
-        self.product_id = ""
-        self.button_previous = None
-        self.d_pad_previous = None
-        self.rt_previous = 0
-        self.lt_previous = 0
-        self.gamepad = None
-
-        self.move_speed = 0.7
-        self.turn_speed = 0.6
-        self.timeout = 8.0
-
-        try:
-            robot_ip = self.config.robot_ip
-            YanAPI.yan_api_init(robot_ip)
-        except Exception as e:
-            logging.error(f"Error performing init: {e}")
-
-        try:
-            self._send_command(Motion("reset"))
-            self._send_command(Motion("wave"))
-            logging.info("Robot starting up")
-        except Exception as e:
-            logging.error(f"Error starting: {e}")
-
-        self.thread_lock = threading.Lock()
-
-    def _send_command(self, motion: Motion):
-        """
-        Send a motion command to the UBTECH robot.
-
-        Parameters
-        ----------
-        motion : Motion
-            The motion command to send.
-        """
-        try:
-            with concurrent.futures.ThreadPoolExecutor(max_workers=1) as executor:
-                future = executor.submit(YanAPI.sync_play_motion, **asdict(motion))
-                result = future.result(timeout=self.timeout)
-            logging.info("Sent Command %r", asdict(motion))
-            if motion.name != "reset":
-                return self._send_command(Motion("reset"))
-            else:
-                return result
-
-        except concurrent.futures.TimeoutError:
-            logging.error(
-                "Timeout when sending command %r (>%s seconds)",
-                asdict(motion),
-                self.timeout,
-            )
-            return False
-
-        except ValueError as err:
-            logging.error("Play motion parameter error for %r: %s", asdict(motion), err)
-            return False
-
-        except Exception as err:
-            logging.error("Unexpected error sending command %r: %s", asdict(motion), err)
-            return False
-
-    def _execute_command_thread(self, motion: Motion) -> None:
-        """
-        Execute a motion command in a separate thread.
-
-        Parameters
-        ----------
-        motion : Motion
-            The motion command to execute.
-        """
-        try:
-            self._send_command(motion)
-
-            logging.info(f"UB command {motion.name} executed")
-
-        except Exception as e:
-            logging.error(f"Error in command thread {motion.name}: {e}")
-        finally:
-            self.thread_lock.release()
-
-    def _execute_sport_command_sync(self, motion: Motion) -> None:
-        """
-        Execute a sport motion command synchronously.
-
-        Parameters
-        ----------
-        motion : Motion
-            The motion command to execute.
-        """
-        if not self.thread_lock.acquire(blocking=False):
-            logging.info("Action already in progress, skipping")
-            return
-
-        try:
-            thread = threading.Thread(target=self._execute_command_thread, args=(motion,), daemon=True)
-            thread.start()
-        except Exception as e:
-            logging.error(f"Error executing UB command {motion.name}: {e}")
-            self.thread_lock.release()
-
-    async def _execute_sport_command(self, motion: Motion) -> None:
-        """
-        Execute a sport motion command asynchronously.
-
-        Parameters
-        ----------
-        motion : Motion
-            The motion command to execute.
-        """
-        if not self.thread_lock.acquire(blocking=False):
-            logging.info("Action already in progress, skipping")
-            return
-
-        try:
-            thread = threading.Thread(target=self._execute_command_thread, args=(motion,), daemon=True)
-            thread.start()
-        except Exception as e:
-            logging.error(f"Error executing UB command {motion.name}: {e}")
-            self.thread_lock.release()
-
-    async def connect(self, output_interface: MoveInput) -> None:
-        """
-        Process a move action by sending commands to the UBTECH robot.
-
-        Parameters
-        ----------
-        output_interface : MoveInput
-            The MoveInput interface containing the move action.
-        """
-        if output_interface.action == "wave":
-            logging.info("UB command: wave")
-            await self._execute_sport_command(Motion("wave"))
-        elif output_interface.action == "walk forward":
-            logging.info("UB command: walk forward")
-            await self._execute_sport_command(Motion("walk", direction="forward", repeat=2))
-        elif output_interface.action == "walk backward":
-            logging.info("UB command: walk backward")
-            await self._execute_sport_command(Motion("walk", direction="backward", repeat=2))
-        elif output_interface.action == "walk left":
-            logging.info("UB command: walk left")
-            await self._execute_sport_command(Motion("walk", direction="left", repeat=2))
-        elif output_interface.action == "walk right":
-            logging.info("UB command: walk right")
-            await self._execute_sport_command(Motion("walk", direction="right", repeat=2))
-        elif output_interface.action == "turn left":
-            logging.info("UB command: turn left")
-            await self._execute_sport_command(Motion("turn around", direction="left"))
-        elif output_interface.action == "turn right":
-            logging.info("UB command: turn right")
-            await self._execute_sport_command(Motion("turn around", direction="right"))
-        elif output_interface.action == "look left":
-            logging.info("UB command: look left")
-            await self._execute_sport_command(Motion("head", direction="left"))
-        elif output_interface.action == "look right":
-            logging.info("UB command: look right")
-            await self._execute_sport_command(Motion("head", direction="right"))
-        elif output_interface.action == "bow":
-            logging.info("UB command: bow")
-            await self._execute_sport_command(Motion("bow"))
-        elif output_interface.action == "crouch":
-            logging.info("UB command: crouch")
-            await self._execute_sport_command(Motion("crouch"))
-        elif output_interface.action == "come on":
-            logging.info("UB command: come on")
-            await self._execute_sport_command(Motion("come on"))
-        elif output_interface.action == "WakaWaka":
-            logging.info("UB command: waka waka")
-            await self._execute_sport_command(Motion("WakaWaka"))
-        elif output_interface.action == "Hug":
-            logging.info("UB command: hug")
-            await self._execute_sport_command(Motion("Hug"))
-        elif output_interface.action == "RaiseRightHand":
-            logging.info("UB command: raise right hand")
-            await self._execute_sport_command(Motion("RaiseRightHand"))
-        elif output_interface.action == "PushUp":
-            logging.info("UB command: push up")
-            await self._execute_sport_command(Motion("PushUp"))
-        elif output_interface.action == "reset":
-            logging.info("UB command: stand still")
-        else:
-            logging.info(f"Unknown move type: {output_interface.action}")
-
-        logging.info(f"SendThisToUB: {output_interface.action}")
-
-    def tick(self) -> None:
-        """
-        Periodic tick function to maintain connection.
-        """
-        self.sleep(0.1)
diff --git a/src/actions/move_ub/interface.py b/src/actions/move_ub/interface.py
deleted file mode 100644
index edf238871a..0000000000
--- a/src/actions/move_ub/interface.py
+++ /dev/null
@@ -1,68 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class MovementAction(str, Enum):
-    """
-    Enumeration of possible movement actions.
-    """
-
-    WAVE = "wave"
-    BOW = "bow"
-    CROUCH = "crouch"
-    COME = "come on"
-    STAND_STILL = "reset"
-    DO_NOTHING = "reset"
-    WALK_FORWARD = "walk forward"
-    WALK_BACKWARD = "walk backward"
-    TURN_LEFT = "turn left"
-    TURN_RIGHT = "turn right"
-    LOOK_LEFT = "look left"
-    LOOK_RIGHT = "look right"
-    WALK_LEFT = "walk left"
-    WALK_RIGHT = "walk right"
-    WAKAWAKA = "WakaWaka"
-    HUG = "Hug"
-    RAISE_RIGHT_HAND = "RaiseRightHand"
-    PUSH_UP = "PushUp"
-
-
-@dataclass
-class MoveInput:
-    """
-    Input interface for the Move action.
-
-    Parameters
-    ----------
-    action : MovementAction
-        The movement action to be performed by the agent. Must be one of the
-        predefined movement actions in the MovementAction enumeration.
-    """
-
-    action: MovementAction
-
-
-@dataclass
-class Move(Interface[MoveInput, MoveInput]):
-    """
-    Movement action interface for Ubtech robots.
-
-    This action allows the agent to perform various movement actions including
-    gestures (wave, bow, hug), directional movements (walk forward/backward,
-    turn left/right), and special actions (push-up, raise hand).
-
-    The action supports both static poses (STAND_STILL, CROUCH) and dynamic
-    movements (WALK_FORWARD, TURN_LEFT) for comprehensive robot control.
-
-    Parameters
-    ----------
-    input : MoveInput
-        The input containing the movement action to execute.
-    output : MoveInput
-        The output mirroring the input action (passthrough interface).
-    """
-
-    input: MoveInput
-    output: MoveInput
diff --git a/src/actions/navigate_location/connector/unitree_g1_nav.py b/src/actions/navigate_location/connector/unitree_g1_nav.py
deleted file mode 100644
index bcd036aff4..0000000000
--- a/src/actions/navigate_location/connector/unitree_g1_nav.py
+++ /dev/null
@@ -1,128 +0,0 @@
-import asyncio
-import logging
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.navigate_location.interface import NavigateLocationInput
-from providers.io_provider import IOProvider
-from providers.unitree_g1_locations_provider import UnitreeG1LocationsProvider
-from providers.unitree_g1_navigation_provider import UnitreeG1NavigationProvider
-from zenoh_msgs import Header, Point, Pose, PoseStamped, Quaternion, Time
-
-
-class UnitreeG1NavConfig(ActionConfig):
-    """
-    Configuration for Unitree G1 Navigation connector.
-
-    Parameters
-    ----------
-    base_url : str
-        The base URL for the locations API.
-    timeout : int
-        Timeout for the HTTP requests in seconds.
-    refresh_interval : int
-        Interval to refresh the locations list in seconds.
-    """
-
-    base_url: str = Field(
-        default="http://localhost:5000/maps/locations/list",
-        description="The base URL for the locations API.",
-    )
-    timeout: int = Field(
-        default=5,
-        description="Timeout for the HTTP requests in seconds.",
-    )
-    refresh_interval: int = Field(
-        default=30,
-        description="Interval to refresh the locations list in seconds.",
-    )
-
-
-class UnitreeG1NavConnector(ActionConnector[UnitreeG1NavConfig, NavigateLocationInput]):
-    """
-    Navigation/location connector for Unitree G1 robots.
-    """
-
-    def __init__(self, config: UnitreeG1NavConfig):
-        """
-        Initialize the UnitreeG1NavConnector.
-
-        Parameters
-        ----------
-        config : UnitreeG1NavConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-        timeout = self.config.timeout
-        refresh_interval = self.config.refresh_interval
-
-        self.location_provider = UnitreeG1LocationsProvider(base_url, timeout, refresh_interval)
-        self.navigation_provider = UnitreeG1NavigationProvider()
-        self.io_provider = IOProvider()
-
-        logging.info("[NavG1Connector] Using UnitreeG1 providers for locations and navigation.")
-
-    async def connect(self, output_interface: NavigateLocationInput) -> None:
-        """
-        Connect the input protocol to the navigate location action for G1.
-
-        Parameters
-        ----------
-        output_interface : NavigateLocationInput
-            The input protocol containing the action details.
-        """
-        label = output_interface.action.lower().strip()
-        for prefix in [
-            "go to the ",
-            "go to ",
-            "navigate to the ",
-            "navigate to ",
-            "move to the ",
-            "move to ",
-            "take me to the ",
-            "take me to ",
-        ]:
-            if label.startswith(prefix):
-                label = label[len(prefix) :].strip()
-                logging.info(f"Cleaned location label: removed '{prefix}' prefix -> '{label}'")
-                break
-
-        loc = self.location_provider.get_location(label)
-        if loc is None:
-            locations = self.location_provider.get_all_locations()
-            locations_list = ", ".join(str(v.get("name") if isinstance(v, dict) else k) for k, v in locations.items())
-            msg = (
-                f"Location '{label}' not found. Available: {locations_list}"
-                if locations_list
-                else f"Location '{label}' not found. No locations available."
-            )
-            logging.warning(msg)
-            return
-
-        pose = loc.get("pose") or {}
-        position = pose.get("position", {})
-        orientation = pose.get("orientation", {})
-        now = Time(sec=int(asyncio.get_event_loop().time()), nanosec=0)
-        header = Header(stamp=now, frame_id="map")
-        position_msg = Point(
-            x=float(position.get("x", 0.0)),
-            y=float(position.get("y", 0.0)),
-            z=float(position.get("z", 0.0)),
-        )
-        orientation_msg = Quaternion(
-            x=float(orientation.get("x", 0.0)),
-            y=float(orientation.get("y", 0.0)),
-            z=float(orientation.get("z", 0.0)),
-            w=float(orientation.get("w", 1.0)),
-        )
-        pose_msg = Pose(position=position_msg, orientation=orientation_msg)
-        goal_pose = PoseStamped(header=header, pose=pose_msg)
-
-        try:
-            self.navigation_provider.publish_goal_pose(goal_pose, label)
-            logging.info(f"Navigation to '{label}' initiated")
-        except Exception as e:
-            logging.error(f"Error querying location list or publishing goal: {e}")
diff --git a/src/actions/navigate_location/connector/unitree_go2_nav.py b/src/actions/navigate_location/connector/unitree_go2_nav.py
deleted file mode 100644
index b126ec0d08..0000000000
--- a/src/actions/navigate_location/connector/unitree_go2_nav.py
+++ /dev/null
@@ -1,132 +0,0 @@
-import asyncio
-import logging
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.navigate_location.interface import NavigateLocationInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_locations_provider import UnitreeGo2LocationsProvider
-from providers.unitree_go2_navigation_provider import UnitreeGo2NavigationProvider
-from zenoh_msgs import Header, Point, Pose, PoseStamped, Quaternion, Time
-
-
-class UnitreeGo2NavConfig(ActionConfig):
-    """
-    Configuration for Unitree Go2 Navigation connector.
-
-    Parameters
-    ----------
-    base_url : str
-        The base URL for the locations API.
-    timeout : int
-        Timeout for the HTTP requests in seconds.
-    refresh_interval : int
-        Interval to refresh the locations list in seconds.
-    """
-
-    base_url: str = Field(
-        default="http://localhost:5000/maps/locations/list",
-        description="The base URL for the locations API.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-    timeout: int = Field(
-        default=5,
-        description="Timeout for the HTTP requests in seconds.",
-    )
-    refresh_interval: int = Field(
-        default=30,
-        description="Interval to refresh the locations list in seconds.",
-    )
-
-
-class UnitreeGo2NavConnector(ActionConnector[UnitreeGo2NavConfig, NavigateLocationInput]):
-    """
-    Navigation/location connector for Unitree Go2 robots.
-    """
-
-    def __init__(self, config: UnitreeGo2NavConfig):
-        """
-        Initialize the UnitreeGo2NavConnector.
-
-        Parameters
-        ----------
-        config : UnitreeGo2NavConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-        api_key = self.config.api_key
-        timeout = self.config.timeout
-        refresh_interval = self.config.refresh_interval
-
-        self.location_provider = UnitreeGo2LocationsProvider(base_url, api_key, timeout, refresh_interval)
-        self.navigation_provider = UnitreeGo2NavigationProvider()
-        self.io_provider = IOProvider()
-        logging.info("[NavGo2Connector] Using UnitreeGo2 providers for locations and navigation.")
-
-    async def connect(self, output_interface: NavigateLocationInput) -> None:
-        """
-        Connect the input protocol to the navigate location action for Go2.
-
-        Parameters
-        ----------
-        output_interface : NavigateLocationInput
-            The input protocol containing the action details.
-        """
-        label = output_interface.action.lower().strip()
-        for prefix in [
-            "go to the ",
-            "go to ",
-            "navigate to the ",
-            "navigate to ",
-            "move to the ",
-            "move to ",
-            "take me to the ",
-            "take me to ",
-        ]:
-            if label.startswith(prefix):
-                label = label[len(prefix) :].strip()
-                logging.info(f"Cleaned location label: removed '{prefix}' prefix -> '{label}'")
-                break
-
-        loc = self.location_provider.get_location(label)
-        if loc is None:
-            locations = self.location_provider.get_all_locations()
-            locations_list = ", ".join(str(v.get("name") if isinstance(v, dict) else k) for k, v in locations.items())
-            msg = (
-                f"Location '{label}' not found. Available: {locations_list}"
-                if locations_list
-                else f"Location '{label}' not found. No locations available."
-            )
-            logging.warning(msg)
-            return
-
-        pose = loc.get("pose") or {}
-        position = pose.get("position", {})
-        orientation = pose.get("orientation", {})
-        now = Time(sec=int(asyncio.get_event_loop().time()), nanosec=0)
-        header = Header(stamp=now, frame_id="map")
-        position_msg = Point(
-            x=float(position.get("x", 0.0)),
-            y=float(position.get("y", 0.0)),
-            z=float(position.get("z", 0.0)),
-        )
-        orientation_msg = Quaternion(
-            x=float(orientation.get("x", 0.0)),
-            y=float(orientation.get("y", 0.0)),
-            z=float(orientation.get("z", 0.0)),
-            w=float(orientation.get("w", 1.0)),
-        )
-        pose_msg = Pose(position=position_msg, orientation=orientation_msg)
-        goal_pose = PoseStamped(header=header, pose=pose_msg)
-
-        try:
-            self.navigation_provider.publish_goal_pose(goal_pose, label)
-            logging.info(f"Navigation to '{label}' initiated")
-        except Exception as e:
-            logging.error(f"Error querying location list or publishing goal: {e}")
diff --git a/src/actions/navigate_location/interface.py b/src/actions/navigate_location/interface.py
deleted file mode 100644
index 519c694ddb..0000000000
--- a/src/actions/navigate_location/interface.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class NavigateLocationInput:
-    """
-    Input payload for navigating to a stored location.
-
-    CRITICAL: The 'action' field must contain ONLY the location name from the saved locations list.
-    DO NOT include phrases like "go to", "navigate to", "move to", etc.
-
-    Examples (assuming saved locations are: kitchen, sofa, table):
-    - User says: "Go to the kitchen" → action = "kitchen"
-    - User says: "Navigate to sofa" → action = "sofa"
-    - User says: "Take me to the table" → action = "table"
-    - User says: "Move to kitchen" → action = "kitchen"
-
-    The action value must EXACTLY match one of the saved location names.
-    """
-
-    action: str
-
-
-@dataclass
-class NavigateLocation(Interface[NavigateLocationInput, NavigateLocationInput]):
-    """
-    Navigate to a saved location by name.
-
-    Use ONLY the location name (like "kitchen", "sofa", "table") in the action field.
-    Extract the location name from the user's command and use it directly.
-    Do NOT include command phrases like "go to" or "navigate to".
-    """
-
-    input: NavigateLocationInput
-    output: NavigateLocationInput
diff --git a/src/actions/orchestrator.py b/src/actions/orchestrator.py
deleted file mode 100644
index ffb86f1009..0000000000
--- a/src/actions/orchestrator.py
+++ /dev/null
@@ -1,379 +0,0 @@
-import asyncio
-import json
-import logging
-import threading
-import typing as T
-from concurrent.futures import ThreadPoolExecutor
-
-from actions.base import AgentAction
-from llm.output_model import Action
-from runtime.config import RuntimeConfig
-
-
-class ActionOrchestrator:
-    """
-    Manages data flow for the actions.
-
-    Supports three execution modes:
-    - concurrent: All actions execute simultaneously (default)
-    - sequential: Actions execute one after another in order
-    - dependencies: Actions wait for their dependencies to complete before executing
-
-    Note: It is very important that the actions do not block the event loop.
-    """
-
-    promise_queue: T.List[asyncio.Task[T.Any]]
-    _config: RuntimeConfig
-    _connector_workers: int
-    _connector_executor: ThreadPoolExecutor
-    _action_instances: T.List[AgentAction]
-    _stop_event: threading.Event
-    _execution_mode: str
-    _action_dependencies: T.Dict[str, T.List[str]]
-    _completed_actions: T.Dict[str, asyncio.Event]
-
-    def __init__(self, config: RuntimeConfig):
-        """
-        Initialize the ActionOrchestrator with runtime configuration.
-
-        Parameters
-        ----------
-        config : RuntimeConfig
-            Runtime configuration containing agent actions, execution mode,
-            and dependency information.
-        """
-        self._config = config
-        self.promise_queue = []
-        self._connector_workers = min(12, len(config.agent_actions)) if config.agent_actions else 1
-        self._connector_executor = ThreadPoolExecutor(
-            max_workers=self._connector_workers,
-            thread_name_prefix="action-orchestrator-connector-",
-        )
-        self._action_instances = []
-        self._stop_event = threading.Event()
-        self._execution_mode = config.action_execution_mode or "concurrent"
-        self._action_dependencies = config.action_dependencies or {}
-        self._completed_actions = {}
-
-    def start(self) -> asyncio.Future:
-        """
-        Start actions and connectors in separate threads.
-
-        Submits each agent action's connector to the thread pool executor
-        for concurrent execution. Skips connectors that have already been
-        submitted to prevent duplicates.
-
-        Returns
-        -------
-        asyncio.Future
-            A future object for compatibility with async interfaces.
-        """
-        for agent_action in self._config.agent_actions:
-            if any(action.llm_label == agent_action.llm_label for action in self._action_instances):
-                logging.warning(f"Connector {agent_action.llm_label} already submitted, skipping.")
-                continue
-
-            agent_action.connector.set_stop_event(self._stop_event)
-
-            self._connector_executor.submit(self._run_connector_loop, agent_action)
-            self._action_instances.append(agent_action)
-
-        return asyncio.Future()  # Return future for compatibility
-
-    def _run_connector_loop(self, action: AgentAction):
-        """
-        Thread-based connector loop.
-
-        Continuously calls the connector's tick() method in a loop until
-        the stop event is set. Handles exceptions gracefully with error logging.
-
-        Parameters
-        ----------
-        action : AgentAction
-            The agent action whose connector should be run in the loop.
-        """
-        while not self._stop_event.is_set():
-            try:
-                action.connector.tick()
-            except Exception:
-                logging.exception(f"Error in connector {action.llm_label}")
-                self._stop_event.wait(timeout=0.1)
-
-    async def flush_promises(self) -> tuple[list[T.Any], list[asyncio.Task[T.Any]]]:
-        """
-        Flushes the promise queue by waiting for all tasks to complete.
-        Returns the completed promises and any remaining pending promises.
-
-        Returns
-        -------
-        tuple[list[T.Any], list[asyncio.Task[T.Any]]]
-            A tuple containing a list of completed promise results and a list of pending promise tasks.
-        """
-        if not self.promise_queue:
-            return [], []
-
-        done, pending = await asyncio.wait(self.promise_queue, return_when=asyncio.ALL_COMPLETED)
-
-        self.promise_queue = []
-
-        return list(done), list(pending)
-
-    async def promise(self, actions: list[Action]) -> None:
-        """
-        Promises the actions to the appropriate connectors.
-
-        Execution behavior depends on the configured execution mode:
-        - concurrent: All actions execute simultaneously (default)
-        - sequential: Actions execute one after another in the order provided
-        - dependencies: Actions wait for their configured dependencies before executing
-
-        Parameters
-        ----------
-        actions : list[Action]
-            List of actions to promise to connectors.
-        """
-        self._completed_actions = {action.type.lower(): asyncio.Event() for action in actions}
-
-        if self._execution_mode == "sequential":
-            await self._promise_sequential(actions)
-        elif self._execution_mode == "dependencies":
-            await self._promise_with_dependencies(actions)
-        else:
-            await self._promise_concurrent(actions)
-
-    async def _promise_concurrent(self, actions: list[Action]) -> None:
-        """
-        Execute all actions concurrently (original behavior).
-
-        Parameters
-        ----------
-        actions : list[Action]
-            List of actions to promise to connectors.
-        """
-        for action in actions:
-            logging.debug(f"Sending command: {action}")
-            normalized_action = self._normalize_action(action)
-
-            agent_action = self._get_agent_action(normalized_action)
-            if agent_action is None:
-                continue
-
-            action_response = asyncio.create_task(self._promise_action(agent_action, normalized_action))
-            self.promise_queue.append(action_response)
-
-    async def _promise_sequential(self, actions: list[Action]) -> None:
-        """
-        Execute actions one after another in order.
-
-        Parameters
-        ----------
-        actions : list[Action]
-            List of actions to promise to connectors.
-        """
-        for action in actions:
-            logging.debug(f"Sending command (sequential): {action}")
-            normalized_action = self._normalize_action(action)
-
-            agent_action = self._get_agent_action(normalized_action)
-            if agent_action is None:
-                continue
-
-            action_response = asyncio.create_task(self._promise_action(agent_action, normalized_action))
-            self.promise_queue.append(action_response)
-            await action_response
-
-            action_label = normalized_action.type.lower()
-            if action_label in self._completed_actions:
-                self._completed_actions[action_label].set()
-
-    async def _promise_with_dependencies(self, actions: list[Action]) -> None:
-        """
-        Execute actions respecting their dependencies.
-        Actions wait for their prerequisites to complete before starting.
-
-        Parameters
-        ----------
-        actions : list[Action]
-            List of actions to promise to connectors.
-        """
-        for action in actions:
-            logging.debug(f"Sending command (with dependencies): {action}")
-            normalized_action = self._normalize_action(action)
-
-            agent_action = self._get_agent_action(normalized_action)
-            if agent_action is None:
-                continue
-
-            action_response = asyncio.create_task(self._promise_action_with_deps(agent_action, normalized_action))
-            self.promise_queue.append(action_response)
-
-    async def _promise_action_with_deps(self, agent_action: AgentAction, action: Action) -> T.Any:
-        """
-        Execute an action after waiting for its dependencies.
-
-        Parameters
-        ----------
-        agent_action : AgentAction
-            The agent action to execute.
-        action : Action
-            The action details.
-
-        Returns
-        -------
-        T.Any
-            The result of the action execution.
-        """
-        action_label = action.type.lower()
-        dependencies = self._action_dependencies.get(action_label, [])
-
-        for dep in dependencies:
-            if dep in self._completed_actions:
-                logging.debug(f"Action '{action_label}' waiting for dependency '{dep}'")
-                await self._completed_actions[dep].wait()
-
-        result = await self._promise_action(agent_action, action)
-
-        if action_label in self._completed_actions:
-            self._completed_actions[action_label].set()
-            logging.debug(f"Action '{action_label}' completed")
-
-        return result
-
-    def _normalize_action(self, action: Action) -> Action:
-        """
-        Normalize action shortcuts to their full form.
-
-        Parameters
-        ----------
-        action : Action
-            The action to normalize.
-
-        Returns
-        -------
-        Action
-            The normalized action.
-        """
-        at = action.type.lower()
-        av = action.value
-        if at == "stand still" and av == "":
-            action.type = "move"
-            action.value = "stand still"
-        elif at == "turn left" and av == "":
-            action.type = "move"
-            action.value = "turn left"
-        elif at == "turn right" and av == "":
-            action.type = "move"
-            action.value = "turn right"
-        elif at == "move forwards" and av == "":
-            action.type = "move"
-            action.value = "move forwards"
-        elif at == "move back" and av == "":
-            action.type = "move"
-            action.value = "move back"
-        return action
-
-    def _get_agent_action(self, action: Action) -> T.Optional[AgentAction]:
-        """
-        Get the agent action for a given action type.
-
-        Parameters
-        ----------
-        action : Action
-            The action to find the corresponding agent action for.
-
-        Returns
-        -------
-        Optional[AgentAction]
-            The corresponding AgentAction or None if not found.
-        """
-        agent_action = next(
-            (m for m in self._config.agent_actions if m.llm_label == action.type.lower()),
-            None,
-        )
-        if agent_action is None:
-            logging.warning(f"Attempted to call non-existent action: {action.type.lower()}.")
-        return agent_action
-
-    async def _promise_action(self, agent_action: AgentAction, action: Action) -> T.Any:
-        """
-        Promise a single action to its connector.
-
-        Parameters
-        ----------
-        agent_action : AgentAction
-            The agent action to execute.
-        action : Action
-            The action details.
-
-        Returns
-        -------
-        T.Any
-            The result of the action execution.
-        """
-        logging.debug(
-            f"Calling action {agent_action.llm_label} with type {action.type.lower()} and argument {action.value}"
-        )
-
-        try:
-            parsed_value = json.loads(action.value)
-            if isinstance(parsed_value, dict):
-                input_params = parsed_value
-            else:
-                input_params = {"action": action.value}
-        except (json.JSONDecodeError, TypeError):
-            input_params = {"action": action.value}
-
-        input_type = T.get_type_hints(agent_action.interface)["input"]
-        input_type_hints = T.get_type_hints(input_type)
-
-        converted_params = {}
-        for key, value in input_params.items():
-            if key in input_type_hints:
-                expected_type = input_type_hints[key]
-                if hasattr(expected_type, "__mro__") and any(base.__name__ == "Enum" for base in expected_type.__mro__):
-                    converted_params[key] = expected_type(value)
-                elif expected_type is float:
-                    converted_params[key] = float(value)
-                elif expected_type is int:
-                    converted_params[key] = int(value)
-                elif expected_type is bool:
-                    converted_params[key] = (
-                        bool(value) if not isinstance(value, str) else value.lower() in ("true", "1", "yes")
-                    )
-                else:
-                    converted_params[key] = value
-            else:
-                logging.warning(
-                    f"Parameter '{key}' not found in input type hints for action '{agent_action.llm_label}'"
-                )
-
-        input_interface = input_type(**converted_params)
-
-        await agent_action.connector.connect(input_interface)
-
-        return input_interface
-
-    def stop(self):
-        """
-        Stop the action executor and wait for all tasks to complete.
-
-        Sets the stop event to signal all connector loops to terminate,
-        calls stop() on each connector for cleanup, then shuts down the
-        thread pool executor and waits for all running tasks to finish.
-        """
-        self._stop_event.set()
-
-        for agent_action in self._action_instances:
-            try:
-                agent_action.connector.stop()
-            except Exception:
-                logging.exception(f"Error stopping connector {agent_action.llm_label}")
-
-        self._connector_executor.shutdown(wait=True)
-        self._action_instances.clear()
-
-    def __del__(self):
-        """
-        Clean up the ActionOrchestrator by stopping the executor.
-        """
-        self.stop()
diff --git a/src/actions/remember_location/connector/unitree_g1_location.py b/src/actions/remember_location/connector/unitree_g1_location.py
deleted file mode 100644
index 8a1e4641f8..0000000000
--- a/src/actions/remember_location/connector/unitree_g1_location.py
+++ /dev/null
@@ -1,131 +0,0 @@
-import asyncio
-import logging
-from typing import Any, Optional
-
-import aiohttp
-from pydantic import Field, model_validator
-
-from actions.base import ActionConfig, ActionConnector
-from actions.remember_location.interface import RememberLocationInput
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-
-
-class UnitreeG1RememberLocationConfig(ActionConfig):
-    """
-    Configuration for Unitree G1 Remember Location connector.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the remember location API. If None, automatically determined by use_sim flag.
-    api_key : str
-        API key for OpenMind API authentication.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    timeout : int
-        Timeout for the HTTP requests in seconds.
-    map_name : str
-        The name of the map to use when remembering locations.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the remember location API. If None, determined by use_sim flag.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind API authentication",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator.",
-    )
-    timeout: int = Field(
-        default=5,
-        description="Timeout for the HTTP requests in seconds.",
-    )
-    map_name: str = Field(
-        default="map",
-        description="The name of the map to use when remembering locations.",
-    )
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "UnitreeG1RememberLocationConfig":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        UnitreeG1RememberLocationConfig
-            The validated configuration with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/add/slam"
-            else:
-                self.base_url = "http://localhost:5000/maps/locations/add/slam"
-
-        return self
-
-
-class UnitreeG1RememberLocationConnector(ActionConnector[UnitreeG1RememberLocationConfig, RememberLocationInput]):
-    """
-    Connector that persists a remembered location for Unitree G1 by POSTing to an HTTP API.
-    """
-
-    def __init__(self, config: UnitreeG1RememberLocationConfig):
-        """
-        Initialize the RememberLocationG1Connector.
-
-        Parameters
-        ----------
-        config : UnitreeG1RememberLocationConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.base_url = self.config.base_url
-        self.timeout = self.config.timeout
-        self.map_name = self.config.map_name
-
-        self.elevenlabs_provider = ElevenLabsTTSProvider()
-
-    async def connect(self, output_interface: RememberLocationInput) -> None:
-        """
-        Connect the input protocol to the remember location action for G1.
-
-        Parameters
-        ----------
-        output_interface : RememberLocationInput
-            The input protocol containing the action details.
-        """
-        if not self.base_url:
-            logging.error("RememberLocationG1 connector missing 'base_url' in config")
-            return
-
-        payload: dict[str, Any] = {
-            "map_name": self.map_name,
-            "label": output_interface.action,
-            "description": getattr(output_interface, "description", ""),
-        }
-
-        headers = {"Content-Type": "application/json"}
-
-        try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(
-                    self.base_url,
-                    json=payload,
-                    headers=headers,
-                    timeout=aiohttp.ClientTimeout(total=self.timeout),
-                ) as resp:
-                    text = await resp.text()
-                    if resp.status >= 200 and resp.status < 300:
-                        logging.info(f"RememberLocationG1: stored '{output_interface.action}' -> {resp.status} {text}")
-                        self.elevenlabs_provider.add_pending_message(f"Location {output_interface.action} remembered !")
-                    else:
-                        logging.error(f"RememberLocationG1 API returned {resp.status}: {text}")
-        except asyncio.TimeoutError:
-            logging.error("RememberLocationG1 API request timed out")
-        except Exception as e:
-            logging.error(f"RememberLocationG1 API request failed: {e}")
diff --git a/src/actions/remember_location/connector/unitree_go2_location.py b/src/actions/remember_location/connector/unitree_go2_location.py
deleted file mode 100644
index 658586f7ac..0000000000
--- a/src/actions/remember_location/connector/unitree_go2_location.py
+++ /dev/null
@@ -1,134 +0,0 @@
-import asyncio
-import logging
-from typing import Any, Optional
-
-import aiohttp
-from pydantic import Field, model_validator
-
-from actions.base import ActionConfig, ActionConnector
-from actions.remember_location.interface import RememberLocationInput
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-
-
-class UnitreeGo2RememberLocationConfig(ActionConfig):
-    """
-    Configuration for Unitree Go2 Remember Location connector.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the remember location API. If None, automatically determined by use_sim flag.
-    api_key : str
-        API key for OpenMind API authentication.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    timeout : int
-        Timeout for the HTTP requests in seconds.
-    map_name : str
-        The name of the map to use when remembering locations.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the remember location API. If None, determined by use_sim flag.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind API authentication",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator.",
-    )
-    timeout: int = Field(
-        default=5,
-        description="Timeout for the HTTP requests in seconds.",
-    )
-    map_name: str = Field(
-        default="map",
-        description="The name of the map to use when remembering locations.",
-    )
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "UnitreeGo2RememberLocationConfig":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        UnitreeGo2RememberLocationConfig
-            The validated configuration with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/add/slam"
-            else:
-                self.base_url = "http://localhost:5000/maps/locations/add/slam"
-
-        return self
-
-
-class UnitreeGo2RememberLocationConnector(ActionConnector[UnitreeGo2RememberLocationConfig, RememberLocationInput]):
-    """
-    Connector that persists a remembered location for Unitree Go2 by POSTing to an HTTP API.
-    """
-
-    def __init__(self, config: UnitreeGo2RememberLocationConfig):
-        """
-        Initialize the RememberLocationGo2Connector.
-
-        Parameters
-        ----------
-        config : UnitreeGo2RememberLocationConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.base_url = self.config.base_url
-        self.api_key = self.config.api_key
-        self.timeout = self.config.timeout
-        self.map_name = self.config.map_name
-
-        self.elevenlabs_provider = ElevenLabsTTSProvider()
-
-    async def connect(self, output_interface: RememberLocationInput) -> None:
-        """
-        Connect the input protocol to the remember location action for Go2.
-
-        Parameters
-        ----------
-        output_interface : RememberLocationInput
-            The input protocol containing the action details.
-        """
-        if not self.base_url:
-            logging.error("RememberLocationGo2 connector missing 'base_url' in config")
-            return
-
-        payload: dict[str, Any] = {
-            "map_name": self.map_name,
-            "label": output_interface.action,
-            "description": getattr(output_interface, "description", ""),
-        }
-
-        headers = {"Content-Type": "application/json", "x-api-key": self.api_key}
-
-        try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(
-                    self.base_url,
-                    json=payload,
-                    headers=headers,
-                    timeout=aiohttp.ClientTimeout(total=self.timeout),
-                ) as resp:
-                    text = await resp.text()
-                    if resp.status >= 200 and resp.status < 300:
-                        logging.info(f"RememberLocationGo2: stored '{output_interface.action}' -> {resp.status} {text}")
-                        self.elevenlabs_provider.add_pending_message(
-                            f"Location {output_interface.action} remembered for Go2. Woof! Woof!"
-                        )
-                    else:
-                        logging.error(f"RememberLocationGo2 API returned {resp.status}: {text}")
-        except asyncio.TimeoutError:
-            logging.error("RememberLocationGo2 API request timed out")
-        except Exception as e:
-            logging.error(f"RememberLocationGo2 API request failed: {e}")
diff --git a/src/actions/remember_location/interface.py b/src/actions/remember_location/interface.py
deleted file mode 100644
index 4bd21dab84..0000000000
--- a/src/actions/remember_location/interface.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from dataclasses import dataclass
-from typing import Optional
-
-from actions.base import Interface
-
-
-@dataclass
-class RememberLocationInput:
-    """
-    Input payload for remembering/saving a named location.
-
-    The 'action' field contains the location name to save (e.g. "kitchen", "office", "living room").
-    The 'description' field is optional additional information about the location.
-
-    Examples
-    --------
-    - User says: "Remember this location as kitchen" → action = "kitchen"
-    - User says: "Save this spot as my office" → action = "office"
-    - User says: "Remember this place as the charging station" → action = "charging station"
-    """
-
-    action: str
-    description: Optional[str] = ""
-
-
-@dataclass
-class RememberLocation(Interface[RememberLocationInput, RememberLocationInput]):
-    """
-    Save/remember the robot's current location with a name.
-
-    The 'action' field should contain the location name.
-    Extract the location name from user commands like "remember this as [name]" or "save this location as [name]".
-    """
-
-    input: RememberLocationInput
-    output: RememberLocationInput
diff --git a/src/actions/schedule_cron_job/connector/schedule_cron_job_json.py b/src/actions/schedule_cron_job/connector/schedule_cron_job_json.py
deleted file mode 100644
index 4dd86d755f..0000000000
--- a/src/actions/schedule_cron_job/connector/schedule_cron_job_json.py
+++ /dev/null
@@ -1,175 +0,0 @@
-import fcntl
-import json
-import logging
-import os
-import time
-from datetime import datetime
-
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.schedule_cron_job.interface import ScheduleCronJobInput
-
-
-class ScheduleCronJobConfig(ActionConfig):
-    """
-    Configuration for the ScheduleCronJobJSONConnector.
-
-    Parameters
-    ----------
-    schedule_file : str
-        Path to the JSON file where scheduled cron jobs are persisted.
-        Defaults to ``"config/cron_job/cron.json"``.
-        Please make sure this is the same path as the schedule_file of corresponding ScheduleCronJobInput
-    """
-
-    schedule_file: str = Field(
-        default="config/cron_job/cron.json",
-        description="Path to the JSON file where scheduled cron jobs are persisted.",
-    )
-
-
-class ScheduleCronJobJSONConnector(ActionConnector[ScheduleCronJobConfig, ScheduleCronJobInput]):
-    """
-    Connector that persists scheduled cron jobs to a JSON file.
-
-    Reads the current entries from the JSON file, appends the new entry, sorts
-    by ascending timestamp, and writes back atomically. The input plugin detects
-    the file change via mtime and reloads on its next tick.
-    """
-
-    def __init__(self, config: ScheduleCronJobConfig) -> None:
-        super().__init__(config)
-        self.schedule_file: str = config.schedule_file
-
-    _DATE_FORMATS = (
-        "%Y-%m-%d %H:%M:%S",
-        "%Y-%m-%dT%H:%M:%S",
-        "%Y-%m-%d %H:%M",
-        "%Y-%m-%dT%H:%M",
-    )
-
-    def _parse_schedule_time(self, schedule_time: str) -> float:
-        """
-        Parse a schedule time string into a Unix timestamp.
-
-        Parameters
-        ----------
-        schedule_time : str
-            Date/time string to parse. Supported formats:
-            'YYYY-MM-DD HH:MM:SS', 'YYYY-MM-DDTHH:MM:SS',
-            'YYYY-MM-DD HH:MM', 'YYYY-MM-DDTHH:MM'.
-
-        Returns
-        -------
-        float
-            Unix timestamp corresponding to schedule_time.
-        """
-        for date_format in self._DATE_FORMATS:
-            try:
-                return datetime.strptime(schedule_time.strip(), date_format).timestamp()
-            except ValueError:
-                continue
-        raise ValueError(
-            f"Could not parse schedule_time '{schedule_time}'. " f"Expected format: 'YYYY-MM-DD HH:MM:SS'."
-        )
-
-    def _read_entries(self) -> list:
-        """
-        Read the current entries from the JSON schedule file.
-
-        Returns
-        -------
-        list
-            List of entry dicts, or an empty list if the file does not exist
-            or contains invalid JSON.
-        """
-        try:
-            with open(self.schedule_file, "r") as file_handle:
-                data = json.load(file_handle)
-                return data if isinstance(data, list) else []
-        except (FileNotFoundError, json.JSONDecodeError):
-            return []
-
-    def _write_entries(self, entries: list) -> None:
-        """
-        Write entries to the JSON schedule file.
-
-        Parameters
-        ----------
-        entries : list
-            List of entry dicts to serialise.
-        """
-        dir_name = os.path.dirname(self.schedule_file)
-        if dir_name:
-            os.makedirs(dir_name, exist_ok=True)
-        with open(self.schedule_file, "w") as file_handle:
-            json.dump(entries, file_handle, indent=2)
-
-    def _locked_append(self, entry: dict) -> None:
-        """
-        Append an entry to the schedule file under an exclusive file lock.
-
-        Acquires the lock on the JSON file itself, reads current entries,
-        appends, sorts, and writes back. This prevents races with the input
-        plugin's own read-modify-write cycle.
-
-        Parameters
-        ----------
-        entry : dict
-            The schedule entry to append.
-        """
-        dir_name = os.path.dirname(self.schedule_file)
-        if dir_name:
-            os.makedirs(dir_name, exist_ok=True)
-        with open(self.schedule_file, "a") as lock_file:
-            fcntl.flock(lock_file, fcntl.LOCK_EX)
-            try:
-                existing_entries = self._read_entries()
-                existing_entries.append(entry)
-                existing_entries.sort(key=lambda e: e.get("timestamp", 0))
-                self._write_entries(existing_entries)
-            finally:
-                fcntl.flock(lock_file, fcntl.LOCK_UN)
-
-    async def connect(self, output_interface: ScheduleCronJobInput) -> None:
-        """
-        Persist a scheduled cron job entry to the JSON file.
-
-        Reads existing entries, appends the new one, sorts by timestamp, and
-        writes back atomically. The input plugin will detect the file change
-        via mtime on its next tick.
-
-        Parameters
-        ----------
-        output_interface : ScheduleCronJobInput
-            Action output containing schedule_time (datetime string), function
-            (name of the task to dispatch), and optional recurrence pattern.
-        """
-        try:
-            timestamp = self._parse_schedule_time(output_interface.schedule_time)
-        except ValueError as exc:
-            logging.error("ScheduleCronJob: %s", exc)
-            return
-
-        args: dict = {}
-        recurrence = output_interface.recurrence or ""
-
-        entry = {
-            "timestamp": timestamp,
-            "schedule_time": output_interface.schedule_time,
-            "function": output_interface.function,
-            "args": args,
-            "recurrence": recurrence,
-            "registered_at": time.time(),
-        }
-
-        self._locked_append(entry)
-
-        logging.info(
-            "Scheduled cron job registered: function=%s at '%s' (timestamp=%.3f, recurrence=%r)",
-            output_interface.function,
-            output_interface.schedule_time,
-            timestamp,
-            recurrence,
-        )
diff --git a/src/actions/schedule_cron_job/interface.py b/src/actions/schedule_cron_job/interface.py
deleted file mode 100644
index de9681db8a..0000000000
--- a/src/actions/schedule_cron_job/interface.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from dataclasses import dataclass, field
-
-from actions.base import Interface
-
-
-@dataclass
-class ScheduleCronJobInput:
-    """
-    Input interface for the ScheduleCronJob action.
-
-    Parameters
-    ----------
-    schedule_time : str
-        Date and time when the job should first execute, formatted as 'YYYY-MM-DD HH:MM:SS'.
-    function : str
-        The user's original request with all time and schedule information stripped out.
-        For example: 'check the weather in NYC every 5 minutes' → 'check the weather in NYC'.
-    recurrence : str
-        How often to repeat. Leave empty or use 'once' for one-time tasks.
-        Supported values: 'hourly', 'daily', 'weekly', 'every Xs', 'every Xm', 'every Xh', 'every Xd'
-        (e.g. 'every 30s', 'every 5m', 'every 2h', 'every 3d').
-        Do NOT use cron expressions (e.g. '* * * * *') — they are not supported.
-    """
-
-    schedule_time: str
-    function: str
-    recurrence: str = field(default="")
-
-
-@dataclass
-class ScheduleCronJob(Interface[ScheduleCronJobInput, ScheduleCronJobInput]):
-    """
-    Register a scheduled cron job to execute at a specific time, optionally on a recurring schedule.
-
-    Effect: Schedules the given function/request to run at schedule_time with an
-    optional recurrence pattern. Use this for any user request involving a future
-    or repeated task — one-time reminders or recurring jobs.
-
-    Use this action when the user mentions a future time or recurrence pattern.
-    Do NOT use this action for immediate requests; call the appropriate tool directly instead.
-
-    When filling schedule_time: format as 'YYYY-MM-DD HH:MM:SS' using the current date/time as context.
-    When filling function: strip all time and schedule information from the user's request
-    (e.g. 'check the weather in NYC every 5 minutes' → 'check the weather in NYC').
-    When filling recurrence: use one of the supported plain-English patterns — 'hourly', 'daily',
-    'weekly', or 'every Xm' / 'every Xh' / 'every Xd' (e.g. 'every 5m', 'every 2h', 'every 3d').
-    Leave empty for one-time tasks. Do NOT use cron expressions (e.g. '* * * * *').
-    """
-
-    input: ScheduleCronJobInput
-    output: ScheduleCronJobInput
diff --git a/src/actions/selfie/connector/selfie.py b/src/actions/selfie/connector/selfie.py
deleted file mode 100644
index 61fb5b39b6..0000000000
--- a/src/actions/selfie/connector/selfie.py
+++ /dev/null
@@ -1,243 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import Dict, Optional
-
-import requests
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.selfie.interface import SelfieInput
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from providers.io_provider import IOProvider
-
-
-class SelfieConfig(ActionConfig):
-    """
-    Configuration for Selfie connector.
-
-    Parameters
-    ----------
-    face_http_base_url : str
-        Base URL for the face HTTP service.
-    face_recent_sec : float
-        Recency window in seconds for face detection.
-    poll_ms : int
-        Polling interval in milliseconds.
-    timeout_sec : int
-        Default timeout in seconds for operations.
-    http_timeout_sec : float
-        HTTP request timeout in seconds.
-    """
-
-    face_http_base_url: str = Field(
-        default="http://127.0.0.1:6793",
-        description="Base URL for the face HTTP service.",
-    )
-    face_recent_sec: float = Field(
-        default=1.0,
-        description="Recency window in seconds for face detection.",
-    )
-    poll_ms: int = Field(
-        default=200,
-        description="Polling interval in milliseconds.",
-    )
-    timeout_sec: int = Field(
-        default=15,
-        description="Default timeout in seconds for operations.",
-    )
-    http_timeout_sec: float = Field(
-        default=5.0,
-        description="HTTP request timeout in seconds.",
-    )
-
-
-class SelfieConnector(ActionConnector[SelfieConfig, SelfieInput]):
-    """
-    Enroll a selfie through the face HTTP service.
-    """
-
-    def __init__(self, config: SelfieConfig):
-        """
-        Initialize the connector.
-
-        Parameters
-        ----------
-        config : SelfieConfig
-            Configuration for the connector.
-        """
-        super().__init__(config)
-
-        self.base_url: str = self.config.face_http_base_url
-
-        self.recent_sec = self.config.face_recent_sec
-        self.poll_ms = self.config.poll_ms
-        self.default_timeout = self.config.timeout_sec
-        self.http_timeout = self.config.http_timeout_sec
-
-        self.elevenlabs_tts_provider = ElevenLabsTTSProvider()
-        self.io_provider = IOProvider()
-
-    def _write_status(self, line: str):
-        """
-        Make the result visible to the fuser/LLM as an input named 'SelfieStatus'.
-
-        Parameters
-        ----------
-        line : str
-            line: Status payload (e.g., "ok id=wendy", "failed reason=none faces=0").
-        """
-        try:
-            self.io_provider.add_input("SelfieStatus", line, time.time())
-        except Exception as e:
-            logging.warning("SelfieStatus write failed: %s", e)
-
-    def _post_json(self, path: str, body: Dict) -> Optional[Dict]:
-        """
-        POST JSON to the face service.
-
-        Parameters
-        ----------
-        path : str
-            Endpoint path (e.g., "/who", "/selfie").
-        body : Dict
-            Request body dict.
-
-        Returns
-        -------
-        typing.Optional[Dict]
-            Parsed JSON dict on success; None on error.
-        """
-        url = f"{self.base_url}{path}"
-        try:
-            r = requests.post(url, json=body, timeout=self.http_timeout)
-            return r.json()
-        except Exception as e:
-            logging.warning("HTTP POST %s failed (%s) body=%s", url, e, body)
-            return None
-
-    def _get_config(self) -> Dict:
-        """
-        Fetch current service config.
-
-        Returns
-        -------
-        typing.Optional[Dict]
-        """
-        resp = self._post_json("/config", {"get": True}) or {}
-        return resp if isinstance(resp, dict) else {}
-
-    def _set_blur(self, on: bool) -> None:
-        """
-        Enable/disable blur on the service.
-
-        Parameters
-        ----------
-        on : bool
-            True/False
-        """
-        _ = self._post_json("/config", {"set": {"blur": bool(on)}})
-
-    def _who_snapshot(self) -> Optional[Dict]:
-        """
-        Query current faces within the recency window.
-
-        Returns
-        -------
-        typing.Optional[Dict]
-            Dict with keys like "now" (list of known IDs) and "unknown_now" (int),
-            or None on error.
-        """
-        return self._post_json("/who", {"recent_sec": self.recent_sec})
-
-    def _wait_single_face(self, timeout_sec: int) -> bool:
-        """
-        Poll /who until exactly one face is visible or timeout.
-
-        Parameters
-        ----------
-        timeout_sec : int
-            Maximum seconds to wait (<=0 uses default_timeout).
-
-        Returns
-        -------
-        bool
-            True if exactly one face is detected within the timeout; False otherwise.
-        """
-        if timeout_sec <= 0:
-            timeout_sec = self.default_timeout
-        tries = max(1, int((timeout_sec * 1000) / self.poll_ms))
-        for _ in range(tries):
-            resp = self._who_snapshot() or {}
-            now = resp.get("now") or []
-            unknown_now = int(resp.get("unknown_now") or 0)
-            faces = len(now) + unknown_now
-            if faces == 1:
-                logging.info(
-                    "Selfie gate: exactly 1 face detected (now=%s, unknown=%d)",
-                    now,
-                    unknown_now,
-                )
-                return True
-            self.sleep(self.poll_ms / 1000.0)
-        logging.error("Selfie gate: timeout waiting for exactly 1 face.")
-        return False
-
-    async def connect(self, output_interface: SelfieInput) -> None:
-        """
-        Execute a single selfie enrollment attempt.
-
-        Parameters
-        ----------
-        output_interface : SelfieInput
-            The selfie action interface containing parameters like `id` and `timeout_sec`.
-        """
-        name = (output_interface.action or "").strip()
-        timeout_sec = int(output_interface.timeout_sec or self.default_timeout)
-        if not name:
-            logging.error("Selfie requires a non-empty `id` (e.g., 'wendy').")
-            self.io_provider.add_input("SelfieStatus", "failed reason=bad_id", time.time())
-            return
-
-        loop = asyncio.get_running_loop()
-
-        cfg = await loop.run_in_executor(None, self._get_config)
-        orig_blur = bool(((cfg or {}).get("config") or {}).get("blur", True))
-        await loop.run_in_executor(None, self._set_blur, False)
-
-        try:
-            ok = await loop.run_in_executor(None, self._wait_single_face, timeout_sec)
-            if not ok:
-                snapshot = await loop.run_in_executor(None, self._who_snapshot) or {}
-                now = snapshot.get("now") or []
-                unknown_now = int(snapshot.get("unknown_now") or 0)
-                faces = len(now) + unknown_now
-                reason = "none" if faces == 0 else "multiple"
-                logging.info("[Selfie] Gating failed: %s (faces=%d)", reason, faces)
-                self.io_provider.add_input(
-                    "SelfieStatus",
-                    f"failed reason={reason} faces={faces}",
-                    time.time(),
-                )
-                self.elevenlabs_tts_provider.add_pending_message(
-                    f"Woof! Woof! I saw {faces} faces. Please make sure only your face is visible and try again."
-                )
-                return
-
-            resp = await loop.run_in_executor(None, self._post_json, "/selfie", {"id": name})
-            if not (isinstance(resp, dict) and resp.get("ok")):
-                logging.error("[Selfie] /selfie failed or returned non-ok: %s", resp)
-                self.io_provider.add_input("SelfieStatus", "failed reason=service", time.time())
-                self.elevenlabs_tts_provider.add_pending_message(
-                    "Woof! Woof! I couldn't see you clearly. Please try again."
-                )
-                return
-
-            logging.info("[Selfie] Enrolled selfie for '%s' successfully.", name)
-            self.io_provider.add_input("SelfieStatus", f"ok id={name}", time.time())
-            self.elevenlabs_tts_provider.add_pending_message(
-                f"Woof! Woof! I remember you, {name}! You are now enrolled."
-            )
-
-        finally:
-            await loop.run_in_executor(None, self._set_blur, orig_blur)
diff --git a/src/actions/selfie/interface.py b/src/actions/selfie/interface.py
deleted file mode 100644
index 6181f5ff15..0000000000
--- a/src/actions/selfie/interface.py
+++ /dev/null
@@ -1,31 +0,0 @@
-# src/actions/selfie/interface.py
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class SelfieInput:
-    """
-    Input to enroll a selfie through the face HTTP service.
-
-    Parameters
-    ----------
-    action : str
-        The person ID (e.g., "wendy"). Will create/update gallery/<id>.
-    timeout_sec : int, optional
-        Seconds to wait for exactly one face (default 15).
-    """
-
-    action: str
-    timeout_sec: int = 5
-
-
-@dataclass
-class Selfie(Interface[SelfieInput, SelfieInput]):
-    """
-    This action takes a selfie from the live camera and enrolls it to the face gallery.
-    """
-
-    input: SelfieInput
-    output: SelfieInput
diff --git a/src/actions/speak/connector/base_elevenlabs_tts.py b/src/actions/speak/connector/base_elevenlabs_tts.py
deleted file mode 100644
index 8e35e82542..0000000000
--- a/src/actions/speak/connector/base_elevenlabs_tts.py
+++ /dev/null
@@ -1,315 +0,0 @@
-import json
-import logging
-import time
-from abc import abstractmethod
-from typing import Optional
-from uuid import uuid4
-
-import zenoh
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.speak.interface import SpeakInput
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from providers.io_provider import IOProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import (
-    AudioStatus,
-    String,
-    TTSStatusRequest,
-    TTSStatusResponse,
-    open_zenoh_session,
-    prepare_header,
-)
-
-
-class BaseElevenLabsTTSConfig(ActionConfig):
-    """
-    Base configuration for ElevenLabs TTS connector.
-
-    Parameters
-    ----------
-    elevenlabs_api_key : Optional[str]
-        ElevenLabs API key.
-    voice_id : str
-        ElevenLabs voice ID.
-    model_id : str
-        ElevenLabs model ID.
-    output_format : str
-        ElevenLabs output format.
-    silence_rate : int
-        Number of responses to skip before speaking.
-    enable_tts_interrupt : bool
-        Enable TTS interrupt when ASR detects speech during playback.
-    """
-
-    elevenlabs_api_key: Optional[str] = Field(
-        default=None,
-        description="ElevenLabs API key",
-    )
-    voice_id: str = Field(
-        default="JBFqnCBsd6RMkjVDRZzb",
-        description="ElevenLabs voice ID",
-    )
-    model_id: str = Field(
-        default="eleven_flash_v2_5",
-        description="ElevenLabs model ID",
-    )
-    output_format: str = Field(
-        default="pcm_16000",
-        description="ElevenLabs output format",
-    )
-    silence_rate: int = Field(
-        default=0,
-        description="Number of responses to skip before speaking",
-    )
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt when ASR detects speech during playback",
-    )
-
-
-class BaseElevenLabsTTSConnector(ActionConnector[BaseElevenLabsTTSConfig, SpeakInput]):
-    """
-    Base connector for ElevenLabs TTS that provides common functionality.
-    Subclasses can customize voice selection logic.
-    """
-
-    def __init__(self, config: BaseElevenLabsTTSConfig):
-        """
-        Initializes the connector and its underlying TTS provider.
-
-        Parameters
-        ----------
-        config : BaseElevenLabsTTSConfig
-            Configuration for the connector.
-        """
-        super().__init__(config)
-
-        # OM API key
-        api_key = getattr(self.config, "api_key", None)
-
-        # Sleep mode configuration
-        self.io_provider = IOProvider()
-        self.last_voice_command_time = time.time()
-
-        # Eleven Labs TTS configuration
-        elevenlabs_api_key = self.config.elevenlabs_api_key
-        voice_id = self.config.voice_id
-        model_id = self.config.model_id
-        output_format = self.config.output_format
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        # silence rate
-        self.silence_rate = self.config.silence_rate
-        self.silence_counter = 0
-
-        self.audio_topic = "robot/status/audio"
-        self.tts_status_request_topic = "om/tts/request"
-        self.tts_status_response_topic = "om/tts/response"
-        self.session = None
-        self.audio_pub = None
-
-        self.audio_status = AudioStatus(
-            header=prepare_header(str(uuid4())),
-            status_mic=AudioStatus.STATUS_MIC.UNKNOWN.value,
-            status_speaker=AudioStatus.STATUS_SPEAKER.READY.value,
-            sentence_to_speak=String(""),
-        )
-
-        try:
-            self.session = open_zenoh_session()
-            self.audio_pub = self.session.declare_publisher(self.audio_topic)
-            self.session.declare_subscriber(self.audio_topic, self.zenoh_audio_message)
-            self.session.declare_subscriber(self.tts_status_request_topic, self._zenoh_tts_status_request)
-            self._zenoh_tts_status_response_pub = self.session.declare_publisher(self.tts_status_response_topic)
-
-            if self.audio_pub:
-                self.audio_pub.put(self.audio_status.serialize())
-
-            logging.info("Elevenlabs TTS Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Elevenlabs TTS Zenoh client: {e}")
-
-        # Initialize Eleven Labs TTS Provider
-        self.tts = ElevenLabsTTSProvider(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=api_key,
-            elevenlabs_api_key=elevenlabs_api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.tts.start()
-
-        # Configure Eleven Labs TTS Provider to ensure settings are applied
-        self.tts.configure(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=api_key,
-            elevenlabs_api_key=elevenlabs_api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-
-        # TTS status
-        self.tts_enabled = True
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-    def zenoh_audio_message(self, data: zenoh.Sample):
-        """
-        Process an incoming audio status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        self.audio_status = AudioStatus.deserialize(data.payload.to_bytes())
-
-    def _should_skip_tts(self) -> bool:
-        """
-        Determine if TTS should be skipped based on current state.
-
-        Returns
-        -------
-        bool
-            True if TTS should be skipped, False otherwise.
-        """
-        if self.tts_enabled is False:
-            logging.info("TTS is disabled, skipping TTS action")
-            return True
-
-        if (
-            self.silence_rate > 0
-            and self.silence_counter < self.silence_rate
-            and self.io_provider.llm_prompt is not None
-            and "Voice:" not in self.io_provider.llm_prompt
-        ):
-            self.silence_counter += 1
-            logging.info(f"Skipping TTS due to silence_rate {self.silence_rate}, counter {self.silence_counter}")
-            return True
-
-        return False
-
-    @abstractmethod
-    def _get_voice_id(self, output_interface: SpeakInput) -> str:
-        """
-        Get the voice ID to use for the current TTS request.
-        Subclasses must implement this method to provide their voice selection logic.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The SpeakInput interface containing the text to be spoken.
-
-        Returns
-        -------
-        str
-            The voice ID to use for TTS.
-        """
-        pass
-
-    async def connect(self, output_interface: SpeakInput) -> None:
-        """
-        Process a speak action by sending text to Elevenlabs TTS.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The SpeakInput interface containing the text to be spoken.
-        """
-        if self._should_skip_tts():
-            return
-
-        self.silence_counter = 0
-
-        # Get voice ID from subclass
-        voice_id = self._get_voice_id(output_interface)
-
-        # Add pending message to TTS
-        pending_message = self.tts.create_pending_message(output_interface.action, voice_id)
-
-        # Store robot message to conversation history only if there was ASR input
-        if self.io_provider.llm_prompt is not None and "Voice:" in self.io_provider.llm_prompt:
-            self.conversation_provider.store_robot_message(output_interface.action)
-
-        state = AudioStatus(
-            header=prepare_header(str(uuid4())),
-            status_mic=self.audio_status.status_mic,
-            status_speaker=AudioStatus.STATUS_SPEAKER.ACTIVE.value,
-            sentence_to_speak=String(json.dumps(pending_message)),
-        )
-
-        if self.audio_pub:
-            self.audio_pub.put(state.serialize())
-            return
-
-        self.tts.add_pending_message(pending_message)
-
-    def _zenoh_tts_status_request(self, data: zenoh.Sample):
-        """
-        Process an incoming TTS control status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if self._zenoh_tts_status_response_pub is None:
-            logging.error("TTS status response publisher is not initialized")
-            return
-
-        tts_status = TTSStatusRequest.deserialize(data.payload.to_bytes())
-        logging.debug(f"Received TTS Control Status message: {tts_status}")
-
-        code = tts_status.code
-        request_id = tts_status.request_id
-
-        # Read the current status
-        if code == 2:
-            tts_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=1 if self.tts_enabled else 0,
-                status=String(data=("TTS Enabled" if self.tts_enabled else "TTS Disabled")),
-            )
-            return self._zenoh_tts_status_response_pub.put(tts_status_response.serialize())
-
-        # Enable the TTS
-        if code == 1:
-            self.tts_enabled = True
-            logging.debug("TTS Enabled")
-
-            ai_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=1,
-                status=String(data="TTS Enabled"),
-            )
-            return self._zenoh_tts_status_response_pub.put(ai_status_response.serialize())
-
-        # Disable the TTS
-        if code == 0:
-            self.tts_enabled = False
-            logging.debug("TTS Disabled")
-            ai_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=0,
-                status=String(data="TTS Disabled"),
-            )
-
-            return self._zenoh_tts_status_response_pub.put(ai_status_response.serialize())
-
-    def stop(self) -> None:
-        """
-        Stop the Elevenlabs TTS connector and cleanup resources.
-        """
-        if self.session:
-            self.session.close()
-            logging.info("Elevenlabs TTS Zenoh client closed")
diff --git a/src/actions/speak/connector/elevenlabs_people_tts.py b/src/actions/speak/connector/elevenlabs_people_tts.py
deleted file mode 100644
index b97de46a91..0000000000
--- a/src/actions/speak/connector/elevenlabs_people_tts.py
+++ /dev/null
@@ -1,79 +0,0 @@
-import logging
-import re
-from typing import Optional
-
-from pydantic import Field
-
-from actions.speak.connector.base_elevenlabs_tts import (
-    BaseElevenLabsTTSConfig,
-    BaseElevenLabsTTSConnector,
-)
-from actions.speak.interface import SpeakInput
-
-
-class SpeakElevenLabsTTSConfig(BaseElevenLabsTTSConfig):
-    """
-    Configuration for ElevenLabs TTS connector with people-specific voice support.
-
-    Parameters
-    ----------
-    voice_ids : Optional[dict[str, str]]
-        Optional mapping of voice names to ElevenLabs voice IDs.
-    """
-
-    voice_ids: Optional[dict[str, str]] = Field(
-        default=None,
-        description="Optional mapping of voice names to ElevenLabs voice IDs",
-    )
-
-
-class SpeakElevenLabsTTSConnector(BaseElevenLabsTTSConnector):
-    """
-    A "Speak" connector that uses the ElevenLabs TTS Provider to perform Text-to-Speech.
-    This connector supports per-person voice selection based on FacePresenceInput.
-    """
-
-    config: SpeakElevenLabsTTSConfig  # type: ignore
-
-    def _get_voice_id(self, output_interface: SpeakInput) -> str:
-        """
-        Get the voice ID to use for the current TTS request.
-        Checks for people names from FacePresenceInput and maps them to voice IDs.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The SpeakInput interface containing the text to be spoken.
-
-        Returns
-        -------
-        str
-            The voice ID to use for TTS (either mapped from people name or default).
-        """
-        # Get people name from input if available
-        people_name = None
-        if self.io_provider.get_input("FacePresence") is not None:
-            face_presence_input = self.io_provider.get_input("FacePresence")
-            if (
-                face_presence_input
-                and face_presence_input.input
-                and face_presence_input.tick == self.io_provider.tick_counter
-            ):
-                # Extract closest person name from camera view message
-                # Format: "In Camera View: 1 known (boyuan). Closest: boyuan."
-                # or "In Camera View: 2 known (shicai and lifan) and 2 unknown faces. Closest: shicai."
-                input_text = face_presence_input.input
-                match = re.search(r"Closest:\s*(\w+)", input_text)
-                if match:
-                    people_name = match.group(1).strip()
-                    if people_name.lower() == "unknown":
-                        people_name = None
-
-        # Search people name in voice_ids mapping if available
-        voice_ids = self.config.voice_ids
-        if voice_ids and people_name and people_name in voice_ids:
-            voice_id = voice_ids[people_name]
-            logging.info(f"Found voice_id '{voice_id}' for people '{people_name}' in voice_ids mapping")
-            return voice_id
-
-        return self.config.voice_id
diff --git a/src/actions/speak/connector/elevenlabs_tts.py b/src/actions/speak/connector/elevenlabs_tts.py
deleted file mode 100644
index 3ff04b2605..0000000000
--- a/src/actions/speak/connector/elevenlabs_tts.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from actions.speak.connector.base_elevenlabs_tts import (
-    BaseElevenLabsTTSConfig,
-    BaseElevenLabsTTSConnector,
-)
-from actions.speak.interface import SpeakInput
-
-
-class SpeakElevenLabsTTSConfig(BaseElevenLabsTTSConfig):
-    """
-    Configuration for ElevenLabs TTS connector.
-    Inherits all configuration from BaseElevenLabsTTSConfig.
-    """
-
-    pass
-
-
-class SpeakElevenLabsTTSConnector(BaseElevenLabsTTSConnector):
-    """
-    A "Speak" connector that uses the ElevenLabs TTS Provider to perform Text-to-Speech.
-    This connector uses a fixed voice ID for all TTS requests.
-    """
-
-    def _get_voice_id(self, output_interface: SpeakInput) -> str:
-        """
-        Get the voice ID to use for the current TTS request.
-        Always returns the configured voice_id from config.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The SpeakInput interface containing the text to be spoken.
-
-        Returns
-        -------
-        str
-            The configured voice ID.
-        """
-        return self.config.voice_id
diff --git a/src/actions/speak/connector/kokoro_tts.py b/src/actions/speak/connector/kokoro_tts.py
deleted file mode 100644
index ec2340ada7..0000000000
--- a/src/actions/speak/connector/kokoro_tts.py
+++ /dev/null
@@ -1,300 +0,0 @@
-import json
-import logging
-import time
-from uuid import uuid4
-
-import zenoh
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.speak.interface import SpeakInput
-from providers.io_provider import IOProvider
-from providers.kokoro_tts_provider import KokoroTTSProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import (
-    AudioStatus,
-    String,
-    TTSStatusRequest,
-    TTSStatusResponse,
-    open_zenoh_session,
-    prepare_header,
-)
-
-
-class SpeakKokoroTTSConfig(ActionConfig):
-    """
-    Configuration for Kokoro TTS connector.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for Kokoro TTS API.
-    voice_id : str
-        Kokoro voice ID.
-    model_id : str
-        Kokoro model ID.
-    output_format : str
-        Kokoro output format.
-    rate : int
-        Audio sample rate in Hz.
-    enable_tts_interrupt : bool
-        Enable TTS interrupt when ASR detects speech during playback.
-    silence_rate : int
-        Number of responses to skip before speaking.
-    """
-
-    base_url: str = Field(
-        default="http://127.0.0.1:8880/v1",
-        description="Base URL for Kokoro TTS API",
-    )
-    voice_id: str = Field(
-        default="af_bella",
-        description="Kokoro voice ID",
-    )
-    model_id: str = Field(
-        default="kokoro",
-        description="Kokoro model ID",
-    )
-    output_format: str = Field(
-        default="pcm",
-        description="Kokoro output format",
-    )
-    rate: int = Field(
-        default=24000,
-        description="Audio sample rate in Hz",
-    )
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt when ASR detects speech during playback",
-    )
-    silence_rate: int = Field(
-        default=0,
-        description="Number of responses to skip before speaking",
-    )
-
-
-class SpeakKokoroTTSConnector(ActionConnector[SpeakKokoroTTSConfig, SpeakInput]):
-    """
-    A "Speak" connector that uses the Kokoro TTS Provider to perform Text-to-Speech.
-    This connector is compatible with the standard SpeakInput interface.
-    """
-
-    def __init__(self, config: SpeakKokoroTTSConfig):
-        """
-        Initializes the connector and its underlying TTS provider.
-
-        Parameters
-        ----------
-        config : SpeakKokoroTTSConfig
-            Configuration for the connector.
-        """
-        super().__init__(config)
-
-        # OM API key
-        api_key = getattr(self.config, "api_key", None)
-
-        # Sleep mode configuration
-        self.last_voice_command_time = time.time()
-
-        # silence rate
-        self.silence_rate = self.config.silence_rate
-        self.silence_counter = 0
-
-        # IO Provider
-        self.io_provider = IOProvider()
-
-        # Zenoh configuration
-        self.audio_topic = "robot/status/audio"
-        self.tts_status_request_topic = "om/tts/request"
-        self.tts_status_response_topic = "om/tts/response"
-        self.session = None
-        self.audio_pub = None
-        self._zenoh_tts_status_response_pub = None
-
-        self.audio_status = AudioStatus(
-            header=prepare_header(str(uuid4())),
-            status_mic=AudioStatus.STATUS_MIC.UNKNOWN.value,
-            status_speaker=AudioStatus.STATUS_SPEAKER.READY.value,
-            sentence_to_speak=String(""),
-        )
-
-        # Initialize Zenoh session
-        try:
-            self.session = open_zenoh_session()
-            self.audio_pub = self.session.declare_publisher(self.audio_topic)
-            self.session.declare_subscriber(self.audio_topic, self.zenoh_audio_message)
-            self.session.declare_subscriber(self.tts_status_request_topic, self._zenoh_tts_status_request)
-            self._zenoh_tts_status_response_pub = self.session.declare_publisher(self.tts_status_response_topic)
-
-            if self.audio_pub:
-                self.audio_pub.put(self.audio_status.serialize())
-
-            logging.info("Kokoro TTS Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Kokoro TTS Zenoh client: {e}")
-
-        # Kokoro TTS configuration
-        voice_id = self.config.voice_id
-        model_id = self.config.model_id
-        output_format = self.config.output_format
-        rate = self.config.rate
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        # Initialize Kokoro TTS Provider
-        self.tts = KokoroTTSProvider(
-            url=self.config.base_url,
-            api_key=api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-            rate=rate,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.tts.start()
-
-        # Configure Kokoro TTS Provider to ensure settings are applied
-        self.tts.configure(
-            url=self.config.base_url,
-            api_key=api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-            rate=rate,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-
-        # TTS status
-        self.tts_enabled = True
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-    def zenoh_audio_message(self, data: zenoh.Sample):
-        """
-        Process an incoming audio status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        try:
-            self.audio_status = AudioStatus.deserialize(data.payload.to_bytes())
-        except Exception as e:
-            logging.error(f"Error deserializing audio status: {e}")
-
-    async def connect(self, output_interface: SpeakInput) -> None:
-        """
-        Process a speak action by sending text to Kokoro TTS.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The SpeakInput interface containing the text to be spoken.
-        """
-        if self.tts_enabled is False:
-            logging.info("TTS is disabled, skipping TTS action")
-            return
-
-        if (
-            self.silence_rate > 0
-            and self.silence_counter < self.silence_rate
-            and self.io_provider.llm_prompt is not None
-            and "Voice:" not in self.io_provider.llm_prompt
-        ):
-            self.silence_counter += 1
-            logging.info(f"Skipping TTS due to silence_rate {self.silence_rate}, counter {self.silence_counter}")
-            return
-
-        self.silence_counter = 0
-
-        # Add pending message to TTS
-        pending_message = self.tts.create_pending_message(output_interface.action)
-
-        # Store robot message to conversation history only if there was ASR input
-        if self.io_provider.llm_prompt is not None and "Voice:" in self.io_provider.llm_prompt:
-            self.conversation_provider.store_robot_message(output_interface.action)
-
-        state = AudioStatus(
-            header=prepare_header(str(uuid4())),
-            status_mic=self.audio_status.status_mic,
-            status_speaker=AudioStatus.STATUS_SPEAKER.ACTIVE.value,
-            sentence_to_speak=String(json.dumps(pending_message)),
-        )
-
-        if self.audio_pub:
-            self.audio_pub.put(state.serialize())
-            return
-
-        self.tts.add_pending_message(pending_message)
-
-    def _zenoh_tts_status_request(self, data: zenoh.Sample):
-        """
-        Process an incoming TTS control status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        try:
-            tts_status = TTSStatusRequest.deserialize(data.payload.to_bytes())
-            logging.debug(f"Received TTS Control Status message: {tts_status}")
-
-            code = tts_status.code
-            request_id = tts_status.request_id
-
-            # Read the current status
-            if code == 2:
-                tts_status_response = TTSStatusResponse(
-                    header=prepare_header(tts_status.header.frame_id),
-                    request_id=request_id,
-                    code=1 if self.tts_enabled else 0,
-                    status=String(data=("TTS Enabled" if self.tts_enabled else "TTS Disabled")),
-                )
-                if self._zenoh_tts_status_response_pub:
-                    self._zenoh_tts_status_response_pub.put(tts_status_response.serialize())
-                return
-
-            # Enable the TTS
-            if code == 1:
-                self.tts_enabled = True
-                logging.debug("TTS Enabled")
-
-                tts_status_response = TTSStatusResponse(
-                    header=prepare_header(tts_status.header.frame_id),
-                    request_id=request_id,
-                    code=1,
-                    status=String(data="TTS Enabled"),
-                )
-                if self._zenoh_tts_status_response_pub:
-                    self._zenoh_tts_status_response_pub.put(tts_status_response.serialize())
-                return
-
-            # Disable the TTS
-            if code == 0:
-                self.tts_enabled = False
-                logging.debug("TTS Disabled")
-                tts_status_response = TTSStatusResponse(
-                    header=prepare_header(tts_status.header.frame_id),
-                    request_id=request_id,
-                    code=0,
-                    status=String(data="TTS Disabled"),
-                )
-                if self._zenoh_tts_status_response_pub:
-                    self._zenoh_tts_status_response_pub.put(tts_status_response.serialize())
-                return
-
-        except Exception as e:
-            logging.error(f"Error processing TTS status request: {e}")
-
-    def stop(self) -> None:
-        """
-        Stop the Kokoro TTS connector and cleanup resources.
-        """
-        if self.session:
-            self.session.close()
-            logging.info("Kokoro TTS Zenoh client closed")
-
-        if self.tts:
-            self.tts.stop()
diff --git a/src/actions/speak/connector/riva_tts.py b/src/actions/speak/connector/riva_tts.py
deleted file mode 100644
index 6f949aaeed..0000000000
--- a/src/actions/speak/connector/riva_tts.py
+++ /dev/null
@@ -1,176 +0,0 @@
-import logging
-from typing import Optional
-
-import zenoh
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.speak.interface import SpeakInput
-from providers.asr_provider import ASRProvider
-from providers.riva_tts_provider import RivaTTSProvider
-from zenoh_msgs import (
-    String,
-    TTSStatusRequest,
-    TTSStatusResponse,
-    open_zenoh_session,
-    prepare_header,
-)
-
-
-class SpeakRivaTTSConfig(ActionConfig):
-    """
-    Configuration for Riva TTS connector.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        OM API key.
-    microphone_device_id : Optional[int]
-        Microphone device ID.
-    microphone_name : Optional[str]
-        Microphone name.
-    """
-
-    api_key: Optional[str] = Field(
-        default=None,
-        description="OM API key",
-    )
-    microphone_device_id: Optional[int] = Field(
-        default=None,
-        description="Microphone device ID",
-    )
-    microphone_name: Optional[str] = Field(
-        default=None,
-        description="Microphone name",
-    )
-
-
-class SpeakRivaTTSConnector(ActionConnector[SpeakRivaTTSConfig, SpeakInput]):
-    """
-    A "Speak" connector that uses the RivaTTSProvider to perform Text-to-Speech.
-    This connector is compatible with the standard SpeakInput interface.
-    """
-
-    def __init__(self, config: SpeakRivaTTSConfig):
-        """
-        Initializes the connector and its underlying TTS provider.
-
-        Parameters
-        ----------
-        config : SpeakRivaTTSConfig
-            Configuration for the connector.
-        """
-        super().__init__(config)
-
-        # Get microphone and speaker device IDs and names
-        microphone_device_id = self.config.microphone_device_id
-        microphone_name = self.config.microphone_name
-
-        # OM API key
-        api_key = self.config.api_key
-
-        # Zenoh topics
-        self.tts_status_request_topic = "om/tts/request"
-        self.tts_status_response_topic = "om/tts/response"
-
-        self.session = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.session.declare_subscriber(self.tts_status_request_topic, self._zenoh_tts_status_request)
-            self._zenoh_tts_status_response_pub = self.session.declare_publisher(self.tts_status_response_topic)
-
-            logging.info("Riva TTS Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Riva TTS Zenoh client: {e}")
-
-        # Initialize ASR and TTS providers
-        self.asr = ASRProvider(
-            ws_url="wss://api-asr.openmind.com",
-            device_id=microphone_device_id,
-            microphone_name=microphone_name,
-        )
-        self.tts = RivaTTSProvider(
-            url="https://api.openmind.com/api/core/riva/tts",
-            api_key=api_key,
-        )
-
-        # TTS state
-        self.tts_enabled = True
-
-        # Start TTS processing loop
-        self.tts.start()
-
-    async def connect(self, output_interface: SpeakInput) -> None:
-        """
-        Process a speak action by sending text to Riva TTS.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The SpeakInput interface containing the text to be spoken.
-        """
-        # Check if TTS is enabled
-        if self.tts_enabled is False:
-            logging.info("TTS is disabled, skipping speak action")
-            return
-
-        # Block ASR until TTS is done
-        self.tts.register_tts_state_callback(self.asr.audio_stream.on_tts_state_change)
-        # Add pending message to TTS
-        self.tts.add_pending_message(output_interface.action)
-
-    def _zenoh_tts_status_request(self, data: zenoh.Sample):
-        """
-        Process an incoming TTS control status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if self._zenoh_tts_status_response_pub is None:
-            logging.error("TTS status response publisher is not initialized")
-            return
-
-        tts_status = TTSStatusRequest.deserialize(data.payload.to_bytes())
-        logging.debug(f"Received TTS Control Status message: {tts_status}")
-
-        code = tts_status.code
-        request_id = tts_status.request_id
-
-        # Read the current status
-        if code == 2:
-            tts_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=1 if self.tts_enabled else 0,
-                status=String(data=("TTS Enabled" if self.tts_enabled else "TTS Disabled")),
-            )
-            return self._zenoh_tts_status_response_pub.put(tts_status_response.serialize())
-
-        # Enable the TTS
-        if code == 1:
-            self.tts_enabled = True
-            logging.debug("TTS Enabled")
-
-            ai_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=1,
-                status=String(data="TTS Enabled"),
-            )
-            return self._zenoh_tts_status_response_pub.put(ai_status_response.serialize())
-
-        # Disable the TTS
-        if code == 0:
-            self.tts_enabled = False
-            logging.debug("TTS Disabled")
-            ai_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=0,
-                status=String(data="TTS Disabled"),
-            )
-
-            return self._zenoh_tts_status_response_pub.put(ai_status_response.serialize())
diff --git a/src/actions/speak/connector/ros2.py b/src/actions/speak/connector/ros2.py
deleted file mode 100644
index 0463e2a3f9..0000000000
--- a/src/actions/speak/connector/ros2.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import logging
-
-from actions.base import ActionConfig, ActionConnector
-from actions.speak.interface import SpeakInput
-
-
-class SpeakRos2Connector(ActionConnector[ActionConfig, SpeakInput]):
-    """
-    A "Speak" connector that sends speak commands to a ROS2 system.
-    This connector is compatible with the standard SpeakInput interface.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initializes the connector.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration for the connector.
-        """
-        super().__init__(config)
-
-    async def connect(self, output_interface: SpeakInput) -> None:
-        """
-        Process a speak action by sending text to ROS2.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The SpeakInput interface containing the text to be spoken.
-        """
-        new_msg = {"speak": output_interface.action}
-        logging.info(f"SendThisToROS2: {new_msg}")
diff --git a/src/actions/speak/connector/ub_tts.py b/src/actions/speak/connector/ub_tts.py
deleted file mode 100644
index 2804e09265..0000000000
--- a/src/actions/speak/connector/ub_tts.py
+++ /dev/null
@@ -1,166 +0,0 @@
-import logging
-import time
-from typing import Optional
-
-import zenoh
-from pydantic import Field
-
-# Import the necessary base classes and YOUR existing SpeakInput interface
-from actions.base import ActionConfig, ActionConnector
-from actions.speak.interface import SpeakInput
-from providers.ub_tts_provider import UbTtsProvider
-from zenoh_msgs import (
-    String,
-    TTSStatusRequest,
-    TTSStatusResponse,
-    open_zenoh_session,
-    prepare_header,
-)
-
-
-class UbTtsConfig(ActionConfig):
-    """
-    Configuration for UbTts connector.
-
-    Parameters
-    ----------
-    robot_ip : Optional[str]
-        The IP address of the robot.
-    ub_tts_base_url : str
-        The base URL for the UbTTS service.
-    """
-
-    robot_ip: Optional[str] = Field(
-        default=None,
-        description="The IP address of the robot.",
-    )
-    base_url: str = Field(
-        default=f"http://{robot_ip}:9090/v1/",
-        description="The base URL for the UbTTS service.",
-    )
-
-
-class UbTtsConnector(ActionConnector[UbTtsConfig, SpeakInput]):
-    """
-    A "Speak" connector that uses the UbTtsProvider to perform Text-to-Speech.
-    This connector is compatible with the standard SpeakInput interface.
-    """
-
-    def __init__(self, config: UbTtsConfig):
-        """
-        Initializes the connector and its underlying TTS provider.
-
-        Parameters
-        ----------
-        config : UbTtsConfig
-            Configuration for the connector.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-
-        # Zenoh topics
-        self.tts_status_request_topic = "om/tts/request"
-        self.tts_status_response_topic = "om/tts/response"
-
-        self.session = None
-        self.tts_enabled = True
-
-        try:
-            self.session = open_zenoh_session()
-            self.session.declare_subscriber(self.tts_status_request_topic, self._zenoh_tts_status_request)
-            self._zenoh_tts_status_response_pub = self.session.declare_publisher(self.tts_status_response_topic)
-
-            logging.info("UB TTS Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening UB TTS Zenoh client: {e}")
-
-        # Instantiate the provider with the correct URL
-        self.tts = UbTtsProvider(url=f"{base_url}voice/tts")
-
-    async def connect(self, output_interface: SpeakInput) -> None:
-        """
-        Handles the incoming action by passing it to the TTS provider.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The input protocol containing the action details.
-        """
-        if not self.tts_enabled:
-            logging.warning("TTS is currently disabled. Ignoring speak request.")
-            return
-
-        # Call the provider's speak method using data from SpeakInput.
-        # The text comes from the 'action' field.
-        # 'interrupt' and 'timestamp' use default values since they are not in SpeakInput.
-        self.tts.adding_pending_message(
-            message=output_interface.action,
-            interrupt=True,
-            timestamp=int(time.time()),  # Use current time as a sensible default
-        )
-
-    def _zenoh_tts_status_request(self, data: zenoh.Sample):
-        """
-        Process an incoming TTS control status message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if self._zenoh_tts_status_response_pub is None:
-            logging.error("TTS status response publisher is not initialized")
-            return
-
-        tts_status = TTSStatusRequest.deserialize(data.payload.to_bytes())
-        logging.debug(f"Received TTS Control Status message: {tts_status}")
-
-        code = tts_status.code
-        request_id = tts_status.request_id
-
-        # Read the current status
-        if code == 2:
-            tts_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=1 if self.tts_enabled else 0,
-                status=String(data=("TTS Enabled" if self.tts_enabled else "TTS Disabled")),
-            )
-            return self._zenoh_tts_status_response_pub.put(tts_status_response.serialize())
-
-        # Enable the TTS
-        if code == 1:
-            self.tts_enabled = True
-            logging.debug("TTS Enabled")
-
-            ai_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=1,
-                status=String(data="TTS Enabled"),
-            )
-            return self._zenoh_tts_status_response_pub.put(ai_status_response.serialize())
-
-        # Disable the TTS
-        if code == 0:
-            self.tts_enabled = False
-            logging.info("TTS Disabled")
-            ai_status_response = TTSStatusResponse(
-                header=prepare_header(tts_status.header.frame_id),
-                request_id=request_id,
-                code=0,
-                status=String(data="TTS Disabled"),
-            )
-
-            return self._zenoh_tts_status_response_pub.put(ai_status_response.serialize())
-
-    def stop(self):
-        """
-        Stop the UbTtsConnector and clean up resources.
-        """
-        if self.session:
-            self.session.close()
-            logging.info("UB TTS Zenoh client closed.")
-
-        self.tts.stop()
diff --git a/src/actions/speak/connector/zenoh.py b/src/actions/speak/connector/zenoh.py
deleted file mode 100644
index d81727b2b2..0000000000
--- a/src/actions/speak/connector/zenoh.py
+++ /dev/null
@@ -1,45 +0,0 @@
-import logging
-
-from actions.base import ActionConfig, ActionConnector
-from actions.speak.interface import SpeakInput
-from providers.zenoh_publisher_provider import ZenohPublisherProvider
-
-
-class SpeakZenohConnector(ActionConnector[ActionConfig, SpeakInput]):
-    """
-    Connector for publishing speak messages via Zenoh.
-
-    When a speak input is received, this connector queues the message
-    to be published using the Zenoh publisher provider.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initializes the connector and its underlying Zenoh publisher.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration for the connector.
-        """
-        super().__init__(config)
-
-        # Determine topic for speech; default to "speech" if not provided.
-        speak_topic = getattr(self.config, "speak_topic", None)
-        if speak_topic is None:
-            speak_topic = "speech"
-            # Log the speak_topic being used
-            logging.info(f"Speak topic not provided. Using default topic: {speak_topic}")
-        self.publisher = ZenohPublisherProvider(speak_topic)
-        self.publisher.start()
-
-    async def connect(self, output_interface: SpeakInput) -> None:
-        """
-        Queue the speak message for publishing via the Zenoh publisher provider.
-
-        Parameters
-        ----------
-        output_interface : SpeakInput
-            The speak input containing the message (action) to be published.
-        """
-        self.publisher.add_pending_message(output_interface.action)
diff --git a/src/actions/speak/interface.py b/src/actions/speak/interface.py
deleted file mode 100644
index f61007100d..0000000000
--- a/src/actions/speak/interface.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class SpeakInput:
-    """
-    Input interface for the Speak action.
-
-    Parameters
-    ----------
-    action : str
-        The text to be spoken.
-    """
-
-    action: str
-
-
-@dataclass
-class Speak(Interface[SpeakInput, SpeakInput]):
-    """
-    This action makes the robot speak a given text.
-    """
-
-    input: SpeakInput
-    output: SpeakInput
diff --git a/src/actions/telegram/connector/telegramAPI.py b/src/actions/telegram/connector/telegramAPI.py
deleted file mode 100644
index 5d4a945b56..0000000000
--- a/src/actions/telegram/connector/telegramAPI.py
+++ /dev/null
@@ -1,78 +0,0 @@
-import logging
-
-import aiohttp
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.telegram.interface import TelegramInput
-
-
-class TelegramAPIConfig(ActionConfig):
-    """
-    Configuration class for TelegramAPIConnector.
-    """
-
-    bot_token: str = Field(description="Telegram Bot Token for authentication")
-    chat_id: str = Field(description="Telegram Chat ID to send messages to")
-
-
-class TelegramAPIConnector(ActionConnector[TelegramAPIConfig, TelegramInput]):
-    """
-    Connector for Telegram Bot API.
-
-    This connector integrates with Telegram Bot API to send messages from the robot.
-    """
-
-    def __init__(self, config: TelegramAPIConfig):
-        """
-        Initialize the Telegram API connector.
-
-        Parameters
-        ----------
-        config : TelegramAPIConfig
-            Configuration object for the connector.
-        """
-        super().__init__(config)
-
-        if not self.config.bot_token:
-            logging.warning("Telegram Bot Token not provided in configuration")
-        if not self.config.chat_id:
-            logging.warning("Telegram Chat ID not provided in configuration")
-
-    async def connect(self, output_interface: TelegramInput) -> None:
-        """
-        Send message via Telegram Bot API.
-
-        Parameters
-        ----------
-        output_interface : TelegramInput
-            The TelegramInput interface containing the message text.
-        """
-        if not self.config.bot_token or not self.config.chat_id:
-            logging.error("Telegram credentials not configured")
-            return
-
-        try:
-            message_text = output_interface.action
-            logging.info(f"SendThisToTelegram: {message_text}")
-
-            url = f"https://api.telegram.org/bot{self.config.bot_token}/sendMessage"
-            payload = {
-                "chat_id": self.config.chat_id,
-                "text": message_text,
-                "parse_mode": "HTML",
-            }
-
-            async with aiohttp.ClientSession() as session:
-                async with session.post(url, json=payload) as response:
-                    if response.status == 200:
-                        data = await response.json()
-                        message_id = data.get("result", {}).get("message_id")
-                        logging.info(f"Telegram message sent successfully! Message ID: {message_id}")
-                    else:
-                        error_text = await response.text()
-                        logging.error(f"Telegram API error: {response.status} - {error_text}")
-
-        except Exception as e:
-            logging.error(f"Failed to send Telegram message: {str(e)}")
-            raise
diff --git a/src/actions/telegram/interface.py b/src/actions/telegram/interface.py
deleted file mode 100644
index 49f9e8e078..0000000000
--- a/src/actions/telegram/interface.py
+++ /dev/null
@@ -1,32 +0,0 @@
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class TelegramInput:
-    """
-    Input interface for the Telegram Message action.
-
-    Parameters
-    ----------
-    action : str
-        The text content to be sent as a message to Telegram.
-        Can include emojis and basic formatting.
-    """
-
-    action: str = ""
-
-
-@dataclass
-class Telegram(Interface[TelegramInput, TelegramInput]):
-    """
-    This action allows the robot to send messages to Telegram.
-
-    Effect: Sends the specified text content as a message to the configured
-    Telegram chat using the Telegram Bot API. The message is sent immediately
-    and logged upon successful delivery.
-    """
-
-    input: TelegramInput
-    output: TelegramInput
diff --git a/src/actions/tesla_dimo/connector/tesla.py b/src/actions/tesla_dimo/connector/tesla.py
deleted file mode 100644
index a2defe8f8d..0000000000
--- a/src/actions/tesla_dimo/connector/tesla.py
+++ /dev/null
@@ -1,169 +0,0 @@
-import logging
-import time
-from typing import Optional
-
-import aiohttp
-from dimo import DIMO
-from pydantic import Field
-
-from actions.base import ActionConfig, ActionConnector
-from actions.tesla_dimo.interface import TeslaInput
-from providers.io_provider import IOProvider
-
-
-class DIMOTeslaConfig(ActionConfig):
-    """
-    Configuration for DIMO Tesla connector.
-
-    Parameters
-    ----------
-    client_id : Optional[str]
-        DIMO client ID.
-    domain : Optional[str]
-        DIMO domain.
-    private_key : Optional[str]
-        DIMO private key.
-    token_id : Optional[int]
-        DIMO token ID.
-    """
-
-    client_id: Optional[str] = Field(
-        default=None,
-        description="DIMO client ID",
-    )
-    domain: Optional[str] = Field(
-        default=None,
-        description="DIMO domain",
-    )
-    private_key: Optional[str] = Field(
-        default=None,
-        description="DIMO private key",
-    )
-    token_id: Optional[int] = Field(
-        default=None,
-        description="DIMO token ID",
-    )
-
-
-class DIMOTeslaConnector(ActionConnector[DIMOTeslaConfig, TeslaInput]):
-    """
-    Connector that interacts with a Tesla vehicle via the DIMO platform.
-    """
-
-    def __init__(self, config: DIMOTeslaConfig):
-        """
-        Initialize the DIMOTeslaConnector.
-
-        Parameters
-        ----------
-        config : DIMOTeslaConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        self.io_provider = IOProvider()
-
-        self.base_url = "https://devices-api.dimo.zone/v1/vehicle"
-
-        self.dimo = None
-        self.dev_jwt = None
-        self.previous_output = None
-
-        self.token_id = self.io_provider.get_dynamic_variable("token_id")
-        self.vehicle_jwt = self.io_provider.get_dynamic_variable("vehicle_jwt")
-        self.vehicle_jwt_expires = None
-
-        if not self.token_id or not self.vehicle_jwt:
-            self.dimo = DIMO("Production")
-
-            # Configure the DIMO Tesla service
-            client_id = self.config.client_id
-            domain = self.config.domain
-            private_key = self.config.private_key
-            self.token_id = self.config.token_id
-
-            if not client_id or not domain or not private_key or not self.token_id:
-                raise ValueError(
-                    "DIMOTeslaConnector: Missing DIMO configuration in config or IOProvider dynamic variables"
-                )
-
-            try:
-                auth_header = self.dimo.auth.get_dev_jwt(client_id=client_id, domain=domain, private_key=private_key)
-                self.dev_jwt = auth_header["access_token"]
-
-                get_vehicle_jwt = self.dimo.token_exchange.exchange(
-                    developer_jwt=self.dev_jwt,
-                    token_id=self.token_id,
-                )
-                self.vehicle_jwt = get_vehicle_jwt["token"]
-                self.vehicle_jwt_expires = time.time() + 8 * 60
-            except Exception as e:
-                logging.error(f"DIMOTeslaConnector: Error getting DIMO vehicle jwt: {e}")
-                self.vehicle_jwt = None
-
-    async def connect(self, output_interface: TeslaInput) -> None:
-        """
-        Connect the input protocol to the DIMO Tesla action.
-
-        Parameters
-        ----------
-        output_interface : TeslaInput
-            The input protocol containing the action details.
-        """
-        logging.info(f"DIMOTeslaConnector: {output_interface.action}")
-        if output_interface.action != self.previous_output:
-            self.previous_output = output_interface.action
-
-            # check timeout of vehicle_jwt
-            if (
-                self.vehicle_jwt_expires is not None
-                and time.time() > self.vehicle_jwt_expires
-                and self.token_id is not None
-                and self.dimo is not None
-                and self.dev_jwt is not None
-            ):
-                try:
-                    get_vehicle_jwt = self.dimo.token_exchange.exchange(
-                        developer_jwt=self.dev_jwt,
-                        token_id=self.token_id,
-                    )
-                    self.vehicle_jwt = get_vehicle_jwt["token"]
-                    self.vehicle_jwt_expires = time.time() + 8 * 60
-                except Exception as e:
-                    logging.error(f"DIMOTeslaConnector: Error getting DIMO vehicle jwt: {e}")
-                    self.vehicle_jwt = None
-                    return None
-
-            if self.vehicle_jwt is not None:
-                action = str(output_interface.action).lower()
-
-                if action == "idle":
-                    logging.info("DIMO Tesla: Idle")
-                    return
-
-                action_map = {
-                    "lock doors": ("doors/lock", "Door locked", "locking door"),
-                    "unlock doors": ("doors/unlock", "Door unlocked", "unlocking door"),
-                    "open frunk": ("frunk/open", "Frunk opened", "opening frunk"),
-                    "open trunk": ("trunk/open", "Trunk opened", "opening trunk"),
-                }
-
-                if action in action_map:
-                    path, success_msg, error_msg = action_map[action]
-                    url = f"{self.base_url}/{self.token_id}/commands/{path}"
-                    timeout = aiohttp.ClientTimeout(total=10)
-
-                    async with aiohttp.ClientSession(timeout=timeout) as session:
-                        async with session.post(
-                            url,
-                            headers={"Authorization": f"Bearer {self.vehicle_jwt}"},
-                        ) as response:
-                            if response.status == 200:
-                                logging.info(f"DIMO Tesla: {success_msg}")
-                            else:
-                                text = await response.text()
-                                logging.error(f"Error {error_msg}: {response.status} {text}")
-                else:
-                    logging.error(f"Unknown action: {output_interface.action}")
-            else:
-                logging.error("No vehicle jwt")
diff --git a/src/actions/tesla_dimo/interface.py b/src/actions/tesla_dimo/interface.py
deleted file mode 100644
index ff98f3fe92..0000000000
--- a/src/actions/tesla_dimo/interface.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-
-from actions.base import Interface
-
-
-class TeslaAction(str, Enum):
-    """
-    Enumeration of possible Tesla actions.
-    """
-
-    IDLE = "idle"
-    LOCK_DOORS = "lock doors"
-    UNLOCK_DOORS = "unlock doors"
-    OPEN_FRUNK = "open frunk"
-    OPEN_TRUNK = "open trunk"
-
-
-@dataclass
-class TeslaInput:
-    """
-    Input interface for the DIMOTesla action.
-    """
-
-    action: TeslaAction
-
-
-@dataclass
-class DIMOTesla(Interface[TeslaInput, TeslaInput]):
-    """
-    A Tesla action to be performed by the agent.
-    Effect: Allows the agent to interact with a car.
-    """
-
-    input: TeslaInput
-    output: TeslaInput
diff --git a/src/actions/tweet/connector/twitterAPI.py b/src/actions/tweet/connector/twitterAPI.py
deleted file mode 100644
index dce2b813ae..0000000000
--- a/src/actions/tweet/connector/twitterAPI.py
+++ /dev/null
@@ -1,67 +0,0 @@
-import logging
-import os
-import warnings
-
-from dotenv import load_dotenv
-
-from actions.base import ActionConfig, ActionConnector
-from actions.tweet.interface import TweetInput
-
-
-class TweetAPIConnector(ActionConnector[ActionConfig, TweetInput]):
-    """
-    Connector for Twitter API.
-
-    This connector integrates with Twitter API v2 to post tweets from the robot.
-    """
-
-    def __init__(self, config: ActionConfig):
-        """
-        Initialize the Twitter API connector.
-
-        Parameters
-        ----------
-        config : ActionConfig
-            Configuration for the action connector.
-        """
-        super().__init__(config)
-
-        load_dotenv()
-
-        # Suppress tweepy warnings
-        with warnings.catch_warnings():
-            warnings.filterwarnings("ignore", category=SyntaxWarning)
-            import tweepy  # type: ignore
-
-            self.client = tweepy.Client(
-                consumer_key=os.getenv("TWITTER_API_KEY"),
-                consumer_secret=os.getenv("TWITTER_API_SECRET"),
-                access_token=os.getenv("TWITTER_ACCESS_TOKEN"),
-                access_token_secret=os.getenv("TWITTER_ACCESS_TOKEN_SECRET"),
-            )
-
-    async def connect(self, output_interface: TweetInput) -> None:
-        """
-        Send tweet via Twitter API.
-
-        Parameters
-        ----------
-        output_interface : TweetInput
-            The TweetInput interface containing the tweet text.
-        """
-        try:
-            # Log the tweet we're about to send
-            # FIXED: Changed from output_interface.tweet to output_interface.action
-            tweet_to_make = {"action": output_interface.action}
-            logging.info(f"SendThisToTwitterAPI: {tweet_to_make}")
-
-            # Send tweet
-            # FIXED: Changed from output_interface.tweet to output_interface.action
-            response = self.client.create_tweet(text=output_interface.action)
-            tweet_id = response.data["id"]
-            tweet_url = f"https://twitter.com/user/status/{tweet_id}"
-            logging.info(f"Tweet sent successfully! URL: {tweet_url}")
-
-        except Exception as e:
-            logging.error(f"Failed to send tweet: {str(e)}")
-            raise
diff --git a/src/actions/tweet/interface.py b/src/actions/tweet/interface.py
deleted file mode 100644
index e3e7c8727c..0000000000
--- a/src/actions/tweet/interface.py
+++ /dev/null
@@ -1,32 +0,0 @@
-from dataclasses import dataclass
-
-from actions.base import Interface
-
-
-@dataclass
-class TweetInput:
-    """
-    Input interface for the Tweet action.
-
-    Parameters
-    ----------
-    action : str
-        The text content to be posted as a tweet on Twitter/X.
-        Limited to Twitter's character limits (280 characters for most accounts).
-    """
-
-    action: str = ""  # Make tweet optional with default empty string
-
-
-@dataclass
-class Tweet(Interface[TweetInput, TweetInput]):
-    """
-    This action allows the robot to post messages on Twitter/X.
-
-    Effect: Publishes the specified text content as a tweet on the connected
-    Twitter/X account using the Twitter API v2. The tweet is posted immediately
-    and a tweet URL is logged upon successful posting.
-    """
-
-    input: TweetInput
-    output: TweetInput
diff --git a/src/backgrounds/__init__.py b/src/backgrounds/__init__.py
deleted file mode 100644
index 8ec29f2e81..0000000000
--- a/src/backgrounds/__init__.py
+++ /dev/null
@@ -1,99 +0,0 @@
-import importlib
-import inspect
-import logging
-import os
-import re
-import typing as T
-
-from backgrounds.base import Background, BackgroundConfig
-
-
-def find_module_with_class(class_name: str) -> T.Optional[str]:
-    """
-    Find which module file contains the specified class name.
-
-    Parameters
-    ----------
-    class_name : str
-        The class name to search for
-
-    Returns
-    -------
-    str or None
-        The module name (without .py) that contains the class, or None if not found
-    """
-    plugins_dir = os.path.join(os.path.dirname(__file__), "plugins")
-
-    if not os.path.exists(plugins_dir):
-        return None
-
-    plugin_files = [f for f in os.listdir(plugins_dir) if f.endswith(".py")]
-
-    for plugin_file in plugin_files:
-        file_path = os.path.join(plugins_dir, plugin_file)
-
-        try:
-            with open(file_path, "r", encoding="utf-8") as f:
-                content = f.read()
-
-            pattern = rf"^class\s+{re.escape(class_name)}\s*\([^)]*Background[^)]*\)\s*:"
-
-            if re.search(pattern, content, re.MULTILINE):
-                return plugin_file[:-3]
-
-        except Exception as e:
-            logging.warning(f"Could not read {plugin_file}: {e}")
-            continue
-
-    return None
-
-
-def load_background(background_config: T.Dict[str, T.Any]) -> Background:
-    """
-    Load a background instance with its configuration.
-
-    Parameters
-    ----------
-    background_config : dict
-        Configuration dictionary
-
-    Returns
-    -------
-    Background
-        The instantiated background
-    """
-    class_name = background_config["type"]
-    module_name = find_module_with_class(class_name)
-
-    if module_name is None:
-        raise ValueError(f"Class '{class_name}' not found in any background plugin module")
-
-    try:
-        module = importlib.import_module(f"backgrounds.plugins.{module_name}")
-        background_class = getattr(module, class_name)
-
-        if not (
-            inspect.isclass(background_class)
-            and issubclass(background_class, Background)
-            and background_class != Background
-        ):
-            raise ValueError(f"'{class_name}' is not a valid background subclass")
-
-        config_class = None
-        for obj in module.__dict__.values():
-            if isinstance(obj, type) and issubclass(obj, BackgroundConfig) and obj != BackgroundConfig:
-                config_class = obj
-
-        config_dict = background_config.get("config", {})
-        if config_class is not None:
-            config = config_class(**(config_dict if isinstance(config_dict, dict) else {}))
-        else:
-            config = BackgroundConfig(**(config_dict if isinstance(config_dict, dict) else {}))
-
-        logging.debug(f"Loaded background {class_name} from {module_name}.py")
-        return background_class(config=config)
-
-    except ImportError as e:
-        raise ValueError(f"Could not import background module '{module_name}': {e}")
-    except AttributeError:
-        raise ValueError(f"Class '{class_name}' not found in background module '{module_name}'")
diff --git a/src/backgrounds/base.py b/src/backgrounds/base.py
deleted file mode 100644
index ba0848f375..0000000000
--- a/src/backgrounds/base.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import threading
-import time
-import typing as T
-
-from pydantic import BaseModel, ConfigDict
-
-ConfigType = T.TypeVar("ConfigType", bound="BackgroundConfig")
-
-
-class BackgroundConfig(BaseModel):
-    """
-    Base configuration class for Background implementations.
-    """
-
-    model_config = ConfigDict(extra="allow")
-
-
-class Background(T.Generic[ConfigType]):
-    """
-    Base class for background components.
-    """
-
-    def __init__(self, config: ConfigType):
-        """
-        Initialize background with configuration.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration object for the background
-        """
-        self.config = config
-
-        self.name = getattr(config, "name", type(self).__name__)
-
-        self._stop_event: T.Optional[threading.Event] = None
-
-    def set_stop_event(self, stop_event: threading.Event) -> None:
-        """
-        Set the stop event for this background task.
-
-        Parameters
-        ----------
-        stop_event : threading.Event
-            Event that signals when the background task should stop
-        """
-        self._stop_event = stop_event
-
-    def should_stop(self) -> bool:
-        """
-        Check if the background task should stop.
-
-        Returns
-        -------
-        bool
-            True if the task should stop, False otherwise
-        """
-        return self._stop_event is not None and self._stop_event.is_set()
-
-    def sleep(self, duration: float) -> bool:
-        """
-        Sleep for the specified duration, but wake immediately if stop signal is received.
-
-        Parameters
-        ----------
-        duration : float
-            Total duration to sleep in seconds
-
-        Returns
-        -------
-        bool
-            True if sleep completed normally, False if interrupted by stop signal
-        """
-        if self._stop_event is None:
-            time.sleep(duration)
-            return True
-
-        was_stopped = self._stop_event.wait(timeout=duration)
-
-        return not was_stopped
-
-    def run(self) -> None:
-        """
-        Run the background process.
-
-        This method should be overridden by subclasses to implement specific behavior.
-        """
-        self.sleep(60)
-
-    def stop(self) -> None:
-        """
-        Stop the background task and clean up resources.
-
-        This method should be overridden by subclasses that need to perform
-        cleanup operations (e.g., closing connections, releasing resources).
-        The base implementation does nothing.
-        """
-        pass
diff --git a/src/backgrounds/orchestrator.py b/src/backgrounds/orchestrator.py
deleted file mode 100644
index 72c49fd623..0000000000
--- a/src/backgrounds/orchestrator.py
+++ /dev/null
@@ -1,107 +0,0 @@
-import asyncio
-import logging
-import threading
-from concurrent.futures import ThreadPoolExecutor
-
-from backgrounds.base import Background
-from runtime.config import RuntimeConfig
-
-
-class BackgroundOrchestrator:
-    """
-    Manages and coordinates background tasks for the application.
-
-    Handles concurrent execution of multiple background tasks in separate
-    threads, ensuring they run independently without blocking the main event loop.
-    Supports graceful shutdown and error handling for individual background tasks.
-    """
-
-    _config: RuntimeConfig
-    _background_workers: int
-    _background_executor: ThreadPoolExecutor
-    _background_instances: list[Background]
-    _stop_event: threading.Event
-
-    def __init__(self, config: RuntimeConfig):
-        """
-        Initialize the BackgroundOrchestrator with the provided configuration.
-
-        Parameters
-        ----------
-        config : RuntimeConfig
-            Configuration object for the runtime.
-        """
-        self._config = config
-        self._background_workers = min(12, len(config.backgrounds)) if config.backgrounds else 1
-        self._background_executor = ThreadPoolExecutor(
-            max_workers=self._background_workers,
-        )
-        self._background_instances = []
-        self._stop_event = threading.Event()
-
-    def start(self) -> asyncio.Future:
-        """
-        Start background tasks in separate threads.
-
-        Submits each background task to the thread pool executor for concurrent
-        execution. Skips backgrounds that have already been submitted to prevent
-        duplicates.
-
-        Returns
-        -------
-        asyncio.Future
-            A future object for compatibility with async interfaces.
-        """
-        for background in self._config.backgrounds:
-            if any(bg.name == background.name for bg in self._background_instances):
-                logging.warning(f"Background {background.name} already submitted, skipping.")
-                continue
-
-            background.set_stop_event(self._stop_event)
-
-            self._background_executor.submit(self._run_background_loop, background)
-            self._background_instances.append(background)
-
-        return asyncio.Future()
-
-    def _run_background_loop(self, background: Background):
-        """
-        Thread-based background loop.
-
-        Parameters
-        ----------
-        background : Background
-            The background task to run.
-        """
-        while not self._stop_event.is_set():
-            try:
-                background.run()
-            except Exception:
-                logging.exception(f"Error in background {background.name}")
-                self._stop_event.wait(timeout=0.1)
-
-    def stop(self):
-        """
-        Stop the background executor and wait for all tasks to complete.
-
-        Sets the stop event to signal all background loops to terminate,
-        calls stop() on each background instance for cleanup, then shuts
-        down the thread pool executor and waits for all running tasks to
-        finish gracefully.
-        """
-        self._stop_event.set()
-
-        for background in self._background_instances:
-            try:
-                background.stop()
-            except Exception:
-                logging.exception(f"Error stopping background {background.name}")
-
-        self._background_executor.shutdown(wait=True)
-        self._background_instances.clear()
-
-    def __del__(self):
-        """
-        Clean up the BackgroundOrchestrator by stopping the executor.
-        """
-        self.stop()
diff --git a/src/backgrounds/plugins/agent_teleops_status.py b/src/backgrounds/plugins/agent_teleops_status.py
deleted file mode 100644
index ee54da6269..0000000000
--- a/src/backgrounds/plugins/agent_teleops_status.py
+++ /dev/null
@@ -1,103 +0,0 @@
-import logging
-import time
-from typing import Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers import TeleopsStatus
-from providers.teleops_status_provider import TeleopsStatusProvider
-
-
-class AgentTeleopsStatusConfig(BackgroundConfig):
-    """
-    Configuration for Teleops Status Background.
-
-    Parameters
-    ----------
-    api_key : Optional[str], default=None
-        OM API key for authentication.
-    machine_name : str, default="agent_teleops_status_reporter"
-        Machine name for teleops status reporting.
-    battery_level : float, default=0.0
-        Battery level percentage (0-100).
-    voltage : float, default=0.0
-        Battery voltage in volts.
-    temperature : float, default=0.0
-        Battery temperature in Celsius.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="OM API key")
-    machine_name: str = Field(
-        default="agent_teleops_status_reporter",
-        description="Machine name for teleops status",
-    )
-    battery_level: float = Field(
-        default=0.0,
-        description="Battery level percentage (0-100)",
-    )
-    voltage: float = Field(
-        default=0.0,
-        description="Battery voltage in volts",
-    )
-    temperature: float = Field(
-        default=0.0,
-        description="Battery temperature in Celsius",
-    )
-
-
-class AgentTeleopsStatusBackground(Background[AgentTeleopsStatusConfig]):
-    """
-    Background task for reporting teleops status.
-
-    This background task initializes and manages a TeleopsStatusProvider
-    instance that periodically retrieves and logs the teleops status of
-    the machine. The provider communicates with a remote API to fetch
-    the current status, including battery and action statuses.
-
-    The teleops status information is essential for monitoring the
-    operational state of the machine during remote operations.
-    """
-
-    def __init__(self, config: AgentTeleopsStatusConfig):
-        """
-        Initialize TeleopsStatus background task with configuration.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration object for the background task. The base configuration
-            is used as TeleopsStatus does not require additional parameters.
-        """
-        super().__init__(config)
-
-        logging.warning("--------------------------------")
-        logging.warning("Run Agent Teleops only if you don't have a robot connected.")
-        logging.warning("--------------------------------")
-
-        self.teleops_status_provider = TeleopsStatusProvider(api_key=self.config.api_key)
-        logging.info("Initiated Teleops Status Provider in background")
-
-    def run(self) -> None:
-        """
-        Run the teleops status background process.
-        """
-        current_time = str(time.time())
-        self.teleops_status_provider.share_status(
-            TeleopsStatus.from_dict(
-                {
-                    "machine_name": self.config.machine_name,
-                    "update_time": current_time,
-                    "om1_heartbeat": current_time,
-                    "battery_status": {
-                        "battery_level": self.config.battery_level,
-                        "voltage": self.config.voltage,
-                        "temperature": self.config.temperature,
-                        "timestamp": current_time,
-                        "charging_status": False,
-                    },
-                }
-            )
-        )
-
-        self.sleep(60)
diff --git a/src/backgrounds/plugins/approaching_person.py b/src/backgrounds/plugins/approaching_person.py
deleted file mode 100644
index f3c506378f..0000000000
--- a/src/backgrounds/plugins/approaching_person.py
+++ /dev/null
@@ -1,108 +0,0 @@
-import logging
-import threading
-from uuid import uuid4
-
-import zenoh
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.context_provider import ContextProvider
-from providers.greeting_conversation_state_provider import (
-    ConversationState,
-    GreetingConversationStateMachineProvider,
-)
-from zenoh_msgs import PersonGreetingStatus, String, open_zenoh_session, prepare_header
-
-
-class ApproachingPerson(Background[BackgroundConfig]):
-    """
-    Background task that approaches a person and triggers greeting mode.
-    """
-
-    def __init__(self, config: BackgroundConfig):
-        """
-        Initialize the ApproachingPerson background task.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration for the background task.
-        """
-        super().__init__(config)
-
-        self.greeting_state_provider = GreetingConversationStateMachineProvider()
-
-        self.person_greeting_topic = "om/person_greeting"
-        self._is_person_approached = False
-        self._lock = threading.Lock()
-
-        try:
-            self.session = open_zenoh_session()
-            self.session.declare_subscriber(self.person_greeting_topic, self._on_person_greeting)
-        except Exception as e:
-            logging.error(f"Error opening Zenoh session in ApproachingPerson: {e}")
-
-        logging.info("ApproachingPerson background task initialized.")
-
-    def _on_person_greeting(self, data: zenoh.Sample) -> None:
-        """
-        Callback function when a person greeting message is received.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        logging.debug("Person greeting detected via Zenoh message.")
-
-        person_greeting_status = PersonGreetingStatus.deserialize(data.payload.to_bytes())
-
-        if person_greeting_status.status == PersonGreetingStatus.STATUS.APPROACHED.value:
-            with self._lock:
-                logging.info("Person is approaching. Triggering greeting mode.")
-                self._is_person_approached = True
-
-                context_provider = ContextProvider()
-                context_provider.update_context({"approaching_detected": True})
-
-                self.greeting_state_provider.reset_state(ConversationState.ENGAGING)
-
-    def run(self) -> None:
-        """
-        Run the ApproachingPerson background task.
-        """
-        with self._lock:
-            if self._is_person_approached:
-                logging.debug("Skipping SWITCH status - person already approached.")
-                pass
-
-        if self._is_person_approached:
-            self.sleep(5)
-            return
-
-        if not self.session:
-            logging.warning("No Zenoh session available in ApproachingPerson.")
-            self.sleep(5)
-            return
-
-        request_id = str(uuid4())
-
-        self.session.put(
-            self.person_greeting_topic,
-            PersonGreetingStatus(
-                header=prepare_header(request_id),
-                request_id=String(data=request_id),
-                status=PersonGreetingStatus.STATUS.SWITCH.value,
-                message=String(data="Switching to next person"),
-            ).serialize(),
-        )
-
-        self.sleep(5)
-
-    def stop(self) -> None:
-        """
-        Stop the ApproachingPerson background task.
-        """
-        logging.info("Stopping ApproachingPerson background task.")
-
-        if self.session:
-            self.session.close()
diff --git a/src/backgrounds/plugins/d435.py b/src/backgrounds/plugins/d435.py
deleted file mode 100644
index 1c9fbaf701..0000000000
--- a/src/backgrounds/plugins/d435.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import logging
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.d435_provider import D435Provider
-
-
-class D435(Background[BackgroundConfig]):
-    """
-    Background task for reading depth data from D435 camera.
-
-    This background task initializes and manages a D435Provider instance
-    that subscribes to depth camera data via Zenoh. The provider processes
-    depth information to detect obstacles in the robot's environment.
-
-    The D435 camera provides depth sensing capabilities, which are used
-    for obstacle detection and navigation assistance.
-    """
-
-    def __init__(self, config: BackgroundConfig):
-        """
-        Initialize D435 background task with configuration.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration object for the background task. The base configuration
-            is used as D435 does not require additional parameters.
-        """
-        super().__init__(config)
-
-        self.d435_provider = D435Provider()
-        self.d435_provider.start()
-        logging.info("Initiated D435 Provider in background")
diff --git a/src/backgrounds/plugins/elevenlabs_tts.py b/src/backgrounds/plugins/elevenlabs_tts.py
deleted file mode 100644
index cd00c8c1af..0000000000
--- a/src/backgrounds/plugins/elevenlabs_tts.py
+++ /dev/null
@@ -1,95 +0,0 @@
-import logging
-from typing import Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-
-
-class ElevenLabsTTSConfig(BackgroundConfig):
-    """
-    Configuration for Eleven Labs TTS Background.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        OM API key.
-    elevenlabs_api_key : Optional[str]
-        Eleven Labs API key.
-    voice_id : str
-        Voice ID for TTS.
-    model_id : str
-        Model ID for TTS.
-    output_format : str
-        Output audio format.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="OM API key")
-    elevenlabs_api_key: Optional[str] = Field(default=None, description="Eleven Labs API key")
-    voice_id: str = Field(default="JBFqnCBsd6RMkjVDRZzb", description="Voice ID for TTS")
-    model_id: str = Field(default="eleven_flash_v2_5", description="Model ID for TTS")
-    output_format: str = Field(default="pcm_16000", description="Output audio format")
-
-
-class ElevenLabsTTS(Background[ElevenLabsTTSConfig]):
-    """
-    Background task for text-to-speech synthesis using Eleven Labs TTS service.
-
-    This background task initializes and manages an ElevenLabsTTSProvider instance
-    that handles text-to-speech conversion through the Eleven Labs API. The provider
-    processes text input and generates high-quality audio output using configured
-    voice and model settings.
-
-    The Eleven Labs TTS service provides natural-sounding speech synthesis with
-    various voice options and model configurations, enabling robots to communicate
-    verbally with users in a more engaging and human-like manner.
-    """
-
-    def __init__(self, config: ElevenLabsTTSConfig):
-        """
-        Initialize Eleven Labs TTS background task with configuration.
-
-        Parameters
-        ----------
-        config : ElevenLabsTTSConfig
-            Configuration object containing API keys, voice settings, model selection,
-            and output format preferences. The configuration includes:
-            - OM API key for OpenMind service authentication
-            - Eleven Labs API key for TTS service access
-            - Voice ID specifying the voice to use for synthesis
-            - Model ID determining the TTS model (e.g., "eleven_flash_v2_5")
-            - Output format defining audio encoding (e.g., "pcm_16000")
-        """
-        super().__init__(config)
-
-        # OM API key
-        api_key = self.config.api_key
-
-        # Eleven Labs TTS configuration
-        elevenlabs_api_key = self.config.elevenlabs_api_key
-        voice_id = self.config.voice_id
-        model_id = self.config.model_id
-        output_format = self.config.output_format
-
-        # Initialize Eleven Labs TTS Provider
-        self.tts = ElevenLabsTTSProvider(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=api_key,
-            elevenlabs_api_key=elevenlabs_api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-        )
-        self.tts.start()
-
-        # Configure Eleven Labs TTS Provider to ensure settings are applied
-        self.tts.configure(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=api_key,
-            elevenlabs_api_key=elevenlabs_api_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-        )
-        logging.info("Eleven Labs TTS Provider initialized in background")
diff --git a/src/backgrounds/plugins/gps.py b/src/backgrounds/plugins/gps.py
deleted file mode 100644
index 335886114a..0000000000
--- a/src/backgrounds/plugins/gps.py
+++ /dev/null
@@ -1,54 +0,0 @@
-import logging
-from typing import Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.gps_provider import GpsProvider
-
-
-class GpsConfig(BackgroundConfig):
-    """
-    Configuration for GPS Background.
-
-    Parameters
-    ----------
-    serial_port : Optional[str]
-        Serial port for GPS device.
-    """
-
-    serial_port: Optional[str] = Field(default=None, description="Serial port for GPS device")
-
-
-class Gps(Background[GpsConfig]):
-    """
-    Background task for reading GPS position and magnetometer heading data.
-
-    Manages a GpsProvider instance that connects to a GPS device via serial port,
-    processing GPS location data (latitude, longitude, altitude) and magnetometer
-    data (compass heading) for outdoor navigation and orientation.
-
-    GPS data provides global position information for outdoor localization, while
-    magnetometer data provides heading information to determine orientation.
-    """
-
-    def __init__(self, config: GpsConfig):
-        """
-        Initialize the Gps background task instance.
-
-        Sets up the GPS provider using the specified serial port from the configuration.
-
-        Parameters
-        ----------
-        config : GpsConfig
-            Configuration object containing the GPS serial port.
-        """
-        super().__init__(config)
-
-        port = self.config.serial_port
-        if port is None:
-            logging.error("GPS serial port not specified in config")
-            return
-
-        self.gps_provider = GpsProvider(serial_port=port)
-        logging.info(f"Initiated GPS Provider with serial port: {port} in background")
diff --git a/src/backgrounds/plugins/rf_mapper.py b/src/backgrounds/plugins/rf_mapper.py
deleted file mode 100644
index f440eae766..0000000000
--- a/src/backgrounds/plugins/rf_mapper.py
+++ /dev/null
@@ -1,346 +0,0 @@
-import asyncio
-import logging
-import threading
-import time
-from typing import Dict, List, Optional
-
-from bleak import BleakScanner
-from bleak.backends.scanner import AdvertisementData
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.fabric_map_provider import (
-    FabricData,
-    FabricDataSubmitter,
-    RFData,
-    RFDataRaw,
-)
-from providers.gps_provider import GpsProvider
-from providers.rtk_provider import RtkProvider
-from providers.unitree_go2_odom_provider import UnitreeGo2OdomProvider
-
-
-class RFmapperConfig(BackgroundConfig):
-    """
-    Configuration for RFmapper Background.
-
-    Parameters
-    ----------
-    name : str
-        Name of the RF mapper.
-    api_key : Optional[str]
-        API key for Fabric.
-    URID : Optional[str]
-        Unique Robot ID.
-    unitree_ethernet : Optional[str]
-        Unitree Ethernet channel.
-    """
-
-    name: str = Field(default="RFmapper", description="Name of the RF mapper")
-    api_key: Optional[str] = Field(default=None, description="API key")
-    URID: Optional[str] = Field(default=None, description="Unique Robot ID")
-    unitree_ethernet: Optional[str] = Field(default=None, description="Unitree Ethernet channel")
-
-
-class RFmapper(Background[RFmapperConfig]):
-    """
-    Assemble location and BLE data with Unitree Go2 odometry and submit to Fabric.
-    """
-
-    def __init__(self, config: RFmapperConfig):
-        """
-        Initialize the RFmapper with configuration.
-
-        Parameters
-        ----------
-        config : RFmapperConfig
-            Configuration object for the background.
-        """
-        super().__init__(config)
-
-        logging.info(f"Mapper config: {config}")
-
-        self.name = self.config.name
-        self.api_key = self.config.api_key
-        self.URID = self.config.URID
-        self.unitree_ethernet = self.config.unitree_ethernet
-
-        self.loop = asyncio.new_event_loop()
-        self.thread = threading.Thread(target=self._scan_task)
-        self.running = False
-
-        self.scan_results: List[RFData] = []
-        self.scan_idx = 0
-        self.scan_last_sent = 0
-
-        self.payload_idx = 0
-
-        self.odom_rockchip_ts = 0.0
-        self.odom_subscriber_ts = 0.0
-        self.odom_x = 0.0
-        self.odom_y = 0.0
-        self.odom_yaw_0_360 = 0.0
-        self.odom_yaw_m180_p180 = 0.0
-
-        self.gps_unix_ts = 0.0
-        self.gps_lat = 0.0
-        self.gps_lon = 0.0
-        self.gps_alt = 0.0
-        self.gps_qua = 0
-        self.yaw_mag_0_360 = 0.0
-        self.ble_scan: List[RFDataRaw] = []
-
-        self.rtk_unix_ts = 0.0
-        self.rtk_lat = 0.0
-        self.rtk_lon = 0.0
-        self.rtk_alt = 0.0
-        self.rtk_qua = 0
-
-        self.gps = GpsProvider()
-        self.gps_on = self.gps.running
-        logging.info(f"Mapper Gps Provider: {self.gps}")
-
-        self.rtk = RtkProvider()
-        self.rtk_on = self.rtk.running
-        logging.info(f"Mapper Rtk Provider: {self.rtk}")
-
-        self.odom = UnitreeGo2OdomProvider()
-        logging.info(f"Mapper Odom Provider: {self.odom}")
-
-        self.fds = FabricDataSubmitter(api_key=self.api_key, write_to_local_file=True)
-
-        self.seen_devices: Dict[str, RFData] = {}
-
-        self.seen_names: List[str] = []
-
-        self.start()
-
-    async def scan(self) -> List[RFData]:
-        """
-        Perform a BLE scan and collect RF data.
-
-        Returns
-        -------
-        List[RFData]
-            List of RFData objects from the scan.
-        """
-
-        def detection_callback(device, advdata: AdvertisementData):
-            """
-            Callback for handling detected BLE devices.
-
-            Parameters
-            ----------
-            device : BLEDevice
-                The detected BLE device.
-            advdata : AdvertisementData
-                The advertisement data associated with the device.
-            """
-            addr = device.address
-
-            local_name = None
-            if device.name:
-                local_name = device.name
-            elif advdata.local_name:
-                local_name = advdata.local_name
-
-            mfgkey = ""
-            mfgval = ""
-            service_uuid = ""
-
-            if advdata.manufacturer_data:
-                for key, value in advdata.manufacturer_data.items():
-                    mfgkey = hex(key).upper()
-                    mfgval = value.hex().upper()
-                    break
-
-            if advdata.service_uuids:
-                service_uuid = advdata.service_uuids[0]
-
-            # we want to update everything EXCEPT we do not want to overwrite a resolved name
-            # and we do not want to replace a long mfgval with a short one
-            # we also want to update the TX power if we receive those data
-            rssi = advdata.rssi
-            tx_power = advdata.tx_power
-
-            if addr in self.seen_devices:
-                self.seen_devices[addr].rssi = rssi
-                self.seen_devices[addr].unix_ts = time.time()
-                if tx_power and self.seen_devices[addr].tx_power is None:
-                    self.seen_devices[addr].tx_power = tx_power
-                    logging.info(f"Updated BLE tx_power: {self.seen_devices[addr].tx_power}")
-                if local_name and self.seen_devices[addr].name is None:
-                    self.seen_devices[addr].name = local_name
-                    logging.info(f"Updated BLE name: {self.seen_devices[addr].name}")
-                if len(mfgval) > len(self.seen_devices[addr].mfgval):
-                    self.seen_devices[addr].mfgval = mfgval
-                    logging.info(f"Updated BLE mfgval: {self.seen_devices[addr].mfgval}")
-            else:
-
-                # this is a new device
-                self.seen_devices[addr] = RFData(
-                    unix_ts=time.time(),
-                    address=addr,
-                    name=local_name if local_name else None,
-                    rssi=rssi,
-                    tx_power=tx_power if tx_power else None,
-                    service_uuid=service_uuid,
-                    mfgkey=mfgkey,
-                    mfgval=mfgval,
-                )
-
-        scanner = BleakScanner(detection_callback)
-
-        await scanner.start()
-        # scan for 5 seconds, then return a new payload
-        await asyncio.sleep(5.0)
-        await scanner.stop()
-
-        logging.debug(f"ready to sort: {self.seen_devices.values()}")
-
-        # Get the top 20 devices with the strongest RSSI
-        sorted_devices = sorted(self.seen_devices.values(), key=lambda d: d.rssi, reverse=True)
-
-        final_list: List[RFData] = []
-        for i, device in enumerate(sorted_devices):
-            # return all the strong ones, or, the ones with a local name
-            # some will be both, but that's good
-            if i < 20 or device.name:
-                final_list.append(device)
-        logging.debug(f"Scan...{final_list}")
-
-        self.scan_idx += 1
-
-        return final_list
-
-    def _scan_task(self):
-        """
-        Background task to perform BLE scanning.
-        """
-        asyncio.set_event_loop(self.loop)
-        logging.info("Starting RF scan thread...")
-        self.running = True
-        while self.running:
-            self.scan_results = self.loop.run_until_complete(self.scan())
-            logging.info(f"RF scan index: {self.scan_idx}")
-            logging.info(f"RF scan last sent: {self.scan_last_sent}")
-            time.sleep(0.5)
-
-    def start(self):
-        """
-        Start the background process.
-        """
-        self.thread.start()
-
-    def stop(self):
-        """
-        Stop the background process.
-        """
-        self.running = False
-        time.sleep(1)
-        self.thread.join()
-
-    def run(self) -> None:
-        """
-        Run the background process.
-        This method will run indefinitely, simulating a long-running task.
-        """
-        try:
-            while self.running:
-
-                logging.info(f"Sending to fabric: payload {self.payload_idx}")
-
-                # add scan results if they are new
-                logging.info(f"RF scan index: {self.scan_idx}")
-                logging.info(f"RF scan last sent: {self.scan_last_sent}")
-                fresh_scan_results = []
-                if self.scan_results and self.scan_idx > self.scan_last_sent:
-                    fresh_scan_results = self.scan_results
-                    self.scan_last_sent = self.scan_idx
-                    self.scan_results = []
-                    logging.info(f"RF scan sending new payload: {self.scan_last_sent}")
-
-                # basic gps data and occasional scan results
-                try:
-                    g = self.gps.data
-                    logging.debug(f"GPS data: {g}")
-                    if g:
-                        if g["gps_unix_ts"]:
-                            self.gps_unix_ts = g["gps_unix_ts"]
-                            self.gps_lat = g["gps_lat"]
-                            self.gps_lon = g["gps_lon"]
-                            self.gps_alt = g["gps_alt"]
-                            self.yaw_mag_0_360 = g["yaw_mag_0_360"]
-                            self.gps_qua = g["gps_qua"]
-
-                        if g["ble_scan"] is not None:
-                            self.ble_scan = g["ble_scan"]
-                            logging.debug(f"RF scan results {self.ble_scan}")
-                        else:
-                            logging.warning("No nRF52 scan results")
-
-                except Exception as e:
-                    logging.error(f"Error parsing GPS: {e}")
-
-                try:
-                    o = self.odom.position
-                    logging.debug(f"Odom data: {o}")
-                    if o:
-                        self.odom_x = o["odom_x"]
-                        self.odom_y = o["odom_y"]
-                        self.odom_rockchip_ts = o["odom_rockchip_ts"]
-                        self.odom_subscriber_ts = o["odom_subscriber_ts"]
-                        self.odom_yaw_0_360 = o["odom_yaw_0_360"]
-                        self.odom_yaw_m180_p180 = o["odom_yaw_m180_p180"]
-                except Exception as e:
-                    logging.error(f"Error parsing Odom: {e}")
-
-                if hasattr(self.rtk, "running"):
-                    try:
-                        r = self.rtk.data
-                        logging.debug(f"RTK data: {r}")
-                        if r:
-                            self.rtk_unix_ts = r["rtk_unix_ts"]
-                            self.rtk_lat = r["rtk_lat"]
-                            self.rtk_lon = r["rtk_lon"]
-                            self.rtk_alt = r["rtk_alt"]
-                            self.rtk_qua = r["rtk_qua"]
-                    except Exception as e:
-                        logging.error(f"Error parsing RTK: {e}")
-
-                try:
-                    self.fds.share_data(
-                        FabricData(
-                            machine_id=self.URID if self.URID else "Unknown",
-                            payload_idx=self.payload_idx,
-                            gps_unix_ts=self.gps_unix_ts,
-                            gps_lat=self.gps_lat,
-                            gps_lon=self.gps_lon,
-                            gps_alt=self.gps_alt,
-                            gps_qua=self.gps_qua,
-                            rtk_unix_ts=self.rtk_unix_ts,
-                            rtk_lat=self.rtk_lat,
-                            rtk_lon=self.rtk_lon,
-                            rtk_alt=self.rtk_alt,
-                            rtk_qua=self.rtk_qua,
-                            mag=self.yaw_mag_0_360,
-                            unix_ts=time.time(),
-                            odom_rockchip_ts=self.odom_rockchip_ts,
-                            odom_subscriber_ts=self.odom_subscriber_ts,
-                            odom_x=self.odom_x,
-                            odom_y=self.odom_y,
-                            odom_yaw_0_360=self.odom_yaw_0_360,
-                            odom_yaw_m180_p180=self.odom_yaw_m180_p180,
-                            rf_data=fresh_scan_results,
-                            rf_data_raw=self.ble_scan,
-                        )
-                    )
-                    self.payload_idx += 1
-                except Exception as e:
-                    logging.error(f"Error sharing to Fabric: {e}")
-
-                self.sleep(1)  # we should send a payload every second
-
-        except KeyboardInterrupt:
-            logging.info("Stopping RF scanner...")
-            self.stop()
diff --git a/src/backgrounds/plugins/rtk.py b/src/backgrounds/plugins/rtk.py
deleted file mode 100644
index 181d64b250..0000000000
--- a/src/backgrounds/plugins/rtk.py
+++ /dev/null
@@ -1,54 +0,0 @@
-import logging
-from typing import Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.rtk_provider import RtkProvider
-
-
-class RtkConfig(BackgroundConfig):
-    """
-    Configuration for RTK Background.
-
-    Parameters
-    ----------
-    serial_port : Optional[str]
-        Serial port for RTK device.
-    """
-
-    serial_port: Optional[str] = Field(default=None, description="Serial port for RTK device")
-
-
-class Rtk(Background[RtkConfig]):
-    """
-    Background task for reading RTK (Real-Time Kinematic) positioning data.
-
-    This background task initializes and manages a RtkProvider instance
-    that connects to an RTK GPS device via serial port. RTK technology provides
-    centimeter-level positioning accuracy by using carrier-phase measurements
-    and corrections from a reference station.
-
-    The RTK data is used for high-precision robot localization and navigation,
-    particularly in applications requiring accurate positioning such as
-    autonomous navigation, mapping, and precision agriculture.
-    """
-
-    def __init__(self, config: RtkConfig):
-        """
-        Initialize RTK background task with configuration.
-
-        Parameters
-        ----------
-        config : RtkConfig
-            Configuration object containing RTK settings.
-        """
-        super().__init__(config)
-
-        port = self.config.serial_port
-        if port is None:
-            logging.error("RTK serial port not specified in config")
-            return
-
-        self.rtk = RtkProvider(serial_port=port)
-        logging.info(f"Initiated RTK Provider with serial port: {port} in background")
diff --git a/src/backgrounds/plugins/turtlebot4_odom.py b/src/backgrounds/plugins/turtlebot4_odom.py
deleted file mode 100644
index cfb5c40edd..0000000000
--- a/src/backgrounds/plugins/turtlebot4_odom.py
+++ /dev/null
@@ -1,50 +0,0 @@
-import logging
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.turtlebot4_odom_provider import TurtleBot4OdomProvider
-
-
-class TurtleBot4OdomConfig(BackgroundConfig):
-    """
-    Configuration for TurtleBot4 Odom Background.
-
-    Parameters
-    ----------
-    URID : str
-        Unique Robot ID.
-    """
-
-    URID: str = Field(default="", description="Unique Robot ID")
-
-
-class TurtleBot4Odom(Background[TurtleBot4OdomConfig]):
-    """
-    Background task for reading odometry data from TurtleBot4 provider.
-
-    This background task initializes and manages an TurtleBot4OdomProvider instance
-    that reads robot odometry data. The provider can connect via Zenoh
-    for distributed robot systems or via Unitree Ethernet for direct
-    hardware communication.
-
-    Odometry data includes position, orientation, and velocity information,
-    which are essential for robot localization, navigation, and path planning.
-    The background task continuously monitors odometry updates to maintain
-    accurate robot state information.
-    """
-
-    def __init__(self, config: TurtleBot4OdomConfig):
-        """
-        Initialize Odom background task with configuration.
-
-        Parameters
-        ----------
-        config : OdomConfig
-            Configuration for the TurtleBot4 Odom background task, including connection parameters and options.
-        """
-        super().__init__(config)
-
-        self.URID = self.config.URID
-        self.odom_provider = TurtleBot4OdomProvider(self.URID)
-        logging.info(f"Initialized TurtleBot4 Odom Provider with URID: {self.URID}")
diff --git a/src/backgrounds/plugins/unitree_g1_locations.py b/src/backgrounds/plugins/unitree_g1_locations.py
deleted file mode 100644
index c6108f8af2..0000000000
--- a/src/backgrounds/plugins/unitree_g1_locations.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import logging
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_g1_locations_provider import UnitreeG1LocationsProvider
-
-
-class UnitreeG1LocationsConfig(BackgroundConfig):
-    """
-    Configuration for Unitree G1 Locations Background.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the locations API.
-    timeout : int
-        Request timeout in seconds.
-    refresh_interval : int
-        Refresh interval in seconds.
-    """
-
-    base_url: str = Field(
-        default="http://localhost:5000/maps/locations/list",
-        description="Base URL for the locations API",
-    )
-    timeout: int = Field(default=5, description="Request timeout in seconds")
-    refresh_interval: int = Field(default=30, description="Refresh interval in seconds")
-
-
-class UnitreeG1Locations(Background[UnitreeG1LocationsConfig]):
-    """
-    Background task for managing Unitree G1 robot location data.
-
-    This background task initializes and manages a UnitreeG1LocationsProvider
-    that periodically fetches location information from an HTTP API endpoint.
-    The provider runs in a background thread and maintains a thread-safe cache
-    of location data that can be accessed by other components of the system.
-
-    The location data is used for navigation, path planning, and location-based
-    actions in Unitree G1 robot applications. The provider automatically refreshes
-    the location cache at configurable intervals to ensure up-to-date information.
-    """
-
-    def __init__(self, config: UnitreeG1LocationsConfig):
-        """
-        Initialize the Unitree G1 Locations background task.
-
-        Parameters
-        ----------
-        config : UnitreeG1LocationsConfig
-            Configuration object containing:
-            - base_url: The HTTP endpoint URL for fetching locations
-            - timeout: Request timeout in seconds for HTTP calls
-            - refresh_interval: How often to refresh location data in seconds
-
-        Notes
-        -----
-        The provider is automatically started during initialization and will
-        begin fetching location data in the background. The background thread
-        runs as a daemon thread and will be terminated when the main process exits.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-        timeout = self.config.timeout
-        refresh_interval = self.config.refresh_interval
-
-        self.locations_provider = UnitreeG1LocationsProvider(
-            base_url=base_url,
-            timeout=timeout,
-            refresh_interval=refresh_interval,
-        )
-        self.locations_provider.start()
-        logging.info(
-            f"G1 Locations Provider initialized in background (base_url: {base_url}, refresh: {refresh_interval}s)"
-        )
diff --git a/src/backgrounds/plugins/unitree_g1_navigation.py b/src/backgrounds/plugins/unitree_g1_navigation.py
deleted file mode 100644
index e184951daf..0000000000
--- a/src/backgrounds/plugins/unitree_g1_navigation.py
+++ /dev/null
@@ -1,43 +0,0 @@
-import logging
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_g1_navigation_provider import UnitreeG1NavigationProvider
-
-
-class UnitreeG1Navigation(Background[BackgroundConfig]):
-    """
-    Background task for managing Unitree G1 robot navigation operations.
-
-    This background task initializes and manages a UnitreeG1NavigationProvider
-    that handles navigation goal publishing to the ROS2 Nav2 stack and monitors
-    navigation status from the ROS2 action server. The provider automatically
-    manages AI mode control during navigation operations.
-
-    The navigation system is used for autonomous path planning, goal execution,
-    and status monitoring in Unitree G1 robot applications. The provider runs
-    as a singleton instance and maintains navigation state throughout the
-    robot's operation lifecycle.
-    """
-
-    def __init__(self, config: BackgroundConfig):
-        """
-        Initialize the Unitree G1 Navigation background task.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration object for the background task. The navigation provider
-            uses default settings and does not require additional configuration
-            parameters beyond the base BackgroundConfig.
-
-        Notes
-        -----
-        The provider is automatically started during initialization and will
-        begin monitoring navigation status and managing navigation goals in
-        the background. The provider uses a singleton pattern to ensure only
-        one instance exists throughout the application lifecycle.
-        """
-        super().__init__(config)
-        self.unitree_g1_navigation_provider = UnitreeG1NavigationProvider()
-        self.unitree_g1_navigation_provider.start()
-        logging.info("Unitree G1 Navigation Provider initialized in background")
diff --git a/src/backgrounds/plugins/unitree_g1_odom.py b/src/backgrounds/plugins/unitree_g1_odom.py
deleted file mode 100644
index 3069927181..0000000000
--- a/src/backgrounds/plugins/unitree_g1_odom.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import logging
-from typing import Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_g1_odom_provider import UnitreeG1OdomProvider
-
-
-class UnitreeG1OdomConfig(BackgroundConfig):
-    """
-    Configuration for Unitree G1 Odom Background.
-
-    Parameters
-    ----------
-    unitree_ethernet : Optional[str]
-        Unitree Ethernet channel.
-    """
-
-    unitree_ethernet: Optional[str] = Field(default=None, description="Unitree Ethernet channel")
-
-
-class UnitreeG1Odom(Background[UnitreeG1OdomConfig]):
-    """
-    Background task for reading odometry data from Unitree G1 provider.
-
-    This background task initializes and manages an UnitreeG1OdomProvider instance
-    that reads robot odometry data. The provider can connect via Zenoh
-    for distributed robot systems or via Unitree Ethernet for direct
-    hardware communication.
-
-    Odometry data includes position, orientation, and velocity information,
-    which are essential for robot localization, navigation, and path planning.
-    The background task continuously monitors odometry updates to maintain
-    accurate robot state information.
-    """
-
-    def __init__(self, config: UnitreeG1OdomConfig):
-        """
-        Initialize Odom background task with configuration.
-
-        Parameters
-        ----------
-        config : OdomConfig
-            Configuration for the Unitree G1 Odom background task, including connection parameters and options.
-        """
-        super().__init__(config)
-
-        unitree_ethernet = self.config.unitree_ethernet
-        self.odom_provider = UnitreeG1OdomProvider(unitree_ethernet)
-        logging.info(f"Initialized Unitree G1 Odom Provider: {unitree_ethernet}")
diff --git a/src/backgrounds/plugins/unitree_go2_amcl.py b/src/backgrounds/plugins/unitree_go2_amcl.py
deleted file mode 100644
index 2daf78bf04..0000000000
--- a/src/backgrounds/plugins/unitree_go2_amcl.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import logging
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_amcl_provider import UnitreeGo2AMCLProvider
-
-
-class UnitreeGo2AMCL(Background[BackgroundConfig]):
-    """
-    Background task for reading AMCL (Adaptive Monte Carlo Localization) data from Unitree Go2 robot.
-
-    This background task initializes and manages the UnitreeGo2AMCLProvider, which subscribes to
-    AMCL pose data via Zenoh messaging. AMCL is a probabilistic localization algorithm that uses
-    particle filters to estimate the robot's pose in a known map.
-
-    The provider continuously monitors the robot's localization status and pose information,
-    which is essential for autonomous navigation, path planning, and obstacle avoidance on the
-    Unitree Go2 platform.
-
-    Notes
-    -----
-    The provider automatically starts when this background task is initialized and runs
-    as a singleton instance, ensuring only one AMCL provider exists per application.
-    """
-
-    def __init__(self, config: BackgroundConfig):
-        """
-        Initialize the Unitree Go2 AMCL background task.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration object for the background task. The AMCL provider uses default
-            settings (topic: "amcl_pose", pose_tolerance: 0.4, yaw_tolerance: 0.2) and
-            does not require additional configuration parameters.
-
-        Notes
-        -----
-        The UnitreeGo2AMCLProvider is automatically started during initialization and will
-        begin subscribing to AMCL pose messages via Zenoh. The provider runs as a singleton,
-        so multiple instances of this background task will share the same provider instance.
-        """
-        super().__init__(config)
-
-        self.unitree_go2_amcl_provider = UnitreeGo2AMCLProvider()
-        self.unitree_go2_amcl_provider.start()
-        logging.info("Unitree Go2 AMCL Provider initialized in background")
diff --git a/src/backgrounds/plugins/unitree_go2_frontier_exploration.py b/src/backgrounds/plugins/unitree_go2_frontier_exploration.py
deleted file mode 100644
index 87e39111d6..0000000000
--- a/src/backgrounds/plugins/unitree_go2_frontier_exploration.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import json
-import logging
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_frontier_exploration import (
-    UnitreeGo2FrontierExplorationProvider,
-)
-
-
-class UnitreeGo2FrontierExplorationConfig(BackgroundConfig):
-    """
-    Configuration for Unitree Go2 Frontier Exploration Background.
-
-    Parameters
-    ----------
-    topic : str
-        Topic for exploration status.
-    context_aware_text : str
-        Context aware text as JSON string.
-    """
-
-    topic: str = Field(default="explore/status", description="Topic for exploration status")
-    context_aware_text: str = Field(
-        default='{"exploration_done": true}',
-        description="Context aware text as JSON string",
-    )
-
-
-class UnitreeGo2FrontierExploration(Background[UnitreeGo2FrontierExplorationConfig]):
-    """
-    Start Frontier Exploration from UnitreeGo2FrontierExplorationProvider.
-    """
-
-    def __init__(self, config: UnitreeGo2FrontierExplorationConfig):
-        """
-        Initialize UnitreeGo2FrontierExploration background task.
-
-        Parameters
-        ----------
-        config : UnitreeGo2FrontierExplorationConfig
-            Configuration object for background task settings.
-        """
-        super().__init__(config)
-
-        topic = self.config.topic
-        context_aware_text = self.config.context_aware_text
-
-        try:
-            context_aware_text = json.loads(context_aware_text)
-        except (json.JSONDecodeError, Exception) as e:
-            logging.error(f"Error decoding context_aware_text JSON: {e}")
-            context_aware_text = {"exploration_done": True}
-
-        self.unitree_go2_frontier_exploration_provider = UnitreeGo2FrontierExplorationProvider(
-            topic=topic,
-            context_aware_text=context_aware_text,
-        )
-        self.unitree_go2_frontier_exploration_provider.start()
-        logging.info("Unitree Go2 Frontier Exploration Provider initialized in background")
diff --git a/src/backgrounds/plugins/unitree_go2_lidar_localization.py b/src/backgrounds/plugins/unitree_go2_lidar_localization.py
deleted file mode 100644
index 01213242b0..0000000000
--- a/src/backgrounds/plugins/unitree_go2_lidar_localization.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import logging
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_lidar_localization_provider import (
-    UnitreeGo2LidarLocalizationProvider,
-)
-
-
-class UnitreeGo2LidarLocalization(Background[BackgroundConfig]):
-    """
-    Background task for reading lidar localization data from Unitree Go2 robot.
-
-    This class manages the integration with UnitreeGo2LidarLocalizationProvider
-    to provide real-time lidar-based localization data for navigation and mapping
-    applications.
-    """
-
-    def __init__(self, config: BackgroundConfig):
-        """
-        Initialize UnitreeGo2LidarLocalization background task.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration object for background task settings.
-        """
-        super().__init__(config)
-
-        self.unitree_go2_lidar_localization_provider = UnitreeGo2LidarLocalizationProvider()
-        self.unitree_go2_lidar_localization_provider.start()
-        logging.info("Unitree Go2 Lidar Localization Provider initialized in background")
diff --git a/src/backgrounds/plugins/unitree_go2_locations.py b/src/backgrounds/plugins/unitree_go2_locations.py
deleted file mode 100644
index 34dd7d335f..0000000000
--- a/src/backgrounds/plugins/unitree_go2_locations.py
+++ /dev/null
@@ -1,95 +0,0 @@
-import logging
-from typing import Optional
-
-from pydantic import Field, model_validator
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_locations_provider import UnitreeGo2LocationsProvider
-
-
-class UnitreeGo2LocationsConfig(BackgroundConfig):
-    """
-    Configuration for Unitree Go2 Locations Background.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the locations API. If None, determined by use_sim flag.
-    use_sim : bool
-        Whether to run the connector in the simulator. If true, base_url will be overridden to the simulation endpoint.
-    api_key : str
-    timeout : int
-        Request timeout in seconds.
-    refresh_interval : int
-        Refresh interval in seconds.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the locations API, if None, determined by use_sim flag.",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator. If true, base_url will be overridden to the simulation endpoint.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-    timeout: int = Field(default=5, description="Request timeout in seconds")
-    refresh_interval: int = Field(default=30, description="Refresh interval in seconds")
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "UnitreeGo2LocationsConfig":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        UnitreeGo2LocationsConfig
-            The validated configuration with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-            else:
-                self.base_url = "http://localhost:5000/maps/locations/list"
-        return self
-
-
-class UnitreeGo2Locations(Background[UnitreeGo2LocationsConfig]):
-    """
-    Reads locations from UnitreeGo2LocationsProvider.
-    """
-
-    def __init__(self, config: UnitreeGo2LocationsConfig):
-        """
-        Initialize the Locations background task.
-
-        Parameters
-        ----------
-        config : UnitreeGo2LocationsConfig
-            Configuration for the background task.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-        api_key = self.config.api_key
-        timeout = self.config.timeout
-        refresh_interval = self.config.refresh_interval
-
-        if not base_url:
-            logging.error("UnitreeGo2Locations requires a base_url to be set in the configuration")
-            return
-
-        self.locations_provider = UnitreeGo2LocationsProvider(
-            base_url=base_url,
-            api_key=api_key,
-            timeout=timeout,
-            refresh_interval=refresh_interval,
-        )
-        self.locations_provider.start()
-
-        logging.info(
-            f"Locations Provider initialized in background (base_url: {base_url}, refresh: {refresh_interval}s)"
-        )
diff --git a/src/backgrounds/plugins/unitree_go2_navigation.py b/src/backgrounds/plugins/unitree_go2_navigation.py
deleted file mode 100644
index 1065186e70..0000000000
--- a/src/backgrounds/plugins/unitree_go2_navigation.py
+++ /dev/null
@@ -1,48 +0,0 @@
-import logging
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_navigation_provider import UnitreeGo2NavigationProvider
-
-
-class UnitreeGo2Navigation(Background[BackgroundConfig]):
-    """
-    Background task for monitoring Unitree Go2 robot navigation system.
-
-    This class initializes and manages the UnitreeGo2NavigationProvider, which
-    continuously monitors the navigation state of the Unitree Go2 robot. The
-    navigation system provides real-time information about path planning, goal
-    execution status, and navigation state transitions.
-
-    The provider automatically starts in the background and maintains a connection
-    to the robot's navigation system, enabling the agent to make informed decisions
-    based on current navigation status during autonomous operations.
-
-    Notes
-    -----
-    The navigation provider uses default settings and automatically starts when
-    initialized. It operates as a singleton, ensuring only one instance manages
-    the navigation state at a time.
-    """
-
-    def __init__(self, config: BackgroundConfig):
-        """
-        Initialize the Unitree Go2 Navigation background task.
-
-        Parameters
-        ----------
-        config : BackgroundConfig
-            Configuration object for the background task. The navigation provider
-            uses default settings and does not require additional configuration
-            parameters.
-
-        Notes
-        -----
-        The UnitreeGo2NavigationProvider is automatically started upon initialization
-        and runs in the background. It maintains a connection to the robot's navigation
-        system and provides real-time navigation state updates.
-        """
-        super().__init__(config)
-
-        self.unitree_go2_navigation_provider = UnitreeGo2NavigationProvider()
-        self.unitree_go2_navigation_provider.start()
-        logging.info("Unitree Go2 Navigation Provider initialized in background")
diff --git a/src/backgrounds/plugins/unitree_go2_odom.py b/src/backgrounds/plugins/unitree_go2_odom.py
deleted file mode 100644
index a423ce727c..0000000000
--- a/src/backgrounds/plugins/unitree_go2_odom.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import logging
-from typing import Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_odom_provider import UnitreeGo2OdomProvider
-
-
-class UnitreeGo2OdomConfig(BackgroundConfig):
-    """
-    Configuration for Unitree Go2 Odom Background.
-
-    Parameters
-    ----------
-    unitree_ethernet : Optional[str]
-        Unitree Ethernet channel.
-    """
-
-    unitree_ethernet: Optional[str] = Field(default=None, description="Unitree Ethernet channel")
-
-
-class UnitreeGo2Odom(Background[UnitreeGo2OdomConfig]):
-    """
-    Background task for reading odometry data from Unitree Go2 provider.
-
-    This background task initializes and manages an UnitreeGo2OdomProvider instance
-    that reads robot odometry data. The provider can connect via Zenoh
-    for distributed robot systems or via Unitree Ethernet for direct
-    hardware communication.
-
-    Odometry data includes position, orientation, and velocity information,
-    which are essential for robot localization, navigation, and path planning.
-    The background task continuously monitors odometry updates to maintain
-    accurate robot state information.
-    """
-
-    def __init__(self, config: UnitreeGo2OdomConfig):
-        """
-        Initialize Odom background task with configuration.
-
-        Parameters
-        ----------
-        config : OdomConfig
-            Configuration for the Unitree Go2 Odom background task, including connection parameters and options.
-        """
-        super().__init__(config)
-
-        unitree_ethernet = self.config.unitree_ethernet
-        self.odom_provider = UnitreeGo2OdomProvider(unitree_ethernet)
-        logging.info(f"Initialized Unitree Go2 Odom Provider: {unitree_ethernet}")
diff --git a/src/backgrounds/plugins/unitree_go2_patrol.py b/src/backgrounds/plugins/unitree_go2_patrol.py
deleted file mode 100644
index 865fb178c0..0000000000
--- a/src/backgrounds/plugins/unitree_go2_patrol.py
+++ /dev/null
@@ -1,182 +0,0 @@
-import asyncio
-import logging
-import time
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from providers.unitree_go2_patrol_provider import UnitreeGo2PatrolProvider
-
-
-class UnitreeGo2PatrolConfig(BackgroundConfig):
-    """
-    Configuration for Unitree Go2 Patrol Background.
-    """
-
-    patrol_base_url: str = Field(
-        default="http://localhost:5000",
-        description="Base URL for the patrol control API",
-    )
-    face_presence_base_url: str = Field(
-        default="http://localhost:6793",
-        description="Base URL for the face presence API",
-    )
-    patrol_image_report_base_url: str = Field(
-        default="https://api.openmind.com",
-        description="URL for reporting patrol data to OpenMind API",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind patrol upload endpoint",
-    )
-    unknown_capture_threshold: int = Field(
-        default=2,
-        description="Threshold for the duration of detecting unknown faces before triggering an alert",
-    )
-    upload_cooldown_seconds: int = Field(
-        default=5,
-        description="Minimum seconds to wait before uploading the same track_id again",
-    )
-    force_resume_seconds: int = Field(
-        default=15,
-        description="Seconds to wait before force resuming patrol if unknown captures persist",
-    )
-    safe_force_resume_seconds: int = Field(
-        default=5,
-        description="Minimum seconds to wait before force resuming patrol to avoid rapid pause/resume cycles",
-    )
-
-
-class UnitreeGo2Patrol(Background[UnitreeGo2PatrolConfig]):
-    """
-    Background task for patrolling with Unitree Go2 robot.
-    """
-
-    def __init__(self, config: UnitreeGo2PatrolConfig):
-        """
-        Initialize Patrol background task with configuration.
-
-        Parameters
-        ----------
-        config : UnitreeGo2PatrolConfig
-            Configuration for the Unitree Go2 Patrol background task, including patrol parameters and options.
-        """
-        super().__init__(config)
-
-        self.patrol_provider = UnitreeGo2PatrolProvider(
-            api_key=config.api_key,
-            patrol_base_url=config.patrol_base_url,
-            face_presence_base_url=config.face_presence_base_url,
-            patrol_image_report_base_url=config.patrol_image_report_base_url,
-        )
-
-        self.elevenlabs_provider: ElevenLabsTTSProvider = ElevenLabsTTSProvider()
-
-        self.loop = asyncio.new_event_loop()
-        self.uploaded_track_ids = set()
-        self.is_paused = False
-        self.last_pause_time = 0
-        self.last_force_resume_time = 0
-
-        logging.info("Initialized Unitree Go2 Patrol Background Task")
-
-    async def start_patrol(self) -> None:
-        """
-        Start the patrol behavior.
-        """
-        await self.patrol_provider.start_patrol()
-
-    async def stop_patrol(self) -> None:
-        """
-        Stop the patrol behavior.
-        """
-        await self.patrol_provider.stop_patrol()
-
-    async def pause_patrol(self) -> None:
-        """
-        Pause the patrol behavior.
-        """
-        await self.patrol_provider.pause_patrol()
-
-    async def resume_patrol(self) -> None:
-        """
-        Resume the patrol behavior.
-        """
-        await self.patrol_provider.resume_patrol()
-
-    def run(self) -> None:
-        """
-        Main loop for the patrol background task. This method will be called by the background manager to execute the patrol behavior.
-        """
-        try:
-            report = self.loop.run_until_complete(self.patrol_provider.get_report())
-            frame_base64 = report.get("frame_b64", "")
-            unknown_captures = report.get("unknown_captures", [])
-            track_ids = [capture.get("track_id") for capture in unknown_captures]
-
-            if (
-                len(unknown_captures) > 0
-                and not self.is_paused
-                and not any(track_id in self.uploaded_track_ids for track_id in track_ids)
-                and time.time() - self.last_force_resume_time > self.config.safe_force_resume_seconds
-            ):
-                logging.info(f"Detected {len(unknown_captures)} unknown captures")
-                try:
-                    self.loop.run_until_complete(self.patrol_provider.pause_patrol())
-                    self.is_paused = True
-                    self.last_pause_time = time.time()
-                    logging.info("Patrol paused to handle unknown captures")
-                except Exception:
-                    logging.exception("Failed to pause patrol")
-
-            if (
-                self.is_paused
-                and len(track_ids) > 0
-                and any(
-                    detection.get("unknown_duration", 0) > self.config.unknown_capture_threshold
-                    for detection in unknown_captures
-                )
-            ):
-                try:
-                    description = (
-                        f"Detected unknown person with track IDs: {track_ids} at {time.strftime('%Y-%m-%d %H:%M:%S')}"
-                    )
-                    self.loop.run_until_complete(self.patrol_provider.upload_patrol_image(frame_base64, description))
-                    self.elevenlabs_provider.add_pending_message(
-                        "Alert: Unknown person detected during patrol. Image has been uploaded for review."
-                    )
-                    logging.info(f"Uploaded patrol data for track IDs: {track_ids}")
-                except Exception:
-                    logging.exception("Failed to upload patrol data")
-
-                self.uploaded_track_ids.update(track_ids)
-
-                try:
-                    self.loop.run_until_complete(self.patrol_provider.resume_patrol())
-                    self.is_paused = False
-                    logging.info("Patrol resumed after handling unknown captures")
-                except Exception:
-                    logging.exception("Failed to resume patrol")
-
-            if self.is_paused and time.time() - self.last_pause_time > self.config.force_resume_seconds:
-                try:
-                    self.loop.run_until_complete(self.patrol_provider.resume_patrol())
-                    self.is_paused = False
-                    self.last_force_resume_time = time.time()
-                    logging.info("Force resumed patrol after prolonged pause")
-                except Exception:
-                    logging.exception("Failed to force resume patrol")
-
-        except Exception as e:
-            logging.error(f"Error getting patrol report: {e}")
-
-        self.sleep(1)
-
-    def stop(self) -> None:
-        """
-        Stop the patrol background task and clean up resources.
-        """
-        logging.info("Stopping Unitree Go2 Patrol Background Task")
-        if self.loop and not self.loop.is_closed():
-            self.loop.close()
diff --git a/src/backgrounds/plugins/unitree_go2_rplidar.py b/src/backgrounds/plugins/unitree_go2_rplidar.py
deleted file mode 100644
index 4daa53ef60..0000000000
--- a/src/backgrounds/plugins/unitree_go2_rplidar.py
+++ /dev/null
@@ -1,86 +0,0 @@
-import logging
-from typing import List, Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_rplidar_provider import UnitreeGo2RPLidarProvider
-
-
-class UnitreeGo2RPLidarConfig(BackgroundConfig):
-    """
-    Configuration for RPLidar Background.
-
-    Parameters
-    ----------
-    serial_port : Optional[str]
-        Serial port for the RPLidar device.
-    use_zenoh : bool
-        Whether to use Zenoh.
-    half_width_robot : float
-        Half width of the robot in meters.
-    angles_blanked : List[float]
-        Angles to blank out from lidar scan.
-    relevant_distance_max : float
-        Maximum relevant distance in meters.
-    relevant_distance_min : float
-        Minimum relevant distance in meters.
-    sensor_mounting_angle : float
-        Sensor mounting angle in degrees.
-    URID : str
-        Unique Robot ID.
-    machine_type : str
-        Type of machine.
-    log_file : bool
-        Whether to log to file.
-    """
-
-    serial_port: Optional[str] = Field(default=None, description="Serial port for the RPLidar device")
-    half_width_robot: float = Field(default=0.20, description="Half width of the robot in meters")
-    angles_blanked: List[float] = Field(default_factory=list, description="Angles to blank out from lidar scan")
-    relevant_distance_max: float = Field(default=1.1, description="Maximum relevant distance in meters")
-    relevant_distance_min: float = Field(default=0.08, description="Minimum relevant distance in meters")
-    sensor_mounting_angle: float = Field(default=180.0, description="Sensor mounting angle in degrees")
-    log_file: bool = Field(default=False, description="Whether to log to file")
-
-
-class UnitreeGo2RPLidar(Background[UnitreeGo2RPLidarConfig]):
-    """
-    Background task for reading laser scan data from RPLidar device.
-
-    This background task initializes and manages an RPLidarProvider instance
-    that connects to an RPLidar laser scanner via serial port or Zenoh.
-    The provider processes laser scan data to detect obstacles, perform
-    localization, and assist with navigation.
-
-    The RPLidar device provides 360-degree laser scanning capabilities,
-    which are essential for SLAM (Simultaneous Localization and Mapping),
-    obstacle avoidance, and path planning in robotic applications.
-    """
-
-    def __init__(self, config: UnitreeGo2RPLidarConfig):
-        """
-        Initialize RPLidar background task with configuration.
-
-        Parameters
-        ----------
-        config : RPLidarConfig
-            Configuration object containing RPLidar-specific parameters such as
-            serial port, Zenoh settings, robot dimensions, distance thresholds,
-            sensor mounting angle, and logging preferences.
-        """
-        super().__init__(config)
-
-        lidar_config = {
-            "serial_port": self.config.serial_port,
-            "half_width_robot": self.config.half_width_robot,
-            "angles_blanked": self.config.angles_blanked,
-            "relevant_distance_max": self.config.relevant_distance_max,
-            "relevant_distance_min": self.config.relevant_distance_min,
-            "sensor_mounting_angle": self.config.sensor_mounting_angle,
-            "log_file": self.config.log_file,
-        }
-
-        self.lidar_provider = UnitreeGo2RPLidarProvider(**lidar_config)
-        self.lidar_provider.start()
-        logging.info("Initiated RPLidar Provider in background")
diff --git a/src/backgrounds/plugins/unitree_go2_state.py b/src/backgrounds/plugins/unitree_go2_state.py
deleted file mode 100644
index 7944b479c3..0000000000
--- a/src/backgrounds/plugins/unitree_go2_state.py
+++ /dev/null
@@ -1,70 +0,0 @@
-import logging
-from typing import Optional
-
-from pydantic import Field
-
-from backgrounds.base import Background, BackgroundConfig
-from providers.unitree_go2_state_provider import UnitreeGo2StateProvider
-from providers.unitree_go2_state_zenoh_provider import UnitreeGo2StateZenohProvider
-
-
-class UnitreeGo2StateConfig(BackgroundConfig):
-    """
-    Configuration for Unitree Go2 State Background.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key for OpenMind cloud system, if required.
-    use_sim : bool
-        Whether to use the simulation Zenoh endpoint instead of a local one.
-    unitree_ethernet : Optional[str]
-        Unitree Go2 Ethernet channel.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key for OpenMind cloud system, if required.")
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to use the simulation Zenoh endpoint instead of a local one.",
-    )
-    unitree_ethernet: Optional[str] = Field(default=None, description="Unitree Go2 Ethernet channel")
-
-
-class UnitreeGo2State(Background[UnitreeGo2StateConfig]):
-    """
-    Background task for reading and monitoring Unitree Go2 robot state data.
-
-    This background task initializes and manages a UnitreeGo2StateProvider
-    that continuously monitors the robot's internal state through the Unitree
-    Ethernet communication channel. The provider tracks various robot state
-    parameters including joint positions, velocities, battery status, and
-    operational modes.
-
-    The state data is essential for real-time robot control, safety monitoring,
-    and adaptive behavior planning in Unitree Go2 robot applications. The
-    provider ensures continuous state updates for responsive robot interactions.
-    """
-
-    def __init__(self, config: UnitreeGo2StateConfig):
-        """
-        Initialize the Unitree Go2 State background task.
-
-        Parameters
-        ----------
-        config : UnitreeGo2StateConfig
-            Configuration for the Unitree Go2 State background task.
-        """
-        super().__init__(config)
-
-        if self.config.use_sim:
-            self.unitree_go2_state_provider = UnitreeGo2StateZenohProvider(self.config.api_key, self.config.use_sim)
-            logging.info("Unitree Go2 State Zenoh Provider initialized in background")
-            return
-
-        unitree_ethernet = self.config.unitree_ethernet
-        if not unitree_ethernet:
-            logging.error("Unitree Go2 Ethernet channel is not set in the configuration.")
-            raise ValueError("Unitree Go2 Ethernet channel must be specified in the configuration.")
-
-        self.unitree_go2_state_provider = UnitreeGo2StateProvider()
-        logging.info("Unitree Go2 State Provider initialized in background")
diff --git a/src/cli.py b/src/cli.py
deleted file mode 100644
index 25bcc89028..0000000000
--- a/src/cli.py
+++ /dev/null
@@ -1,733 +0,0 @@
-import ast
-import json
-import logging
-import multiprocessing as mp
-import os
-import traceback
-
-import dotenv
-import json5
-import typer
-from jsonschema import ValidationError, validate
-
-from runtime.config import load_mode_config
-from runtime.converter import convert_to_multi_mode
-
-app = typer.Typer()
-
-
-@app.command()
-def modes(config_name: str) -> None:
-    """
-    Show detailed information about available modes, transition rules,
-    and settings within a specified mode-aware configuration file.
-
-    This command is crucial for debugging and understanding the current
-    state of the multi-mode system configuration.
-
-    Parameters
-    ----------
-    config_name : str
-        The name of the configuration file (e.g., 'example' for 'example.json5')
-        located in the '../config' directory.
-
-    Raises
-    ------
-    typer.Exit(1)
-        If the configuration file is not found or fails to load.
-    """
-    try:
-        mode_config = load_mode_config(config_name)
-
-        print("-" * 32)
-        print(f"Mode System: {mode_config.name}")
-        print(f"Default Mode: {mode_config.default_mode}")
-        print(f"Manual Switching: {'Enabled' if mode_config.allow_manual_switching else 'Disabled'}")
-        print(f"Mode Memory: {'Enabled' if mode_config.mode_memory_enabled else 'Disabled'}")
-
-        if mode_config.global_lifecycle_hooks:
-            print(f"Global Lifecycle Hooks: {len(mode_config.global_lifecycle_hooks)}")
-        print()
-
-        print("Available Modes:")
-        print("-" * 50)
-        for name, mode in mode_config.modes.items():
-            is_default = " (DEFAULT)" if name == mode_config.default_mode else ""
-            print(f"• {mode.display_name}{is_default}")
-            print(f"  Name: {name}")
-            print(f"  Description: {mode.description}")
-            print(f"  Frequency: {mode.hertz} Hz")
-            if mode.timeout_seconds:
-                print(f"  Timeout: {mode.timeout_seconds} seconds")
-            print(f"  Inputs: {len(mode._raw_inputs)}")
-            print(f"  Actions: {len(mode._raw_actions)}")
-            if mode.lifecycle_hooks:
-                print(f"  Lifecycle Hooks: {len(mode.lifecycle_hooks)}")
-            print()
-
-        print("Transition Rules:")
-        print("-" * 50)
-        for rule in mode_config.transition_rules:
-            from_display = mode_config.modes[rule.from_mode].display_name if rule.from_mode != "*" else "Any Mode"
-            to_display = mode_config.modes[rule.to_mode].display_name
-            print(f"• {from_display} → {to_display}")
-            print(f"  Type: {rule.transition_type.value}")
-            if rule.trigger_keywords:
-                print(f"  Keywords: {', '.join(rule.trigger_keywords)}")
-            print(f"  Priority: {rule.priority}")
-            if rule.cooldown_seconds > 0:
-                print(f"  Cooldown: {rule.cooldown_seconds}s")
-            print()
-
-    except FileNotFoundError:
-        logging.error(f"Configuration file not found: {config_name}.json5")
-        raise typer.Exit(1)
-    except Exception as e:
-        logging.error(f"Error loading mode configuration: {e}")
-        raise typer.Exit(1)
-
-
-@app.command()
-def list_configs() -> None:
-    """
-    List all available configuration files found in the '../config' directory.
-
-    """
-    config_dir = os.path.join(os.path.dirname(__file__), "../config")
-
-    if not os.path.exists(config_dir):
-        print("Configuration directory not found")
-        return
-
-    configs = []
-
-    for filename in os.listdir(config_dir):
-        if filename.endswith(".json5"):
-            config_name = filename[:-6]
-            config_path = os.path.join(config_dir, filename)
-
-            try:
-                with open(config_path, "r") as f:
-                    raw_config = json5.load(f)
-
-                display_name = raw_config.get("name", config_name)
-                configs.append((config_name, display_name))
-            except Exception as _:
-                configs.append((config_name, "Invalid config"))
-
-    print("-" * 32)
-    print("Configurations:")
-    print("-" * 32)
-    for config_name, display_name in sorted(configs):
-        print(f"• {config_name} - {display_name}")
-
-
-@app.command()
-def validate_config(
-    config_name: str = typer.Argument(
-        ...,
-        help="Configuration file name or path (e.g., 'test' or 'config/test.json5')",
-    ),
-    verbose: bool = typer.Option(False, "--verbose", "-v", help="Show detailed validation information"),
-    check_components: bool = typer.Option(
-        True,
-        "--check-components",
-        help="Verify that all components (inputs, LLMs, actions) exist in codebase (slower but thorough)",
-    ),
-    skip_inputs: bool = typer.Option(
-        False,
-        "--skip-inputs",
-        help="Skip input validation (useful for debugging)",
-    ),
-    allow_missing: bool = typer.Option(
-        False,
-        "--allow-missing",
-        help="Allow missing components (only warn, don't fail)",
-    ),
-) -> None:
-    """
-    Validate an OM1 configuration file.
-
-    Checks for:
-    - Valid JSON5 syntax
-    - Schema compliance (required fields, correct types)
-    - API key configuration (warning only)
-    - Component existence (with --check-components flag)
-
-    Parameters
-    ----------
-    config_name : str
-        Configuration file name or path (e.g., 'test' or 'config/test.json5').
-    verbose : bool
-        Show detailed validation information.
-    check_components : bool
-        Verify that all components (inputs, LLMs, actions) exist in codebase.
-    skip_inputs : bool
-        Skip input validation (useful for debugging).
-    allow_missing : bool
-        Allow missing components (only warn, don't fail).
-
-    Examples
-    --------
-        uv run src/cli.py validate-config test
-        uv run src/cli.py validate-config config/my_robot.json5
-        uv run src/cli.py validate-config test --verbose
-        uv run src/cli.py validate-config test --check-components
-        uv run src/cli.py validate-config test --check-components --skip-inputs
-        uv run src/cli.py validate-config test --check-components --allow-missing
-    """
-    try:
-        # Resolve config path
-        config_path = _resolve_config_path(config_name)
-
-        if verbose:
-            print(f"Validating: {config_path}")
-            print("-" * 50)
-
-        # Load and parse JSON5
-        try:
-            with open(config_path, "r") as f:
-                raw_config = json5.load(f)
-        except ValueError as e:
-            print("Error: Invalid JSON5 syntax")
-            print(f"   {e}")
-            raise typer.Exit(1)
-
-        if verbose:
-            print("JSON5 syntax valid")
-
-        # Schema validation
-        is_multi_mode = "modes" in raw_config and "default_mode" in raw_config
-        schema_file = "multi_mode_schema.json" if is_multi_mode else "single_mode_schema.json"
-        schema_path = os.path.join(os.path.dirname(__file__), "../config/schema", schema_file)
-
-        with open(schema_path, "r") as f:
-            schema = json.load(f)
-
-        validate(instance=raw_config, schema=schema)
-
-        raw_config = convert_to_multi_mode(raw_config)
-
-        if verbose:
-            print("Schema validation passed")
-
-        # Component validation (if requested)
-        if check_components:
-            if not verbose:
-                print(
-                    "Validating components (this may take a moment)...",
-                    end="",
-                    flush=True,
-                )
-            _validate_components(raw_config, verbose, skip_inputs, allow_missing)
-            if not verbose:
-                print("\rAll components validated successfully!           ")
-
-        # API key check (warning only)
-        _check_api_key(raw_config, verbose)
-
-        # Success message
-        print()
-        print("=" * 50)
-        print("Configuration is valid!")
-        print("=" * 50)
-
-        if verbose:
-            _print_config_summary(raw_config)
-
-    except FileNotFoundError as e:
-        print("Error: Configuration file not found")
-        print(f"   {e}")
-        raise typer.Exit(1)
-
-    except ValueError as e:
-        if "Component validation" in str(e):
-            pass  # Already printed by _validate_components
-        else:
-            print("Error: Unexpected validation error")
-            print(f"   {e}")
-            if verbose:
-
-                traceback.print_exc()
-        raise typer.Exit(1)
-
-    except ValidationError as e:
-        print("Error: Schema validation failed")
-        field_path = ".".join(str(p) for p in e.path) if e.path else "root"
-        print(f"   Field: {field_path}")
-        print(f"   Issue: {e.message}")
-        if verbose and e.schema:
-            print("\n   Schema requirement:")
-            print(f"   {e.schema}")
-        raise typer.Exit(1)
-
-    except Exception as e:
-        if "Component validation" not in str(e):
-            print("Error: Unexpected validation error")
-            print(f"   {e}")
-            if verbose:
-
-                traceback.print_exc()
-        raise typer.Exit(1)
-
-
-def _resolve_config_path(config_name: str) -> str:
-    """
-    Resolve configuration path from name or path.
-
-    Parameters
-    ----------
-    config_name : str
-        Configuration name or path
-
-    Returns
-    -------
-    str
-        Absolute path to configuration file
-
-    Raises
-    ------
-    FileNotFoundError
-        If configuration file cannot be found
-    """
-    if os.path.exists(config_name):
-        return os.path.abspath(config_name)
-
-    if os.path.exists(config_name + ".json5"):
-        return os.path.abspath(config_name + ".json5")
-
-    config_dir = os.path.join(os.path.dirname(__file__), "../config")
-    config_path = os.path.join(config_dir, config_name)
-
-    if os.path.exists(config_path):
-        return os.path.abspath(config_path)
-
-    if os.path.exists(config_path + ".json5"):
-        return os.path.abspath(config_path + ".json5")
-
-    raise FileNotFoundError(
-        f"Configuration '{config_name}' not found. "
-        f"Tried: {config_name}, {config_name}.json5, {config_path}, {config_path}.json5"
-    )
-
-
-def _validate_components(
-    raw_config: dict,
-    verbose: bool,
-    skip_inputs: bool = False,
-    allow_missing: bool = False,
-):
-    """
-    Validate that all component types exist in codebase.
-
-    Parameters
-    ----------
-    raw_config : dict
-        Configuration dictionary
-    verbose : bool
-        Whether to print verbose output
-    skip_inputs : bool
-        Whether to skip input validation
-    allow_missing : bool
-        Whether to allow missing components (warnings only)
-
-    Raises
-    ------
-    ValueError
-        If component validation fails and allow_missing is False
-    """
-    errors = []
-    warnings = []
-
-    if verbose:
-        print("Checking component existence...")
-
-    try:
-        if "cortex_llm" in raw_config:
-            llm_type = raw_config["cortex_llm"].get("type")
-            if llm_type and verbose:
-                print(f"  Checking global LLM: {llm_type}")
-            if llm_type and not _check_llm_exists(llm_type):
-                msg = f"Global LLM type '{llm_type}' not found"
-                if allow_missing:
-                    warnings.append(msg)
-                else:
-                    errors.append(msg)
-
-        for mode_name, mode_data in raw_config.get("modes", {}).items():
-            if verbose:
-                print(f"  Validating mode: {mode_name}")
-            mode_errors, mode_warnings = _validate_mode_components(
-                mode_name, mode_data, verbose, skip_inputs, allow_missing
-            )
-            errors.extend(mode_errors)
-            warnings.extend(mode_warnings)
-
-    except Exception as e:
-        error_msg = f"Component validation error: {e}"
-        if allow_missing:
-            warnings.append(error_msg)
-        else:
-            errors.append(error_msg)
-        if verbose:
-
-            traceback.print_exc()
-
-    if warnings:
-        print("Component validation warnings:")
-        for warning in warnings:
-            print(f"   - {warning}")
-
-    if errors:
-        print("Component validation failed:")
-        for error in errors:
-            print(f"   - {error}")
-        raise ValueError("Component validation failed")
-
-    if verbose:
-        print("All components exist")
-
-
-def _validate_mode_components(
-    mode_name: str,
-    mode_data: dict,
-    verbose: bool,
-    skip_inputs: bool = False,
-    allow_missing: bool = False,
-) -> tuple:
-    """
-    Validate components for a single mode.
-
-    Parameters
-    ----------
-    mode_name : str
-        Name of the mode being validated
-    mode_data : dict
-        Mode configuration data
-    verbose : bool
-        Whether to print verbose output
-    skip_inputs : bool
-        Whether to skip input validation
-    allow_missing : bool
-        Whether to allow missing components
-
-    Returns
-    -------
-    tuple
-        (errors, warnings) lists
-    """
-    errors = []
-    warnings = []
-
-    try:
-        if not skip_inputs:
-            inputs = mode_data.get("agent_inputs", [])
-            if verbose and inputs:
-                print(f"    Checking {len(inputs)} inputs...")
-
-            for inp in inputs:
-                input_type = inp.get("type")
-                if input_type:
-                    if verbose:
-                        print(f"      Input: {input_type}", end=" ")
-                    if not _check_input_exists(input_type):
-                        msg = f"[{mode_name}] Input type '{input_type}' not found"
-                        if allow_missing:
-                            warnings.append(msg)
-                            if verbose:
-                                print("(warning)")
-                        else:
-                            errors.append(msg)
-                            if verbose:
-                                print("(not found)")
-                    else:
-                        if verbose:
-                            print("OK")
-        else:
-            if verbose:
-                print("    Skipping input validation")
-
-        if "cortex_llm" in mode_data:
-            llm_type = mode_data["cortex_llm"].get("type")
-            if llm_type:
-                if verbose:
-                    print(f"    LLM: {llm_type}", end=" ")
-                if not _check_llm_exists(llm_type):
-                    msg = f"[{mode_name}] LLM type '{llm_type}' not found"
-                    if allow_missing:
-                        warnings.append(msg)
-                        if verbose:
-                            print("(warning)")
-                    else:
-                        errors.append(msg)
-                        if verbose:
-                            print("(not found)")
-                else:
-                    if verbose:
-                        print("OK")
-
-        simulators = mode_data.get("simulators", [])
-        if verbose and simulators:
-            print(f"    Checking {len(simulators)} simulators...")
-
-        for sim in simulators:
-            sim_type = sim.get("type")
-            if sim_type:
-                if verbose:
-                    print(f"      Simulator: {sim_type}", end=" ")
-                if not _check_simulator_exists(sim_type):
-                    msg = f"[{mode_name}] Simulator type '{sim_type}' not found"
-                    if allow_missing:
-                        warnings.append(msg)
-                        if verbose:
-                            print("(warning)")
-                    else:
-                        errors.append(msg)
-                        if verbose:
-                            print("(not found)")
-                else:
-                    if verbose:
-                        print("OK")
-
-        actions = mode_data.get("agent_actions", [])
-        if verbose and actions:
-            print(f"    Checking {len(actions)} actions...")
-
-        for action in actions:
-            action_name = action.get("name")
-            if action_name:
-                if verbose:
-                    print(f"      Action: {action_name}", end=" ")
-                if not _check_action_exists(action_name):
-                    msg = f"[{mode_name}] Action '{action_name}' not found"
-                    if allow_missing:
-                        warnings.append(msg)
-                        if verbose:
-                            print("(warning)")
-                    else:
-                        errors.append(msg)
-                        if verbose:
-                            print("(not found)")
-                else:
-                    if verbose:
-                        print("OK")
-
-        backgrounds = mode_data.get("backgrounds", [])
-        if verbose and backgrounds:
-            print(f"    Checking {len(backgrounds)} backgrounds...")
-
-        for bg in backgrounds:
-            bg_type = bg.get("type")
-            if bg_type:
-                if verbose:
-                    print(f"      Background: {bg_type}", end=" ")
-                if not _check_background_exists(bg_type):
-                    msg = f"[{mode_name}] Background type '{bg_type}' not found"
-                    if allow_missing:
-                        warnings.append(msg)
-                        if verbose:
-                            print("(warning)")
-                    else:
-                        errors.append(msg)
-                        if verbose:
-                            print("(not found)")
-                else:
-                    if verbose:
-                        print("OK")
-
-    except Exception as e:
-        msg = f"[{mode_name}] Error during validation: {e}"
-        if allow_missing:
-            warnings.append(msg)
-        else:
-            errors.append(msg)
-        if verbose:
-            print(f"    Error: {e}")
-
-    return errors, warnings
-
-
-def _check_class_in_dir(directory: str, class_name: str) -> bool:
-    """
-    Check if a class exists in any .py file in the given directory using AST.
-
-    Parameters
-    ----------
-    directory : str
-        Directory to search in
-    class_name : str
-        Name of the class to find
-
-    Returns
-    -------
-    bool
-        True if class exists, False otherwise
-    """
-    if not os.path.exists(directory):
-        return False
-
-    for filename in os.listdir(directory):
-        if filename.endswith(".py") and filename != "__init__.py":
-            filepath = os.path.join(directory, filename)
-            try:
-                with open(filepath, "r", encoding="utf-8") as f:
-                    tree = ast.parse(f.read())
-                    for node in tree.body:
-                        if isinstance(node, ast.ClassDef) and node.name == class_name:
-                            return True
-            except Exception:
-                continue
-    return False
-
-
-def _check_input_exists(input_type: str) -> bool:
-    """
-    Check if input type exists by searching for class definition in plugin files.
-
-    Parameters
-    ----------
-    input_type : str
-        Input type name to check
-
-    Returns
-    -------
-    bool
-        True if input type exists, False otherwise
-    """
-    src_dir = os.path.dirname(__file__)
-    plugins_dir = os.path.join(src_dir, "inputs", "plugins")
-
-    return _check_class_in_dir(plugins_dir, input_type)
-
-
-def _check_llm_exists(llm_type: str) -> bool:
-    """
-    Check if LLM type exists by searching for class definition in plugin files.
-
-    Parameters
-    ----------
-    llm_type : str
-        LLM type name to check
-
-    Returns
-    -------
-    bool
-        True if LLM type exists, False otherwise
-    """
-    src_dir = os.path.dirname(__file__)
-    plugins_dir = os.path.join(src_dir, "llm", "plugins")
-
-    return _check_class_in_dir(plugins_dir, llm_type)
-
-
-def _check_simulator_exists(sim_type: str) -> bool:
-    """
-    Check if simulator type exists by searching for class definition in plugin files.
-
-    Parameters
-    ----------
-    sim_type : str
-        Simulator type name to check
-
-    Returns
-    -------
-    bool
-        True if simulator type exists, False otherwise
-    """
-    src_dir = os.path.dirname(__file__)
-    plugins_dir = os.path.join(src_dir, "simulators", "plugins")
-
-    return _check_class_in_dir(plugins_dir, sim_type)
-
-
-def _check_action_exists(action_name: str) -> bool:
-    """
-    Check if action exists by verifying interface file presence.
-
-    Parameters
-    ----------
-    action_name : str
-        Action name to check
-
-    Returns
-    -------
-    bool
-        True if action exists, False otherwise
-    """
-    src_dir = os.path.dirname(__file__)
-    interface_file = os.path.join(src_dir, "actions", action_name, "interface.py")
-    return os.path.exists(interface_file)
-
-
-def _check_background_exists(bg_type: str) -> bool:
-    """
-    Check if background type exists by searching for class definition in plugin files.
-
-    Parameters
-    ----------
-    bg_type : str
-        Background type name to check
-
-    Returns
-    -------
-    bool
-        True if background type exists, False otherwise
-    """
-    src_dir = os.path.dirname(__file__)
-    plugins_dir = os.path.join(src_dir, "backgrounds", "plugins")
-
-    return _check_class_in_dir(plugins_dir, bg_type)
-
-
-def _check_api_key(raw_config: dict, verbose: bool):
-    """
-    Check API key configuration (warning only).
-
-    Parameters
-    ----------
-    raw_config : dict
-        Raw configuration dictionary
-    verbose : bool
-        Whether to print verbose output
-    """
-    api_key = raw_config.get("api_key", "")
-    env_api_key = os.environ.get("OM_API_KEY", "")
-
-    if (not api_key or api_key == "openmind_free") and not env_api_key:
-        print()
-        print("Warning: No API key configured")
-        print("   Get a free key at: https://portal.openmind.com")
-        print("   Or set OM_API_KEY in your .env file")
-    elif verbose:
-        if env_api_key:
-            print("API key configured (from environment)")
-        else:
-            print("API key configured")
-
-
-def _print_config_summary(raw_config: dict):
-    """
-    Print configuration summary.
-
-    Parameters
-    ----------
-    raw_config : dict
-        Configuration dictionary
-    """
-    print()
-    print("Configuration Summary:")
-    print("-" * 50)
-    print(f"   Name: {raw_config.get('name', 'N/A')}")
-    print(f"   Default Mode: {raw_config.get('default_mode')}")
-    print(f"   Modes: {len(raw_config.get('modes', {}))}")
-    print(f"   Transition Rules: {len(raw_config.get('transition_rules', []))}")
-
-
-if __name__ == "__main__":
-
-    # Fix for Linux multiprocessing
-    if mp.get_start_method(allow_none=True) != "spawn":
-        mp.set_start_method("spawn")
-
-    dotenv.load_dotenv()
-    app()
diff --git a/src/fuser/__init__.py b/src/fuser/__init__.py
deleted file mode 100644
index 667fada921..0000000000
--- a/src/fuser/__init__.py
+++ /dev/null
@@ -1,151 +0,0 @@
-import logging
-import time
-import typing as T
-from collections.abc import Sequence
-from datetime import datetime
-
-from actions import describe_action
-from fuser.knowledge_base.retriever import KnowledgeBase
-from inputs.base import Sensor
-from providers.io_provider import IOProvider
-from runtime.config import RuntimeConfig
-
-
-class Fuser:
-    """
-    Combines multiple agent inputs into a single formatted prompt.
-
-    Responsible for integrating system prompts, input streams, action descriptions,
-    and command prompts into a coherent format for LLM processing.
-
-    Parameters
-    ----------
-    config : RuntimeConfig
-        Runtime configuration settings.
-    io_provider : IOProvider
-        Provider for handling I/O data and timing.
-    """
-
-    def __init__(self, config: RuntimeConfig):
-        """
-        Initialize the Fuser with runtime configuration.
-
-        Parameters
-        ----------
-        config : RuntimeConfig
-            Runtime configuration object.
-        """
-        self.config = config
-        self.io_provider = IOProvider()
-
-        self.knowledge_base = None
-        self.kb_min_score = 0.0
-        if config.knowledge_base:
-            try:
-                kb_config = dict(config.knowledge_base)
-                self.kb_min_score = kb_config.get("min_score", 0.0)
-                if self.kb_min_score > 0:
-                    logging.info(f"KnowledgeBase min_score threshold: {self.kb_min_score}")
-
-                self.knowledge_base = KnowledgeBase(**kb_config)
-                logging.info(f"KnowledgeBase enabled with config: {config.knowledge_base}")
-            except Exception:
-                logging.exception("Failed to initialize KnowledgeBase with provided config")
-                self.knowledge_base = None
-
-    async def fuse(self, inputs: Sequence[Sensor], finished_promises: list[T.Any]) -> T.Optional[str]:
-        """
-        Combine all inputs into a single formatted prompt string.
-
-        Integrates system prompts, input buffers, action descriptions, and
-        command prompts into a structured format for LLM processing.
-
-        Parameters
-        ----------
-        inputs : Sequence[Sensor]
-            Sequence of agent input objects containing latest input buffers.
-        finished_promises : list[Any]
-            List of completed promises from previous actions.
-
-        Returns
-        -------
-        str or None
-            Fused prompt string combining all inputs and context,
-            or None if no inputs are available this tick.
-        """
-        # Record the timestamp of the input
-        self.io_provider.fuser_start_time = time.time()
-
-        input_strings = [input.formatted_latest_buffer() for input in inputs]
-        logging.debug(f"InputMessageArray: {input_strings}")
-
-        # Combine all inputs, memories, and configurations into a single prompt
-        now = datetime.now().strftime("%B %-d, %Y %H:%M:%S")
-        system_prompt = "\nBASIC CONTEXT:\n" + self.config.system_prompt_base + f"\n\nCurrent time is {now}.\n"
-
-        inputs_fused = "".join([s for s in input_strings if s is not None])
-
-        # Query the knowledge base if configured and if there are inputs to query with
-        kb_context = ""
-        if self.knowledge_base and inputs_fused:
-            try:
-                query_text = None
-                voice_input = self.io_provider.get_input("Voice")
-                if voice_input and voice_input.input and self.io_provider.tick_counter == voice_input.tick:
-                    query_text = voice_input.input.strip()
-
-                if query_text:
-                    results = await self.knowledge_base.query(query_text, top_k=3, min_score=self.kb_min_score)
-                    if results:
-                        kb_context = self.knowledge_base.format_context(results, max_chars=1500)
-                        logging.info(f"Knowledge base: {len(results)} docs passed to LLM")
-                    else:
-                        logging.info("Knowledge base: 0 docs passed threshold, skipping context")
-            except Exception as e:
-                logging.error(f"Error querying knowledge base: {e}")
-
-        # Add knowledge base context to inputs if available
-        if kb_context:
-            inputs_fused += f"\n\nKNOWLEDGE BASE:\n{kb_context}"
-
-        # if we provide laws from blockchain, these override the locally stored rules
-        # the rules are not provided in the system prompt, but as a separate INPUT,
-        # since they are flowing from the outside world
-        if self.config.system_governance and "Universal Laws" not in inputs_fused:
-            system_prompt += "\nLAWS:\n" + self.config.system_governance
-
-        if self.config.system_prompt_examples:
-            system_prompt += "\n\nEXAMPLES:\n" + self.config.system_prompt_examples
-
-        actions_fused = ""
-
-        for action in self.config.agent_actions:
-            desc = describe_action(action.name, action.llm_label, action.exclude_from_prompt)
-            if desc:
-                actions_fused += desc + "\n\n"
-
-        # descriptions of MCP tools
-        if self.config.mcp_servers:
-            mcp_descriptions = self.config.mcp_servers.get_tool_descriptions()
-            if mcp_descriptions:
-                actions_fused += mcp_descriptions + "\n\n"
-
-        question_prompt = "What will you do? Actions:"
-
-        # this is the final prompt:
-        # (1) a (typically) fixed overall system prompt with the agents, name, rules, and examples
-        # (2) all the inputs (vision, sound, etc.)
-        # (3) a (typically) fixed list of available actions
-        # (4) a (typically) fixed system prompt requesting commands to be generated
-        fused_prompt = f"{system_prompt}\n\nAVAILABLE INPUTS:\n{inputs_fused}\nAVAILABLE ACTIONS:\n\n{actions_fused}\n\n{question_prompt}"
-
-        logging.debug(f"FINAL PROMPT: {fused_prompt}")
-
-        # Record the global prompt, actions and inputs
-        self.io_provider.set_fuser_system_prompt(f"{system_prompt}")
-        self.io_provider.set_fuser_inputs(inputs_fused)
-
-        # Record the timestamp of the output
-        self.io_provider.fuser_end_time = time.time()
-
-        return fused_prompt
diff --git a/src/fuser/knowledge_base/__init__.py b/src/fuser/knowledge_base/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/fuser/knowledge_base/base_embedding.py b/src/fuser/knowledge_base/base_embedding.py
deleted file mode 100644
index 360784416e..0000000000
--- a/src/fuser/knowledge_base/base_embedding.py
+++ /dev/null
@@ -1,67 +0,0 @@
-"""Base class for embedding client implementations."""
-
-from abc import ABC, abstractmethod
-
-import numpy as np
-
-
-class BaseEmbeddingClient(ABC):
-    """
-    Abstract base class for embedding client implementations.
-
-    Embedding clients are responsible for converting text into vector embeddings
-    using various backends (local models, API services, etc.).
-    """
-
-    def __init__(self, **kwargs):
-        """
-        Initialize the embedding client.
-
-        Parameters
-        ----------
-        **kwargs
-            Backend-specific configuration parameters.
-        """
-        pass
-
-    @abstractmethod
-    async def embed(self, query: str) -> np.ndarray:
-        """
-        Embed a single query string.
-
-        Parameters
-        ----------
-        query : str
-            Text to embed.
-
-        Returns
-        -------
-        np.ndarray
-            Embedding vector.
-        """
-        pass
-
-    @abstractmethod
-    async def embed_batch(self, queries: list[str]) -> np.ndarray:
-        """
-        Embed multiple query strings in a single batch.
-
-        Parameters
-        ----------
-        queries : list of str
-            List of texts to embed.
-
-        Returns
-        -------
-        np.ndarray
-            Embedding matrix (shape: [len(queries), embedding_dim]).
-        """
-        pass
-
-    async def __aenter__(self):
-        """Context manager entry - can be overridden by subclasses if needed."""
-        return self
-
-    async def __aexit__(self, _exc_type, _exc_val, _exc_tb):
-        """Context manager exit - can be overridden by subclasses if needed."""
-        pass
diff --git a/src/fuser/knowledge_base/base_retriever.py b/src/fuser/knowledge_base/base_retriever.py
deleted file mode 100644
index 81269695ef..0000000000
--- a/src/fuser/knowledge_base/base_retriever.py
+++ /dev/null
@@ -1,113 +0,0 @@
-"""Base classes for retriever implementations."""
-
-from abc import ABC, abstractmethod
-from dataclasses import dataclass
-from pathlib import Path
-from typing import Optional, Union
-
-import numpy as np
-
-
-@dataclass
-class Document:
-    """
-    Represents a document with metadata.
-
-    Attributes
-    ----------
-    text : str
-        Document text content.
-    metadata : dict
-        Additional metadata (e.g., source file, chunk index).
-    score : float, optional
-        Similarity score (set during retrieval).
-    """
-
-    text: str
-    metadata: dict
-    score: Optional[float] = None
-
-
-class BaseRetriever(ABC):
-    """
-    Abstract base class for retriever implementations.
-
-    Retrievers are responsible for finding similar documents based on embeddings
-    using various backend implementations (FAISS, Chroma, Pinecone, etc.).
-    """
-
-    def __init__(self, index_path: Union[str, Path], metadata_path: Union[str, Path]):
-        """
-        Initialize the retriever.
-
-        Parameters
-        ----------
-        index_path : str or Path
-            Path to the index file.
-        metadata_path : str or Path
-            Path to the document metadata file.
-        """
-        self.index_path = Path(index_path)
-        self.metadata_path = Path(metadata_path)
-        self.documents: list[Document] = []
-        self.dimension: int = 0
-
-    @abstractmethod
-    def _load(self):
-        """
-        Load index and document metadata from disk.
-
-        This method must be implemented by subclasses to handle
-        backend-specific loading logic.
-        """
-        pass
-
-    @abstractmethod
-    def search(self, query_embedding: np.ndarray, top_k: int = 5) -> list[Document]:
-        """
-        Search for the most similar documents to the query embedding.
-
-        Parameters
-        ----------
-        query_embedding : np.ndarray
-            Query embedding vector (shape: [dimension]).
-        top_k : int, optional
-            Number of top results to return. Default is 5.
-
-        Returns
-        -------
-        list of Document
-            Top-k most similar documents with similarity scores.
-        """
-        pass
-
-    @abstractmethod
-    def batch_search(self, query_embeddings: np.ndarray, top_k: int = 5) -> list[list[Document]]:
-        """
-        Batch search for multiple query embeddings.
-
-        Parameters
-        ----------
-        query_embeddings : np.ndarray
-            Query embedding matrix (shape: [num_queries, dimension]).
-        top_k : int, optional
-            Number of top results per query. Default is 5.
-
-        Returns
-        -------
-        list of list of Document
-            List of top-k results for each query.
-        """
-        pass
-
-    @property
-    def num_documents(self) -> int:
-        """
-        Return the number of documents in the index.
-
-        Returns
-        -------
-        int
-            Number of documents.
-        """
-        return len(self.documents)
diff --git a/src/fuser/knowledge_base/faiss/__init__.py b/src/fuser/knowledge_base/faiss/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/fuser/knowledge_base/faiss/embedding_client.py b/src/fuser/knowledge_base/faiss/embedding_client.py
deleted file mode 100644
index d9a062587c..0000000000
--- a/src/fuser/knowledge_base/faiss/embedding_client.py
+++ /dev/null
@@ -1,131 +0,0 @@
-import base64
-import logging
-from typing import Optional
-
-import aiohttp
-import numpy as np
-
-from ..base_embedding import BaseEmbeddingClient
-
-
-class EmbeddingClient(BaseEmbeddingClient):
-    """
-    Client for interacting with an embedding server.
-
-    This implementation communicates with a remote embedding service
-    via HTTP requests. Can be used with any embedding service that
-    exposes a compatible API.
-    """
-
-    def __init__(self, base_url: str = "http://localhost:8100", timeout: float = 30.0):
-        """
-        Initialize the embedding client.
-
-        Parameters
-        ----------
-        base_url : str
-            Base URL of the embedding server (default: "http://localhost:8100").
-        timeout : float
-            Request timeout in seconds (default: 30.0).
-        """
-        super().__init__()
-        self.base_url = base_url
-        self.timeout = aiohttp.ClientTimeout(total=timeout)
-        self._session: Optional[aiohttp.ClientSession] = None
-
-    async def __aenter__(self):
-        """Create session when entering context manager."""
-        self._session = aiohttp.ClientSession(timeout=self.timeout)
-        return self
-
-    async def __aexit__(self, _exc_type, _exc_val, _exc_tb):
-        """Close session when exiting context manager."""
-        if self._session:
-            await self._session.close()
-            self._session = None
-
-    async def _make_request(self, endpoint: str, payload: dict) -> dict:
-        """
-        Make an HTTP POST request to the embedding server.
-
-        Parameters
-        ----------
-        endpoint : str
-            API endpoint (e.g., "embed", "embed_batch").
-        payload : dict
-            JSON payload to send.
-
-        Returns
-        -------
-        dict
-            JSON response from server.
-        """
-        if self._session:
-            async with self._session.post(f"{self.base_url}/{endpoint}", json=payload) as resp:
-                resp.raise_for_status()
-                return await resp.json()
-        else:
-            async with aiohttp.ClientSession(timeout=self.timeout) as session:
-                async with session.post(f"{self.base_url}/{endpoint}", json=payload) as resp:
-                    resp.raise_for_status()
-                    return await resp.json()
-
-    async def embed(self, query: str) -> np.ndarray:
-        """
-        Embed a single query string.
-
-        Parameters
-        ----------
-        query : str
-            Text to embed.
-
-        Returns
-        -------
-        np.ndarray
-            Embedding vector (shape: [384] for e5-small-v2).
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the request fails.
-        """
-        payload = {"query": query}
-        data = await self._make_request("embed", payload)
-
-        emb_bytes = base64.b64decode(data["embedding_b64"])
-        embedding = np.frombuffer(emb_bytes, dtype="float32")
-
-        logging.debug(f"Embedded query (len={len(query)}) in {data['latency_ms']:.1f}ms")
-        return embedding
-
-    async def embed_batch(self, queries: list[str]) -> np.ndarray:
-        """
-        Embed multiple query strings in a single batch.
-
-        Parameters
-        ----------
-        queries : list of str
-            List of texts to embed.
-
-        Returns
-        -------
-        np.ndarray
-            Embedding matrix (shape: [len(queries), 384]).
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the request fails.
-        """
-        payload = {"queries": queries}
-        data = await self._make_request("embed_batch", payload)
-
-        embeddings = []
-        for emb_b64 in data["embeddings_b64"]:
-            emb_bytes = base64.b64decode(emb_b64)
-            embedding = np.frombuffer(emb_bytes, dtype="float32")
-            embeddings.append(embedding)
-
-        embeddings_array = np.array(embeddings)
-        logging.debug(f"Embedded {len(queries)} queries in {data['latency_ms']:.1f}ms")
-        return embeddings_array
diff --git a/src/fuser/knowledge_base/faiss/faiss_retriever.py b/src/fuser/knowledge_base/faiss/faiss_retriever.py
deleted file mode 100644
index 362b34ae7e..0000000000
--- a/src/fuser/knowledge_base/faiss/faiss_retriever.py
+++ /dev/null
@@ -1,178 +0,0 @@
-import logging
-import pickle
-from pathlib import Path
-from typing import Any, Union
-
-import numpy as np
-
-from ..base_retriever import BaseRetriever, Document
-
-
-class FAISSRetriever(BaseRetriever):
-    """
-    Retriever that uses a FAISS index to find similar documents based on embeddings.
-    """
-
-    def __init__(self, index_path: Union[str, Path], metadata_path: Union[str, Path]):
-        """
-        Initialize the retriever by loading the FAISS index and document metadata.
-
-        Parameters
-        ----------
-        index_path : str or Path
-            Path to the FAISS index file (.faiss).
-        metadata_path : str or Path
-            Path to the document metadata file (.pkl).
-        """
-        super().__init__(index_path, metadata_path)
-        self.index: Any = None
-        self._load()
-
-    def _load(self):
-        """
-        Load FAISS index and document metadata from disk.
-        """
-        # lazy import - must happen after multiprocessing context is set
-        import faiss
-
-        if not self.index_path.exists():
-            raise FileNotFoundError(f"Index not found: {self.index_path}")
-        if not self.metadata_path.exists():
-            raise FileNotFoundError(f"Metadata not found: {self.metadata_path}")
-
-        self.index = faiss.read_index(str(self.index_path))  # type: ignore
-        if self.index is None:
-            raise ValueError(f"Failed to load FAISS index from {self.index_path}")
-
-        self.dimension = self.index.d  # type: ignore
-        logging.info(f"Loaded FAISS index: {self.index.ntotal} vectors, dim={self.dimension}")  # type: ignore
-
-        with open(self.metadata_path, "rb") as f:
-            metadata = pickle.load(f)
-
-        if isinstance(metadata, list):
-            self.documents = [Document(**meta) for meta in metadata]
-        elif isinstance(metadata, dict):
-            if "questions" in metadata and "answers" in metadata:
-                questions = metadata["questions"]
-                answers = metadata["answers"]
-                self.documents = [
-                    Document(text=q, metadata={"answer": a, "type": "qa_pair", "index": i})
-                    for i, (q, a) in enumerate(zip(questions, answers))
-                ]
-            else:
-                raise ValueError(
-                    f"Unsupported metadata format. Expected list or dict with "
-                    f"'questions'/'answers' keys, got dict with keys: {list(metadata.keys())}"
-                )
-        else:
-            raise ValueError(f"Unsupported metadata format. Expected list or dict, got {type(metadata)}")
-
-        logging.info(f"Loaded {len(self.documents)} documents")
-
-        if len(self.documents) != self.index.ntotal:
-            logging.warning(f"Mismatch: {len(self.documents)} docs != {self.index.ntotal} vectors")
-
-    def search(self, query_embedding: np.ndarray, top_k: int = 5) -> list[Document]:
-        """
-        Search for the most similar documents to the query embedding.
-        Results are deduplicated by answer text so each result has a unique answer.
-
-        Parameters
-        ----------
-        query_embedding : np.ndarray
-            Query embedding vector (shape: [dimension]).
-        top_k : int, optional
-            Number of top unique results to return. Default is 5.
-
-        Returns
-        -------
-        list of Document
-            Top-k most similar documents with unique answers and similarity scores.
-
-        Raises
-        ------
-        ValueError
-            If query embedding dimension doesn't match index dimension.
-        """
-        if query_embedding.shape[0] != self.dimension:
-            raise ValueError(f"Query dim={query_embedding.shape[0]} != index dim={self.dimension}")
-
-        query_vec = query_embedding.reshape(1, -1).astype("float32")
-
-        if self.index is None:
-            raise ValueError("FAISS index not loaded")
-
-        search_k = min(top_k * 5, len(self.documents))
-        distances, indices = self.index.search(query_vec, search_k)
-
-        results = []
-        seen_answers = set()
-        for dist, idx in zip(distances[0], indices[0]):
-            if idx < 0 or idx >= len(self.documents):
-                continue
-            doc = self.documents[idx]
-            answer_text = doc.metadata.get("answer", doc.text)
-            if answer_text in seen_answers:
-                continue
-            seen_answers.add(answer_text)
-            score = float(dist)
-            results.append(Document(text=doc.text, metadata=doc.metadata.copy(), score=score))
-            if len(results) >= top_k:
-                break
-
-        logging.debug(f"Retrieved {len(results)} unique documents " f"(searched {search_k}, top_k={top_k})")
-        return results
-
-    def batch_search(self, query_embeddings: np.ndarray, top_k: int = 5) -> list[list[Document]]:
-        """
-        Batch search for multiple query embeddings.
-        Results are deduplicated by answer text per query.
-
-        Parameters
-        ----------
-        query_embeddings : np.ndarray
-            Query embedding matrix (shape: [num_queries, dimension]).
-        top_k : int, optional
-            Number of top unique results per query. Default is 5.
-
-        Returns
-        -------
-        list of list of Document
-            List of top-k unique results for each query.
-
-        Raises
-        ------
-        ValueError
-            If query embedding dimension doesn't match index dimension.
-        """
-        if query_embeddings.shape[1] != self.dimension:
-            raise ValueError(f"Query dim={query_embeddings.shape[1]} != index dim={self.dimension}")
-
-        if self.index is None:
-            raise ValueError("FAISS index not loaded")
-
-        search_k = min(top_k * 5, len(self.documents))
-        query_vecs = query_embeddings.astype("float32")
-        distances, indices = self.index.search(query_vecs, search_k)
-
-        all_results = []
-        for query_distances, query_indices in zip(distances, indices):
-            results = []
-            seen_answers = set()
-            for dist, idx in zip(query_distances, query_indices):
-                if idx < 0 or idx >= len(self.documents):
-                    continue
-                doc = self.documents[idx]
-                answer_text = doc.metadata.get("answer", doc.text)
-                if answer_text in seen_answers:
-                    continue
-                seen_answers.add(answer_text)
-                score = float(dist)
-                results.append(Document(text=doc.text, metadata=doc.metadata.copy(), score=score))
-                if len(results) >= top_k:
-                    break
-            all_results.append(results)
-
-        logging.debug(f"Batch retrieved {len(all_results)} result sets (top_k={top_k})")
-        return all_results
diff --git a/src/fuser/knowledge_base/retriever.py b/src/fuser/knowledge_base/retriever.py
deleted file mode 100644
index 542c254f56..0000000000
--- a/src/fuser/knowledge_base/retriever.py
+++ /dev/null
@@ -1,184 +0,0 @@
-import logging
-from pathlib import Path
-from typing import Optional
-
-from .base_retriever import Document
-from .faiss.embedding_client import EmbeddingClient
-from .faiss.faiss_retriever import FAISSRetriever
-
-
-class KnowledgeBase:
-    """
-    Knowledge base retrieval system for querying documents.
-
-    This class provides a flexible interface for knowledge base operations using
-    retrieval-augmented generation (RAG). By default, it uses FAISS for retrieval
-    and HTTP-based embedding, but can be configured to use other implementations.
-    """
-
-    def __init__(
-        self,
-        knowledge_base_name: str = "om",
-        knowledge_base_root: Optional[str | Path] = None,
-        base_url: str = "http://localhost:8100",
-        retriever_type: str = "faiss",
-        **kwargs,
-    ):
-        """
-        Initialize the knowledge base retrieval system.
-
-        Parameters
-        ----------
-        knowledge_base_name : str
-            Name of the knowledge base to use.
-        knowledge_base_root : str or Path, optional
-            Root directory containing knowledge bases.
-        base_url : str, optional
-            Base URL for the embedding service. Default is "http://localhost:8100".
-        retriever_type : str
-            Type of retriever to use if retriever not provided. Default is "faiss".
-            Also determines the embedding client type if embedding_client not provided.
-        **kwargs
-            Additional keyword arguments (e.g. min_score) are ignored here
-            but accepted so config dicts can be unpacked without errors.
-        """
-        if knowledge_base_root is None:
-            project_root = Path(__file__).parent.parent.parent.parent
-            knowledge_base_root = project_root / "knowledge_base"
-        else:
-            knowledge_base_root = Path(knowledge_base_root)
-
-        self.kb_dir = knowledge_base_root / knowledge_base_name
-        if not self.kb_dir.exists():
-            raise FileNotFoundError(
-                f"Knowledge base not found: {self.kb_dir}. "
-                f"Available bases: {[d.name for d in knowledge_base_root.iterdir() if d.is_dir()]}"
-            )
-
-        if retriever_type == "faiss":
-            self.embedding_client = EmbeddingClient(base_url=base_url)
-
-            index_path = self.kb_dir / f"{knowledge_base_name}.faiss"
-            metadata_path = self.kb_dir / f"{knowledge_base_name}.pkl"
-            self.retriever = FAISSRetriever(index_path=index_path, metadata_path=metadata_path)
-        else:
-            raise ValueError(f"Unknown retriever type: {retriever_type}. " f"Supported types: 'faiss'")
-
-        logging.info(
-            f"KnowledgeBase initialized: kb='{knowledge_base_name}', "
-            f"retriever={type(self.retriever).__name__}, "
-            f"embedding={type(self.embedding_client).__name__}, "
-            f"{self.retriever.num_documents} docs, "
-            f"dim={self.retriever.dimension}"
-        )
-
-    async def query(self, query_text: str, top_k: int = 5, min_score: float = 0.0) -> list[Document]:
-        """
-        Query the knowledge base with text input.
-
-        Parameters
-        ----------
-        query_text : str
-            Query text (e.g., transcribed voice input).
-        top_k : int, optional
-            Number of top results to return. Default is 5.
-        min_score : float, optional
-            Minimum cosine similarity score to include. Default is 0.0 (no filter).
-
-        Returns
-        -------
-        list of Document
-            Top-k most relevant documents with similarity scores.
-        """
-        async with self.embedding_client:
-            query_embedding = await self.embedding_client.embed(query_text)
-            results = self.retriever.search(query_embedding, top_k=top_k)
-
-        if min_score > 0:
-            before_count = len(results)
-            results = [doc for doc in results if doc.score is not None and doc.score >= min_score]
-            logging.info(
-                f"Query: '{query_text[:50]}...' | "
-                f"top_k={top_k}, min_score={min_score:.2f} | "
-                f"{before_count} retrieved → {len(results)} after threshold"
-            )
-        else:
-            logging.info(f"Query: '{query_text[:50]}...' | Retrieved {len(results)} results")
-
-        return results
-
-    async def query_batch(self, query_texts: list[str], top_k: int = 5, min_score: float = 0.0) -> list[list[Document]]:
-        """
-        Query the knowledge base with multiple text inputs.
-
-        Parameters
-        ----------
-        query_texts : list of str
-            List of query texts.
-        top_k : int, optional
-            Number of top results per query. Default is 5.
-        min_score : float, optional
-            Minimum cosine similarity score to include. Default is 0.0 (no filter).
-
-        Returns
-        -------
-        list of list of Document
-            Top-k results for each query.
-        """
-        async with self.embedding_client:
-            query_embeddings = await self.embedding_client.embed_batch(query_texts)
-            all_results = self.retriever.batch_search(query_embeddings, top_k=top_k)
-
-        if min_score > 0:
-            all_results = [
-                [doc for doc in results if doc.score is not None and doc.score >= min_score] for results in all_results
-            ]
-
-        logging.info(
-            f"Batch query: {len(query_texts)} queries | " f"Retrieved {sum(len(r) for r in all_results)} total results"
-        )
-        return all_results
-
-    def format_context(self, results: list[Document], max_chars: int = 2000) -> str:
-        """
-        Format retrieval results into a context string for LLM prompts.
-
-        Parameters
-        ----------
-        results : list of Document
-            Retrieved documents.
-        max_chars : int, optional
-            Maximum characters in the formatted context. Default is 2000.
-
-        Returns
-        -------
-        str
-            Formatted context string with document excerpts.
-        """
-        if not results:
-            return ""
-
-        context_parts = []
-        total_chars = 0
-
-        for i, doc in enumerate(results, 1):
-            source = doc.metadata.get("source", "unknown")
-            chunk_id = doc.metadata.get("chunk_id", "?")
-            score = doc.score if doc.score is not None else 0.0
-
-            header = f"[{i}] Source: {source} (chunk {chunk_id}) | Score: {score:.3f}"
-            if doc.metadata.get("type") == "qa_pair":
-                content = doc.metadata.get("answer", doc.text)
-            else:
-                content = doc.text
-
-            part = f"{header}\n{content}\n"
-            if total_chars + len(part) > max_chars and context_parts:
-                break
-
-            context_parts.append(part)
-            total_chars += len(part)
-
-        context = "\n".join(context_parts)
-        logging.debug(f"Formatted context: {len(results)} docs, {total_chars} chars")
-        return context
diff --git a/src/hooks/__init__.py b/src/hooks/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/hooks/greeting_hook.py b/src/hooks/greeting_hook.py
deleted file mode 100644
index 64ea490233..0000000000
--- a/src/hooks/greeting_hook.py
+++ /dev/null
@@ -1,235 +0,0 @@
-import logging
-from typing import Any, Dict, Optional
-
-from pydantic import BaseModel, ConfigDict, Field
-
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from providers.face_presence_provider import FacePresenceProvider
-from providers.greeting_conversation_state_provider import (
-    GreetingConversationStateMachineProvider,
-)
-from providers.kokoro_tts_provider import KokoroTTSProvider
-from providers.riva_tts_provider import RivaTTSProvider
-
-
-class GreetingHookContext(BaseModel):
-    """
-    Configuration for greeting hooks.
-
-    Parameters
-    ----------
-    message : str
-        The message to log or announce. Supports {variable} formatting.
-    tts_provider : str
-        The TTS provider to use ('elevenlabs', 'kokoro', 'riva'). Defaults to 'elevenlabs'.
-    base_url : Optional[str]
-        The URL endpoint for the TTS service. Provider-specific defaults apply.
-    api_key : Optional[str]
-        OpenMind API key for TTS service.
-    elevenlabs_api_key : Optional[str]
-        ElevenLabs API key (only for 'elevenlabs' provider).
-    voice_id : str
-        Voice ID for the TTS provider.
-    model_id : str
-        Model ID for the TTS provider.
-    output_format : str
-        Audio output format.
-    rate : Optional[int]
-        Audio sample rate in Hz.
-    enable_tts_interrupt : bool
-        Enable TTS interrupt capability.
-    robot_name : Optional[str]
-        Name of the robot to use in greetings.
-    custom_message : Optional[str]
-        Custom message to use instead of the default greeting.
-    """
-
-    message: str = Field(
-        default="",
-        description="The message to log or announce. Supports {variable} formatting.",
-    )
-    tts_provider: str = Field(
-        default="elevenlabs",
-        description="The TTS provider to use ('elevenlabs', 'kokoro', 'riva')",
-    )
-    base_url: Optional[str] = Field(
-        default=None,
-        description="The URL endpoint for the TTS service. Provider-specific defaults apply.",
-    )
-    api_key: Optional[str] = Field(
-        default=None,
-        description="OpenMind API key for TTS service",
-    )
-    elevenlabs_api_key: Optional[str] = Field(
-        default=None,
-        description="ElevenLabs API key (only for 'elevenlabs' provider)",
-    )
-    voice_id: Optional[str] = Field(
-        default=None,
-        description="Voice ID for the TTS provider",
-    )
-    model_id: Optional[str] = Field(
-        default=None,
-        description="Model ID for the TTS provider",
-    )
-    output_format: Optional[str] = Field(
-        default=None,
-        description="Audio output format",
-    )
-    rate: Optional[int] = Field(
-        default=None,
-        description="Audio sample rate in Hz",
-    )
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt capability",
-    )
-
-    robot_name: Optional[str] = Field(
-        default=None,
-        description="Name of the robot to use in greetings",
-    )
-    custom_message: Optional[str] = Field(
-        default=None,
-        description="Custom message to use instead of the default greeting",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-
-async def greeting_start_hook(context: Dict[str, Any]):
-    """
-    Hook to handle the start of a greeting conversation.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing relevant information for the hook.
-    """
-    ctx = GreetingHookContext(**context)
-
-    tts_provider = ctx.tts_provider.lower()
-    provider = None
-
-    try:
-        if tts_provider == "elevenlabs":
-            provider = ElevenLabsTTSProvider(
-                url=ctx.base_url or "https://api.openmind.com/api/core/elevenlabs/tts",
-                api_key=ctx.api_key,
-                elevenlabs_api_key=ctx.elevenlabs_api_key,
-                voice_id=ctx.voice_id or "JBFqnCBsd6RMkjVDRZzb",
-                model_id=ctx.model_id or "eleven_flash_v2_5",
-                output_format=ctx.output_format or "pcm_16000",
-                rate=ctx.rate or 16000,
-                enable_tts_interrupt=ctx.enable_tts_interrupt,
-            )
-        elif tts_provider == "kokoro":
-            provider = KokoroTTSProvider(
-                url=ctx.base_url or "http://127.0.0.1:8880/v1",
-                api_key=ctx.api_key,
-                voice_id=ctx.voice_id or "af_bella",
-                model_id=ctx.model_id or "kokoro",
-                output_format=ctx.output_format or "pcm",
-                rate=ctx.rate or 24000,
-                enable_tts_interrupt=ctx.enable_tts_interrupt,
-            )
-        elif tts_provider == "riva":
-            provider = RivaTTSProvider(
-                url=ctx.base_url or "http://127.0.0.1:50051",
-                api_key=ctx.api_key,
-            )
-        else:
-            raise ValueError(
-                f"Unsupported TTS provider: {tts_provider}. " f"Supported providers are: elevenlabs, kokoro, riva"
-            )
-
-        provider.start()
-
-        robot_intro = f"I'm {ctx.robot_name}. " if ctx.robot_name else ""
-        help_message = ctx.custom_message if ctx.custom_message else "How can I help you today?"
-
-        face_presence_provider = FacePresenceProvider()
-        face_snapshot_status = await face_presence_provider.fetch_snapshot()
-        if face_snapshot_status is not None:
-            closet_name = face_snapshot_status.closest_name
-            if closet_name.lower() != "unknown":
-                provider.add_pending_message(f"Hello {closet_name}! {robot_intro}Nice to see you. {help_message}")
-            else:
-                provider.add_pending_message(f"Hello! {robot_intro}{help_message}")
-        else:
-            provider.add_pending_message(f"Hello! {robot_intro}{help_message}")
-
-        logging.info("Greeting start hook executed successfully.")
-
-        return True
-    except Exception:
-        logging.exception("Error in greeting_start_hook")
-        return False
-
-
-async def greeting_end_hook(context: Dict[str, Any]):
-    """
-    Hook to handle the end of a greeting conversation.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing relevant information for the hook.
-    """
-    ctx = GreetingHookContext(**context)
-
-    tts_provider = ctx.tts_provider.lower()
-    provider = None
-
-    try:
-        if tts_provider == "elevenlabs":
-            provider = ElevenLabsTTSProvider(
-                url=ctx.base_url or "https://api.openmind.com/api/core/elevenlabs/tts",
-                api_key=ctx.api_key,
-                elevenlabs_api_key=ctx.elevenlabs_api_key,
-                voice_id=ctx.voice_id or "JBFqnCBsd6RMkjVDRZzb",
-                model_id=ctx.model_id or "eleven_flash_v2_5",
-                output_format=ctx.output_format or "pcm_16000",
-                rate=ctx.rate or 16000,
-                enable_tts_interrupt=ctx.enable_tts_interrupt,
-            )
-        elif tts_provider == "kokoro":
-            provider = KokoroTTSProvider(
-                url=ctx.base_url or "http://127.0.0.1:8880/v1",
-                api_key=ctx.api_key,
-                voice_id=ctx.voice_id or "af_bella",
-                model_id=ctx.model_id or "kokoro",
-                output_format=ctx.output_format or "pcm",
-                rate=ctx.rate or 24000,
-                enable_tts_interrupt=ctx.enable_tts_interrupt,
-            )
-        elif tts_provider == "riva":
-            provider = RivaTTSProvider(
-                url=ctx.base_url or "http://127.0.0.1:50051",
-                api_key=ctx.api_key,
-            )
-        else:
-            raise ValueError(
-                f"Unsupported TTS provider: {tts_provider}. " f"Supported providers are: elevenlabs, kokoro, riva"
-            )
-
-        provider.start()
-
-        greeting_state_provider = GreetingConversationStateMachineProvider()
-        if greeting_state_provider.turn_count >= greeting_state_provider.max_turn_count:
-            logging.info("Greeting conversation ended due to maximum turn count.")
-            provider.add_pending_message("Thank you for chatting with me today. I hope you enjoy the rest of your day.")
-        elif greeting_state_provider.turn_count > 0:
-            provider.add_pending_message(
-                "It was nice talking with you! If you have any more questions, come chat with me again!"
-            )
-        else:
-            provider.add_pending_message(
-                "It was great meeting you! If you want to chat later, just come back and say hi!"
-            )
-
-        return True
-
-    except Exception:
-        logging.exception("Error in greeting_end_hook")
-        return False
diff --git a/src/hooks/nav2_hook.py b/src/hooks/nav2_hook.py
deleted file mode 100644
index d473b50248..0000000000
--- a/src/hooks/nav2_hook.py
+++ /dev/null
@@ -1,198 +0,0 @@
-import logging
-from typing import Any, Dict, Optional
-
-import aiohttp
-from pydantic import BaseModel, ConfigDict, Field, model_validator
-
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-
-
-class StartNav2HookContext(BaseModel):
-    """
-    Context for starting Nav2 hook.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the Nav2 system. If None, determined by use_sim flag.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    map_name : str
-        Name of the map to use for navigation.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the SLAM system. If None, determined by use_sim flag.",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator.",
-    )
-    map_name: str = Field(
-        default="map",
-        description="Name of the map to use for navigation",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "StartNav2HookContext":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        StartNav2HookContext
-            The validated context with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator"
-            else:
-                self.base_url = "http://localhost:5000"
-
-        return self
-
-
-class StopNav2HookContext(BaseModel):
-    """
-    Context for stopping Nav2 hook.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the Nav2 system to send the stop command. If None, determined by use_sim flag.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    api_key : str
-        API key for OpenMind cloud system authentication.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the Nav2 system to send the stop command.",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "StopNav2HookContext":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        StopNav2HookContext
-            The validated context with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator"
-            else:
-                self.base_url = "http://localhost:5000"
-
-        return self
-
-
-async def start_nav2_hook(context: Dict[str, Any]):
-    """
-    Hook to start Nav2 process.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-    """
-    ctx = StartNav2HookContext(**context)
-    base_url = ctx.base_url
-    map_name = ctx.map_name
-    api_key = ctx.api_key
-    nav2_url = f"{base_url}/start/nav2"
-
-    elevenlabs_provider: ElevenLabsTTSProvider = ElevenLabsTTSProvider()
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            async with session.post(
-                nav2_url,
-                json={"map_name": map_name},
-                headers={"Content-Type": "application/json", "x-api-key": api_key},
-                timeout=aiohttp.ClientTimeout(total=5),
-            ) as response:
-
-                if response.status == 200:
-                    result = await response.json()
-                    logging.info(f"Nav2 started successfully: {result.get('message', 'Success')}")
-                    elevenlabs_provider.add_pending_message("Navigation system has started successfully.")
-                    return {
-                        "status": "success",
-                        "message": "Nav2 process initiated",
-                        "response": result,
-                    }
-                else:
-                    try:
-                        error_info = await response.json()
-                    except Exception as _:
-                        error_info = {"message": "Unknown error"}
-                    logging.error(f"Failed to start Nav2: {error_info.get('message', 'Unknown error')}")
-                    raise Exception(f"Failed to start Nav2: {error_info.get('message', 'Unknown error')}")
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Error calling Nav2 API: {str(e)}")
-        raise Exception(f"Error calling Nav2 API: {str(e)}")
-
-
-async def stop_nav2_hook(context: Dict[str, Any]):
-    """
-    Hook to stop Nav2 process.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-    """
-    ctx = StopNav2HookContext(**context)
-    base_url = ctx.base_url
-    api_key = ctx.api_key
-    nav2_url = f"{base_url}/stop/nav2"
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            async with session.post(
-                nav2_url,
-                headers={"Content-Type": "application/json", "x-api-key": api_key},
-                timeout=aiohttp.ClientTimeout(total=5),
-            ) as response:
-
-                if response.status == 200:
-                    result = await response.json()
-                    logging.info(f"Nav2 stopped successfully: {result.get('message', 'Success')}")
-                    return {
-                        "status": "success",
-                        "message": "Nav2 process stopped",
-                        "response": result,
-                    }
-                else:
-                    try:
-                        error_info = await response.json()
-                    except Exception as _:
-                        error_info = {"message": "Unknown error"}
-                    logging.error(f"Failed to stop Nav2: {error_info.get('message', 'Unknown error')}")
-                    raise Exception(f"Failed to stop Nav2: {error_info.get('message', 'Unknown error')}")
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Error calling Nav2 stop API: {str(e)}")
-        raise Exception(f"Error calling Nav2 stop API: {str(e)}")
diff --git a/src/hooks/person_follow_hook.py b/src/hooks/person_follow_hook.py
deleted file mode 100644
index abc4543cfd..0000000000
--- a/src/hooks/person_follow_hook.py
+++ /dev/null
@@ -1,305 +0,0 @@
-import asyncio
-import logging
-from typing import Any, Dict
-
-import aiohttp
-from pydantic import BaseModel, ConfigDict, Field
-
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-
-FOLLOWING_BASE_URL = "http://localhost:2000"
-VISION_BASE_URL = "http://localhost:2001"
-
-
-class StartPersonFollowHookContext(BaseModel):
-    """
-    Context for starting person follow hook.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the person following system.
-    enroll_timeout : float
-        Time in seconds to wait for person enrollment before retrying.
-    max_retries : int
-        Maximum number of enrollment attempts before waiting for detection.
-    """
-
-    base_url: str = Field(
-        default=VISION_BASE_URL,
-        description="Base URL for the person following system",
-    )
-    enroll_timeout: float = Field(
-        default=3.0,
-        description="Time in seconds to wait for person enrollment before retrying",
-    )
-    max_retries: int = Field(
-        default=5,
-        description="Maximum number of enrollment attempts before waiting for detection",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-
-class SwitchPersonFollowHookContext(BaseModel):
-    """
-    Context for switching person follow target.
-
-    Parameters
-    ----------
-    switch_url : str
-        URL for the person following switch endpoint.
-    """
-
-    base_url: str = Field(
-        default=VISION_BASE_URL,
-        description="Base URL for the person following system to send the switch command",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-
-class StopPersonFollowHookContext(BaseModel):
-    """
-    Context for stopping person follow hook.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the person following system to send the clear command.
-    """
-
-    base_url: str = Field(
-        default=VISION_BASE_URL,
-        description="Base URL for the person following system to send the clear command",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-
-class SetModeHookContext(BaseModel):
-    """
-    Context for setting person follow mode.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the person following system command endpoint.
-    mode : str
-        Mode to set (e.g., 'greeting', 'following').
-    """
-
-    base_url: str = Field(
-        default=FOLLOWING_BASE_URL,
-        description="Base URL for the person following system command endpoint",
-    )
-    mode: str = Field(
-        ...,
-        description="Mode to set (e.g., 'greeting', 'following')",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-
-async def start_person_follow_hook(context: Dict[str, Any]) -> Dict[str, Any]:
-    """
-    Hook to start person following mode by enrolling a person to track.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-
-    Returns
-    -------
-    Dict[str, Any]
-        Result of the operation with 'status', 'message', and 'is_tracked' indicating if tracking started.
-    """
-    ctx = StartPersonFollowHookContext(**context)
-
-    base_url = ctx.base_url
-    enroll_timeout = ctx.enroll_timeout
-    max_retries = ctx.max_retries
-
-    elevenlabs_provider = ElevenLabsTTSProvider()
-    enroll_url = f"{base_url}/enroll"
-    status_url = f"{base_url}/status"
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            for attempt in range(max_retries):
-                logging.info(f"Person Follow: Enrolling (attempt {attempt + 1}/{max_retries})")
-
-                try:
-                    async with session.post(
-                        enroll_url,
-                        timeout=aiohttp.ClientTimeout(total=5),
-                    ) as response:
-                        if response.status != 200:
-                            continue
-                        logging.info("Person Follow: Enroll command sent")
-                except aiohttp.ClientError as e:
-                    logging.warning(f"Person Follow: Enroll failed: {e}")
-                    continue
-
-                elapsed = 0.0
-                while elapsed < enroll_timeout:
-                    await asyncio.sleep(0.5)
-                    elapsed += 0.5
-
-                    try:
-                        async with session.get(
-                            status_url,
-                            timeout=aiohttp.ClientTimeout(total=2),
-                        ) as status_response:
-                            if status_response.status == 200:
-                                status_data = await status_response.json()
-                                if status_data.get("is_tracked", False):
-                                    logging.info("Person Follow: Tracking started")
-                                    elevenlabs_provider.add_pending_message("I see you! I'll follow you now.")
-                                    return {
-                                        "status": "success",
-                                        "message": "Person enrolled and tracking",
-                                        "is_tracked": True,
-                                    }
-                    except Exception as e:
-                        logging.warning(f"Person Follow: Status poll failed: {e}")
-
-                logging.info(f"Person Follow: Attempt {attempt + 1} - not tracking, retrying")
-
-            logging.info("Person Follow: Awaiting person detection")
-            elevenlabs_provider.add_pending_message("Person following mode activated. Please stand in front of me.")
-            return {
-                "status": "success",
-                "message": "Enrolled but awaiting person detection",
-                "is_tracked": False,
-            }
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Person Follow: Connection error: {str(e)}")
-        elevenlabs_provider.add_pending_message("I couldn't connect to the person following system.")
-        return {"status": "error", "message": f"Connection error: {str(e)}"}
-
-
-async def switch_person_follow_hook(context: Dict[str, Any]) -> Dict[str, Any]:
-    """
-    Hook to switch person following target.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-
-    Returns
-    -------
-    Dict[str, Any]
-        Result of the operation with 'status' and 'message'.
-    """
-    ctx = SwitchPersonFollowHookContext(**context)
-    base_url = ctx.base_url
-
-    elevenlabs_provider = ElevenLabsTTSProvider()
-    switch_url = f"{base_url}/switch"
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            logging.info(f"Person Follow: Calling switch at {switch_url}")
-
-            async with session.post(
-                switch_url,
-                timeout=aiohttp.ClientTimeout(total=5),
-            ) as response:
-                if response.status == 200:
-                    logging.info("Person Follow: Switched successfully")
-                    elevenlabs_provider.add_pending_message("I'll follow a new person now.")
-                    return {"status": "success", "message": "Person tracking target switched"}
-                else:
-                    logging.error(f"Person Follow: Failed to switch (status {response.status})")
-                    elevenlabs_provider.add_pending_message("I couldn't switch to a new person.")
-                    return {"status": "error", "message": f"Switch failed with status {response.status}"}
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Person Follow: Switch error: {str(e)}")
-        elevenlabs_provider.add_pending_message("I couldn't connect to switch the person.")
-        return {"status": "error", "message": f"Connection error: {str(e)}"}
-
-
-async def stop_person_follow_hook(context: Dict[str, Any]) -> Dict[str, Any]:
-    """
-    Hook to stop person following mode by clearing the tracked person.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-
-    Returns
-    -------
-    Dict[str, Any]
-        Result of the operation with 'status' and 'message'.
-    """
-    ctx = StopPersonFollowHookContext(**context)
-    base_url = ctx.base_url
-    clear_url = f"{base_url}/clear"
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            logging.info(f"Person Follow: Calling clear at {clear_url}")
-
-            async with session.post(
-                clear_url,
-                timeout=aiohttp.ClientTimeout(total=5),
-            ) as response:
-                if response.status == 200:
-                    logging.info("Person Follow: Cleared successfully")
-                    return {"status": "success", "message": "Person tracking stopped"}
-                else:
-                    logging.error("Person Follow: Failed to clear")
-                    return {"status": "error", "message": "Clear failed"}
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Person Follow: Clear error: {str(e)}")
-        return {"status": "error", "message": f"Connection error: {str(e)}"}
-
-
-async def set_mode_hook(context: Dict[str, Any]) -> Dict[str, Any]:
-    """
-    Hook to set person follow mode.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters including 'mode'.
-
-    Returns
-    -------
-    Dict[str, Any]
-        Result of the operation with 'status' and 'message'.
-    """
-    ctx = SetModeHookContext(**context)
-    base_url = ctx.base_url
-    mode = ctx.mode
-    command = f"{base_url}/command"
-
-    payload = {"cmd": "set_mode", "mode": mode}
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            logging.info(f"Person Follow: Setting mode to '{mode}' at {command}")
-
-            async with session.post(
-                command,
-                json=payload,
-                headers={"Content-Type": "application/json"},
-                timeout=aiohttp.ClientTimeout(total=5),
-            ) as response:
-                if response.status == 200:
-                    logging.info(f"Person Follow: Mode set to '{mode}' successfully")
-                    return {"status": "success", "message": f"Mode set to {mode}"}
-                else:
-                    logging.error(f"Person Follow: Failed to set mode (status {response.status})")
-                    return {"status": "error", "message": f"Set mode failed with status {response.status}"}
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Person Follow: Set mode error: {str(e)}")
-        return {"status": "error", "message": f"Connection error: {str(e)}"}
diff --git a/src/hooks/slam_hook.py b/src/hooks/slam_hook.py
deleted file mode 100644
index b9f5ce9794..0000000000
--- a/src/hooks/slam_hook.py
+++ /dev/null
@@ -1,219 +0,0 @@
-import logging
-from typing import Any, Dict, Optional
-
-import aiohttp
-from pydantic import BaseModel, ConfigDict, Field, model_validator
-
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-
-
-class StartSlamHookContext(BaseModel):
-    """
-    Context for starting SLAM hook.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the SLAM system. If None, determined by use_sim flag.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    api_key : str
-        API key for OpenMind cloud system authentication.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the SLAM system. If None, determined by use_sim flag.",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "StartSlamHookContext":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        StartSlamHookContext
-            The validated context with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator"
-            else:
-                self.base_url = "http://localhost:5000"
-
-        return self
-
-
-class StopSlamHookContext(BaseModel):
-    """
-    Context for stopping SLAM hook.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the SLAM system to send the stop command.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    map_name : str
-        Name of the map to save before stopping SLAM.
-    api_key : str
-        API key for OpenMind cloud system authentication.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the SLAM system to send the stop command",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to run the connector in the simulator.",
-    )
-    map_name: str = Field(
-        default="map",
-        description="Name of the map to save before stopping SLAM",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "StopSlamHookContext":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        StopSlamHookContext
-            The validated context with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator"
-            else:
-                self.base_url = "http://localhost:5000"
-
-        return self
-
-
-async def start_slam_hook(context: Dict[str, Any]):
-    """
-    Hook to start SLAM process.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-    """
-    ctx = StartSlamHookContext(**context)
-    base_url = ctx.base_url
-    api_key = ctx.api_key
-    slam_url = f"{base_url}/start/slam"
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            async with session.post(
-                slam_url,
-                headers={"Content-Type": "application/json", "x-api-key": api_key},
-                timeout=aiohttp.ClientTimeout(total=5),
-            ) as response:
-                if response.status == 200:
-                    result = await response.json()
-                    logging.info(f"SLAM started successfully: {result.get('message', 'Success')}")
-                    return {
-                        "status": "success",
-                        "message": "SLAM process initiated",
-                        "response": result,
-                    }
-                else:
-                    try:
-                        error_info = await response.json()
-                    except Exception as _:
-                        error_info = {"message": "Unknown error"}
-                    logging.error(f"Failed to start SLAM: {error_info.get('message', 'Unknown error')}")
-                    raise Exception(f"Failed to start SLAM: {error_info.get('message', 'Unknown error')}")
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Error calling SLAM API: {str(e)}")
-        raise Exception(f"Error calling SLAM API: {str(e)}")
-
-
-async def stop_slam_hook(context: Dict[str, Any]):
-    """
-    Hook to stop SLAM process.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-    """
-    ctx = StopSlamHookContext(**context)
-    base_url = ctx.base_url
-    map_name = ctx.map_name
-    api_key = ctx.api_key
-    save_slam_map_url = f"{base_url}/maps/save"
-    stop_slam_url = f"{base_url}/stop/slam"
-
-    elevenlabs_provider: ElevenLabsTTSProvider = ElevenLabsTTSProvider()
-
-    try:
-        async with aiohttp.ClientSession() as session:
-            # Save the SLAM map before stopping
-            async with session.post(
-                save_slam_map_url,
-                json={"map_name": map_name},
-                headers={"Content-Type": "application/json", "x-api-key": api_key},
-                timeout=aiohttp.ClientTimeout(total=10),
-            ) as save_response:
-
-                if save_response.status == 200:
-                    save_result = await save_response.json()
-                    logging.info(f"SLAM map saved successfully: {save_result.get('message', 'Success')}")
-                    elevenlabs_provider.add_pending_message("Map has been saved successfully.")
-                else:
-                    try:
-                        error_info = await save_response.json()
-                    except Exception as _:
-                        error_info = {"message": "Unknown error"}
-                    logging.error(f"Failed to save SLAM map: {error_info.get('message', 'Unknown error')}")
-                    raise Exception(f"Failed to save SLAM map: {error_info.get('message', 'Unknown error')}")
-
-            # Stop the SLAM process
-            async with session.post(
-                stop_slam_url,
-                headers={"Content-Type": "application/json", "x-api-key": api_key},
-                timeout=aiohttp.ClientTimeout(total=10),
-            ) as response:
-
-                if response.status == 200:
-                    result = await response.json()
-                    logging.info(f"SLAM stopped successfully: {result.get('message', 'Success')}")
-                    return {
-                        "status": "success",
-                        "message": "SLAM process stopped",
-                        "response": result,
-                    }
-                else:
-                    try:
-                        error_info = await response.json()
-                    except Exception as _:
-                        error_info = {"message": "Unknown error"}
-                    logging.error(f"Failed to stop SLAM: {error_info.get('message', 'Unknown error')}")
-                    raise Exception(f"Failed to stop SLAM: {error_info.get('message', 'Unknown error')}")
-
-    except aiohttp.ClientError as e:
-        logging.error(f"Error calling SLAM API: {str(e)}")
-        raise Exception(f"Error calling SLAM API: {str(e)}")
diff --git a/src/hooks/unitree_go2_patrol_hook.py b/src/hooks/unitree_go2_patrol_hook.py
deleted file mode 100644
index f788daa036..0000000000
--- a/src/hooks/unitree_go2_patrol_hook.py
+++ /dev/null
@@ -1,125 +0,0 @@
-import logging
-from typing import Any, Dict
-
-from pydantic import BaseModel, ConfigDict, Field
-
-from providers.unitree_go2_patrol_provider import UnitreeGo2PatrolProvider
-
-
-class StartSlamHookContext(BaseModel):
-    """
-    Context for starting SLAM hook.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the SLAM system.
-    """
-
-    base_url: str = Field(
-        default="http://localhost:5000",
-        description="Base URL for the SLAM system",
-    )
-
-    model_config = ConfigDict(extra="allow")
-
-
-class UnitreeGo2PatrolHookContext(BaseModel):
-    """
-    Context for Unitree Go2 patrol hook.
-
-    Parameters
-    ----------
-    patrol_base_url : str
-        Base URL for the patrol control API.
-    face_presence_base_url : str
-        Base URL for the face presence API.
-    patrol_image_report_base_url : str
-        URL for reporting patrol data to OpenMind API.
-    api_key : str
-        API key for OpenMind patrol upload endpoint.
-    """
-
-    patrol_base_url: str = Field(
-        default="http://localhost:5000",
-        description="Base URL for the patrol control API",
-    )
-    face_presence_base_url: str = Field(
-        default="http://127.0.0.1:6793",
-        description="Base URL for the face presence API",
-    )
-    patrol_image_report_base_url: str = Field(
-        default="https://api.openmind.com",
-        description="URL for reporting patrol data to OpenMind API",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind patrol upload endpoint",
-    )
-
-
-async def start_unitree_go2_patrol_hook(context: Dict[str, Any]):
-    """
-    Hook to start Unitree Go2 patrol process.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-    """
-    logging.info("Starting Unitree Go2 patrol with context: %s", context)
-    ctx = UnitreeGo2PatrolHookContext(**context)
-
-    patrol_base_url = ctx.patrol_base_url
-    face_presence_base_url = ctx.face_presence_base_url
-    patrol_image_report_base_url = ctx.patrol_image_report_base_url
-    api_key = ctx.api_key
-
-    patrol_provider = UnitreeGo2PatrolProvider(
-        api_key=api_key,
-        patrol_base_url=patrol_base_url,
-        face_presence_base_url=face_presence_base_url,
-        patrol_image_report_base_url=patrol_image_report_base_url,
-    )
-    try:
-        await patrol_provider.start_patrol()
-        logging.info("Unitree Go2 patrol started successfully")
-
-        return True
-    except Exception:
-        logging.exception("Error in starting Unitree Go2 patrol")
-        return False
-
-
-async def stop_unitree_go2_patrol_hook(context: Dict[str, Any]):
-    """
-    Hook to stop Unitree Go2 patrol process.
-
-    Parameters
-    ----------
-    context : Dict[str, Any]
-        Context dictionary containing configuration parameters.
-    """
-    logging.info("Stopping Unitree Go2 patrol with context: %s", context)
-    ctx = UnitreeGo2PatrolHookContext(**context)
-
-    patrol_base_url = ctx.patrol_base_url
-    face_presence_base_url = ctx.face_presence_base_url
-    patrol_image_report_base_url = ctx.patrol_image_report_base_url
-    api_key = ctx.api_key
-
-    patrol_provider = UnitreeGo2PatrolProvider(
-        api_key=api_key,
-        patrol_base_url=patrol_base_url,
-        face_presence_base_url=face_presence_base_url,
-        patrol_image_report_base_url=patrol_image_report_base_url,
-    )
-
-    try:
-        await patrol_provider.stop_patrol()
-        logging.info("Unitree Go2 patrol stopped successfully")
-
-        return True
-    except Exception:
-        logging.exception("Error in stopping Unitree Go2 patrol")
-        return False
diff --git a/src/inputs/__init__.py b/src/inputs/__init__.py
deleted file mode 100644
index 792af33f98..0000000000
--- a/src/inputs/__init__.py
+++ /dev/null
@@ -1,94 +0,0 @@
-import importlib
-import inspect
-import logging
-import os
-import re
-import typing as T
-
-from inputs.base import Sensor, SensorConfig
-
-
-def find_module_with_class(class_name: str) -> T.Optional[str]:
-    """
-    Find which module file contains the specified class name.
-
-    Parameters
-    ----------
-    class_name : str
-        The class name to search for
-
-    Returns
-    -------
-    str or None
-        The module name (without .py) that contains the class, or None if not found
-    """
-    plugins_dir = os.path.join(os.path.dirname(__file__), "plugins")
-
-    if not os.path.exists(plugins_dir):
-        return None
-
-    plugin_files = [f for f in os.listdir(plugins_dir) if f.endswith(".py")]
-
-    for plugin_file in plugin_files:
-        file_path = os.path.join(plugins_dir, plugin_file)
-
-        try:
-            with open(file_path, "r", encoding="utf-8") as f:
-                content = f.read()
-
-            pattern = rf"^class\s+{re.escape(class_name)}\s*\([^)]*FuserInput[^)]*\)\s*:"
-
-            if re.search(pattern, content, re.MULTILINE):
-                return plugin_file[:-3]
-
-        except Exception as e:
-            logging.warning(f"Could not read {plugin_file}: {e}")
-            continue
-
-    return None
-
-
-def load_input(input_config: T.Dict[str, T.Any]) -> Sensor:
-    """
-    Load an input and configuration.
-
-    Parameters
-    ----------
-    input_config : dict
-
-    Returns
-    -------
-    Sensor
-        The instantiated sensor
-    """
-    class_name = input_config["type"]
-    module_name = find_module_with_class(class_name)
-
-    if module_name is None:
-        raise ValueError(f"Class '{class_name}' not found in any input plugin module")
-
-    try:
-        module = importlib.import_module(f"inputs.plugins.{module_name}")
-        input_class = getattr(module, class_name)
-
-        if not (inspect.isclass(input_class) and issubclass(input_class, Sensor) and input_class != Sensor):
-            raise ValueError(f"'{class_name}' is not a valid input subclass")
-
-        config_class = None
-        for obj in module.__dict__.values():
-            if isinstance(obj, type) and issubclass(obj, SensorConfig) and obj != SensorConfig:
-                config_class = obj
-
-        config_dict = input_config.get("config", {})
-        if config_class is not None:
-            config = config_class(**(config_dict if isinstance(config_dict, dict) else {}))
-        else:
-            config = SensorConfig(**(config_dict if isinstance(config_dict, dict) else {}))
-
-        logging.debug(f"Loaded input {class_name} from {module_name}.py")
-        return input_class(config=config)
-
-    except ImportError as e:
-        raise ValueError(f"Could not import input module '{module_name}': {e}")
-    except AttributeError:
-        raise ValueError(f"Class '{class_name}' not found in input module '{module_name}'")
diff --git a/src/inputs/base/__init__.py b/src/inputs/base/__init__.py
deleted file mode 100644
index 2c23bc567e..0000000000
--- a/src/inputs/base/__init__.py
+++ /dev/null
@@ -1,138 +0,0 @@
-import typing as T
-from dataclasses import dataclass
-
-from pydantic import BaseModel, ConfigDict
-
-R = T.TypeVar("R")
-ConfigType = T.TypeVar("ConfigType", bound="SensorConfig")
-
-
-@dataclass
-class Message:
-    """
-    Container for timestamped messages.
-
-    Parameters
-    ----------
-    timestamp : float
-        Unix timestamp of the message
-    message : str
-        Content of the message
-    """
-
-    timestamp: float
-    message: str
-
-
-class SensorConfig(BaseModel):
-    """
-    Base configuration class for Inputs.
-
-    """
-
-    model_config = ConfigDict(extra="allow")
-
-
-class Sensor(T.Generic[ConfigType, R]):
-    """
-    Base class for all sensors. Provides the interface for converting raw inputs
-    into text format for processing by the fuser.
-
-    Type Parameters
-    --------------
-    R
-        The raw input type that this agent handles
-    """
-
-    def __init__(self, config: ConfigType):
-        """
-        Initialize an Sensor instance.
-
-        Parameters
-        ----------
-        config : ConfigType
-            Configuration object for the sensor.
-        """
-        self.config = config
-
-    async def _raw_to_text(self, raw_input: R) -> T.Optional[Message]:
-        """
-        Convert raw input data into text format for processing.
-
-        Parameters
-        ----------
-        raw_input : R
-            The raw input data to convert
-
-        Returns
-        -------
-        T.Optional[Message]
-            Message object containing the converted text
-
-        Raises
-        ------
-        NotImplementedError
-            This method must be implemented by subclasses
-        """
-        raise NotImplementedError
-
-    async def raw_to_text(self, raw_input: R):
-        """
-        Convert raw input data into text format for processing.
-
-        Parameters
-        ----------
-        raw_input : R
-            The raw input data to convert
-
-        Raises
-        ------
-        NotImplementedError
-            This method must be implemented by subclasses
-        """
-        raise NotImplementedError
-
-    def formatted_latest_buffer(self) -> str | None:
-        """
-        Get the most recent input buffer as a formatted prompt string.
-
-        Returns
-        -------
-        str or None
-            The formatted buffer string if available, None otherwise
-
-        Raises
-        ------
-        NotImplementedError
-            This method must be implemented by subclasses
-        """
-        raise NotImplementedError
-
-    async def listen(self) -> T.AsyncIterator[R]:
-        """
-        Create an asynchronous iterator that yields raw input events.
-
-        The iterator continues until the input stream is closed or an error occurs.
-
-        Yields
-        ------
-        R
-            Raw input events from the source
-
-        Notes
-        -----
-        This method relies on the _listen_loop() implementation which must be
-        provided by subclasses.
-        """
-        async for event in self._listen_loop():  # type: ignore
-            yield event
-
-    def stop(self):
-        """
-        Stop the input listener and clean up resources.
-
-        This method should be implemented by subclasses to handle any necessary
-        cleanup when the input is no longer needed, such as closing connections
-        or stopping background tasks.
-        """
-        pass
diff --git a/src/inputs/base/loop.py b/src/inputs/base/loop.py
deleted file mode 100644
index 675d82a466..0000000000
--- a/src/inputs/base/loop.py
+++ /dev/null
@@ -1,54 +0,0 @@
-import typing as T
-
-from inputs.base import Sensor, SensorConfig
-
-R = T.TypeVar("R")
-ConfigType = T.TypeVar("ConfigType", bound="SensorConfig")
-
-
-class FuserInput(Sensor[ConfigType, R]):
-    """
-    Input polling implementation using a continuous asynchronous loop.
-
-    Repeatedly polls for input events in an async loop, yielding results
-    as they become available.
-    """
-
-    def __init__(self, config: ConfigType):
-        """
-        Initialize FuserInput instance.
-
-        Parameters
-        ----------
-        config : ConfigType
-            Configuration settings for the FuserInput.
-        """
-        super().__init__(config)
-
-    async def _listen_loop(self) -> T.AsyncIterator[R]:
-        """
-        Main polling loop that continuously yields input events.
-
-        Yields
-        ------
-        R
-            Raw input events from polling
-        """
-        while True:
-            yield await self._poll()
-
-    async def _poll(self) -> R:
-        """
-        Poll for next input event.
-
-        Returns
-        -------
-        R
-            Raw input event
-
-        Raises
-        ------
-        NotImplementedError
-            Must be implemented by subclasses
-        """
-        raise NotImplementedError
diff --git a/src/inputs/orchestrator.py b/src/inputs/orchestrator.py
deleted file mode 100644
index 9f452e5a9c..0000000000
--- a/src/inputs/orchestrator.py
+++ /dev/null
@@ -1,75 +0,0 @@
-import asyncio
-import logging
-from collections.abc import Sequence
-
-from inputs.base import Sensor
-
-
-class InputOrchestrator:
-    """
-    Manages and coordinates multiple input sources.
-
-    Handles concurrent processing of multiple Sensor instances,
-    orchestrating their data flows.
-    """
-
-    inputs: Sequence[Sensor]
-
-    def __init__(self, inputs: Sequence[Sensor]):
-        """
-        Initialize InputOrchestrator instance with input sources.
-
-        Parameters
-        ----------
-        inputs : Sequence[Sensor]
-            Sequence of input sources to manage.
-        """
-        self.inputs = inputs
-
-    async def listen(self) -> None:
-        """
-        Start listening to all input sources concurrently.
-
-        Creates and manages async tasks for each input source.
-        If one input fails, other inputs continue operating.
-        """
-        input_tasks = [
-            asyncio.create_task(self._listen_to_input(input), name=f"input_{type(input).__name__}")
-            for input in self.inputs
-        ]
-        results = await asyncio.gather(*input_tasks, return_exceptions=True)
-
-        for i, result in enumerate(results):
-            if isinstance(result, Exception):
-                input_name = type(self.inputs[i]).__name__
-                logging.error(f"Input {input_name} failed with error: {result}")
-
-    async def _listen_to_input(self, input: Sensor) -> None:
-        """
-        Process events from a single input source.
-
-        Parameters
-        ----------
-        input : Sensor
-            Input source to listen to
-        """
-        input_name = type(input).__name__
-        try:
-            async for event in input.listen():
-                try:
-                    await input.raw_to_text(event)
-                except Exception as e:
-                    logging.error(f"Error processing event in {input_name}: {e}", exc_info=True)
-        except Exception as e:
-            logging.error(f"Input {input_name} listener failed: {e}", exc_info=True)
-            raise
-
-    def stop(self):
-        """
-        Stop all input sources and clean up resources.
-        """
-        for input_source in self.inputs:
-            try:
-                input_source.stop()
-            except Exception:
-                logging.exception(f"Error stopping input {type(input_source).__name__}")
diff --git a/src/inputs/plugins/__init__.py b/src/inputs/plugins/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/inputs/plugins/amcl_localization_input.py b/src/inputs/plugins/amcl_localization_input.py
deleted file mode 100644
index 8c2e58a843..0000000000
--- a/src/inputs/plugins/amcl_localization_input.py
+++ /dev/null
@@ -1,136 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_amcl_provider import UnitreeGo2AMCLProvider
-
-
-class AMCLLocalizationInput(FuserInput[SensorConfig, Optional[str]]):
-    """
-    AMCL Localization status input plugin for LLM prompts.
-
-    Monitors the robot's localization status via AMCL and provides
-    clear feedback to the LLM about whether navigation is safe to proceed.
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize the AMCLLocalizationInput plugin.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        # Initialize providers
-        self.amcl_provider: UnitreeGo2AMCLProvider = UnitreeGo2AMCLProvider()
-        self.io_provider = IOProvider()
-
-        # Message buffer
-        self.messages: List[Message] = []
-
-        # Descriptive text for LLM context
-        self.descriptor_for_LLM = "Robot localization status - indicates if navigation is safe to proceed."
-
-        logging.info("LocalizationInput plugin initialized")
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll the AMCL provider for localization status.
-
-        Returns
-        -------
-        Optional[str]
-            Status message indicating if robot is localized and ready for navigation,
-            or None if no status change occurred.
-        """
-        await asyncio.sleep(0.1)  # Brief delay to prevent excessive polling
-
-        try:
-            is_localized = self.amcl_provider.is_localized
-            pose = self.amcl_provider.pose
-
-            if is_localized and pose is not None:
-                status_msg = "LOCALIZED: Robot position is confirmed. Navigation commands are safe to execute."
-                pos = pose.position
-                logging.debug(f"Robot localized at position x:{pos.x:.2f}, y:{pos.y:.2f}, z:{pos.z:.2f}")
-            else:
-                status_msg = "NOT LOCALIZED: Robot position uncertain. DO NOT attempt navigation until localized."
-                logging.debug("Robot localization status: NOT LOCALIZED")
-
-            return status_msg
-
-        except Exception as e:
-            logging.error(f"Error polling localization status: {e}")
-            return "LOCALIZATION ERROR: Unable to determine robot position. Navigation not recommended."
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input string to Message dataclass.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw localization status string
-
-        Returns
-        -------
-        Optional[Message]
-            Message dataclass containing the status and timestamp
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/booster_odom.py b/src/inputs/plugins/booster_odom.py
deleted file mode 100644
index 86d2942d89..0000000000
--- a/src/inputs/plugins/booster_odom.py
+++ /dev/null
@@ -1,169 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.k1_odom_provider import K1OdomProvider, RobotState
-
-
-class BoosterOdomConfig(SensorConfig):
-    """
-    Configuration for Booster Odom Sensor.
-
-    Parameters
-    ----------
-    topic : str
-        The Zenoh topic to subscribe to for odometry data.
-    """
-
-    topic: str = Field(default="odometer_state", description="Zenoh topic for Booster odometry data")
-
-
-class BoosterOdom(FuserInput[BoosterOdomConfig, Optional[dict]]):
-    """
-    Odometry input processor for Booster robot position and movement state tracking.
-    Uses Zenoh to receive odometry data from Booster robot.
-    """
-
-    def __init__(self, config: BoosterOdomConfig):
-        """
-        Initialize the Booster Odom input processor.
-
-        Parameters
-        ----------
-        config : BoosterOdomConfig
-            Configuration for the Booster Odom sensor.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        logging.info(f"BoosterOdom Config: {self.config}")
-
-        topic = self.config.topic
-        logging.info(f"BoosterOdom using Zenoh topic: {topic}")
-
-        self.odom = K1OdomProvider(topic)
-        self.descriptor_for_LLM = "Information about your location and body pose, to help plan your movements."
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for new messages from the Booster Odom Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[dict]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.1)
-
-        try:
-            return self.odom.position
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        logging.debug(f"booster odom: {raw_input}")
-
-        if raw_input is None:
-            return None
-
-        res = ""
-        moving = raw_input["moving"]
-        attitude = raw_input["body_attitude"]
-
-        if attitude is RobotState.SITTING:
-            res = "You are sitting down - do not generate new movement commands. "
-        elif moving:
-            # already moving
-            res = "You are moving - do not generate new movement commands. "
-        else:
-            res = "You are standing still - you can move if you want to. "
-
-        return Message(timestamp=time.time(), message=res)
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def stop(self):
-        """
-        Stop the Booster Odom provider and clean up resources.
-        """
-        if self.odom:
-            self.odom.stop()
diff --git a/src/inputs/plugins/charging_status_unitree_go2.py b/src/inputs/plugins/charging_status_unitree_go2.py
deleted file mode 100644
index 67a7873d1f..0000000000
--- a/src/inputs/plugins/charging_status_unitree_go2.py
+++ /dev/null
@@ -1,138 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_charging_provider import UnitreeGo2ChargingProvider
-
-
-class ChargingStatusUnitreeGo2(FuserInput[SensorConfig, str]):
-    """
-    Charging status input plugin for LLM prompts.
-
-    Monitors the robot's charging status via Zenoh and provides
-    clear feedback to the LLM about the current charging state.
-    """
-
-    def __init__(self, config: SensorConfig = SensorConfig()):
-        """
-        Initialize the ChargingStatusUnitreeGo2 plugin.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        # Initialize providers
-        self.charging_provider: UnitreeGo2ChargingProvider = UnitreeGo2ChargingProvider()
-        self.charging_provider.start()
-        self.io_provider = IOProvider()
-
-        # Message buffer
-        self.messages: List[Message] = []
-
-        # Descriptive text for LLM context
-        self.descriptor_for_LLM = "Robot charging status - indicates the current battery charging state."
-
-        logging.info("ChargingStatusUnitreeGo2 plugin initialized")
-
-    async def _poll(self) -> str:
-        """
-        Poll the Charging provider for charging status.
-
-        Returns
-        -------
-        str
-            Status message indicating the current charging state,
-            or empty string if no status is available.
-        """
-        await asyncio.sleep(0.1)  # Brief delay to prevent excessive polling
-
-        try:
-            status = self.charging_provider.charging_status
-
-            if status is None:
-                return ""
-
-            status_map = {
-                0: "DISCHARGING: Robot is running on battery power.",
-                1: "CHARGING: Robot is currently charging.",
-                2: "ENROUTE_CHARGING: Robot is moving to charging station.",
-                3: "FULLY_CHARGED: Robot battery is fully charged.",
-            }
-
-            status_msg = status_map.get(status, f"UNKNOWN: Unrecognized charging status ({status}).")
-            logging.debug(f"Charging status: {status_msg}")
-
-            return status_msg
-
-        except Exception as e:
-            logging.error(f"Error polling charging status: {e}")
-            return "CHARGING ERROR: Unable to determine charging state."
-
-    async def _raw_to_text(self, raw_input: str) -> Optional[Message]:
-        """
-        Convert raw input string to Message dataclass.
-
-        Parameters
-        ----------
-        raw_input : str
-            Raw charging status string
-
-        Returns
-        -------
-        Optional[Message]
-            Message dataclass containing the status and timestamp
-        """
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/conversation_history_input.py b/src/inputs/plugins/conversation_history_input.py
deleted file mode 100644
index f9b51478d9..0000000000
--- a/src/inputs/plugins/conversation_history_input.py
+++ /dev/null
@@ -1,133 +0,0 @@
-import asyncio
-import logging
-import time
-from collections import deque
-from typing import Deque, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class ConversationHistoryConfig(SensorConfig):
-    """
-    Configuration for Conversation History Input.
-
-    Parameters
-    ----------
-    max_rounds : int
-        Maximum number of voice inputs to keep in history.
-    """
-
-    max_rounds: int = Field(
-        default=3,
-        description="Maximum number of voice inputs to keep in history",
-    )
-
-
-class ConversationHistoryInput(FuserInput[ConversationHistoryConfig, Optional[str]]):
-    """
-    Async input that polls IOProvider for voice inputs and maintains
-    a sliding window of conversation history for the LLM prompt.
-    """
-
-    def __init__(self, config: ConversationHistoryConfig):
-        super().__init__(config)
-
-        self.io_provider = IOProvider()
-        self.messages: Deque[Message] = deque(maxlen=config.max_rounds)
-        self._last_recorded_tick: int = -1
-        self.descriptor_for_LLM = "Conversation History"
-
-        # Guard flag: when True, this instance ignores incoming voice inputs
-        self._stopped = False
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Check IOProvider for new voice input this tick.
-
-        Returns
-        -------
-        Optional[str]
-            The voice input text if new, None otherwise.
-        """
-        await asyncio.sleep(0.5)
-
-        if self._stopped:
-            return
-
-        current_tick = self.io_provider.tick_counter
-        if current_tick <= self._last_recorded_tick:
-            return None
-
-        voice_input = self.io_provider.get_input("Voice")
-        if voice_input and voice_input.input and voice_input.tick == current_tick:
-            text = voice_input.input.strip()
-            if text:
-                self._last_recorded_tick = current_tick
-                return text
-
-        return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed.
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input.
-        """
-        if raw_input is None:
-            return None
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available.
-        """
-        if raw_input is None:
-            return
-
-        message = await self._raw_to_text(raw_input)
-        if message is not None:
-            self.messages.append(message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Return all recorded voice inputs as a conversation history block.
-
-        Returns
-        -------
-        Optional[str]
-            A formatted string of the conversation history for LLM input, or None if no history exists.
-        """
-        if len(self.messages) == 0:
-            return None
-
-        lines = [f"User: {msg.message}" for msg in self.messages]
-        result = f'{self.descriptor_for_LLM}: "{"; ".join(lines)}"'
-
-        return result
-
-    def stop(self):
-        """
-        Clear message history and reset state when stopping the input.
-        """
-        logging.info("Stopping ConversationHistoryInput")
-
-        self._stopped = True
-
-        self.messages.clear()
diff --git a/src/inputs/plugins/dimo_tesla.py b/src/inputs/plugins/dimo_tesla.py
deleted file mode 100644
index d4a5cda67a..0000000000
--- a/src/inputs/plugins/dimo_tesla.py
+++ /dev/null
@@ -1,251 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Queue
-from typing import List, Optional
-
-from dimo import DIMO
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class DIMOTeslaConfig(SensorConfig):
-    """
-    Configuration for DIMO Tesla input.
-
-    Parameters
-    ----------
-    client_id : Optional[str]
-        Client ID for DIMO authentication.
-    domain : Optional[str]
-        Domain for DIMO authentication redirect.
-    private_key : Optional[str]
-        Private Key for DIMO authentication.
-    token_id : Optional[int]
-        Token ID for the specific vehicle/device.
-    """
-
-    client_id: Optional[str] = Field(default=None, description="Client ID for DIMO authentication")
-    domain: Optional[str] = Field(default=None, description="Domain for DIMO authentication redirect")
-    private_key: Optional[str] = Field(default=None, description="Private Key for DIMO authentication")
-    token_id: Optional[int] = Field(default=None, description="Token ID for the specific vehicle/device")
-
-
-class DIMOTesla(FuserInput[DIMOTeslaConfig, Optional[str]]):
-    """
-    DIMO Tesla input handler.
-
-    A class that processes Tesla data and generates text descriptions
-    """
-
-    def __init__(self, config: DIMOTeslaConfig):
-        """
-        Initialize DIMO Tesla input handler.
-
-        Sets up the required providers and buffers for handling Tesla data processing.
-        Initializes connection to the Tesla service and registers message handlers.
-
-        Parameters
-        ----------
-        config : DIMOTeslaConfig
-            Configuration settings for the sensor input.
-        """
-        super().__init__(config)
-
-        self.descriptor_for_LLM = "Tesla Data"
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        self.dimo = DIMO("Production")
-
-        self.vehicle_jwt = None
-
-        # Configure the DIMO Tesla service
-        client_id = self.config.client_id
-        domain = self.config.domain
-        private_key = self.config.private_key
-
-        if client_id is None or client_id == "" or domain is None or private_key is None:
-            logging.info("DIMOTesla: You did not provide credentials to your Tesla - aborting")
-            return
-
-        self.token_id = self.config.token_id
-        if self.token_id is None:
-            logging.info("DIMOTesla: You did not provide a token_id - aborting")
-            return
-
-        try:
-            auth_header = self.dimo.auth.get_dev_jwt(client_id=client_id, domain=domain, private_key=private_key)
-            self.dev_jwt = auth_header["access_token"]
-
-            get_vehicle_jwt = self.dimo.token_exchange.exchange(
-                developer_jwt=self.dev_jwt,
-                token_id=self.token_id,
-            )
-            self.vehicle_jwt = get_vehicle_jwt["token"]
-            self.vehicle_jwt_expires = time.time() + 8 * 60
-
-            # bypass token_id and vehicle_jwt to io_provider
-            self.io_provider.add_dynamic_variable("token_id", self.token_id)
-            self.io_provider.add_dynamic_variable("vehicle_jwt", self.vehicle_jwt)
-        except Exception as e:
-            logging.error(f"DIMOTesla: INIT - Error getting DIMO vehicle jwt: {e}")
-            self.vehicle_jwt = None
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for Tesla data.
-
-        Returns
-        -------
-        Optional[str]
-            The latest Tesla data
-        """
-        await asyncio.sleep(0.5)
-
-        if self.vehicle_jwt is None:
-            logging.error("DIMOTesla: No vehicle jwt - did you provide credentials?")
-            return None
-
-        if self.vehicle_jwt_expires is None:
-            return None
-
-        if time.time() > self.vehicle_jwt_expires:
-            try:
-                get_vehicle_jwt = self.dimo.token_exchange.exchange(
-                    developer_jwt=self.dev_jwt,
-                    token_id=self.token_id,  # type: ignore
-                )
-                self.vehicle_jwt = get_vehicle_jwt["token"]
-                self.vehicle_jwt_expires = time.time() + 8 * 60
-            except Exception as e:
-                logging.error(f"DIMOTesla: Error getting DIMO vehicle jwt: {e}")
-                self.vehicle_jwt = None
-                return None
-
-        latest_tesla_signals = self.dimo.query(
-            "Telemetry",
-            query="""
-                    query GetSignalsLatest($tokenId: Int!) {
-                        signalsLatest(tokenId: $tokenId){
-                            powertrainTransmissionTravelledDistance{
-                                timestamp
-                                value
-                            }
-                            exteriorAirTemperature{
-                                timestamp
-                                value
-                            }
-                            speed {
-                                timestamp
-                                value
-                            }
-                            powertrainRange{
-                                timestamp
-                                value
-                            }
-                            currentLocationLatitude{
-                                timestamp
-                                value
-                            }
-                            currentLocationLongitude{
-                                timestamp
-                                value
-                            }
-                        }
-                    }
-            """,
-            token=self.vehicle_jwt,
-            variables={"tokenId": self.token_id},
-        )
-
-        try:
-            tesla_data = latest_tesla_signals["data"]["signalsLatest"]  # type: ignore
-            powertrainTransmissionTravelledDistance = tesla_data["powertrainTransmissionTravelledDistance"]["value"]
-            exteriorAirTemperature = tesla_data["exteriorAirTemperature"]["value"]
-            speed = tesla_data["speed"]["value"]
-            powertrainRange = tesla_data["powertrainRange"]["value"]
-            currentLocationLatitude = tesla_data["currentLocationLatitude"]["value"]
-            currentLocationLongitude = tesla_data["currentLocationLongitude"]["value"]
-        except Exception as e:
-            logging.error(f"Error parsing Tesla data: {e}")
-            return None
-
-        return f"""
-        Powertrain Transmission Travelled Distance: {powertrainTransmissionTravelledDistance} km
-        Exterior Air Temperature: {exteriorAirTemperature} C
-        Speed: {speed} km/h
-        Powertrain Range: {powertrainRange} km
-        Current Location Latitude: {currentLocationLatitude}
-        Current Location Longitude: {currentLocationLongitude}
-        """
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Timestamped status or transaction notification
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Process Tesla data message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message)
-            # only update if there has been a change
-            elif self.messages[-1].message != pending_message.message:
-                self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        return result
diff --git a/src/inputs/plugins/elevenlabs_asr.py b/src/inputs/plugins/elevenlabs_asr.py
deleted file mode 100644
index bd9ebcb821..0000000000
--- a/src/inputs/plugins/elevenlabs_asr.py
+++ /dev/null
@@ -1,350 +0,0 @@
-import asyncio
-import json
-import logging
-import re
-import time
-from typing import Dict, List, Optional
-from uuid import uuid4
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from prometheus import (
-    om1_asr_latency,
-    om1_asr_latency_last,
-)
-from providers.asr_provider import ASRProvider
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import ASRText, open_zenoh_session, prepare_header
-
-LANGUAGE_CODE_MAP: dict = {
-    "auto": "auto",
-    "english": "en",
-    "spanish": "es",
-    "french": "fr",
-    "german": "de",
-    "italian": "it",
-    "portuguese": "pt",
-    "japanese": "ja",
-    "korean": "ko",
-    "chinese": "zh",
-    "dutch": "nl",
-    "polish": "pl",
-    "russian": "ru",
-}
-
-
-class ElevenLabsASRSensorConfig(SensorConfig):
-    """
-    Configuration for ElevenLabs ASR Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    rate : int
-        Sampling rate.
-    chunk : int
-        Chunk size.
-    base_url : Optional[str]
-        Base URL for the ASR service.
-    microphone_device_id : Optional[int]
-        Microphone Device ID.
-    microphone_name : Optional[str]
-        Microphone Name.
-    language : str
-        Language for speech recognition (supports BCP-47 codes or auto-detection).
-    alternative_languages : Optional[List[str]]
-        List of alternative languages for multilingual speech recognition. If None (default), no alternative languages will be used.
-    remote_input : bool
-        Whether to use remote input.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    rate: int = Field(default=48000, description="Sampling rate")
-    chunk: int = Field(default=4800, description="Chunk size")
-    base_url: Optional[str] = Field(default=None, description="Base URL for the ASR service")
-    microphone_device_id: Optional[int] = Field(default=None, description="Microphone Device ID")
-    microphone_name: Optional[str] = Field(default=None, description="Microphone Name")
-    language: str = Field(default="auto", description="Language for speech recognition")
-    remote_input: bool = Field(default=False, description="Whether to use remote input")
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt (does not mute mic during TTS playback)",
-    )
-
-
-class ElevenLabsASRInput(FuserInput[ElevenLabsASRSensorConfig, Optional[str]]):
-    """
-    ElevenLabs Automatic Speech Recognition (ASR) input handler.
-
-    This class manages the input stream from an ASR service, buffering messages
-    and providing text conversion capabilities.
-    """
-
-    def __init__(self, config: ElevenLabsASRSensorConfig):
-        """
-        Initialize ElevenLabsASRInput instance.
-
-        Parameters
-        ----------
-        config : ElevenLabsASRSensorConfig
-            Configuration for the ElevenLabs ASR input
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[str] = []
-
-        # Set IO Provider
-        self.descriptor_for_LLM = "Voice"
-        self.io_provider = IOProvider()
-
-        # Message buffer for incoming ASR messages
-        self.message_buffer: asyncio.Queue[str] = asyncio.Queue()
-
-        # Initialize ASR provider
-        api_key = self.config.api_key
-        rate = self.config.rate
-        chunk = self.config.chunk
-
-        base_url = self.config.base_url or f"wss://api.openmind.com/api/core/elevenlabs/asr?api_key={api_key}"
-
-        microphone_device_id = self.config.microphone_device_id
-        microphone_name = self.config.microphone_name
-
-        language = self.config.language.strip().lower()
-
-        if language not in LANGUAGE_CODE_MAP:
-            logging.error(
-                f"Language {language} not supported. Current supported languages are : {list(LANGUAGE_CODE_MAP.keys())}. Defaulting to auto"
-            )
-            language = "auto"
-
-        language_code = LANGUAGE_CODE_MAP.get(language, "auto")
-        logging.info(f"Using language code {language_code} for ElevenLabs ASR")
-
-        remote_input = self.config.remote_input
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        self.asr: ASRProvider = ASRProvider(
-            rate=rate,
-            chunk=chunk,
-            ws_url=base_url,
-            device_id=microphone_device_id,
-            microphone_name=microphone_name,
-            language_code=language_code,
-            remote_input=remote_input,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.asr.start()
-        self.asr.register_message_callback(self._handle_asr_message)
-
-        # Initialize sleep ticker provider
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-        # Initialize Zenoh session
-        self.asr_topic = "om/asr/text"
-        self.session = None
-        self.asr_publisher = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.asr_publisher = self.session.declare_publisher(self.asr_topic)
-            logging.info("Zenoh ASR publisher initialized on topic 'om/asr/text'")
-        except Exception as e:
-            logging.warning(f"Could not initialize Zenoh for ASR broadcast: {e}")
-            self.session = None
-            self.asr_publisher = None
-
-        # Guard flag: when True, this instance ignores incoming ASR messages.
-        self._stopped = False
-
-        # Timing variable to measure latency from speech start to final transcript or end of utterance
-        self._speech_start_time: Optional[float] = None
-        self._language = language
-
-    def _handle_asr_message(self, raw_message: str):
-        """
-        Process incoming ASR messages.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw message received from ASR service
-        """
-        if self._stopped:
-            return
-
-        try:
-            json_message: Dict = json.loads(raw_message)
-
-            msg_type = json_message.get("type")
-            if msg_type == "partial":
-                self._speech_start_time = time.time()
-
-            if "asr_reply" in json_message and msg_type == "committed":
-                asr_reply = json_message["asr_reply"]
-                has_cjk = bool(re.search(r"[\u4e00-\u9fff\u3040-\u30ff\uac00-\ud7af]", asr_reply))
-
-                if (has_cjk and len(asr_reply) > 2) or (not has_cjk and len(asr_reply.split()) > 1):
-                    if self._speech_start_time is not None:
-                        latency = time.time() - self._speech_start_time
-                        om1_asr_latency.labels(model="elevenlabs", language=self._language, api_version="v1").observe(
-                            latency
-                        )
-                        om1_asr_latency_last.labels(model="elevenlabs", language=self._language, api_version="v1").set(
-                            latency
-                        )
-
-                        self._speech_start_time = None
-                    self.message_buffer.put_nowait(asr_reply)
-                    logging.info("Detected ASR message: %s", asr_reply)
-
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages in the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Message from the buffer if available, None otherwise
-        """
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except asyncio.QueueEmpty:
-            await asyncio.sleep(0.01)
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input to text format.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Processed message or None if input is None
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                self.global_sleep_ticker_provider.skip_sleep = True
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-{self.descriptor_for_LLM}: "{self.messages[-1]}"
-"""
-        # Add to IO provider and conversation provider
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.io_provider.add_mode_transition_input(self.messages[-1])
-        self.conversation_provider.store_user_message(self.messages[-1])
-
-        # Publish to Zenoh
-        if self.asr_publisher:
-            try:
-                asr_msg = ASRText(
-                    header=prepare_header(str(uuid4())),
-                    text=self.messages[-1],
-                )
-                self.asr_publisher.put(asr_msg.serialize())
-                logging.info(f"Published ASR to Zenoh: {self.messages[-1]}")
-            except Exception as e:
-                logging.warning(f"Failed to publish ASR to Zenoh: {e}")
-
-        # Reset messages buffer
-        self.messages = []
-        return result
-
-    def stop(self):
-        """
-        Stop the ASR input.
-        """
-        logging.info("Stopping ElevenLabsASRInput, disabling callback")
-
-        self._stopped = True
-
-        while not self.message_buffer.empty():
-            try:
-                self.message_buffer.get_nowait()
-            except asyncio.QueueEmpty:
-                break
-
-        self.messages = []
-
-        if self.asr:
-            try:
-                self.asr.unregister_message_callback(self._handle_asr_message)
-                logging.info("Unregistered ASR callback")
-            except Exception as e:
-                logging.warning(f"Failed to unregister ASR callback: {e}")
-
-        if self.asr_publisher:
-            try:
-                self.asr_publisher.undeclare()
-                logging.info("Zenoh ASR publisher undeclared")
-            except Exception as e:
-                logging.warning(f"Failed to undeclare Zenoh ASR publisher: {e}")
-
-        if self.session:
-            try:
-                self.session.close()
-                logging.info("Zenoh ASR session closed")
-            except Exception as e:
-                logging.warning(f"Failed to close Zenoh ASR session: {e}")
-
-        # TODO:
-        # Consider sending the TTS status multiple times to ASR provider to ensure that
-        # the ASR provider properly receives the interrupt signal,
-        # especially in cases where the mode switch happens during TTS playback
-        # if self.asr:
-        #     try:
-        #         self.asr.stop()
-        #         logging.info("ASR provider stopped")
-        #     except Exception as e:
-        #         logging.warning(f"Failed to stop ASR provider: {e}")
diff --git a/src/inputs/plugins/elevenlabs_asr_rtsp.py b/src/inputs/plugins/elevenlabs_asr_rtsp.py
deleted file mode 100644
index 36f40ca588..0000000000
--- a/src/inputs/plugins/elevenlabs_asr_rtsp.py
+++ /dev/null
@@ -1,330 +0,0 @@
-import asyncio
-import json
-import logging
-import re
-import time
-from typing import Dict, List, Optional
-from uuid import uuid4
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from prometheus import (
-    om1_asr_latency,
-    om1_asr_latency_last,
-)
-from providers.asr_rtsp_provider import ASRRTSPProvider
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import ASRText, open_zenoh_session, prepare_header
-
-LANGUAGE_CODE_MAP: dict = {
-    "auto": "auto",
-    "english": "en",
-    "spanish": "es",
-    "french": "fr",
-    "german": "de",
-    "italian": "it",
-    "portuguese": "pt",
-    "japanese": "ja",
-    "korean": "ko",
-    "chinese": "zh",
-    "dutch": "nl",
-    "polish": "pl",
-    "russian": "ru",
-}
-
-
-class ElevenLabsASRRTSPSensorConfig(SensorConfig):
-    """
-    Configuration for ElevenLabs ASR RTSP Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    rtsp_url : str
-        RTSP URL for the audio stream.
-    rate : int
-        Audio sampling rate.
-    chunk : int
-        Audio chunk size in bytes.
-    base_url : Optional[str]
-        Base URL for the ASR service.
-    language : str
-        Language for speech recognition (supports BCP-47 codes or auto-detection).
-    enable_tts_interrupt : bool
-        Enable TTS interrupt (does not mute mic during TTS playback).
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    rtsp_url: str = Field(
-        default="rtsp://localhost:8554/audio",
-        description="RTSP URL for the audio stream",
-    )
-    rate: int = Field(default=16000, description="Audio sampling rate")
-    chunk: int = Field(default=1600, description="Audio chunk size in bytes")
-    base_url: Optional[str] = Field(default=None, description="Base URL for the ASR service")
-    language: str = Field(default="auto", description="Language for speech recognition")
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt (does not mute mic during TTS playback)",
-    )
-
-
-class ElevenLabsASRRTSPInput(FuserInput[ElevenLabsASRRTSPSensorConfig, Optional[str]]):
-    """
-    ElevenLabs ASR RTSP input handler for processing speech recognition from RTSP audio streams.
-    """
-
-    def __init__(self, config: ElevenLabsASRRTSPSensorConfig):
-        """
-        Initialize the ElevenLabs ASR RTSP input handler.
-
-        Parameters
-        ----------
-        config : ElevenLabsASRRTSPSensorConfig
-            Configuration for the ASR RTSP input handler.
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[str] = []
-
-        # Set IO Provider
-        self.descriptor_for_LLM = "Voice"
-        self.io_provider = IOProvider()
-
-        # Message buffer for incoming ASR messages
-        self.message_buffer: asyncio.Queue[str] = asyncio.Queue()
-
-        # Initialize ASR provider
-        api_key = self.config.api_key
-        rtsp_url = self.config.rtsp_url
-        rate = self.config.rate
-
-        base_url = self.config.base_url or f"wss://api.openmind.com/api/core/elevenlabs/asr?api_key={api_key}"
-
-        language = self.config.language.strip().lower()
-
-        if language not in LANGUAGE_CODE_MAP:
-            logging.error(
-                f"Language {language} not supported. Current supported languages are : {list(LANGUAGE_CODE_MAP.keys())}. Defaulting to auto"
-            )
-            language = "auto"
-
-        language_code = LANGUAGE_CODE_MAP.get(language, "auto")
-        logging.info(f"Using language code {language_code} for ElevenLabs ASR")
-
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        self.asr: ASRRTSPProvider = ASRRTSPProvider(
-            rtsp_url=rtsp_url,
-            rate=rate,
-            chunk=self.config.chunk,
-            ws_url=base_url,
-            language_code=language_code,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.asr.start()
-        self.asr.register_message_callback(self._handle_asr_message)
-
-        # Initialize sleep ticker provider
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-        # Initialize Zenoh session
-        self.asr_topic = "om/asr/text"
-        self.session = None
-        self.asr_publisher = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.asr_publisher = self.session.declare_publisher(self.asr_topic)
-            logging.info("Zenoh ASR publisher initialized on topic 'om/asr/text'")
-        except Exception as e:
-            logging.warning(f"Could not initialize Zenoh for ASR broadcast: {e}")
-            self.session = None
-            self.asr_publisher = None
-
-        # Guard flag: when True, this instance ignores incoming ASR messages.
-        self._stopped = False
-
-        # Timing variable to measure latency from speech start to final transcript or end of utterance
-        self._speech_start_time: Optional[float] = None
-        self._language = language
-
-    def _handle_asr_message(self, raw_message: str):
-        """
-        Process incoming ASR messages from the ASR provider.
-
-        Parameters
-        ----------
-        raw_message : str
-            The raw ASR message received from the provider
-        """
-        if self._stopped:
-            return
-
-        try:
-            json_message: Dict = json.loads(raw_message)
-
-            msg_type = json_message.get("type")
-            if msg_type == "partial":
-                self._speech_start_time = time.time()
-
-            if "asr_reply" in json_message and msg_type == "committed":
-                asr_reply = json_message["asr_reply"]
-                has_cjk = bool(re.search(r"[\u4e00-\u9fff\u3040-\u30ff\uac00-\ud7af]", asr_reply))
-
-                if (has_cjk and len(asr_reply) > 2) or (not has_cjk and len(asr_reply.split()) > 1):
-                    # Observe ASR latency from speech start to final transcript
-                    if self._speech_start_time is not None:
-                        latency = time.time() - self._speech_start_time
-                        om1_asr_latency.labels(model="elevenlabs", language=self._language, api_version="v1").observe(
-                            latency
-                        )
-                        om1_asr_latency_last.labels(model="elevenlabs", language=self._language, api_version="v1").set(
-                            latency
-                        )
-                        self._speech_start_time = None
-
-                    self.message_buffer.put_nowait(asr_reply)
-                    logging.info("Detected ASR message: %s", asr_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages in the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Message from the buffer if available, None otherwise
-        """
-        if self._stopped:
-            return
-
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except asyncio.QueueEmpty:
-            await asyncio.sleep(0.01)
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input to text format.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                self.global_sleep_ticker_provider.skip_sleep = True
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-{self.descriptor_for_LLM}: "{self.messages[-1]}"
-"""
-        # Add to IO provider and conversation provider
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.io_provider.add_mode_transition_input(self.messages[-1])
-        self.conversation_provider.store_user_message(self.messages[-1])
-
-        # Publish to Zenoh
-        if self.asr_publisher:
-            try:
-                asr_msg = ASRText(
-                    header=prepare_header(str(uuid4())),
-                    text=self.messages[-1],
-                )
-                self.asr_publisher.put(asr_msg.serialize())
-                logging.info(f"Published ASR to Zenoh: {self.messages[-1]}")
-            except Exception as e:
-                logging.warning(f"Failed to publish ASR to Zenoh: {e}")
-
-        # Reset messages buffer
-        self.messages = []
-        return result
-
-    def stop(self):
-        """
-        Stop the ASR input handler and clean up resources.
-        """
-        logging.info("Stopping ElevenLabsASRRTSPInput, disabling callback")
-
-        self._stopped = True
-
-        while not self.message_buffer.empty():
-            try:
-                self.message_buffer.get_nowait()
-            except asyncio.QueueEmpty:
-                break
-
-        self.messages = []
-
-        if self.asr:
-            try:
-                self.asr.unregister_message_callback(self._handle_asr_message)
-                logging.info("Unregistered ASR callback")
-            except Exception as e:
-                logging.warning(f"Failed to unregister ASR callback: {e}")
-
-        if self.asr_publisher:
-            try:
-                self.asr_publisher.undeclare()
-                logging.info("Zenoh ASR publisher undeclared")
-            except Exception as e:
-                logging.warning(f"Failed to undeclare Zenoh ASR publisher: {e}")
-
-        if self.session:
-            try:
-                self.session.close()
-                logging.info("Zenoh ASR session closed")
-            except Exception as e:
-                logging.warning(f"Failed to close Zenoh ASR session: {e}")
diff --git a/src/inputs/plugins/ethereum_governance.py b/src/inputs/plugins/ethereum_governance.py
deleted file mode 100644
index d26f2c012f..0000000000
--- a/src/inputs/plugins/ethereum_governance.py
+++ /dev/null
@@ -1,233 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import Optional
-
-import aiohttp
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-# RULES are stored on the ETHEREUM HOLESKY testnet
-# "GovernanceContract": "0xe706b7e30e378b89c7b2ee7bfd8ce2b91959d695"
-# https://holesky.etherscan.io/address/0xe706b7e30e378b89c7b2ee7bfd8ce2b91959d695
-# Note: Etherscan.io does not handle bytes[]/json well. See below for ways to
-# interact with HOLESKY and decode the data, generating an ASCII string.
-
-
-class GovernanceEthereum(FuserInput[SensorConfig, Optional[str]]):
-    """
-    Ethereum ERC-7777 reader that tracks governance rules.
-
-    Queries the Ethereum blockchain for relevant governance rules.
-
-    Raises
-    ------
-    Exception
-        If connection to Ethereum network fails
-    """
-
-    async def load_rules_from_blockchain(self) -> Optional[str]:
-        """
-        Load governance rules from the Ethereum blockchain.
-
-        Returns
-        -------
-        Optional[str]
-            Decoded governance rules string, or None on error.
-        """
-        logging.info("Loading rules from Ethereum blockchain")
-
-        payload = {
-            "jsonrpc": "2.0",
-            "id": 636815446436324,
-            "method": "eth_call",
-            "params": [
-                {
-                    "from": "0x0000000000000000000000000000000000000000",
-                    "to": self.contract_address,
-                    "data": f"{self.function_selector}{self.function_argument}",
-                },
-                "latest",
-            ],
-        }
-
-        try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(
-                    self.rpc_url,
-                    json=payload,
-                    headers={"Content-Type": "application/json"},
-                    timeout=aiohttp.ClientTimeout(total=10),
-                ) as response:
-                    logging.debug(f"Blockchain response status: {response.status}")
-
-                    if response.status == 200:
-                        result = await response.json()
-                        if "result" in result and result["result"]:
-                            hex_response = result["result"]
-                            logging.debug(f"Raw blockchain response: {hex_response}")
-
-                            decoded_data = self.decode_eth_response(hex_response)
-                            logging.debug(f"Decoded blockchain data: {decoded_data}")
-                            return decoded_data
-                        else:
-                            logging.error("Error: No valid result in blockchain response")
-                    else:
-                        logging.error(f"Error: Blockchain request failed with status {response.status}")
-        except Exception as e:
-            logging.error(f"Error loading rules from blockchain: {e}")
-
-        return None
-
-    def decode_eth_response(self, hex_response: str) -> Optional[str]:
-        """
-        Decodes an Ethereum eth_call response.
-
-        Parameters
-        ----------
-        hex_response : str
-            Hexadecimal string response from Ethereum eth_call.
-
-        Returns
-        -------
-        Optional[str]
-            Decoded string, or None on error.
-        """
-        if hex_response.startswith("0x"):
-            hex_response = hex_response[2:]
-
-        try:
-            response_bytes = bytes.fromhex(hex_response)
-
-            # Read offsets and string length
-            # offset = int.from_bytes(response_bytes[:32], "big")
-            string_length = int.from_bytes(response_bytes[96:128], "big")
-
-            # Extract and decode string
-            string_bytes = response_bytes[128 : 128 + string_length]
-            decoded_string = string_bytes.decode("utf-8")
-
-            # Remove unexpected control characters (like \x19)
-            cleaned_string = "".join(ch for ch in decoded_string if ch.isprintable())
-
-            return cleaned_string
-
-        except Exception as e:
-            logging.error(f"Decoding error: {e}")
-            return None
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize GovernanceEthereum instance.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration settings for the sensor input.
-        """
-        super().__init__(config)
-
-        self.descriptor_for_LLM = "Universal Laws"
-
-        self.io_provider = IOProvider()
-        self.POLL_INTERVAL = 5.0  # seconds
-        self.rpc_url = "https://holesky.drpc.org"  # Ethereum RPC URL
-
-        # The smart contract address of the ERC-7777 Governance Smart Contract
-        self.contract_address = "0xe706b7e30e378b89c7b2ee7bfd8ce2b91959d695"
-
-        # getRuleSet() Function selector (first 4 bytes of Keccak hash).
-        self.function_selector = "0x1db3d5ff"
-
-        # The current rule set can be obtained from
-        # getLatestRuleSetVersion(0x254e2f1e)
-        # It's currently = 2
-        self.function_argument = "0000000000000000000000000000000000000000000000000000000000000002"  # Argument
-        self.universal_rule: Optional[str] = None
-        self.messages: list[Message] = []
-
-        logging.info("GovernanceEthereum initialized, rules will be loaded on first poll")
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for Ethereum Governance Law Changes.
-
-        Returns
-        -------
-        Optional[str]
-            Latest governance rules as a string, or None on error
-        """
-        await asyncio.sleep(self.POLL_INTERVAL)
-
-        try:
-            rules = await self.load_rules_from_blockchain()
-            logging.debug(f"7777 rules: {rules}")
-            return rules
-        except Exception as e:
-            logging.error(f"Error fetching blockchain data: {e}")
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert self.universal_rule to a human-readable Message.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Timestamped status or transaction notification
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Process governance rule message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message)
-            # only update if there has been a change
-            elif self.messages[-1].message != pending_message.message:
-                self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        # no need to blank because we are only saving rare law changes
-        # self.messages = []
-        return result
diff --git a/src/inputs/plugins/fabric_closest_peer.py b/src/inputs/plugins/fabric_closest_peer.py
deleted file mode 100644
index 92290061c9..0000000000
--- a/src/inputs/plugins/fabric_closest_peer.py
+++ /dev/null
@@ -1,158 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Queue
-from typing import List, Optional
-
-import aiohttp
-from pydantic import Field
-
-from inputs.base import SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class FabricClosestPeerConfig(SensorConfig):
-    """
-    Configuration for Fabric Closest Peer Sensor.
-
-    Parameters
-    ----------
-    fabric_endpoint : str
-        Fabric endpoint URL.
-    mock_mode : bool
-        Whether to enable mock mode.
-    mock_lat : Optional[float]
-        Mock latitude.
-    mock_lon : Optional[float]
-        Mock longitude.
-    """
-
-    fabric_endpoint: str = Field(default="http://localhost:8545", description="Fabric Endpoint")
-    mock_mode: bool = Field(default=True, description="Mock Mode")
-    mock_lat: Optional[float] = Field(default=None, description="Mock Latitude")
-    mock_lon: Optional[float] = Field(default=None, description="Mock Longitude")
-
-
-class FabricClosestPeer(FuserInput[FabricClosestPeerConfig, Optional[str]]):
-    """Share our GPS position with the Fabric network and fetch the closest peer.
-
-    **Mock‑friendly:** set `mock_mode=True` in the plugin config (or environment)
-    and the connector will fabricate a plausible peer 30‑50 m away instead of
-    calling the REST endpoint.  Useful for local testing before the chain is up.
-    """
-
-    def __init__(self, config: FabricClosestPeerConfig):
-        """
-        Initialize the FabricClosestPeer input handler.
-
-        Sets up the required providers and buffers for handling Fabric peer data.
-
-        Parameters
-        ----------
-        config : FabricClosestPeerConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        self.descriptor_for_LLM = "Closest Peer from Fabric"
-        self.io = IOProvider()
-        self.messages: List[str] = []
-        self.msg_q: Queue[str] = Queue()
-
-        self.fabric_endpoint = self.config.fabric_endpoint
-        self.mock_mode = self.config.mock_mode
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll Fabric for the closest peer based on our current GPS position.
-
-        Returns
-        -------
-        Optional[str]
-            Human-readable message with closest peer coordinates, or None on error
-        """
-        await asyncio.sleep(0.5)
-
-        if self.mock_mode:
-            peer_lat = self.config.mock_lat
-            peer_lon = self.config.mock_lon
-            logging.info(f"FabricClosestPeer (mock): fabricated peer {peer_lat:.6f},{peer_lon:.6f}")
-        else:
-            try:
-                lat = self.io.get_dynamic_variable("latitude")
-                lon = self.io.get_dynamic_variable("longitude")
-                if lat is None or lon is None:
-                    logging.error("FabricClosestPeer: latitude or longitude not set.")
-                    return None
-                logging.info(f"FabricClosestPeer: fetching closest peer for {lat:.6f}, {lon:.6f}")
-                timeout = aiohttp.ClientTimeout(total=3.0)
-                async with aiohttp.ClientSession(timeout=timeout) as session:
-                    async with session.post(
-                        self.fabric_endpoint,
-                        json={
-                            "method": "omp2p_findClosestPeer",
-                            "params": [{"latitude": lat, "longitude": lon}],
-                            "id": 1,
-                            "jsonrpc": "2.0",
-                        },
-                        headers={"Content-Type": "application/json"},
-                    ) as resp:
-                        data = await resp.json()
-                logging.debug(f"FabricClosestPeer response: {data}")
-                peer_info = (data.get("result") or [{}])[0].get("peer")
-                if not peer_info:
-                    logging.info("FabricClosestPeer: no peer found.")
-                    return None
-                peer_lat = peer_info["latitude"]
-                peer_lon = peer_info["longitude"]
-            except Exception as exc:  # pylint: disable=broad-except
-                logging.error(f"FabricClosestPeer: error calling Fabric endpoint – {exc}")
-                return None
-
-        self.io.add_dynamic_variable("closest_peer_lat", peer_lat)
-        self.io.add_dynamic_variable("closest_peer_lon", peer_lon)
-
-        human_msg = f"Closest peer at {peer_lat:.5f}, {peer_lon:.5f}"
-        self.msg_q.put(human_msg)
-        return human_msg
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Process raw input to generate a timestamped message.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return
-        self.messages.append(raw_input)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if not self.msg_q.qsize():
-            return None
-        msg = self.msg_q.get()
-        self.io.add_input(self.descriptor_for_LLM, msg, time.time())
-        return f"""
-{self.descriptor_for_LLM} INPUT
-// START
-{msg}
-// END
-"""
diff --git a/src/inputs/plugins/face_presence_input.py b/src/inputs/plugins/face_presence_input.py
deleted file mode 100644
index 0cff1d95f5..0000000000
--- a/src/inputs/plugins/face_presence_input.py
+++ /dev/null
@@ -1,196 +0,0 @@
-import asyncio
-import logging
-import time
-from collections import deque
-from queue import Empty, Queue
-from typing import Deque, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.face_presence_provider import FacePresenceProvider
-from providers.io_provider import IOProvider
-
-
-class FacePresenceConfig(SensorConfig):
-    """
-    Configuration for Face Presence Sensor.
-
-    Parameters
-    ----------
-    face_http_base_url : str
-        Base URL for the Face HTTP service.
-    face_recent_sec : float
-        Time window in seconds to consider a face present.
-    face_poll_fps : float
-        Polling frequency in frames per second.
-    """
-
-    face_http_base_url: str = Field(
-        default="http://127.0.0.1:6793",
-        description="Base URL for the Face HTTP service",
-    )
-    face_recent_sec: float = Field(default=1.0, description="Time window in seconds to consider a face present")
-    face_poll_fps: float = Field(default=5.0, description="Polling frequency in frames per second")
-
-
-class FacePresence(FuserInput[FacePresenceConfig, Optional[str]]):
-    """
-    Async input that adapts the FacePresenceProvider to the fuser/LLM pipeline.
-
-    Tasks
-    ----------------
-    - Subscribe to the provider's callbacks and enqueue received text lines.
-    - Poll the queue periodically (non-blocking) in `_poll()`.
-    - Convert raw text into `Message` objects in `_raw_to_text()`.
-    - Keep a bounded in-memory history (`self.messages`, deque with maxlen=300).
-    - Produce a compact, prompt-ready block via `formatted_latest_buffer()`.
-    """
-
-    def __init__(self, config: FacePresenceConfig):
-        """
-        Initialize the face presence input.
-
-        Parameters
-        ----------
-        config : FacePresenceConfig
-            Configuration settings for the sensor input.
-        """
-        super().__init__(config)
-
-        self.io_provider = IOProvider()
-
-        self.messages: Deque[Message] = deque(maxlen=300)
-
-        self.message_buffer: Queue[str] = Queue(maxsize=64)
-
-        # Read config and construct the provider WITH required args
-        base_url = self.config.face_http_base_url
-        recent_sec = self.config.face_recent_sec
-        fps = self.config.face_poll_fps
-
-        self.provider: FacePresenceProvider = FacePresenceProvider(
-            base_url=base_url, recent_sec=recent_sec, fps=fps, timeout_s=2.0
-        )
-        self._is_registered: bool = True
-
-        self.provider.start()
-        self.provider.register_message_callback(self._handle_face_message)
-
-        self.descriptor_for_LLM = "Face Presence Sensor"
-
-    def _handle_face_message(self, text_line: str) -> None:
-        """
-        Provider callback: push a new line into the bounded queue, clearing old messages.
-
-        Parameters
-        ----------
-        text_line : str
-            A single, already formatted line (e.g., "present=[alice], unknown=0, ts=...").
-        """
-        while not self.message_buffer.empty():
-            try:
-                _ = self.message_buffer.get_nowait()
-            except Empty:
-                break
-
-        try:
-            self.message_buffer.put_nowait(text_line)
-        except Exception as e:
-            logging.warning(f"Failed to enqueue face presence message: {e}")
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the face presence service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            return self.message_buffer.get_nowait()
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        message = await self._raw_to_text(raw_input)
-        if message is not None:
-            self.messages.append(message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Return the newest message as a compact prompt result and clear history.
-
-        Returns
-        -------
-        str or None
-            A formatted multi-line string ready for LLM consumption, or None if there
-            are no messages.
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-        result = f"""
-{self.descriptor_for_LLM}: "{latest_message.message}"
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages.clear()
-        return result
-
-    def stop(self):
-        """
-        Stop the provider and clean up resources.
-
-        Unregisters callbacks, stops the provider, and ensures that
-        all resources are released properly.
-        """
-        try:
-            self.provider.unregister_message_callback(self._handle_face_message)
-            logging.info("Unregistered face presence message callback")
-        except Exception as e:
-            logging.warning(f"Failed to unregister face presence callback: {e}")
diff --git a/src/inputs/plugins/gallery_identities_input.py b/src/inputs/plugins/gallery_identities_input.py
deleted file mode 100644
index 79fdf7785b..0000000000
--- a/src/inputs/plugins/gallery_identities_input.py
+++ /dev/null
@@ -1,183 +0,0 @@
-import asyncio
-import logging
-import time
-from collections import deque
-from queue import Empty, Queue
-from typing import Deque, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.gallery_identities_provider import GalleryIdentitiesProvider
-from providers.io_provider import IOProvider
-
-
-class GalleryIdentitiesConfig(SensorConfig):
-    """
-    Configuration for Gallery Identities Sensor.
-
-    Parameters
-    ----------
-    face_http_base_url : str
-        Base URL for the Face HTTP service.
-    gallery_poll_fps : float
-        Polling frequency in frames per second.
-    """
-
-    face_http_base_url: str = Field(
-        default="http://127.0.0.1:6793",
-        description="Base URL for the Face HTTP service",
-    )
-    gallery_poll_fps: float = Field(default=1.0, description="Polling frequency in frames per second")
-
-
-class GalleryIdentities(FuserInput[GalleryIdentitiesConfig, Optional[str]]):
-    """
-    Async input that adapts the GalleryIdentitiesProvider to the fuser/LLM pipeline.
-
-    Tasks
-    -----
-    - Subscribe to the provider's callbacks and enqueue received text lines.
-    - Poll the queue periodically (non-blocking) in `_poll()`.
-    - Convert raw text into `Message` objects in `_raw_to_text()`.
-    - Keep a bounded in-memory history (`self.messages`, deque with maxlen=300).
-    - Produce a compact, prompt-ready block via `formatted_latest_buffer()`.
-    """
-
-    def __init__(self, config: GalleryIdentitiesConfig):
-        """Initialize the GalleryIdentities input adapter.
-
-        Subscribes to `GalleryIdentitiesProvider` and adapts its messages into
-        a compact INPUT block for the LLM (“Gallery Identities …”). Uses a small
-        in-memory queue and a bounded deque to hold the latest message.
-
-        Parameters
-        ----------
-        config : GalleryIdentitiesConfig, optional
-            Runtime configuration.
-        """
-        super().__init__(config)
-
-        self.io_provider = IOProvider()
-
-        self.messages: Deque[Message] = deque(maxlen=300)
-        self.message_buffer: Queue[str] = Queue(maxsize=64)
-
-        # Config mirrors FacePresence input naming where possible
-        base_url = self.config.face_http_base_url
-        fps = self.config.gallery_poll_fps
-
-        self.provider: GalleryIdentitiesProvider = GalleryIdentitiesProvider(base_url=base_url, fps=fps, timeout_s=2.0)
-        self._is_registered: bool = True
-
-        self.provider.start()
-        self.provider.register_message_callback(self._handle_gallery_message)
-
-        self.descriptor_for_LLM = "Gallery Identities"
-
-    def _handle_gallery_message(self, text_line: str) -> None:
-        """
-        Provider callback to enqueue one formatted gallery line.
-
-        Parameters
-        ----------
-        text_line : str
-            A single preformatted summary string (e.g., "total=3 ids=[alice, bob, wendy]").
-        """
-        try:
-            self.message_buffer.put_nowait(text_line)
-        except Exception:
-            logging.debug("GalleryIdentities queue full; dropping oldest message to enqueue")
-            try:
-                _ = self.message_buffer.get_nowait()
-            except Empty:
-                pass
-            try:
-                self.message_buffer.put_nowait(text_line)
-            except Exception:
-                logging.warning("GalleryIdentities queue still full; dropping latest message")
-                pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the gallery identities service.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            return self.message_buffer.get_nowait()
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        message = await self._raw_to_text(raw_input)
-        if message is not None:
-            self.messages.append(message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Return the newest message as a compact prompt result and clear history.
-
-        Returns
-        -------
-        str or None
-            A formatted multi-line string ready for LLM consumption, or None if there
-            are no messages.
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-
-        self.messages.clear()
-        return result
diff --git a/src/inputs/plugins/google_asr.py b/src/inputs/plugins/google_asr.py
deleted file mode 100644
index a0a339344d..0000000000
--- a/src/inputs/plugins/google_asr.py
+++ /dev/null
@@ -1,404 +0,0 @@
-import asyncio
-import json
-import logging
-import re
-import time
-from typing import Dict, List, Optional
-from uuid import uuid4
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from prometheus import (
-    om1_asr_latency,
-    om1_asr_latency_last,
-    om1_asr_speech_duration,
-    om1_asr_speech_duration_last,
-    om1_asr_utterance_end_latency,
-    om1_asr_utterance_end_latency_last,
-)
-from providers.asr_provider import ASRProvider
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import ASRText, open_zenoh_session, prepare_header
-
-LANGUAGE_CODE_MAP: dict = {
-    "english": "en-US",
-    "chinese": "cmn-Hans-CN",
-    "german": "de-DE",
-    "french": "fr-FR",
-    "japanese": "ja-JP",
-    "korean": "ko-KR",
-    "spanish": "es-ES",
-    "italian": "it-IT",
-    "portuguese": "pt-BR",
-    "russian": "ru-RU",
-    "arabic": "ar-SA",
-}
-
-
-class GoogleASRSensorConfig(SensorConfig):
-    """
-    Configuration for Google ASR Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    api_version : str
-        API version to use for the ASR service.
-    rate : int
-        Sampling rate.
-    chunk : int
-        Chunk size.
-    base_url : Optional[str]
-        Base URL for the ASR service.
-    microphone_device_id : Optional[int]
-        Microphone Device ID.
-    microphone_name : Optional[str]
-        Microphone Name.
-    language : str
-        Language for speech recognition.
-    alternative_languages : Optional[List[str]]
-        List of alternative languages for multilingual speech recognition. If None (default), no alternative languages will be used.
-    remote_input : bool
-        Whether to use remote input.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    api_version: str = Field(default="v2", description="API version to use for the ASR service")
-    rate: int = Field(default=48000, description="Sampling rate")
-    chunk: int = Field(default=4800, description="Chunk size")
-    base_url: Optional[str] = Field(default=None, description="Base URL for the ASR service")
-    microphone_device_id: Optional[int] = Field(default=None, description="Microphone Device ID")
-    microphone_name: Optional[str] = Field(default=None, description="Microphone Name")
-    language: str = Field(default="english", description="Language for speech recognition")
-    alternative_languages: Optional[List[str]] = Field(
-        default=None,
-        description="List of alternative languages for multilingual speech recognition",
-    )
-    remote_input: bool = Field(default=False, description="Whether to use remote input")
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt (does not mute mic during TTS playback)",
-    )
-
-
-class GoogleASRInput(FuserInput[GoogleASRSensorConfig, Optional[str]]):
-    """
-    Google Automatic Speech Recognition (ASR) input handler.
-
-    This class manages the input stream from an ASR service, buffering messages
-    and providing text conversion capabilities.
-    """
-
-    def __init__(self, config: GoogleASRSensorConfig):
-        """
-        Initialize GoogleASRInput instance.
-
-        Parameters
-        ----------
-        config : GoogleASRSensorConfig
-            Configuration for the Google ASR input
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[str] = []
-
-        # Set IO Provider
-        self.descriptor_for_LLM = "Voice"
-        self.io_provider = IOProvider()
-
-        # Message buffer for incoming ASR messages
-        self.message_buffer: asyncio.Queue[str] = asyncio.Queue()
-
-        # Initialize ASR provider
-        api_key = self.config.api_key
-        rate = self.config.rate
-        chunk = self.config.chunk
-
-        api_version = self.config.api_version.strip().lower()
-        if api_version not in ["v1", "v2"]:
-            logging.warning(f"API version {api_version} not recognized. Defaulting to v2.")
-            api_version = "v2"
-
-        base_url = self.config.base_url or f"wss://api.openmind.com/api/core/google/asr/{api_version}?api_key={api_key}"
-
-        microphone_device_id = self.config.microphone_device_id
-        microphone_name = self.config.microphone_name
-
-        language = self.config.language.strip().lower()
-
-        if language not in LANGUAGE_CODE_MAP:
-            logging.error(
-                f"Language {language} not supported. Current supported languages are : {list(LANGUAGE_CODE_MAP.keys())}. Defaulting to English"
-            )
-            language = "english"
-
-        language_code = LANGUAGE_CODE_MAP.get(language, "en-US")
-        logging.info(f"Using language code {language_code} for Google ASR")
-
-        alternative_languages = self.config.alternative_languages or []
-        alternative_language_codes = []
-
-        if api_version == "v1" and len(alternative_languages) > 0:
-            for alt_lang in alternative_languages:
-                alt_lang = alt_lang.strip().lower()
-                if alt_lang in LANGUAGE_CODE_MAP:
-                    alt_code = LANGUAGE_CODE_MAP[alt_lang]
-                    alternative_language_codes.append(alt_code)
-                    logging.info(f"Adding alternative language code {alt_code} for language {alt_lang}")
-                else:
-                    logging.warning(f"Alternative language {alt_lang} not supported. Skipping.")
-        elif api_version == "v2" and len(alternative_languages) > 0:
-            logging.warning(
-                "Alternative languages are not supported in API version v2. Ignoring alternative languages."
-            )
-
-        remote_input = self.config.remote_input
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        self.asr: ASRProvider = ASRProvider(
-            rate=rate,
-            chunk=chunk,
-            ws_url=base_url,
-            device_id=microphone_device_id,
-            microphone_name=microphone_name,
-            language_code=language_code,
-            alternative_language_codes=alternative_language_codes,
-            remote_input=remote_input,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.asr.start()
-        self.asr.register_message_callback(self._handle_asr_message)
-
-        # Initialize sleep ticker provider
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-        # Initialize Zenoh session
-        self.asr_topic = "om/asr/text"
-        self.session = None
-        self.asr_publisher = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.asr_publisher = self.session.declare_publisher(self.asr_topic)
-            logging.info("Zenoh ASR publisher initialized on topic 'om/asr/text'")
-        except Exception as e:
-            logging.warning(f"Could not initialize Zenoh for ASR broadcast: {e}")
-            self.session = None
-            self.asr_publisher = None
-
-        # Guard flag: when True, this instance ignores incoming ASR messages.
-        self._stopped = False
-
-        # Timing variable to measure latency from speech start to final transcript or end of utterance
-        self._speech_start_time: Optional[float] = None
-        self._language = language
-        self._api_version = api_version
-
-    def _handle_asr_message(self, raw_message: str):
-        """
-        Process incoming ASR messages.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw message received from ASR service
-        """
-        if self._stopped:
-            return
-
-        try:
-            json_message: Dict = json.loads(raw_message)
-
-            msg_type = json_message.get("type")
-            if msg_type == "speech_start":
-                self._speech_start_time = time.time()
-
-            elif msg_type == "speech_end":
-                if self._speech_start_time is not None:
-                    duration = time.time() - self._speech_start_time
-                    om1_asr_speech_duration.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).observe(duration)
-                    om1_asr_speech_duration_last.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).set(duration)
-
-            elif msg_type == "end_of_utterance":
-                if self._speech_start_time is not None:
-                    latency = time.time() - self._speech_start_time
-                    om1_asr_utterance_end_latency.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).observe(latency)
-                    om1_asr_utterance_end_latency_last.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).set(latency)
-
-            if "asr_reply" in json_message:
-                asr_reply = json_message["asr_reply"]
-                has_cjk = bool(re.search(r"[\u4e00-\u9fff\u3040-\u30ff\uac00-\ud7af]", asr_reply))
-
-                if (has_cjk and len(asr_reply) > 2) or (not has_cjk and len(asr_reply.split()) > 1):
-                    # Observe ASR latency from speech start to final transcript
-                    if self._speech_start_time is not None:
-                        latency = time.time() - self._speech_start_time
-                        om1_asr_latency.labels(
-                            model="google", language=self._language, api_version=self._api_version
-                        ).observe(latency)
-                        om1_asr_latency_last.labels(
-                            model="google", language=self._language, api_version=self._api_version
-                        ).set(latency)
-
-                        self._speech_start_time = None
-                    self.message_buffer.put_nowait(asr_reply)
-                    logging.info("Detected ASR message: %s", asr_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages in the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Message from the buffer if available, None otherwise
-        """
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except asyncio.QueueEmpty:
-            await asyncio.sleep(0.01)
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input to text format.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Processed message or None if input is None
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                # Skip sleep if there's already a message in the messages buffer
-                self.global_sleep_ticker_provider.skip_sleep = True
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-{self.descriptor_for_LLM}: "{self.messages[-1]}"
-"""
-        # Add to IO provider and conversation provider
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.io_provider.add_mode_transition_input(self.messages[-1])
-        self.conversation_provider.store_user_message(self.messages[-1])
-
-        # Publish to Zenoh
-        if self.asr_publisher:
-            try:
-                asr_msg = ASRText(
-                    header=prepare_header(str(uuid4())),
-                    text=self.messages[-1],
-                )
-                self.asr_publisher.put(asr_msg.serialize())
-                logging.info(f"Published ASR to Zenoh: {self.messages[-1]}")
-            except Exception as e:
-                logging.warning(f"Failed to publish ASR to Zenoh: {e}")
-
-        # Reset messages buffer
-        self.messages = []
-        return result
-
-    def stop(self):
-        """
-        Stop the ASR input.
-        """
-        logging.info("Stopping GoogleASRInput, disabling callback")
-
-        self._stopped = True
-
-        while not self.message_buffer.empty():
-            try:
-                self.message_buffer.get_nowait()
-            except asyncio.QueueEmpty:
-                break
-
-        self.messages = []
-
-        if self.asr:
-            try:
-                self.asr.unregister_message_callback(self._handle_asr_message)
-                logging.info("Unregistered ASR callback")
-            except Exception as e:
-                logging.warning(f"Failed to unregister ASR callback: {e}")
-
-        if self.asr_publisher:
-            try:
-                self.asr_publisher.undeclare()
-                logging.info("Zenoh ASR publisher undeclared")
-            except Exception as e:
-                logging.warning(f"Failed to undeclare Zenoh ASR publisher: {e}")
-
-        if self.session:
-            try:
-                self.session.close()
-                logging.info("Zenoh ASR session closed")
-            except Exception as e:
-                logging.warning(f"Failed to close Zenoh ASR session: {e}")
-
-        # TODO:
-        # Consider sending the TTS status multiple times to ASR provider to ensure that
-        # the ASR provider properly receives the interrupt signal,
-        # especially in cases where the mode switch happens during TTS playback
-        # if self.asr:
-        #     try:
-        #         self.asr.stop()
-        #         logging.info("ASR provider stopped")
-        #     except Exception as e:
-        #         logging.warning(f"Failed to stop ASR provider: {e}")
diff --git a/src/inputs/plugins/google_asr_rtsp.py b/src/inputs/plugins/google_asr_rtsp.py
deleted file mode 100644
index 6e19f6691c..0000000000
--- a/src/inputs/plugins/google_asr_rtsp.py
+++ /dev/null
@@ -1,377 +0,0 @@
-import asyncio
-import json
-import logging
-import re
-import time
-from typing import Dict, List, Optional
-from uuid import uuid4
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from prometheus import (
-    om1_asr_latency,
-    om1_asr_latency_last,
-    om1_asr_speech_duration,
-    om1_asr_speech_duration_last,
-    om1_asr_utterance_end_latency,
-    om1_asr_utterance_end_latency_last,
-)
-from providers.asr_rtsp_provider import ASRRTSPProvider
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import ASRText, open_zenoh_session, prepare_header
-
-LANGUAGE_CODE_MAP: dict = {
-    "english": "en-US",
-    "chinese": "cmn-Hans-CN",
-    "german": "de-DE",
-    "french": "fr-FR",
-    "japanese": "ja-JP",
-    "korean": "ko-KR",
-    "spanish": "es-ES",
-    "italian": "it-IT",
-    "portuguese": "pt-BR",
-    "russian": "ru-RU",
-    "arabic": "ar-SA",
-}
-
-
-class GoogleASRRTSPSensorConfig(SensorConfig):
-    """
-    Configuration for Google ASR RTSP Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    api_version : str
-        API version to use for the ASR service. Default is "v2".
-    rtsp_url : str
-        RTSP URL for the audio stream.
-    rate : int
-        Audio sampling rate.
-    base_url : Optional[str]
-        Base URL for the ASR service.
-    language : str
-        Language for speech recognition.
-    alternative_languages : Optional[List[str]]
-        List of alternative languages for multilingual speech recognition. If None (default), no alternative languages will be used.
-    enable_tts_interrupt : bool
-        Enable TTS interrupt (does not mute mic during TTS playback).
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    api_version: str = Field(default="v2", description="API version to use for the ASR service")
-    rtsp_url: str = Field(
-        default="rtsp://localhost:8554/audio",
-        description="RTSP URL for the audio stream",
-    )
-    rate: int = Field(default=16000, description="Audio sampling rate")
-    chunk: int = Field(default=1600, description="Audio chunk size in bytes")
-    base_url: Optional[str] = Field(default=None, description="Base URL for the ASR service")
-    language: str = Field(default="english", description="Language for speech recognition")
-    alternative_languages: Optional[List[str]] = Field(
-        default=None,
-        description="List of alternative languages for multilingual speech recognition",
-    )
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt (does not mute mic during TTS playback)",
-    )
-
-
-class GoogleASRRTSPInput(FuserInput[GoogleASRRTSPSensorConfig, Optional[str]]):
-    """
-    Google ASR RTSP input handler for processing speech recognition from RTSP audio streams.
-    """
-
-    def __init__(self, config: GoogleASRRTSPSensorConfig):
-        """
-        Initialize the Google ASR RTSP input handler.
-
-        Parameters
-        ----------
-        config : GoogleASRRTSPSensorConfig
-            Configuration for the ASR RTSP input handler.
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[str] = []
-
-        # Set IO Provider
-        self.descriptor_for_LLM = "Voice"
-        self.io_provider = IOProvider()
-
-        # Message buffer for incoming ASR messages
-        self.message_buffer: asyncio.Queue[str] = asyncio.Queue()
-
-        # Initialize ASR provider
-        api_key = self.config.api_key
-        rtsp_url = self.config.rtsp_url
-        rate = self.config.rate
-
-        api_version = self.config.api_version.strip().lower()
-        if api_version not in ["v1", "v2"]:
-            logging.warning(f"API version {api_version} not recognized. Defaulting to v2.")
-            api_version = "v2"
-
-        base_url = self.config.base_url or f"wss://api.openmind.com/api/core/google/asr/{api_version}?api_key={api_key}"
-
-        language = self.config.language.strip().lower()
-
-        if language not in LANGUAGE_CODE_MAP:
-            logging.error(
-                f"Language {language} not supported. Current supported languages are : {list(LANGUAGE_CODE_MAP.keys())}. Defaulting to English"
-            )
-            language = "english"
-
-        language_code = LANGUAGE_CODE_MAP.get(language, "en-US")
-        logging.info(f"Using language code {language_code} for Google ASR")
-
-        alternative_languages = self.config.alternative_languages or []
-        alternative_language_codes = []
-
-        if api_version == "v1" and len(alternative_languages) > 0:
-            for alt_lang in alternative_languages:
-                alt_lang = alt_lang.strip().lower()
-                if alt_lang in LANGUAGE_CODE_MAP:
-                    alt_code = LANGUAGE_CODE_MAP[alt_lang]
-                    alternative_language_codes.append(alt_code)
-                    logging.info(f"Adding alternative language code {alt_code} for language {alt_lang}")
-                else:
-                    logging.warning(f"Alternative language {alt_lang} not supported. Skipping.")
-        elif api_version == "v2" and len(alternative_languages) > 0:
-            logging.warning(
-                "Alternative languages are not supported in API version v2. Ignoring alternative languages."
-            )
-
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        self.asr: ASRRTSPProvider = ASRRTSPProvider(
-            rtsp_url=rtsp_url,
-            rate=rate,
-            chunk=self.config.chunk,
-            ws_url=base_url,
-            language_code=language_code,
-            alternative_language_codes=alternative_language_codes,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.asr.start()
-        self.asr.register_message_callback(self._handle_asr_message)
-
-        # Initialize sleep ticker provider
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-        # Initialize Zenoh session
-        self.asr_topic = "om/asr/text"
-        self.session = None
-        self.asr_publisher = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.asr_publisher = self.session.declare_publisher(self.asr_topic)
-            logging.info("Zenoh ASR publisher initialized on topic 'om/asr/text'")
-        except Exception as e:
-            logging.warning(f"Could not initialize Zenoh for ASR broadcast: {e}")
-            self.session = None
-            self.asr_publisher = None
-
-        # Guard flag: when True, this instance ignores incoming ASR messages.
-        self._stopped = False
-
-        # Timing variable to measure latency from speech start to final transcript or end of utterance
-        self._speech_start_time: Optional[float] = None
-        self._language = language
-        self._api_version = api_version
-
-    def _handle_asr_message(self, raw_message: str):
-        """
-        Process incoming ASR messages from the ASR provider.
-
-        Parameters
-        ----------
-        raw_message : str
-            The raw ASR message received from the provider
-        """
-        try:
-            json_message: Dict = json.loads(raw_message)
-
-            msg_type = json_message.get("type")
-            if msg_type == "speech_start":
-                self._speech_start_time = time.time()
-
-            elif msg_type == "speech_end":
-                if self._speech_start_time is not None:
-                    duration = time.time() - self._speech_start_time
-                    om1_asr_speech_duration.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).observe(duration)
-                    om1_asr_speech_duration_last.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).set(duration)
-
-            elif msg_type == "end_of_utterance":
-                if self._speech_start_time is not None:
-                    latency = time.time() - self._speech_start_time
-                    om1_asr_utterance_end_latency.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).observe(latency)
-                    om1_asr_utterance_end_latency_last.labels(
-                        model="google", language=self._language, api_version=self._api_version
-                    ).set(latency)
-
-            if "asr_reply" in json_message:
-                asr_reply = json_message["asr_reply"]
-                has_cjk = bool(re.search(r"[\u4e00-\u9fff\u3040-\u30ff\uac00-\ud7af]", asr_reply))
-
-                if (has_cjk and len(asr_reply) > 2) or (not has_cjk and len(asr_reply.split()) > 1):
-                    # Observe ASR latency from speech start to final transcript
-                    if self._speech_start_time is not None:
-                        latency = time.time() - self._speech_start_time
-                        om1_asr_latency.labels(
-                            model="google", language=self._language, api_version=self._api_version
-                        ).observe(latency)
-                        om1_asr_latency_last.labels(
-                            model="google", language=self._language, api_version=self._api_version
-                        ).set(latency)
-                        self._speech_start_time = None
-
-                    self.message_buffer.put_nowait(asr_reply)
-                    logging.info("Detected ASR message: %s", asr_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages in the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Message from the buffer if available, None otherwise
-        """
-        if self._stopped:
-            return
-
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except asyncio.QueueEmpty:
-            await asyncio.sleep(0.01)
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input to text format.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                self.global_sleep_ticker_provider.skip_sleep = True
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-{self.descriptor_for_LLM}: "{self.messages[-1]}"
-"""
-        # Add to IO provider and conversation provider
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.io_provider.add_mode_transition_input(self.messages[-1])
-        self.conversation_provider.store_user_message(self.messages[-1])
-
-        # Publish to Zenoh
-        if self.asr_publisher:
-            try:
-                asr_msg = ASRText(
-                    header=prepare_header(str(uuid4())),
-                    text=self.messages[-1],
-                )
-                self.asr_publisher.put(asr_msg.serialize())
-                logging.info(f"Published ASR to Zenoh: {self.messages[-1]}")
-            except Exception as e:
-                logging.warning(f"Failed to publish ASR to Zenoh: {e}")
-
-        # Reset messages buffer
-        self.messages = []
-        return result
-
-    def stop(self):
-        """
-        Stop the ASR input handler and clean up resources.
-        """
-        logging.info("Stopping RivaASRInput, disabling callback")
-
-        self._stopped = True
-
-        while not self.message_buffer.empty():
-            try:
-                self.message_buffer.get_nowait()
-            except asyncio.QueueEmpty:
-                break
-
-        self.messages = []
-
-        if self.asr:
-            try:
-                self.asr.unregister_message_callback(self._handle_asr_message)
-                logging.info("Unregistered ASR callback")
-            except Exception as e:
-                logging.warning(f"Failed to unregister ASR callback: {e}")
-
-        if self.asr_publisher:
-            try:
-                self.asr_publisher.undeclare()
-                logging.info("Zenoh ASR publisher undeclared")
-            except Exception as e:
-                logging.warning(f"Failed to undeclare Zenoh ASR publisher: {e}")
-
-        if self.session:
-            self.session.close()
-            logging.info("Zenoh ASR session closed")
diff --git a/src/inputs/plugins/gps.py b/src/inputs/plugins/gps.py
deleted file mode 100644
index 2a2ae9e817..0000000000
--- a/src/inputs/plugins/gps.py
+++ /dev/null
@@ -1,136 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty
-from typing import Optional
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.gps_provider import GpsProvider
-from providers.io_provider import IOProvider
-
-
-class Gps(FuserInput[SensorConfig, Optional[dict]]):
-    """
-    GPS input handler for reading GPS and magnetometer data.
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize the GPS input handler.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration for the GPS sensor.
-        """
-        super().__init__(config)
-
-        self.gps = GpsProvider()
-        self.io_provider = IOProvider()
-        self.messages: list[Message] = []
-        self.descriptor_for_LLM = "GPS Location"
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for new messages from the GPS Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[dict]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-
-        try:
-            return self.gps.data
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-
-        Returns
-        -------
-        Message
-            A timestamped message containing the processed input
-        """
-        logging.debug(f"gps: {raw_input}")
-
-        d = raw_input
-        if d:
-            logging.debug(f"GPS Provider: {d}")
-            lat = d["gps_lat"]
-            lon = d["gps_lon"]
-            alt = d["gps_alt"]
-            qua = d["gps_qua"]
-
-            lat_string = "South"
-            if lat > 0:
-                lat_string = "North"
-            else:
-                lat *= -1.0
-
-            lon_string = "West"
-            if lon > 0:
-                lon_string = "East"
-            else:
-                lon *= -1.0
-
-            if qua > 0:
-                msg = f"Your rough GPS location is {lat} {lat_string}, {lon} {lon_string} at {alt}m altitude. "
-                return Message(timestamp=time.time(), message=msg)
-            else:
-                return None
-        else:
-            return None
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/lidar_localization_input.py b/src/inputs/plugins/lidar_localization_input.py
deleted file mode 100644
index 5e97a4993d..0000000000
--- a/src/inputs/plugins/lidar_localization_input.py
+++ /dev/null
@@ -1,138 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_lidar_localization_provider import (
-    UnitreeGo2LidarLocalizationProvider,
-)
-
-
-class LidarLocalizationInput(FuserInput[SensorConfig, Optional[str]]):
-    """
-    Lidar localization status input plugin for LLM prompts.
-
-    Monitors the robot's localization status via Lidar and provides
-    clear feedback to the LLM about whether navigation is safe to proceed.
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize the LocalizationInput plugin.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        # Initialize providers
-        self.lidar_localization_provider: UnitreeGo2LidarLocalizationProvider = UnitreeGo2LidarLocalizationProvider()
-        self.io_provider = IOProvider()
-
-        # Message buffer
-        self.messages: List[Message] = []
-
-        # Descriptive text for LLM context
-        self.descriptor_for_LLM = "Robot localization status - indicates if navigation is safe to proceed."
-
-        logging.info("LocalizationInput plugin initialized")
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll the lidar localization provider for localization status.
-
-        Returns
-        -------
-        Optional[str]
-            Status message indicating if robot is localized and ready for navigation,
-            or None if no status change occurred.
-        """
-        await asyncio.sleep(0.1)  # Brief delay to prevent excessive polling
-
-        try:
-            is_localized = self.lidar_localization_provider.is_localized
-            pose = self.lidar_localization_provider.pose
-
-            if is_localized and pose is not None:
-                status_msg = "LOCALIZED: Robot position is confirmed. Navigation commands are safe to execute."
-                pos = pose.position
-                logging.debug(f"Robot localized at position x:{pos.x:.2f}, y:{pos.y:.2f}, z:{pos.z:.2f}")
-            else:
-                status_msg = "NOT LOCALIZED: Robot position uncertain. DO NOT attempt navigation until localized."
-                logging.debug("Robot localization status: NOT LOCALIZED")
-
-            return status_msg
-
-        except Exception as e:
-            logging.error(f"Error polling localization status: {e}")
-            return "LOCALIZATION ERROR: Unable to determine robot position. Navigation not recommended."
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input string to Message dataclass.
-
-        Parameters
-        ----------
-        raw_input : str
-            Raw localization status string
-
-        Returns
-        -------
-        Message
-            Message dataclass containing the status and timestamp
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/locations_input.py b/src/inputs/plugins/locations_input.py
deleted file mode 100644
index db077fdb05..0000000000
--- a/src/inputs/plugins/locations_input.py
+++ /dev/null
@@ -1,156 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_locations_provider import UnitreeGo2LocationsProvider
-
-
-class LocationsSensorConfig(SensorConfig):
-    """
-    Configuration for Locations Sensor.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the locations service.
-    timeout : int
-        Timeout in seconds.
-    refresh_interval : int
-        Refresh interval in seconds.
-    """
-
-    base_url: str = Field(
-        default="http://localhost:5000/maps/locations/list",
-        description="Base URL for the locations service",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-    timeout: int = Field(default=5, description="Timeout in seconds")
-    refresh_interval: int = Field(default=30, description="Refresh interval in seconds")
-
-
-class LocationsInput(FuserInput[LocationsSensorConfig, Optional[str]]):
-    """
-    Input plugin that publishes available saved locations for LLM prompts.
-
-    Reads locations from IOProvider (populated by Locations background task).
-    """
-
-    def __init__(self, config: LocationsSensorConfig):
-        """
-        Initialize the LocationsInput plugin.
-
-        Parameters
-        ----------
-        config : LocationsSensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-        api_key = self.config.api_key
-        timeout = self.config.timeout
-        refresh_interval = self.config.refresh_interval
-
-        self.locations_provider = UnitreeGo2LocationsProvider(base_url, api_key, timeout, refresh_interval)
-        self.io_provider = IOProvider()
-
-        self.messages: List[Message] = []
-        self.descriptor_for_LLM = "These are the saved locations you can navigate to."
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll the UnitreeGo2LocationsProvider for the latest locations.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of locations or None if no locations are available.
-        """
-        await asyncio.sleep(0.5)
-
-        locations = self.locations_provider.get_all_locations()
-
-        lines = []
-        for name, entry in locations.items():
-            label = entry.get("name") if isinstance(entry, dict) else name
-            pose = entry.get("pose") if isinstance(entry, dict) else None
-            if pose and isinstance(pose, dict):
-                pos = pose.get("position", {})
-                lines.append(f"{label} (x:{pos.get('x',0):.2f} y:{pos.get('y',0):.2f})")
-            else:
-                lines.append(f"{label}")
-
-        result = "\n".join(lines)
-        logging.debug(f"LocationsInput: formatted {len(lines)} locations")
-        return result
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input string to Message dataclass.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Message dataclass containing the status and timestamp
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        if raw_input is None:
-            return
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{self.messages[-1].message}
-// END
-"""
-        self.io_provider.add_input(
-            self.__class__.__name__,
-            self.messages[-1].message,
-            self.messages[-1].timestamp,
-        )
-
-        # Reset messages buffer
-        self.messages = []
-        return result
diff --git a/src/inputs/plugins/mock_input.py b/src/inputs/plugins/mock_input.py
deleted file mode 100644
index dbd082b70a..0000000000
--- a/src/inputs/plugins/mock_input.py
+++ /dev/null
@@ -1,252 +0,0 @@
-import asyncio
-import logging
-import threading
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-import websockets
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class MockSensorConfig(SensorConfig):
-    """
-    Configuration for Mock Sensor.
-
-    Parameters
-    ----------
-    input_name : str
-        Name of the input.
-    host : str
-        Host address for the WebSocket server.
-    port : int
-        Port number for the WebSocket server.
-    """
-
-    input_name: str = Field(default="Mock Input", description="Name of the input")
-    host: str = Field(default="localhost", description="Host address for the WebSocket server")
-    port: int = Field(default=8765, description="Port number for the WebSocket server")
-
-
-class MockInput(FuserInput[MockSensorConfig, Optional[str]]):
-    """
-    Mock input plugin for testing and development purposes.
-
-    This class provides a WebSocket-based mock input system that allows developers
-    to simulate sensor input data during testing and development. It creates a
-    WebSocket server that accepts incoming messages and processes them as if they
-    were coming from a real sensor device.
-
-    The mock input maintains an internal message buffer and converts raw WebSocket
-    messages into structured Message objects with timestamps. It supports multiple
-    concurrent client connections and handles message queuing for downstream
-    processing by the agent's input pipeline.
-
-    Typical use cases include:
-    - Testing agent behavior with simulated sensor data
-    - Development and debugging without physical hardware
-    - Integration testing of the input processing pipeline
-    - Demonstrating agent capabilities with controlled input scenarios
-
-    The WebSocket server runs in a separate daemon thread, allowing the main
-    application to continue processing while accepting mock input connections.
-    """
-
-    def __init__(self, config: MockSensorConfig):
-        """
-        Initialize the MockInput instance with configuration.
-
-        Sets up the WebSocket server, initializes message buffers, and starts
-        the server thread for accepting client connections.
-
-        Parameters
-        ----------
-        config : MockSensorConfig
-            Configuration object containing the input settings. The config includes:
-            - `input_name`: Name identifier for this input source (default: "Mock Input")
-            - `host`: Host address for the WebSocket server (default: "localhost")
-            - `port`: Port number for the WebSocket server (default: 8765)
-
-        Notes
-        -----
-        The WebSocket server is automatically started in a separate daemon thread
-        during initialization. The server will accept connections at the configured
-        host and port address. If the server fails to start (e.g., port already in use),
-        an error will be logged but initialization will continue.
-
-        The message buffer is implemented as a thread-safe Queue, allowing safe
-        concurrent access from both the WebSocket handler thread and the main
-        polling thread.
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Set IO Provider
-        self.descriptor_for_LLM = self.config.input_name
-        self.io_provider = IOProvider()
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # WebSocket configuration
-        self.host = self.config.host
-        self.port = self.config.port
-        self.server = None
-        self.connected_clients = set()
-        self.loop = None
-
-        # Start WebSocket server in a separate thread
-        self.server_thread = threading.Thread(target=self._start_server_thread, daemon=True)
-        self.server_thread.start()
-
-    def _start_server_thread(self):
-        """
-        Start an asyncio event loop in a thread to run the websockets server.
-        """
-        self.loop = asyncio.new_event_loop()
-        asyncio.set_event_loop(self.loop)
-        self.loop.run_until_complete(self._start_server())
-
-        try:
-            self.loop.run_forever()
-        finally:
-            self.loop.close()
-
-    async def _start_server(self):
-        """
-        Start the WebSocket server.
-        """
-        try:
-            self.server = await websockets.serve(self._handle_client, self.host, self.port)
-            logging.info(f"Mock Input webSocket server started at ws://{self.host}:{self.port}")
-        except Exception as e:
-            logging.error(f"Failed to start Mock Input webSocket server: {e}")
-
-    async def _handle_client(self, websocket: websockets.WebSocketServerProtocol, path: str):
-        """
-        Handle a client connection.
-
-        Parameters
-        ----------
-        websocket : websockets.WebSocketServerProtocol
-            The WebSocket connection
-        path : str
-            The connection path
-        """
-        self.connected_clients.add(websocket)
-        logging.info(f"Client connected. Total clients: {len(self.connected_clients)}")
-
-        try:
-            async for message in websocket:
-                try:
-                    if isinstance(message, str):
-                        text = message
-                    else:
-                        try:
-                            text = message.decode("utf-8")
-                        except Exception as e:
-                            logging.warning(f"Received binary data that couldn't be decoded. Skipping: {e}")
-                            continue
-
-                    logging.info(f"Received message: {text}")
-                    self.message_buffer.put(text)
-
-                    await websocket.send(f"Received: {text}")
-
-                except Exception as e:
-                    logging.error(f"Error processing message: {e}")
-                    await websocket.send(f"Error: {str(e)}")
-        except websockets.exceptions.ConnectionClosed:
-            logging.info("Client disconnected")
-        finally:
-            if websocket in self.connected_clients:
-                self.connected_clients.remove(websocket)
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{self.messages[-1]}
-// END
-"""
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1].message, time.time())
-        self.messages = []
-        return result
diff --git a/src/inputs/plugins/news.py b/src/inputs/plugins/news.py
deleted file mode 100644
index 69c5049198..0000000000
--- a/src/inputs/plugins/news.py
+++ /dev/null
@@ -1,218 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import Optional
-
-import aiohttp
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class NewsConfig(SensorConfig):
-    """
-    Configuration for News Input.
-
-    Parameters
-    ----------
-    api_key : str
-        NewsAPI.org API key.
-    country : str
-        Country code for headlines (e.g., 'us', 'gb', 'tr').
-    category : str
-        News category: business, entertainment, general, health, science, sports, technology.
-    query : str
-        Optional search query to filter news.
-    max_headlines : int
-        Maximum number of headlines to return.
-    poll_interval : float
-        Seconds between news updates (default: 900 = 15 minutes).
-    """
-
-    api_key: str = Field(description="NewsAPI.org API key")
-    country: str = Field(default="us", description="Country code for headlines")
-    category: str = Field(default="general", description="News category")
-    query: str = Field(default="", description="Optional search query")
-    max_headlines: int = Field(default=5, description="Maximum headlines to return")
-    poll_interval: float = Field(default=900.0, description="Seconds between news updates")
-
-
-class NewsInput(FuserInput[NewsConfig, Optional[dict]]):
-    """
-    News input that fetches current headlines from NewsAPI.org.
-
-    Provides real-time news awareness to give the robot knowledge
-    of current events and trending topics.
-    """
-
-    def __init__(self, config: NewsConfig):
-        """
-        Initialize the News input.
-
-        Parameters
-        ----------
-        config : NewsConfig
-            Configuration for the news sensor.
-        """
-        super().__init__(config)
-
-        self.io_provider = IOProvider()
-        self.messages: list[Message] = []
-        self.descriptor_for_LLM = "Current News"
-
-        self.api_key = config.api_key
-        self.country = config.country
-        self.category = config.category
-        self.query = config.query
-        self.max_headlines = config.max_headlines
-        self.poll_interval = config.poll_interval
-
-        self._last_poll_time: float = 0
-
-        if not self.api_key:
-            logging.warning("NewsInput: API key not provided")
-
-    async def _fetch_news(self) -> Optional[dict]:
-        """
-        Fetch news data from NewsAPI.org.
-
-        Returns
-        -------
-        Optional[dict]
-            News data or None if request failed.
-        """
-        if not self.api_key:
-            return None
-
-        url = "https://newsapi.org/v2/top-headlines"
-        params = {
-            "apiKey": self.api_key,
-            "country": self.country,
-            "category": self.category,
-            "pageSize": self.max_headlines,
-        }
-
-        if self.query:
-            params["q"] = self.query
-
-        try:
-            timeout = aiohttp.ClientTimeout(total=10)
-            async with aiohttp.ClientSession(timeout=timeout) as session:
-                async with session.get(url, params=params) as response:
-                    if response.status == 200:
-                        data = await response.json()
-                        if data.get("status") == "ok":
-                            logging.debug(f"NewsInput: Fetched {len(data.get('articles', []))} articles")
-                            return data
-                        else:
-                            logging.error(f"NewsInput: API error: {data.get('message')}")
-                            return None
-                    else:
-                        error_text = await response.text()
-                        logging.error(f"NewsInput: API error {response.status}: {error_text}")
-                        return None
-        except asyncio.TimeoutError:
-            logging.error("NewsInput: Request timed out")
-            return None
-        except aiohttp.ClientError as e:
-            logging.error(f"NewsInput: Network error: {e}")
-            return None
-        except Exception as e:
-            logging.error(f"NewsInput: Unexpected error: {e}")
-            return None
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for news data based on poll_interval.
-
-        Returns
-        -------
-        Optional[dict]
-            Fresh news data when poll interval has elapsed, None otherwise.
-        """
-        current_time = time.time()
-
-        if current_time - self._last_poll_time < self.poll_interval:
-            await asyncio.sleep(1.0)
-            return None
-
-        self._last_poll_time = current_time
-        await asyncio.sleep(1.0)
-        return await self._fetch_news()
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Convert raw news data to human-readable text.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw news data from API.
-
-        Returns
-        -------
-        Optional[Message]
-            Formatted news message or None.
-        """
-        if raw_input is None:
-            return None
-
-        try:
-            articles = raw_input.get("articles", [])
-
-            if not articles:
-                return None
-
-            headlines = []
-            for i, article in enumerate(articles[: self.max_headlines], 1):
-                title = article.get("title", "").strip()
-                if title and title != "[Removed]":
-                    source = article.get("source", {}).get("name", "Unknown")
-                    headlines.append(f"{i}) {title} ({source})")
-
-            if not headlines:
-                return None
-
-            message = "Top headlines: " + " ".join(headlines)
-            return Message(timestamp=time.time(), message=message)
-
-        except Exception as e:
-            logging.error(f"NewsInput: Error parsing news data: {e}")
-            return None
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Update message buffer with processed news data.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw news data to be processed.
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string for LLM or None if buffer is empty.
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/person_following_status.py b/src/inputs/plugins/person_following_status.py
deleted file mode 100644
index 9fe34d8546..0000000000
--- a/src/inputs/plugins/person_following_status.py
+++ /dev/null
@@ -1,301 +0,0 @@
-# src/inputs/plugins/person_following_status.py
-
-import asyncio
-import logging
-import time
-from collections import deque
-from typing import Deque, Optional
-
-import aiohttp
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class PersonFollowingStatusConfig(SensorConfig):
-    """
-    Configuration for Person Following Status Input.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the person-following HTTP service.
-    poll_interval : float
-        Polling interval in seconds.
-    enroll_retry_interval : float
-        Interval in seconds between re-enrollment attempts when not tracking.
-    """
-
-    base_url: str = Field(
-        default="http://localhost:8080",
-        description="Base URL for the person-following HTTP service",
-    )
-    poll_interval: float = Field(
-        default=0.5,
-        description="Polling interval in seconds",
-    )
-    enroll_retry_interval: float = Field(
-        default=3.0,
-        description="Interval in seconds between re-enrollment attempts when not tracking",
-    )
-
-
-class PersonFollowingStatus(FuserInput[PersonFollowingStatusConfig, Optional[str]]):
-    """
-    Input that polls the person-following Docker container for tracking status.
-
-    This input periodically queries the /status endpoint and provides
-    human-readable status information to the LLM, including:
-    - Whether a person is being tracked
-    - Distance information (x, z coordinates)
-    - Tracking state changes
-
-    The LLM can use this information to:
-    - Announce when tracking starts/stops
-    - Provide distance-based feedback
-    - Ask the user to come back into view if lost
-    """
-
-    def __init__(self, config: PersonFollowingStatusConfig):
-        """
-        Initialize the PersonFollowingStatus input.
-
-        Parameters
-        ----------
-        config : PersonFollowingStatusConfig
-            Configuration for the person following status input.
-        """
-        super().__init__(config)
-
-        self.io_provider = IOProvider()
-        self.messages: Deque[Message] = deque(maxlen=50)
-
-        self.base_url = config.base_url
-        self.poll_interval = config.poll_interval
-        self.enroll_retry_interval = config.enroll_retry_interval
-        self.status_url = f"{self.base_url}/status"
-        self.enroll_url = f"{self.base_url}/enroll"
-
-        self.descriptor_for_LLM = "Person Following Status"
-
-        # Track previous state for change detection
-        self._previous_is_tracked: Optional[bool] = None
-        self._lost_tracking_time: Optional[float] = None
-        self._lost_tracking_announced: bool = False
-        self._last_enroll_attempt: float = 0.0
-        self._has_ever_tracked: bool = False
-
-        logging.info(
-            f"PersonFollowingStatus initialized, polling {self.status_url} "
-            f"every {self.poll_interval}s, re-enroll every {self.enroll_retry_interval}s when not tracking"
-        )
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll the person-following status endpoint.
-
-        Also periodically calls /enroll when status is INACTIVE (no one enrolled yet).
-        Does NOT re-enroll when status is SEARCHING (person enrolled but temporarily lost).
-
-        Returns
-        -------
-        Optional[str]
-            Formatted status message if there's a meaningful update, None otherwise.
-        """
-        await asyncio.sleep(self.poll_interval)
-
-        try:
-            async with aiohttp.ClientSession() as session:
-                # First, get current status
-                async with session.get(
-                    self.status_url,
-                    timeout=aiohttp.ClientTimeout(total=2),
-                ) as response:
-                    if response.status != 200:
-                        return None
-
-                    data = await response.json()
-                    is_tracked = data.get("is_tracked", False)
-                    status = data.get("status", "UNKNOWN")
-                    target_track_id = data.get("target_track_id")
-
-                    # If tracking, remember we've successfully tracked
-                    if is_tracked:
-                        self._has_ever_tracked = True
-
-                    # Only retry enrollment if INACTIVE (no one enrolled yet)
-                    # Do NOT re-enroll if SEARCHING (person enrolled but temporarily out of frame)
-                    if status == "INACTIVE" and target_track_id is None:
-                        current_time = time.time()
-                        time_since_last_enroll = current_time - self._last_enroll_attempt
-
-                        if time_since_last_enroll >= self.enroll_retry_interval:
-                            self._last_enroll_attempt = current_time
-                            logging.info("PersonFollowingStatus: Status INACTIVE, attempting enrollment")
-                            await self._try_enroll(session)
-
-                    return self._format_status(data)
-
-        except aiohttp.ClientError as e:
-            logging.debug(f"PersonFollowingStatus: Poll failed: {e}")
-            return None
-        except Exception as e:
-            logging.warning(f"PersonFollowingStatus: Unexpected error: {e}")
-            return None
-
-    async def _try_enroll(self, session: aiohttp.ClientSession) -> None:
-        """
-        Attempt to enroll a person for tracking.
-
-        Parameters
-        ----------
-        session : aiohttp.ClientSession
-            The HTTP session to use for the request.
-        """
-        try:
-            async with session.post(
-                self.enroll_url,
-                timeout=aiohttp.ClientTimeout(total=3),
-            ) as response:
-                if response.status == 200:
-                    logging.info("PersonFollowingStatus: Re-enrollment request sent")
-                else:
-                    logging.debug(f"PersonFollowingStatus: Enroll returned status {response.status}")
-        except Exception as e:
-            logging.debug(f"PersonFollowingStatus: Enroll request failed: {e}")
-            return None
-
-    def _format_status(self, data: dict) -> Optional[str]:
-        """
-        Format the status data into a human-readable message for the LLM.
-
-        Only returns a message when there's a meaningful state change or
-        periodically during tracking.
-
-        Status values from the Docker container:
-        - INACTIVE: No one enrolled, waiting for enrollment
-        - SEARCHING: Person enrolled but temporarily out of frame
-        - TRACKING_ACTIVE: Actively tracking a person
-
-        Parameters
-        ----------
-        data : dict
-            Raw status data from the /status endpoint.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted status message or None if no update needed.
-        """
-        is_tracked = data.get("is_tracked", False)
-        x = data.get("x", 0.0)
-        z = data.get("z", 0.0)
-        status = data.get("status", "UNKNOWN")
-        target_track_id = data.get("target_track_id")
-
-        current_time = time.time()
-
-        # Detect state changes
-        tracking_just_started = self._previous_is_tracked is not True and is_tracked is True
-        tracking_just_lost = self._previous_is_tracked is True and is_tracked is False
-
-        self._previous_is_tracked = is_tracked
-
-        if tracking_just_started:
-            # Person was acquired - always report this
-            self._lost_tracking_time = None
-            self._lost_tracking_announced = False
-            return (
-                f"TRACKING STARTED: Person detected and now following. Distance: {z:.1f}m ahead, {x:.1f}m to the side."
-            )
-
-        if tracking_just_lost:
-            # Person was lost - start timer but don't announce immediately
-            self._lost_tracking_time = current_time
-            self._lost_tracking_announced = False
-            return None
-
-        if not is_tracked:
-            # Check if we should announce based on status
-            if (
-                self._lost_tracking_time is not None
-                and not self._lost_tracking_announced
-                and (current_time - self._lost_tracking_time) > 2.0
-            ):
-                self._lost_tracking_announced = True
-                if status == "SEARCHING" and target_track_id is not None:
-                    # Person was enrolled but went out of frame - they'll be re-acquired automatically
-                    return "SEARCHING: Person went out of view. Looking for them to return."
-                else:
-                    # INACTIVE - no one enrolled
-                    return "WAITING: No person detected yet. Please stand in front of me so I can see you."
-
-            # Don't spam "not tracking" messages
-            return None
-
-        # Currently tracking - provide occasional updates
-        # Only report significant distance changes or periodically
-        return f"TRACKING: Following person at {z:.1f}m ahead, {x:.1f}m to the side. Status: {status}"
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed.
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input.
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available.
-        """
-        if raw_input is None:
-            return
-
-        message = await self._raw_to_text(raw_input)
-        if message is not None:
-            self.messages.append(message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Return the newest message as a formatted prompt block and clear history.
-
-        Returns
-        -------
-        Optional[str]
-            A formatted multi-line string ready for LLM consumption,
-            or None if there are no messages.
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages.clear()
-        return result
diff --git a/src/inputs/plugins/riva_asr.py b/src/inputs/plugins/riva_asr.py
deleted file mode 100644
index c23cae0c25..0000000000
--- a/src/inputs/plugins/riva_asr.py
+++ /dev/null
@@ -1,276 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from typing import Dict, List, Optional
-from uuid import uuid4
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.asr_provider import ASRProvider
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import ASRText, open_zenoh_session, prepare_header
-
-
-class RivaASRSensorConfig(SensorConfig):
-    """
-    Configuration for Riva ASR Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    rate : int
-        Sampling rate.
-    chunk : int
-        Chunk size.
-    base_url : str
-        Base URL for the ASR service.
-    microphone_device_id : Optional[str]
-        Microphone Device ID.
-    microphone_name : Optional[str]
-        Microphone Name.
-    remote_input : bool
-        Whether to use remote input.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    rate: int = Field(default=48000, description="Sampling rate")
-    chunk: int = Field(default=12144, description="Chunk size")
-    base_url: str = Field(default="wss://api-asr.openmind.com", description="Base URL for the ASR service")
-    stream_base_url: Optional[str] = Field(default=None, description="Stream Base URL")
-    microphone_device_id: Optional[int] = Field(default=None, description="Microphone Device ID")
-    microphone_name: Optional[str] = Field(default=None, description="Microphone Name")
-    remote_input: bool = Field(default=False, description="Whether to use remote input")
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt (does not mute mic during TTS playback)",
-    )
-
-
-class RivaASRInput(FuserInput[RivaASRSensorConfig, Optional[str]]):
-    """
-    Automatic Speech Recognition (ASR) input handler.
-
-    This class manages the input stream from an ASR service, buffering messages
-    and providing text conversion capabilities.
-    """
-
-    def __init__(self, config: RivaASRSensorConfig):
-        """
-        Initialize RivaASRInput instance.
-
-        Parameters
-        ----------
-        config : RivaASRSensorConfig
-            Configuration for the ASR input handler.
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[str] = []
-
-        # Set IO Provider
-        self.descriptor_for_LLM = "Voice"
-        self.io_provider = IOProvider()
-
-        # Message buffer for incoming ASR messages
-        self.message_buffer: asyncio.Queue[str] = asyncio.Queue()
-
-        # Initialize ASR provider
-        api_key = self.config.api_key
-        rate = self.config.rate
-        chunk = self.config.chunk
-        base_url = self.config.base_url
-
-        microphone_device_id = self.config.microphone_device_id
-        microphone_name = self.config.microphone_name
-        remote_input = self.config.remote_input
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        self.asr: ASRProvider = ASRProvider(
-            rate=rate,
-            chunk=chunk,
-            ws_url=base_url,
-            device_id=microphone_device_id,
-            microphone_name=microphone_name,
-            remote_input=remote_input,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.asr.start()
-        self.asr.register_message_callback(self._handle_asr_message)
-
-        # Initialize sleep ticker provider
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-        # Initialize Zenoh session
-        self.asr_topic = "om/asr/text"
-        self.session = None
-        self.asr_publisher = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.asr_publisher = self.session.declare_publisher(self.asr_topic)
-            logging.info("Zenoh ASR publisher initialized on topic 'om/asr/text'")
-        except Exception as e:
-            logging.warning(f"Could not initialize Zenoh for ASR broadcast: {e}")
-            self.session = None
-            self.asr_publisher = None
-
-        # Guard flag: when True, this instance ignores incoming ASR messages.
-        self._stopped = False
-
-    def _handle_asr_message(self, raw_message: str):
-        """
-        Process incoming ASR messages.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw message received from ASR service
-        """
-        if self._stopped:
-            return
-
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "asr_reply" in json_message:
-                asr_reply = json_message["asr_reply"]
-                if len(asr_reply.split()) > 2:
-                    self.message_buffer.put_nowait(asr_reply)
-                    logging.info("Detected ASR message: %s", asr_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages in the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Message from the buffer if available, None otherwise
-        """
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except asyncio.QueueEmpty:
-            await asyncio.sleep(0.01)
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input to text format.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Processed text message or None if input is None
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                # Skip sleep if there's already a message in the messages buffer
-                self.global_sleep_ticker_provider.skip_sleep = True
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-{self.descriptor_for_LLM}: "{self.messages[-1]}"
-"""
-        # Add to IO provider and conversation provider
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.io_provider.add_mode_transition_input(self.messages[-1])
-        self.conversation_provider.store_user_message(self.messages[-1])
-
-        # Publish to Zenoh
-        if self.asr_publisher:
-            try:
-                asr_msg = ASRText(
-                    header=prepare_header(str(uuid4())),
-                    text=self.messages[-1],
-                )
-                self.asr_publisher.put(asr_msg.serialize())
-                logging.info(f"Published ASR to Zenoh: {self.messages[-1]}")
-            except Exception as e:
-                logging.warning(f"Failed to publish ASR to Zenoh: {e}")
-
-        # Reset messages buffer
-        self.messages = []
-        return result
-
-    def stop(self):
-        """
-        Stop the ASR input.
-        """
-        logging.info("Stopping RivaASRInput, disabling callback")
-
-        self._stopped = True
-
-        while not self.message_buffer.empty():
-            try:
-                self.message_buffer.get_nowait()
-            except asyncio.QueueEmpty:
-                break
-
-        self.messages = []
-
-        if self.asr:
-            try:
-                self.asr.unregister_message_callback(self._handle_asr_message)
-                logging.info("Unregistered ASR callback")
-            except Exception as e:
-                logging.warning(f"Failed to unregister ASR callback: {e}")
-
-        if self.asr_publisher:
-            try:
-                self.asr_publisher.undeclare()
-                logging.info("Zenoh ASR publisher undeclared")
-            except Exception as e:
-                logging.warning(f"Failed to undeclare Zenoh ASR publisher: {e}")
-
-        if self.session:
-            self.session.close()
-            logging.info("Zenoh ASR session closed")
diff --git a/src/inputs/plugins/riva_asr_rtsp.py b/src/inputs/plugins/riva_asr_rtsp.py
deleted file mode 100644
index 2f1e896a10..0000000000
--- a/src/inputs/plugins/riva_asr_rtsp.py
+++ /dev/null
@@ -1,270 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from typing import Dict, List, Optional
-from uuid import uuid4
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.asr_rtsp_provider import ASRRTSPProvider
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.teleops_conversation_provider import TeleopsConversationProvider
-from zenoh_msgs import ASRText, open_zenoh_session, prepare_header
-
-
-class RivaASRRTSPSensorConfig(SensorConfig):
-    """
-    Configuration for Riva ASR Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    rtsp_url : str
-        RTSP URL for the audio stream. Default is "rtsp://localhost:8554/audio".
-    rate : int
-        Sampling rate. Default is 16000.
-    base_url : str
-        Base URL for the ASR service. Default is "wss://api-asr.openmind.com".
-    enable_tts_interrupt : bool
-        Enable TTS interrupt when ASR detects speech during playback.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    rtsp_url: str = Field(
-        default="rtsp://localhost:8554/audio",
-        description="RTSP URL for the audio stream",
-    )
-    rate: int = Field(default=16000, description="Sampling rate")
-    base_url: str = Field(default="wss://api-asr.openmind.com", description="Base URL for the ASR service")
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt (does not mute mic during TTS playback)",
-    )
-
-
-class RivaASRRTSPInput(FuserInput[RivaASRRTSPSensorConfig, Optional[str]]):
-    """
-    Automatic Speech Recognition (ASR) input handler.
-
-    This class manages the input stream from an ASR service, buffering messages
-    and providing text conversion capabilities.
-    """
-
-    def __init__(self, config: RivaASRRTSPSensorConfig):
-        """
-        Initialize RivaASRInput instance.
-
-        Parameters
-        ----------
-        config : RivaASRRTSPSensorConfig
-            Configuration for the ASR input handler.
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[str] = []
-
-        # Set IO Provider
-        self.descriptor_for_LLM = "Voice"
-        self.io_provider = IOProvider()
-
-        # Message buffer for incoming ASR messages
-        self.message_buffer: asyncio.Queue[str] = asyncio.Queue()
-
-        # Initialize ASR provider
-        api_key = self.config.api_key
-        rtsp_url = self.config.rtsp_url
-        rate = self.config.rate
-        base_url = self.config.base_url
-
-        enable_tts_interrupt = self.config.enable_tts_interrupt
-
-        self.asr: ASRRTSPProvider = ASRRTSPProvider(
-            rtsp_url=rtsp_url,
-            rate=rate,
-            ws_url=base_url,
-            language_code="en-US",
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self.asr.start()
-        self.asr.register_message_callback(self._handle_asr_message)
-
-        # Initialize sleep ticker provider
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-
-        # Initialize conversation provider
-        self.conversation_provider = TeleopsConversationProvider(api_key=api_key)
-
-        # Initialize Zenoh session
-        self.asr_topic = "om/asr/text"
-        self.session = None
-        self.asr_publisher = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.asr_publisher = self.session.declare_publisher(self.asr_topic)
-            logging.info("Zenoh ASR publisher initialized on topic 'om/asr/text'")
-        except Exception as e:
-            logging.warning(f"Could not initialize Zenoh for ASR broadcast: {e}")
-            self.session = None
-            self.asr_publisher = None
-
-        # Guard flag: when True, this instance ignores incoming ASR messages.
-        self._stopped = False
-
-    def _handle_asr_message(self, raw_message: str):
-        """
-        Process incoming ASR messages.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw message received from ASR service
-        """
-        if self._stopped:
-            return
-
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "asr_reply" in json_message:
-                asr_reply = json_message["asr_reply"]
-                if len(asr_reply.split()) > 2:
-                    self.message_buffer.put_nowait(asr_reply)
-                    logging.info("Detected ASR message: %s", asr_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages in the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Message from the buffer if available, None otherwise
-        """
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except asyncio.QueueEmpty:
-            await asyncio.sleep(0.01)
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input to text format.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[str]
-            Processed text message or None if input is None
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                self.global_sleep_ticker_provider.skip_sleep = True
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-{self.descriptor_for_LLM}: "{self.messages[-1]}"
-"""
-        # Add to IO provider and conversation provider
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.io_provider.add_mode_transition_input(self.messages[-1])
-        self.conversation_provider.store_user_message(self.messages[-1])
-
-        # Publish to Zenoh
-        if self.asr_publisher:
-            try:
-                asr_msg = ASRText(
-                    header=prepare_header(str(uuid4())),
-                    text=self.messages[-1],
-                )
-                self.asr_publisher.put(asr_msg.serialize())
-                logging.info(f"Published ASR to Zenoh: {self.messages[-1]}")
-            except Exception as e:
-                logging.warning(f"Failed to publish ASR to Zenoh: {e}")
-
-        # Reset messages buffer
-        self.messages = []
-        return result
-
-    def stop(self):
-        """
-        Stop the ASR input handler and clean up resources.
-        """
-        logging.info("Stopping RivaASRRTSPInput, disabling callback")
-
-        self._stopped = True
-
-        while not self.message_buffer.empty():
-            try:
-                self.message_buffer.get_nowait()
-            except asyncio.QueueEmpty:
-                break
-
-        self.messages = []
-
-        if self.asr:
-            try:
-                self.asr.unregister_message_callback(self._handle_asr_message)
-                logging.info("Unregistered ASR callback")
-            except Exception as e:
-                logging.warning(f"Failed to unregister ASR callback: {e}")
-
-        if self.asr_publisher:
-            try:
-                self.asr_publisher.undeclare()
-                logging.info("Zenoh ASR publisher undeclared")
-            except Exception as e:
-                logging.warning(f"Failed to undeclare Zenoh publisher: {e}")
-            self.asr_publisher = None
-
-        if self.session:
-            try:
-                self.session.close()
-                logging.info("Zenoh ASR session closed")
-            except Exception as e:
-                logging.warning(f"Failed to close Zenoh session: {e}")
-            self.session = None
diff --git a/src/inputs/plugins/rtk.py b/src/inputs/plugins/rtk.py
deleted file mode 100644
index 45ec2bb2dc..0000000000
--- a/src/inputs/plugins/rtk.py
+++ /dev/null
@@ -1,135 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty
-from typing import Optional
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.rtk_provider import RtkProvider
-
-
-class Rtk(FuserInput[SensorConfig, Optional[dict]]):
-    """
-    RTK (Real-Time Kinematic) precision positioning input handler.
-
-    Processes high-precision GPS data from RTK provider to generate location
-    information with centimeter-level accuracy. Integrates with IOProvider
-    for message handling and provides formatted location data for LLM processing.
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize RTK input handler.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration for the sensor input
-        """
-        super().__init__(config)
-
-        self.rtk = RtkProvider()
-        self.io_provider = IOProvider()
-        self.messages: list[Message] = []
-        self.descriptor_for_LLM = "Precision Location"
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for new messages from the RTK Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[dict]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-
-        try:
-            return self.rtk.data
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-
-        Returns
-        -------
-        Message
-            A timestamped message containing the processed input
-        """
-        logging.debug(f"rtk: {raw_input}")
-
-        r = raw_input
-        if r:
-            logging.debug(f"RTK Provider: {r}")
-            lat = r["rtk_lat"]
-            lon = r["rtk_lon"]
-            alt = r["rtk_alt"]
-            qua = r["rtk_qua"]
-
-            lat_string = "South"
-            if lat > 0:
-                lat_string = "North"
-            else:
-                lat *= -1.0
-
-            lon_string = "West"
-            if lon > 0:
-                lon_string = "East"
-            else:
-                lon *= -1.0
-
-            if qua > 0:
-                msg = f"Your precise location is {lat} {lat_string}, {lon} {lon_string} at {alt}m altitude. "
-                return Message(timestamp=time.time(), message=msg)
-            else:
-                return None
-        else:
-            return None
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Update message buffer.
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/schedule_cron_job_input.py b/src/inputs/plugins/schedule_cron_job_input.py
deleted file mode 100644
index e55b17a65e..0000000000
--- a/src/inputs/plugins/schedule_cron_job_input.py
+++ /dev/null
@@ -1,354 +0,0 @@
-import asyncio
-import fcntl
-import json
-import logging
-import os
-import re
-import time
-from datetime import datetime, timedelta
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-
-
-class ScheduleCronJobInputConfig(SensorConfig):
-    """Configuration for the ScheduleCronJobInput plugin.
-
-    Parameters
-    ----------
-    schedule_file : str
-        Path to the JSON file where scheduled cron jobs are persisted.
-        Defaults to ``"config/cron_job/cron.json"``.
-        Please make sure this is the same path as the schedule_file of corresponding ScheduleCronJobJSON action
-    run_previous : bool
-        If True, dispatch tasks whose schedule_time predates plugin startup.
-        If False, silently skip stale entries. Defaults to True.
-    """
-
-    schedule_file: str = Field(default="config/cron_job/cron.json", description="Path to the JSON cron schedule file")
-    run_previous: bool = Field(default=True, description="If True, dispatch tasks scheduled before startup")
-
-
-class ScheduleCronJobInput(FuserInput[ScheduleCronJobInputConfig, Optional[str]]):
-    """
-    Input plugin that polls a JSON schedule file every second and dispatches due entries to the LLM.
-
-    Manages both one-time and recurring tasks. Supported recurrence patterns:
-    "" or "once" for one-time execution; "hourly", "daily", "weekly" for fixed
-    intervals; "every Xm", "every Xh", "every Xd" for custom intervals.
-    """
-
-    _DATE_FORMATS = (
-        "%Y-%m-%d %H:%M:%S",
-        "%Y-%m-%dT%H:%M:%S",
-        "%Y-%m-%d %H:%M",
-        "%Y-%m-%dT%H:%M",
-    )
-
-    _EVERY_PATTERN = re.compile(
-        r"^every\s+(\d+)\s*(s|m|h|d|seconds?|minutes?|hours?|days?|weeks?)$",
-        re.IGNORECASE,
-    )
-
-    _UNIT_MAP = {
-        "s": "seconds",
-        "m": "minutes",
-        "h": "hours",
-        "d": "days",
-        "w": "weeks",
-    }
-
-    def __init__(self, config: ScheduleCronJobInputConfig):
-        """
-        Initialize ScheduleCronJobInput.
-
-        Parameters
-        ----------
-        config : ScheduleCronJobInputConfig
-            Configuration for the scheduled cron input plugin.
-        """
-        super().__init__(config)
-        self.messages: list[Message] = []
-        self.descriptor_for_LLM = "User Command"
-        self.io_provider = IOProvider()
-        self._startup_time: Optional[datetime] = datetime.now().replace(microsecond=0)
-        self._entries: List[dict] = []
-        if not os.path.exists(self.config.schedule_file):
-            self._write_all([])
-        self._entries = self._read_file()
-        self._last_known_file_mtime: float = self._get_file_mtime()
-        logging.info(
-            "ScheduleCronJobInput initialized: polling %s every 1s, run_previous=%s, loaded %d entries",
-            self.config.schedule_file,
-            self.config.run_previous,
-            len(self._entries),
-        )
-
-    def _get_file_mtime(self) -> float:
-        """
-        Return the modification time of the schedule file.
-
-        Returns
-        -------
-        float
-            File mtime as a Unix timestamp, or 0.0 if the file does not exist.
-        """
-        try:
-            return os.path.getmtime(self.config.schedule_file)
-        except OSError:
-            return 0.0
-
-    def _reload_if_changed(self) -> None:
-        """
-        Reload entries from disk if the file has been modified externally.
-        """
-        current_mtime = self._get_file_mtime()
-        if current_mtime != self._last_known_file_mtime:
-            self._entries = self._read_file()
-            self._last_known_file_mtime = current_mtime
-            logging.info(
-                "ScheduleCronJobInput: file changed, reloaded %d entries",
-                len(self._entries),
-            )
-
-    def _read_file(self) -> list:
-        """
-        Read cron entries from the JSON schedule file on disk.
-
-        Returns
-        -------
-        list
-            List of entry dicts loaded from the file, or an empty list if the
-            file does not exist or contains invalid JSON.
-        """
-        try:
-            with open(self.config.schedule_file, "r") as file_handle:
-                data = json.load(file_handle)
-                return data if isinstance(data, list) else []
-        except (FileNotFoundError, json.JSONDecodeError):
-            return []
-
-    def _write_all(self, entries: list) -> None:
-        """
-        Write all entries to the JSON schedule file.
-
-        Creates the parent directory if it does not exist. Updates
-        ``_last_known_file_mtime`` immediately so that ``_reload_if_changed``
-        does not re-read our own write.
-
-        Parameters
-        ----------
-        entries : list
-            List of entry dicts to serialise. Typically ``self._entries`` after
-            sorting by timestamp.
-        """
-        dir_name = os.path.dirname(self.config.schedule_file)
-        if dir_name:
-            os.makedirs(dir_name, exist_ok=True)
-        with open(self.config.schedule_file, "w") as file_handle:
-            json.dump(entries, file_handle, indent=2)
-        self._last_known_file_mtime = self._get_file_mtime()
-
-    def _parse_schedule_time(self, schedule_time: str) -> Optional[datetime]:
-        """
-        Parse a schedule time string into a datetime object.
-
-        Parameters
-        ----------
-        schedule_time : str
-            Date/time string to parse. Supported formats:
-            'YYYY-MM-DD HH:MM:SS', 'YYYY-MM-DDTHH:MM:SS',
-            'YYYY-MM-DD HH:MM', 'YYYY-MM-DDTHH:MM'.
-
-        Returns
-        -------
-        Optional[datetime]
-            Parsed datetime on success, or None if no format matched.
-        """
-        for date_format in self._DATE_FORMATS:
-            try:
-                return datetime.strptime(schedule_time.strip(), date_format)
-            except ValueError:
-                continue
-        logging.warning("ScheduleCronJobInput: could not parse schedule_time '%s'", schedule_time)
-        return None
-
-    def _recurrence_delta(self, recurrence: str) -> Optional[timedelta]:
-        """
-        Convert a recurrence pattern string into a ``timedelta``.
-
-        Parameters
-        ----------
-        recurrence : str
-            Pattern describing how often the task repeats. Recognised values:
-
-            * ``""`` or ``"once"`` — one-time task; returns ``None``.
-            * ``"hourly"`` — every 1 hour.
-            * ``"daily"`` — every 24 hours.
-            * ``"weekly"`` — every 7 days.
-            * ``"every N <unit>"`` — arbitrary interval where ``<unit>`` is one of
-              ``s``/``seconds``, ``m``/``minutes``, ``h``/``hours``,
-              ``d``/``days``, ``w``/``weeks`` (singular or plural, case-insensitive).
-
-        Returns
-        -------
-        Optional[timedelta]
-            ``timedelta`` matching the pattern, or ``None`` for a one-time task.
-            Unknown patterns log a warning and also return ``None``.
-        """
-        normalized_recurrence = recurrence.strip().lower()
-        if not normalized_recurrence or normalized_recurrence == "once":
-            return None
-        if normalized_recurrence == "hourly":
-            return timedelta(hours=1)
-        if normalized_recurrence == "daily":
-            return timedelta(days=1)
-        if normalized_recurrence == "weekly":
-            return timedelta(weeks=1)
-        match_result = self._EVERY_PATTERN.match(normalized_recurrence)
-        if match_result:
-            interval_value = int(match_result.group(1))
-            raw_time_unit = (
-                match_result.group(2).rstrip("s") if len(match_result.group(2)) > 1 else match_result.group(2)
-            )
-            unit_key = raw_time_unit[0]  # first letter is always the canonical short form
-            return timedelta(**{self._UNIT_MAP[unit_key]: interval_value})
-        logging.warning("ScheduleCronJobInput: unknown recurrence pattern '%s'", recurrence)
-        return None
-
-    def _is_due(self, entry: dict, current_time: datetime) -> bool:
-        """
-        Determine whether a scheduled entry should be dispatched on this tick.
-
-        Returns ``False`` if ``schedule_time`` is missing, unparsable, or still
-        in the future. When ``run_previous`` is ``False``, also returns ``False``
-        for entries whose ``schedule_time`` predates the plugin startup time,
-        allowing stale entries to be silently skipped rather than replayed.
-
-        Parameters
-        ----------
-        entry : dict
-            Schedule entry dict; must contain a ``"schedule_time"`` key with a
-            parseable datetime string.
-        current_time : datetime
-            Current datetime (microseconds stripped) used as the reference point.
-
-        Returns
-        -------
-        bool
-            ``True`` if the entry is due and should be dispatched; ``False``
-            otherwise.
-        """
-        schedule_time = entry.get("schedule_time", "")
-        if not schedule_time:
-            return False
-        entry_scheduled_time = self._parse_schedule_time(schedule_time)
-        if entry_scheduled_time is None or entry_scheduled_time > current_time:
-            return False
-        if not self.config.run_previous and self._startup_time is not None:
-            if entry_scheduled_time < self._startup_time:
-                return False
-        return True
-
-    def _tick(self) -> None:
-        """Check for due entries, dispatch them, and reschedule or remove each one."""
-        schedule_dir = os.path.dirname(self.config.schedule_file)
-        if schedule_dir:
-            os.makedirs(schedule_dir, exist_ok=True)
-        with open(self.config.schedule_file, "a") as lock_file:
-            fcntl.flock(lock_file, fcntl.LOCK_EX)
-            try:
-                self._reload_if_changed()
-
-                current_time = datetime.now().replace(microsecond=0)
-
-                due_entries = [e for e in self._entries if self._is_due(e, current_time)]
-
-                if not due_entries:
-                    if self.messages:
-                        SleepTickerProvider().skip_sleep = True
-                    return
-
-                remaining_entries = []
-                for entry in self._entries:
-                    if not self._is_due(entry, current_time):
-                        remaining_entries.append(entry)
-                        continue
-                    recurrence = entry.get("recurrence", "")
-                    recurrence_interval = self._recurrence_delta(recurrence)
-                    if recurrence_interval is None:
-                        logging.info(
-                            "ScheduleCronJobInput: removing completed one-time task '%s'",
-                            entry.get("function"),
-                        )
-                    else:
-                        scheduled_time = self._parse_schedule_time(entry["schedule_time"])
-                        if scheduled_time is not None:
-                            next_scheduled_time = scheduled_time + recurrence_interval
-                            while next_scheduled_time <= current_time:
-                                next_scheduled_time += recurrence_interval
-                            entry["schedule_time"] = next_scheduled_time.strftime("%Y-%m-%d %H:%M:%S")
-                            entry["timestamp"] = next_scheduled_time.timestamp()
-                            entry["last_run_at"] = current_time.strftime("%Y-%m-%d %H:%M:%S")
-                            logging.info(
-                                "ScheduleCronJobInput: recurring task '%s' rescheduled to %s",
-                                entry.get("function"),
-                                entry["schedule_time"],
-                            )
-                            remaining_entries.append(entry)
-                self._entries = sorted(remaining_entries, key=lambda e: e.get("timestamp", 0))
-                self._write_all(self._entries)
-            finally:
-                fcntl.flock(lock_file, fcntl.LOCK_UN)
-
-        for entry in due_entries:
-            function_name = entry.get("function", "")
-            logging.info("ScheduleCronJobInput: dispatching '%s'", function_name)
-            self.messages.append(Message(timestamp=time.time(), message=function_name))
-        SleepTickerProvider().skip_sleep = True
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Sleep 1 second, then run a tick to dispatch any due entries.
-
-        Returns
-        -------
-        Optional[str]
-            Always None; dispatched messages are pushed to self.messages directly.
-        """
-        await asyncio.sleep(1.0)
-        self._tick()
-        return None
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        No-op: messages are pushed to self.messages directly by _tick() and consumed via formatted_latest_buffer().
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Unused.
-        """
-        pass
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Return the latest message formatted for the LLM, or None if the buffer is empty.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted message string, or None if no messages are pending.
-        """
-        if not self.messages:
-            return None
-
-        message = self.messages.pop(0)
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n" f"// START\n{message.message}\n// END\n"
-        self.io_provider.add_input(self.descriptor_for_LLM, message.message, time.time())
-        return result
diff --git a/src/inputs/plugins/selfie_status_input.py b/src/inputs/plugins/selfie_status_input.py
deleted file mode 100644
index ac09041e07..0000000000
--- a/src/inputs/plugins/selfie_status_input.py
+++ /dev/null
@@ -1,116 +0,0 @@
-# src/inputs/plugins/selfie_status_input.py
-
-import asyncio
-import time
-from collections import deque
-from typing import Deque, Optional
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class SelfieStatus(FuserInput[SensorConfig, Optional[str]]):
-    """
-    Surfaces 'SelfieStatus' lines written by the connector as a single INPUT block
-    when a NEW timestamp arrives. One-shot per status.
-
-    Examples of connector values:
-      ok id=wendy
-      failed reason=multiple faces=2
-      failed reason=none
-      failed reason=service
-      failed reason=bad_id
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize the SelfieStatus input handler.
-
-        Sets up the required providers and buffers for handling selfie status data.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-        self.io_provider = IOProvider()
-        self.messages: Deque[Message] = deque(maxlen=50)
-        self._last_ts_seen: float = 0.0
-        self.descriptor_for_LLM = "SelfieStatus"
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new SelfieStatus messages from the IOProvider.
-
-        Returns
-        -------
-        Optional[str]
-            The next SelfieStatus message if a new timestamp is detected, None otherwise
-        """
-        await asyncio.sleep(0.1)
-        rec = self.io_provider.inputs.get("SelfieStatus")
-        if not rec:
-            return None
-
-        ts = float(rec.timestamp or 0.0)
-        if ts <= self._last_ts_seen:
-            return None
-
-        self._last_ts_seen = ts
-        return rec.input
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        message = await self._raw_to_text(raw_input)
-        if message is not None:
-            self.messages.append(message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if not self.messages:
-            return None
-        latest = self.messages[-1]
-        block = f"""INPUT: {self.descriptor_for_LLM}
-// START
-{latest.message}
-// END"""
-        self.messages.clear()
-        return block
diff --git a/src/inputs/plugins/serial_reader.py b/src/inputs/plugins/serial_reader.py
deleted file mode 100644
index 576727fd71..0000000000
--- a/src/inputs/plugins/serial_reader.py
+++ /dev/null
@@ -1,202 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import Optional
-
-import serial
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class SerialReaderConfig(SensorConfig):
-    """Configuration for the SerialReader plugin."""
-
-    port: str = Field(
-        default="/dev/cu.usbmodem1101",
-        description="Serial port device path (e.g., /dev/ttyUSB0 or COM3)",
-    )
-    baudrate: int = Field(
-        default=9600,
-        description="Serial communication baudrate",
-    )
-    timeout: float = Field(
-        default=1.0,
-        description="Read timeout in seconds",
-    )
-
-
-class SerialReader(FuserInput[SerialReaderConfig, Optional[str]]):
-    """
-    Serial port input reader for Arduino and other serial devices.
-
-    This class reads data from a serial port connection, typically used for
-    interfacing with Arduino microcontrollers or other serial devices. It
-    maintains an internal buffer of processed messages and converts raw serial
-    data into structured text descriptions suitable for LLM processing.
-
-    The reader supports configurable serial port settings (port, baudrate, timeout)
-    and handles connection errors gracefully. It processes incoming serial data
-    in real-time and maintains a message buffer for downstream processing.
-
-    Typical use cases include reading sensor data from Arduino (e.g., heart rate
-    monitors, grip strength sensors) and converting raw serial output into
-    natural language descriptions for the agent's context.
-    """
-
-    # simple code example to ingest serial data written by an Arduino, such as:
-
-    #       if (grip_force > grip_force_threshold) {
-    #         Serial.println("Grip: Elevated");
-    #       } else {
-    #         Serial.println("Grip: Normal");
-    #       }
-
-    #       if (pulse_rate > pulse_threshold) {
-    #         Serial.println("Pulse: Elevated");
-    #       } else {
-    #         Serial.println("Pulse: Normal");
-    #       }
-
-    #
-
-    def __init__(self, config: SerialReaderConfig):
-        """
-        Initialize the serial reader with configuration.
-
-        Sets up the serial port connection, initializes the message buffer,
-        and configures the IO provider for tracking input data.
-
-        Parameters
-        ----------
-        config : SerialReaderConfig
-            Configuration object containing sensor settings including port,
-            baudrate, and timeout.
-
-        Notes
-        -----
-        The serial port connection is attempted during initialization. If the
-        connection fails (e.g., port not found, permission denied), an error is
-        logged but the initialization continues. The `ser` attribute will be None
-        in case of connection failure, and subsequent polling operations will
-        return None until a successful connection is established.
-
-        The default serial port is set to "/dev/cu.usbmodem1101" (macOS) with
-        a baudrate of 9600. Users should modify these values to match their
-        specific hardware configuration.
-        """
-        super().__init__(config)
-
-        # Configure the serial port
-        self.ser = None
-
-        try:
-            # Open the serial port
-            self.ser = serial.Serial(config.port, config.baudrate, timeout=config.timeout)
-            logging.info(f"Connected to {config.port} at {config.baudrate} baud")
-        except serial.SerialException as e:
-            logging.error(f"Error: {e}")
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Messages buffer
-        self.messages: list[Message] = []
-
-        self.descriptor_for_LLM = "Heart Rate and Grip Strength"
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for serial data.
-
-        Returns
-        -------
-        Optional[str]
-            The latest line read from the serial port, or None if no data
-        """
-        await asyncio.sleep(0.5)
-
-        if self.ser is None:
-            return None
-
-        data = self.ser.readline().decode("utf-8").strip()
-        # Read a line, decode, and remove whitespace
-
-        if data:
-            logging.info(f"Serial: {data}")
-            return data
-        else:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw string to higher level text description.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        if "Pulse:" in raw_input:
-            value = raw_input.split(" ")
-            message = f"The child's pulse rate is {value[1]}."
-        elif "Grip:" in raw_input:
-            value = raw_input.split(" ")
-            message = f"The child's grip strength is {value[1]}."
-        else:
-            message = "No serial data."
-
-        return Message(timestamp=time.time(), message=message)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/simple_paths.py b/src/inputs/plugins/simple_paths.py
deleted file mode 100644
index 6db8e34d83..0000000000
--- a/src/inputs/plugins/simple_paths.py
+++ /dev/null
@@ -1,161 +0,0 @@
-import asyncio
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.simple_paths_provider import SimplePathsProvider
-
-
-class SimplePathsConfig(SensorConfig):
-    """
-    Configuration for SimplePaths Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key for authentication.
-    use_sim : bool
-        Whether to use the simulation endpoint instead of a local one.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to use the simulation endpoint instead of a local one.",
-    )
-
-
-class SimplePaths(FuserInput[SimplePathsConfig, Optional[str]]):
-    """
-    SimplePaths input handler.
-
-    A class that processes simple paths inputs and generates text descriptions.
-    It maintains an internal buffer of processed messages.
-    """
-
-    def __init__(self, config: SimplePathsConfig):
-        """
-        Initialize the SimplePaths input handler.
-
-        Sets up the required providers and buffers for handling simple path data.
-
-        Parameters
-        ----------
-        config : SimplePathsConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize SimplePaths Provider
-        self.paths_provider: SimplePathsProvider = SimplePathsProvider(
-            api_key=self.config.api_key,
-            use_sim=self.config.use_sim,
-        )
-        self.paths_provider.start()
-
-        self.descriptor_for_LLM = (
-            "Information about objects and walls around you, to plan your movements and avoid bumping into things."
-        )
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the SimplePaths Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.2)
-
-        try:
-            return self.paths_provider.lidar_string
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-{self.descriptor_for_LLM}: "{latest_message.message}"
-"""
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/tron_odom.py b/src/inputs/plugins/tron_odom.py
deleted file mode 100644
index 1c487a89ae..0000000000
--- a/src/inputs/plugins/tron_odom.py
+++ /dev/null
@@ -1,162 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.tron_odom_provider import RobotState, TronOdomProvider
-
-
-class TronOdomConfig(SensorConfig):
-    """
-    Configuration for Tron Odom Sensor.
-
-    Parameters
-    ----------
-    topic : str
-        The Zenoh topic to subscribe to for odometry data.
-    """
-
-    topic: str = Field(default="odom", description="Zenoh topic for Tron odometry data")
-
-
-class TronOdom(FuserInput[TronOdomConfig, Optional[dict]]):
-    """
-    Odometry input processor for Tron robot position and movement state tracking.
-    Uses Zenoh to receive odometry data from limx-sdk.
-    """
-
-    def __init__(self, config: TronOdomConfig):
-        """
-        Initialize the Tron Odom input processor.
-
-        Parameters
-        ----------
-        config : TronOdomConfig
-            Configuration for the Tron Odom sensor.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        logging.info(f"TronOdom Config: {self.config}")
-
-        topic = self.config.topic
-        logging.info(f"TronOdom using Zenoh topic: {topic}")
-
-        self.odom = TronOdomProvider(topic)
-        self.descriptor_for_LLM = "Information about your location and body pose, to help plan your movements."
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for new messages from the Tron Odom Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[dict]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.1)
-
-        try:
-            return self.odom.position
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        logging.debug(f"tron odom: {raw_input}")
-
-        if raw_input is None:
-            return None
-
-        res = ""
-        moving = raw_input["moving"]
-        attitude = raw_input["body_attitude"]
-
-        if attitude is RobotState.SITTING:
-            res = "You are sitting down - do not generate new movement commands. "
-        elif moving:
-            # already moving
-            res = "You are moving - do not generate new movement commands. "
-        else:
-            res = "You are standing still - you can move if you want to. "
-
-        return Message(timestamp=time.time(), message=res)
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/turtlebot4_battery.py b/src/inputs/plugins/turtlebot4_battery.py
deleted file mode 100644
index f49b3f9b4b..0000000000
--- a/src/inputs/plugins/turtlebot4_battery.py
+++ /dev/null
@@ -1,224 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-import zenoh
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers import BatteryStatus, IOProvider, TeleopsStatus, TeleopsStatusProvider
-from zenoh_msgs import open_zenoh_session, sensor_msgs
-
-
-class TurtleBot4BatteryConfig(SensorConfig):
-    """
-    Configuration for TurtleBot4 battery sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    URID : str
-        URID.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    URID: str = Field(default="default", description="URID")
-
-
-class TurtleBot4Battery(FuserInput[TurtleBot4BatteryConfig, List[str]]):
-    """
-    TurtleBot4 Battery inputs.
-
-    Takes specific TurtleBot4 ROS2/Zenoh messages, converts them to
-    text strings, and sends them to the fuser.
-
-    Maintains a buffer of processed messages.
-    """
-
-    def __init__(self, config: TurtleBot4BatteryConfig):
-        """
-        Initialize the TurtleBot4Battery input handler.
-
-        Sets up the required providers, buffers, and status variables
-        for handling TurtleBot4 battery data.
-
-        Parameters
-        ----------
-        config : TurtleBot4BatteryConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        api_key = self.config.api_key
-
-        # IO provider
-        self.io_provider = IOProvider()
-
-        # Status provider
-        self.status_provider = TeleopsStatusProvider(api_key=api_key)
-
-        # Buffer for storing the final output
-        self.messages: list[Message] = []
-
-        # Status variables
-        self.battery_status = None
-
-        # Battery status variables
-        self.battery_percentage = 0.0
-        self.battery_voltage = 0.0
-        self.battery_temperature = 0
-        self.battery_timestamp = time.time()
-        self.is_docked = False
-
-        logging.info("Opening Zenoh TurtleBot4 session...")
-        self.z = open_zenoh_session()
-
-        logging.info(f"Config: {self.config}")
-
-        self.URID = self.config.URID
-        logging.info(f"Using TurtleBot4 URID: {self.URID}")
-
-        logging.info("Creating Zenoh TurtleBot4 Subscribers")
-        self.batts = self.z.declare_subscriber(f"{self.URID}/c3/battery_state", self.listener_battery)
-        self.dock = self.z.declare_subscriber(f"{self.URID}/c3/dock_status", self.listener_dock)
-
-        # Simple description of sensor output to help LLM understand its importance and utility
-        self.descriptor_for_LLM = "Energy Level"
-
-    def listener_battery(self, sample: zenoh.Sample):
-        """
-        Zenoh callback for battery state.
-
-        Parameters
-        ----------
-        sample : zenoh.Sample
-            Zenoh sample containing battery state data
-        """
-        battery = sensor_msgs.BatteryState.deserialize(sample.payload.to_bytes())
-
-        logging.debug(f"TB4 battery callback: {battery}")
-
-        self.battery_percentage = int(battery.percentage * 100)
-        self.battery_voltage = battery.voltage
-        self.battery_temperature = round(battery.temperature, 2)
-        self.battery_timestamp = battery.header.stamp.sec
-
-        if self.battery_percentage < 5:
-            self.battery_status = (
-                "CRITICAL: your battery is almost empty. " "Immediately move to your charging station and recharge."
-            )
-        elif self.battery_percentage < 15:
-            self.battery_status = (
-                "IMPORTANT: your battery is low. " "Consider finding your charging station and recharging."
-            )
-        else:
-            self.battery_status = None
-
-    def listener_dock(self, sample: zenoh.Sample):
-        """
-        Process docking status updates.
-
-        Parameters
-        ----------
-        sample : zenoh.Sample
-            Zenoh sample containing docking status data
-        """
-        dock = sensor_msgs.DockStatus.deserialize(sample.payload.to_bytes())
-        self.is_docked = dock.is_docked
-
-    async def report_status(self):
-        """
-        Report the battery status to the status provider.
-        """
-        self.status_provider.share_status(
-            TeleopsStatus(
-                machine_name="TurtleBot4",
-                update_time=str(time.time()),
-                om1_heartbeat=str(time.time()),
-                battery_status=BatteryStatus(
-                    battery_level=self.battery_percentage,
-                    temperature=self.battery_temperature,
-                    voltage=self.battery_voltage,
-                    timestamp=str(self.battery_timestamp),
-                    charging_status=self.is_docked,
-                ),
-            )
-        )
-
-    async def _poll(self) -> List[str]:
-        """
-        Poll for new state data.
-
-        Returns
-        -------
-        List[str]
-        """
-        await asyncio.sleep(2.0)
-        await self.report_status()
-
-        logging.info(f"TB4 batt percent:{self.battery_percentage} low?: {self.battery_status}")
-
-        if self.battery_status is not None:
-            return [self.battery_status]
-        else:
-            return []
-
-    async def _raw_to_text(self, raw_input: List[str]) -> Optional[Message]:
-        """
-        Process raw lowstate to generate text description.
-
-        Parameters
-        ----------
-        raw_input : List[str]
-            State data to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Timestamped message containing description
-        """
-        if raw_input and raw_input[0]:
-            return Message(timestamp=time.time(), message=raw_input[0])
-
-        return None
-
-    async def raw_to_text(self, raw_input: List[str]):
-        """
-        Convert raw lowstate to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : List[str]
-            Raw lowstate data to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/turtlebot4_camera_vlm_cloud.py b/src/inputs/plugins/turtlebot4_camera_vlm_cloud.py
deleted file mode 100644
index d32154f739..0000000000
--- a/src/inputs/plugins/turtlebot4_camera_vlm_cloud.py
+++ /dev/null
@@ -1,199 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import Dict, List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.turtlebot4_camera_vlm_provider import TurtleBot4CameraVLMProvider
-
-
-class TurtleBot4CameraVLMCloudConfig(SensorConfig):
-    """
-    Configuration for TurtleBot4 Camera VLM Cloud Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    base_url : str
-        Base URL for the VLM service.
-    stream_base_url : Optional[str]
-        Stream Base URL.
-    URID : str
-        URID (Unitree ID).
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    base_url: str = Field(
-        default="wss://api-vila.openmind.com",
-        description="Base URL for the VLM service",
-    )
-    stream_base_url: Optional[str] = Field(default=None, description="Stream Base URL")
-    URID: str = Field(default="default", description="URID (Unitree ID)")
-
-
-class TurtleBot4CameraVLMCloud(FuserInput[TurtleBot4CameraVLMCloudConfig, Optional[str]]):
-    """
-    TurtleBot4 Camera VLM bridge.
-
-    Takes TurtleBot4 Camera images, sends them to a cloud VLM provider,
-    converts the responses to text strings, and sends them to the fuser.
-    """
-
-    def __init__(self, config: TurtleBot4CameraVLMCloudConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        self.descriptor_for_LLM = "Vision"
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        api_key = self.config.api_key
-
-        base_url = self.config.base_url
-        stream_base_url = (
-            self.config.stream_base_url or f"wss://api.openmind.com/api/core/teleops/stream/video?api_key={api_key}"
-        )
-        URID = self.config.URID
-
-        self.vlm: TurtleBot4CameraVLMProvider = TurtleBot4CameraVLMProvider(
-            ws_url=base_url, URID=URID, stream_url=stream_base_url
-        )
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-    def _handle_vlm_message(self, raw_message: Optional[str]):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : Optional[str]
-            Raw JSON message received from the VLM service
-        """
-        if raw_message is None:
-            return
-
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info("Detected VLM message: %s", vlm_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/turtlebot4_odom.py b/src/inputs/plugins/turtlebot4_odom.py
deleted file mode 100644
index 5538b4a06c..0000000000
--- a/src/inputs/plugins/turtlebot4_odom.py
+++ /dev/null
@@ -1,159 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.turtlebot4_odom_provider import TurtleBot4OdomProvider
-
-
-class Turtlebot4OdomConfig(SensorConfig):
-    """
-    Configuration for Turtlebot4 Odom Sensor.
-
-    Parameters
-    ----------
-    URID : str
-        URID Unique Robot ID, used to connect to the correct Zenoh publisher in the local network.
-    """
-
-    URID: Optional[str] = Field(
-        default=None,
-        description="URID Unique Robot ID, used to connect to the correct Zenoh publisher in the local network",
-    )
-
-
-class Turtlebot4Odom(FuserInput[Turtlebot4OdomConfig, Optional[dict]]):
-    """
-    Odom input handler for reading Turtlebot4 odometry data.
-    """
-
-    def __init__(self, config: Turtlebot4OdomConfig):
-        """
-        Initialize the Odom input processor.
-
-        Parameters
-        ----------
-        config : OdomConfig
-            Configuration for the Odom sensor.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        logging.info(f"Config: {self.config}")
-
-        URID = self.config.URID
-
-        self.odom = TurtleBot4OdomProvider(URID)
-        self.descriptor_for_LLM = "Information about your location and body pose, to help plan your movements."
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for new messages from the Odom Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[dict]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.1)
-
-        try:
-            return self.odom.position
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        logging.debug(f"odom: {raw_input}")
-
-        if raw_input is None:
-            return None
-
-        res = ""
-        moving = raw_input["moving"]
-
-        if moving:
-            res = "You are moving - do not generate new movement commands. "
-        else:
-            res = "You are standing still - you can move if you want to. "
-
-        return Message(timestamp=time.time(), message=res)
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/turtlebot4_rplidar.py b/src/inputs/plugins/turtlebot4_rplidar.py
deleted file mode 100644
index 0e221b8f63..0000000000
--- a/src/inputs/plugins/turtlebot4_rplidar.py
+++ /dev/null
@@ -1,197 +0,0 @@
-import asyncio
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.turtlebot4_rplidar_provider import TurtleBot4RPLidarProvider
-
-
-class RPLidarConfig(SensorConfig):
-    """
-    Configuration for TurtleBot4 RPLidar Sensor.
-
-    Parameters
-    ----------
-    half_width_robot : float
-        Half width of the robot.
-    angles_blanked : List[float]
-        List of angles to blank out.
-    relevant_distance_max : float
-        Maximum relevant distance.
-    relevant_distance_min : float
-        Minimum relevant distance.
-    sensor_mounting_angle : float
-        Mounting angle of the sensor.
-    URID : str
-        The URID of the robot, used for Zenoh communication.
-    log_file : bool
-        Whether to log to a file.
-    """
-
-    half_width_robot: float = Field(default=0.20, description="Half width of the robot")
-    angles_blanked: List[float] = Field(default_factory=list, description="List of angles to blank out")
-    relevant_distance_max: float = Field(default=1.1, description="Maximum relevant distance")
-    relevant_distance_min: float = Field(default=0.08, description="Minimum relevant distance")
-    sensor_mounting_angle: float = Field(default=180.0, description="Mounting angle of the sensor")
-    URID: str = Field(default="", description="URID of the robot for Zenoh communication")
-    log_file: bool = Field(default=False, description="Whether to log to a file")
-
-
-class TurtleBot4RPLidar(FuserInput[RPLidarConfig, Optional[str]]):
-    """
-    TurtleBot4 RPLidar input handler for processing laser range finder data via Zenoh.
-    """
-
-    def __init__(self, config: RPLidarConfig):
-        """
-        Initialize the TurtleBot4 RPLidar input handler.
-
-        Parameters
-        ----------
-        config : RPLidarConfig
-            Configuration for the TurtleBot4 RPLidar input handler.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Build lidar configuration from config
-        lidar_config = self._extract_lidar_config(config)
-
-        # Initialize TurtleBot4 RPLidar Provider
-        self.lidar: TurtleBot4RPLidarProvider = TurtleBot4RPLidarProvider(**lidar_config)
-        self.lidar.start()
-
-        self.descriptor_for_LLM = (
-            "Information about objects and walls around you, to plan your movements and avoid bumping into things."
-        )
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the TurtleBot4 RPLidar Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.2)
-
-        try:
-            return self.lidar.lidar_string
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def _extract_lidar_config(self, config: RPLidarConfig) -> dict:
-        """
-        Extract lidar configuration parameters from sensor config.
-
-        Converts the RPLidarConfig Pydantic model into a dictionary format
-        suitable for passing to the TurtleBot4RPLidarProvider constructor.
-
-        Parameters
-        ----------
-        config : RPLidarConfig
-            Configuration object containing all sensor parameters.
-
-        Returns
-        -------
-        dict
-            Dictionary containing all configuration parameters with their
-            corresponding field names and values.
-        """
-        lidar_config = {
-            "half_width_robot": config.half_width_robot,
-            "angles_blanked": config.angles_blanked,
-            "relevant_distance_max": config.relevant_distance_max,
-            "relevant_distance_min": config.relevant_distance_min,
-            "sensor_mounting_angle": config.sensor_mounting_angle,
-            "URID": config.URID,
-            "log_file": config.log_file,
-        }
-
-        return lidar_config
diff --git a/src/inputs/plugins/twitter.py b/src/inputs/plugins/twitter.py
deleted file mode 100644
index fdd098357b..0000000000
--- a/src/inputs/plugins/twitter.py
+++ /dev/null
@@ -1,174 +0,0 @@
-import asyncio
-import logging
-from queue import Empty, Queue
-from typing import AsyncIterator, List, Optional
-
-import aiohttp
-from pydantic import Field
-
-from inputs.base import SensorConfig
-from inputs.base.loop import FuserInput
-
-
-class TwitterSensorConfig(SensorConfig):
-    """
-    Configuration for Twitter Sensor.
-
-    Parameters
-    ----------
-    query : str
-        Query to search for on Twitter.
-    """
-
-    query: str = Field(
-        default="What's new in AI and technology?",
-        description="Query to search for on Twitter",
-    )
-
-
-class TwitterInput(FuserInput[TwitterSensorConfig, Optional[str]]):
-    """Context query input handler for RAG."""
-
-    def __init__(
-        self,
-        config: Optional[TwitterSensorConfig],
-    ):
-        """Initialize TwitterInput with configuration.
-
-        Parameters
-        ----------
-        config : Optional[TwitterSensorConfig]
-            Configuration object from the runtime
-        """
-        if config is None:
-            config = TwitterSensorConfig()
-
-        super().__init__(config)
-
-        self.buffer: List[str] = []
-        self.message_buffer: Queue[str] = Queue()
-        self.api_url = "https://api.openmind.com/api/core/query"
-        self.session: Optional[aiohttp.ClientSession] = None
-        self.context: Optional[str] = None
-
-        # Use getattr instead of .get() since config is an object, not a dict
-        self.query = self.config.query
-
-    async def __aenter__(self):
-        """Async context manager entry."""
-        await self._init_session()
-        return self
-
-    async def __aexit__(self, _exc_type, _exc_val, _exc_tb):
-        """Async context manager exit."""
-        if self.session:
-            await self.session.close()
-
-    async def _init_session(self):
-        """Initialize aiohttp session if not exists."""
-        if self.session is None:
-            timeout = aiohttp.ClientTimeout(total=10)
-            self.session = aiohttp.ClientSession(timeout=timeout)
-
-    async def _query_context(self, query: str):
-        """Perform context query to RAG endpoint."""
-        await self._init_session()
-
-        try:
-            async with self.session.post(  # type: ignore
-                self.api_url,
-                json={"query": query},
-                headers={"Content-Type": "application/json"},
-            ) as response:
-                if response.status == 200:
-                    data = await response.json()
-                    if "results" in data:
-                        documents = data["results"]
-                        context = "\n\n".join(
-                            [
-                                r.get("content", {}).get("text", "")
-                                for r in documents
-                                if r.get("content", {}).get("text", "")
-                            ]
-                        )
-                        self.context = context
-                        self.buffer = [context]  # Replace buffer with context
-                else:
-                    error_text = await response.text()
-                    logging.error(f"Query failed with status {response.status}: {error_text}")
-
-        except Exception as e:
-            logging.error(f"Error querying context: {str(e)}")
-
-    async def raw_to_text(self, raw_input: Optional[str] = None):
-        """Convert raw input to text format and add to buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to process. If None, process from message buffer.
-
-        Returns
-        -------
-        str
-            The processed text
-        """
-        if raw_input:
-            self.message_buffer.put_nowait(raw_input)
-
-        if self.message_buffer:
-            try:
-                message = self.message_buffer.get_nowait()
-                if message:
-                    self.buffer.append(message)
-                    logging.debug(f"Added to buffer: {message}")
-                    return message
-            except Empty:
-                pass
-
-        return ""
-
-    async def start(self):
-        """Start the input handler with initial query."""
-        await self._query_context(self.query)
-        self.message_buffer.put_nowait(self.query)
-
-    async def listen(self) -> AsyncIterator[str]:
-        """Listen for new messages."""
-        await self.start()
-
-        while True:
-            message = await self._poll()
-            if message:
-                yield message
-            await asyncio.sleep(0.1)
-
-    async def _poll(self) -> Optional[str]:
-        """Poll for new messages."""
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """Format and return the context."""
-        content = self.context if self.context else (self.buffer[-1] if self.buffer else None)
-
-        if not content:
-            return None
-
-        result = f"""
-TwitterInput CONTEXT
-// START
-{content}
-// END
-"""
-        return result
-
-    async def initialize_with_query(self, query: str):
-        """Initialize with a query."""
-        logging.info(f"[TwitterInput] Initializing with query: {query}")
-        self.message_buffer.put_nowait(query)  # Add query to message buffer
-        await self._query_context(query)  # Immediately get context
diff --git a/src/inputs/plugins/ubtech_asr.py b/src/inputs/plugins/ubtech_asr.py
deleted file mode 100644
index b5c1e45f38..0000000000
--- a/src/inputs/plugins/ubtech_asr.py
+++ /dev/null
@@ -1,192 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.ubtech_asr_provider import UbtechASRProvider
-
-LANGUAGE_CODE_MAP: dict = {
-    "english": "en",
-    "chinese": "zh",
-    "korean": "ko",
-}
-
-
-class UbtechASRSensorConfig(SensorConfig):
-    """
-    Configuration for Ubtech ASR Sensor.
-
-    Parameters
-    ----------
-    robot_ip : str
-        Robot IP address.
-    language : str
-        Language for speech recognition.
-    """
-
-    robot_ip: str = Field(default="", description="Robot IP address")
-    language: str = Field(default="english", description="Language for speech recognition")
-
-
-class UbtechASRInput(FuserInput[UbtechASRSensorConfig, Optional[str]]):
-    """
-    Ubtech Robot ASR (Automatic Speech Recognition) input handler.
-
-    Processes voice input from Ubtech robots using UbtechASRProvider for
-    real-time speech recognition. Integrates with IOProvider for message
-    handling and SleepTickerProvider for sleep management.
-
-    Supports multiple languages (English, Chinese, Korean) and implements
-    intelligent ASR pause/resume cooldown mechanism to prevent excessive
-    processing during active speech recognition.
-    """
-
-    def __init__(self, config: UbtechASRSensorConfig):
-        """
-        Initialize Ubtech ASR input handler.
-
-        Parameters
-        ----------
-        config : UbtechASRSensorConfig
-            Configuration for the sensor input
-        """
-        super().__init__(config)
-        self.messages: List[str] = []
-        self.descriptor_for_LLM = "Voice"
-        self.io_provider = IOProvider()
-        self.message_buffer: Queue[str] = Queue()
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-        # MODIFIED: Tracks the last time ASR resume was triggered
-        self.last_asr_resume_trigger_time = time.time()
-        # MODIFIED: Cooldown in seconds after triggering ASR resume before it can be triggered again
-        self.asr_resume_cooldown = 10.0
-
-        # Get config for the provider
-        self.robot_ip = self.config.robot_ip
-        self.language = self.config.language.strip().lower()
-        self.language_code = LANGUAGE_CODE_MAP.get(self.language, "en")
-
-        # Initialize and start the provider
-        self.asr = UbtechASRProvider(robot_ip=self.robot_ip, language_code=self.language_code)
-        self.asr.start()
-        # Register our internal method as the callback for the provider
-        self.asr.register_message_callback(self._handle_asr_message)
-
-    def _handle_asr_message(self, message: Optional[str]):
-        """
-        Callback function to handle ASR messages from the provider.
-
-        Parameters
-        ----------
-        message : Optional[str]
-            The ASR message received from the provider
-        """
-        if message and len(message.split()) >= 1:
-            logging.info("Detected ASR message: %s", message)
-            self.message_buffer.put(message)
-        else:
-            logging.debug("Ignored empty or malformed ASR message: %s", message)
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages. Resume ASR only if its cooldown period has passed since last resume trigger.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.1)
-        try:
-            # Attempt to get a message from the buffer that the provider has left.
-            message = self.message_buffer.get_nowait()
-            # If a message is successfully polled, we can allow the ASR resume cooldown to effectively reset
-            # by setting last_asr_resume_trigger_time to a value that would allow immediate resume if buffer becomes empty.
-            # This makes the system more responsive after successful speech.
-            if message:
-                self.last_asr_resume_trigger_time = time.time() - self.asr_resume_cooldown - 1
-            return message
-        except Empty:
-            # The buffer is empty.
-            # Only resume ASR if it's paused AND the cooldown period has elapsed since the last resume trigger.
-            if self.asr.paused:
-                current_time = time.time()
-                if (current_time - self.last_asr_resume_trigger_time) > self.asr_resume_cooldown:
-                    logging.info(
-                        f"UbtechASRInput: Cooldown ({self.asr_resume_cooldown}s) passed since last ASR resume trigger. Resuming ASR."
-                    )
-                    self.asr.resume()
-                    self.last_asr_resume_trigger_time = current_time  # MODIFIED: Update time when resume is triggered
-                else:
-                    elapsed_since_last_resume_trigger = current_time - self.last_asr_resume_trigger_time
-                    logging.debug(
-                        f"UbtechASRInput: Cooldown active. Waiting to resume ASR. Time since last ASR resume trigger: {elapsed_since_last_resume_trigger:.2f}s / {self.asr_resume_cooldown}s"
-                    )
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                self.global_sleep_ticker_provider.skip_sleep = True
-        else:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{self.messages[-1]}
-// END
-"""
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.messages = []
-        return result
diff --git a/src/inputs/plugins/ubtech_camera_vlm_input.py b/src/inputs/plugins/ubtech_camera_vlm_input.py
deleted file mode 100644
index d90df7e799..0000000000
--- a/src/inputs/plugins/ubtech_camera_vlm_input.py
+++ /dev/null
@@ -1,181 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import Dict, List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.ubtech_vlm_provider import UbtechVLMProvider
-
-
-class UbtechCameraVLMSensorConfig(SensorConfig):
-    """
-    Configuration for Ubtech Camera VLM Sensor.
-
-    Parameters
-    ----------
-    robot_ip : str
-        Robot IP address.
-    base_url : str
-        Base URL for the VLM service.
-    """
-
-    robot_ip: str = Field(default="", description="Robot IP address")
-    base_url: str = Field(
-        default="wss://api-vila.openmind.com",
-        description="Base URL for the VLM service",
-    )
-
-
-class UbtechCameraVLMInput(FuserInput[UbtechCameraVLMSensorConfig, Optional[str]]):
-    """
-    UbTech Camera VLM bridge.
-
-    Takes UbTech Camera images, sends them to a cloud VLM provider,
-    converts the responses to text strings, and sends them to the fuser.
-    """
-
-    def __init__(self, config: UbtechCameraVLMSensorConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        self.descriptor_for_LLM = "Your Eyes"
-        self.robot_ip = self.config.robot_ip
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        base_url = self.config.base_url
-        self.vlm: UbtechVLMProvider = UbtechVLMProvider(ws_url=base_url, robot_ip=self.robot_ip)
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-    def _handle_vlm_message(self, raw_message: str):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info("Detected VLM message: %s", vlm_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/unitree_g1_basic.py b/src/inputs/plugins/unitree_g1_basic.py
deleted file mode 100644
index e7a81aca3c..0000000000
--- a/src/inputs/plugins/unitree_g1_basic.py
+++ /dev/null
@@ -1,286 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers import BatteryStatus, IOProvider, TeleopsStatus, TeleopsStatusProvider
-
-try:
-    from unitree.unitree_sdk2py.core.channel import ChannelSubscriber  # type: ignore
-    from unitree.unitree_sdk2py.idl.unitree_hg.msg import dds_  # type: ignore
-except ImportError:
-    logging.warning("Unitree SDK not found. Please install the Unitree SDK to use this plugin.")
-
-    class BmsState_:
-        """
-        Placeholder for BmsState_ when Unitree SDK is not installed.
-        """
-
-        def __init__(self):
-            pass
-
-    class LowState_:
-        """
-        Placeholder for LowState_ when Unitree SDK is not installed.
-        """
-
-        def __init__(self):
-            pass
-
-    class dds_:
-        """
-        Placeholder for dds_ module when Unitree SDK is not installed.
-        """
-
-        BmsState_ = BmsState_
-        LowState_ = LowState_
-
-    class ChannelSubscriber:
-        """
-        Placeholder for ChannelSubscriber when Unitree SDK is not installed.
-        """
-
-        def __init__(self, *args, **kwargs):
-            pass
-
-        def Init(self, *args, **kwargs):
-            """
-            Placeholder for Init method of ChannelSubscriber.
-            """
-            pass
-
-
-# Data structure documentation:
-#
-# class BmsState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.BmsState_"):
-#     version_high: types.uint8
-#     version_low: types.uint8
-#     fn: types.uint8
-#     cell_vol: types.array[types.uint16, 40]
-#     bmsvoltage: types.array[types.uint32, 3]
-#     current: types.int32
-#     soc: types.uint8
-#     soh: types.uint8
-#     temperature: types.array[types.int16, 12]
-#     cycle: types.uint16
-#     manufacturer_date: types.uint16
-#     bmsstate: types.array[types.uint32, 5]
-#     reserve: types.array[types.uint32, 3]
-#
-# class LowState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.LowState_"):
-#     version: types.array[types.uint32, 2]
-#     mode_pr: types.uint8
-#     mode_machine: types.uint8
-#     tick: types.uint32
-#     imu_state: 'unitree.unitree_sdk2py.idl.unitree_hg.msg.dds_.IMUState_'
-#     motor_state: types.array['unitree.unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorState_', 35]
-#     wireless_remote: types.array[types.uint8, 40]
-
-
-class UnitreeG1BasicConfig(SensorConfig):
-    """
-    Configuration for Unitree G1 Basic Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    unitree_ethernet : Optional[str]
-        Unitree Ethernet Interface.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    unitree_ethernet: Optional[str] = Field(default=None, description="Unitree Ethernet Interface")
-
-
-class UnitreeG1Basic(FuserInput[UnitreeG1BasicConfig, List[float]]):
-    """
-    Unitree G1 Basic Functionality.
-
-    Takes specific Unitree CycloneDDS Lowstate messages, converts them to
-    text strings, and sends them to the fuser.
-
-    Processes Unitree Lowstate information.
-    These are things like joint position and battery charge.
-
-    Maintains a buffer of processed messages.
-    """
-
-    def __init__(self, config: UnitreeG1BasicConfig):
-        """
-        Initialize Unitree bridge with empty message buffer.
-        """
-        super().__init__(config)
-
-        api_key = self.config.api_key
-
-        # IO provider
-        self.io_provider = IOProvider()
-
-        # Status provider
-        self.status_provider = TeleopsStatusProvider(api_key=api_key)
-
-        # Messages buffer
-        self.messages: list[Message] = []
-
-        # create subscriber
-        self.low_state = None
-        self.lowstate_subscriber = None
-        self.bmsstate_subscriber = None
-
-        unitree_ethernet = self.config.unitree_ethernet
-        logging.info(f"UnitreeG1Basic using ethernet: {unitree_ethernet}")
-
-        # Joint angles e.g.
-        if unitree_ethernet and unitree_ethernet != "":
-            # only set up if we are connected to a robot
-            self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", dds_.LowState_)  # type: ignore
-            self.lowstate_subscriber.Init(self.LowStateHandler, 10)
-
-            # Battery specific data
-            self.bmsstate_subscriber = ChannelSubscriber("rt/lf/bmsstate", dds_.BmsState_)  # type: ignore
-            self.bmsstate_subscriber.Init(self.BMSStateHandler, 10)
-
-        # battery state
-        self.battery_percentage = 0.0
-        self.battery_voltage = 0.0
-        self.battery_amperes = 0.0
-        self.battery_temperature = 0
-
-        self.g1_lowbatt_percent = 20.0  # percent
-        self.descriptor_for_LLM = "Energy Level"
-
-    def BMSStateHandler(self, msg: dds_.BmsState_):  # type: ignore
-        """
-        Handle incoming BmsState messages from the Unitree robot.
-
-        Parameters
-        ----------
-        msg : dds_.BmsState_
-            The incoming BmsState message containing battery state information.
-        """
-        self.bms_state = msg
-        logging.debug(f"BmsState_: {msg}")
-
-        self.battery_voltage = float(msg.bmsvoltage[0])  # type: ignore
-        self.battery_amperes = float(msg.current)  # type: ignore
-        self.battery_percentage = float(msg.soc)  # type: ignore
-        self.battery_temperature = float(msg.temperature[0])  # type: ignore
-
-    def LowStateHandler(self, msg: dds_.LowState_):  # type: ignore
-        """
-        Handle incoming LowState messages from the Unitree robot.
-
-        Parameters
-        ----------
-        msg : dds_.LowState_
-            The incoming LowState message containing robot state information.
-        """
-        self.low_state = msg
-        logging.debug(f"LowState_: {msg}")
-
-    async def update_status(self):
-        """
-        Report the battery status to the status provider.
-        """
-        self.status_provider.share_status(
-            TeleopsStatus(
-                machine_name="UnitreeG1",
-                update_time=str(time.time()),
-                om1_heartbeat=str(time.time()),
-                battery_status=BatteryStatus(
-                    battery_level=self.battery_percentage,
-                    temperature=self.battery_temperature,
-                    voltage=self.battery_voltage,
-                    timestamp=str(time.time()),
-                    charging_status=False,
-                ),
-            )
-        )
-
-    async def _poll(self) -> List[float]:
-        """
-        Poll for new lowstate data.
-
-        Returns
-        -------
-        List[float]
-            list of floats
-        """
-        await asyncio.sleep(2.0)
-
-        await self.update_status()
-
-        # logging.info(f"Battery voltage: {self.latest_v} current: {self.latest_a}")
-
-        return [self.battery_percentage, self.battery_voltage, self.battery_amperes]
-
-    async def _raw_to_text(self, raw_input: List[float]) -> Optional[Message]:
-        """
-        Process raw lowstate to generate text description.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            Raw lowstate data to be processed
-
-        Returns
-        -------
-        Message
-            Timestamped message containing description
-        """
-        battery_percentage = raw_input[0]
-
-        if battery_percentage < self.g1_lowbatt_percent:
-            message = "WARNING: You are low on energy. SIT DOWN NOW."
-            return Message(timestamp=time.time(), message=message)
-        elif battery_percentage < self.g1_lowbatt_percent + 10.0:  # the +10% is an emergency reserve
-            message = "WARNING: You are low on energy. Consider sitting down."
-            return Message(timestamp=time.time(), message=message)
-
-    async def raw_to_text(self, raw_input: List[float]):
-        """
-        Convert raw lowstate to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            Raw lowstate data to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/unitree_g1_camera_vlm_cloud.py b/src/inputs/plugins/unitree_g1_camera_vlm_cloud.py
deleted file mode 100644
index 01c700deda..0000000000
--- a/src/inputs/plugins/unitree_g1_camera_vlm_cloud.py
+++ /dev/null
@@ -1,178 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import Dict, List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_realsense_dev_vlm_provider import UnitreeRealSenseDevVLMProvider
-
-
-class UnitreeG1CameraVLMCloudConfig(SensorConfig):
-    """
-    Configuration for Unitree G1 Camera VLM Cloud Sensor.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the VLM service.
-    """
-
-    base_url: str = Field(
-        default="wss://api-vila.openmind.com",
-        description="Base URL for the VLM service",
-    )
-
-
-class UnitreeG1CameraVLMCloud(FuserInput[UnitreeG1CameraVLMCloudConfig, Optional[str]]):
-    """
-    Unitree G1 Camera VLM bridge.
-
-    Takes Unitree G1 Camera images, sends them to a cloud VLM provider,
-    converts the responses to text strings, and sends them to the fuser.
-    """
-
-    def __init__(self, config: UnitreeG1CameraVLMCloudConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        self.descriptor_for_LLM = "Your Eyes"
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        base_url = self.config.base_url
-        self.vlm: UnitreeRealSenseDevVLMProvider = UnitreeRealSenseDevVLMProvider(ws_url=base_url)
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-    def _handle_vlm_message(self, raw_message: str):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info("Detected VLM message: %s", vlm_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/unitree_g1_locations_input.py b/src/inputs/plugins/unitree_g1_locations_input.py
deleted file mode 100644
index 09c0cf8345..0000000000
--- a/src/inputs/plugins/unitree_g1_locations_input.py
+++ /dev/null
@@ -1,182 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from pydantic import Field, model_validator
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_g1_locations_provider import UnitreeG1LocationsProvider
-
-
-class UnitreeG1LocationsSensorConfig(SensorConfig):
-    """
-    Configuration for Unitree G1 Locations Sensor.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the locations service. If None, determined by use_sim flag.
-    api_key: str
-        API key for OpenMind cloud system.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    timeout : int
-        Timeout in seconds.
-    refresh_interval : int
-        Refresh interval in seconds.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the locations service. If None, determined by use_sim flag.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-    use_sim: bool = Field(default=False, description="Whether to run the connector in the simulator.")
-    timeout: int = Field(default=5, description="Timeout")
-    refresh_interval: int = Field(default=30, description="Refresh Interval")
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "UnitreeG1LocationsSensorConfig":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        UnitreeG1LocationsSensorConfig
-            The validated configuration with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-            else:
-                self.base_url = "http://localhost:5000/maps/locations/list"
-
-        return self
-
-
-class UnitreeG1LocationsInput(FuserInput[UnitreeG1LocationsSensorConfig, Optional[str]]):
-    """
-    Input plugin that publishes available saved locations for LLM prompts (Unitree G1).
-
-    Reads locations from IOProvider (populated by Locations background task).
-    """
-
-    def __init__(self, config: UnitreeG1LocationsSensorConfig):
-        """
-        Initialize the UnitreeG1LocationsInput plugin.
-
-        Parameters
-        ----------
-        config : UnitreeG1LocationsSensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-        timeout = self.config.timeout
-        refresh_interval = self.config.refresh_interval
-
-        if not base_url:
-            logging.error("UnitreeG1LocationsInput requires a base_url to be set in the configuration")
-            return
-
-        self.locations_provider = UnitreeG1LocationsProvider(base_url, timeout, refresh_interval)
-        self.io_provider = IOProvider()
-
-        self.messages: List[Message] = []
-        self.descriptor_for_LLM = "These are the saved locations you can navigate to."
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll the UnitreeG1LocationsProvider for the latest locations.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of locations or None if no locations are available.
-        """
-        await asyncio.sleep(0.5)
-
-        locations = self.locations_provider.get_all_locations()
-
-        lines = []
-        for name, entry in locations.items():
-            label = entry.get("name") if isinstance(entry, dict) else name
-            pose = entry.get("pose") if isinstance(entry, dict) else None
-            if pose and isinstance(pose, dict):
-                pos = pose.get("position", {})
-                lines.append(f"{label} (x:{pos.get('x',0):.2f} y:{pos.get('y',0):.2f})")
-            else:
-                lines.append(f"{label}")
-
-        result = "\n".join(lines)
-        logging.debug(f"UnitreeG1LocationsInput: formatted {len(lines)} locations")
-        return result
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input string to Message dataclass.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        if raw_input is None:
-            return
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{self.messages[-1].message}
-// END
-"""
-        self.io_provider.add_input(
-            self.__class__.__name__,
-            self.messages[-1].message,
-            self.messages[-1].timestamp,
-        )
-
-        # Reset messages buffer
-        self.messages = []
-        return result
diff --git a/src/inputs/plugins/unitree_g1_odom.py b/src/inputs/plugins/unitree_g1_odom.py
deleted file mode 100644
index cb16602f73..0000000000
--- a/src/inputs/plugins/unitree_g1_odom.py
+++ /dev/null
@@ -1,164 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_g1_odom_provider import RobotState, UnitreeG1OdomProvider
-
-
-class UnitreeG1OdomConfig(SensorConfig):
-    """
-    Configuration for Unitree G1 Odom Sensor.
-
-    Parameters
-    ----------
-    use_zenoh : bool
-        Whether to use Zenoh for odometry.
-    URID : str
-        URID (Unitree ID).
-    unitree_ethernet : Optional[str]
-        Ethernet channel for Unitree odometry.
-    """
-
-    unitree_ethernet: Optional[str] = Field(default=None, description="Ethernet channel for Unitree odometry")
-
-
-class UnitreeG1Odom(FuserInput[UnitreeG1OdomConfig, Optional[dict]]):
-    """
-    Odom input handler for reading Unitree G1 odometry data.
-    """
-
-    def __init__(self, config: UnitreeG1OdomConfig):
-        """
-        Initialize the Odom input processor.
-
-        Parameters
-        ----------
-        config : OdomConfig
-            Configuration for the Odom sensor.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        logging.info(f"Config: {self.config}")
-
-        unitree_ethernet = self.config.unitree_ethernet
-
-        self.odom = UnitreeG1OdomProvider(unitree_ethernet)
-        self.descriptor_for_LLM = "Information about your location and body pose, to help plan your movements."
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for new messages from the Odom Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[dict]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.1)
-
-        try:
-            return self.odom.position
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        logging.debug(f"odom: {raw_input}")
-
-        if raw_input is None:
-            return None
-
-        res = ""
-        moving = raw_input["moving"]
-        attitude = raw_input["body_attitude"]
-
-        if attitude is RobotState.SITTING:
-            res = "You are sitting down - do not generate new movement commands. "
-        elif moving:
-            # already moving
-            res = "You are moving - do not generate new movement commands. "
-        else:
-            res = "You are standing still - you can move if you want to. "
-
-        return Message(timestamp=time.time(), message=res)
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/unitree_go2_battery.py b/src/inputs/plugins/unitree_go2_battery.py
deleted file mode 100644
index 3e99f4fb59..0000000000
--- a/src/inputs/plugins/unitree_go2_battery.py
+++ /dev/null
@@ -1,258 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional, Union
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers import BatteryStatus, IOProvider, TeleopsStatus, TeleopsStatusProvider
-from zenoh_msgs import ZenohSampleType, open_zenoh_session
-
-try:
-    from unitree.unitree_sdk2py.core.channel import ChannelSubscriber  # type: ignore
-    from unitree.unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_  # type: ignore
-except ImportError:
-    logging.warning("Unitree SDK not found. Please install the Unitree SDK to use this plugin.")
-
-    class ChannelSubscriber:
-        """
-        Placeholder for ChannelSubscriber when Unitree SDK is not installed.
-        """
-
-        def __init__(self):
-            pass
-
-    class LowState_:
-        """
-        Placeholder for LowState_ when Unitree SDK is not installed.
-        """
-
-        def __init__(self):
-            pass
-
-
-class UnitreeGo2BatteryConfig(SensorConfig):
-    """
-    Configuration for Unitree Go2 Battery Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        Teleops API key (forwarded to ``TeleopsStatusProvider``).
-    topic : str
-        Zenoh key for the LowState publication. Default ``lowstate``.
-    use_sim : bool
-        Whether to use the simulation Zenoh endpoint instead of a local one.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    topic: str = Field(
-        default="lowstate",
-        description="Zenoh key for Go2 LowState (unitree_go/msg/LowState).",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to use the simulation Zenoh endpoint instead of a local one.",
-    )
-
-
-class UnitreeGo2Battery(FuserInput[UnitreeGo2BatteryConfig, List[float]]):
-    """
-    Unitree Go2 Lowstate bridge.
-
-    Takes specific Unitree CycloneDDS Lowstate messages, converts them to
-    text strings, and sends them to the fuser.
-
-    Processes Unitree battery information.
-
-    Maintains a buffer of processed messages.
-    """
-
-    def __init__(self, config: UnitreeGo2BatteryConfig):
-        """
-        Initialize Unitree bridge with empty message buffer.
-
-        Parameters
-        ----------
-        config : UnitreeGo2BatteryConfig
-            Configuration settings for the sensor input.
-        """
-        super().__init__(config)
-
-        api_key = self.config.api_key
-
-        # IO provider
-        self.io_provider = IOProvider()
-
-        # Status provider
-        self.status_provider = TeleopsStatusProvider(api_key=api_key)
-
-        # Messages buffer
-        self.messages: list[Message] = []
-
-        # create cyclonedds subscriber
-        self._lowstate_cyclonedds_subscriber = None
-
-        # create zenoh subscriber
-        self._lowstate_zenoh_subscriber = None
-
-        if not self.config.use_sim:
-            try:
-                self._lowstate_cyclonedds_subscriber = ChannelSubscriber("rt/lowstate", LowState_)  # type: ignore
-                logging.info("UnitreeGo2Battery initialized ChannelSubscriber for 'rt/lowstate'")
-            except Exception as e:
-                logging.error(f"UnitreeGo2Battery failed to initialize ChannelSubscriber: {e}")
-
-            if self._lowstate_cyclonedds_subscriber:
-                self._lowstate_cyclonedds_subscriber.Init(self.LowStateMessageHandler, 10)  # type: ignore
-        else:
-            try:
-                self._lowstate_zenoh_subscriber = open_zenoh_session()
-                self._lowstate_zenoh_subscriber.declare_subscriber(self.config.topic, self.LowStateMessageHandler)
-                logging.info('UnitreeGo2Battery subscribed to "%s" via Zenoh', self.config.topic)
-            except Exception:
-                logging.exception("UnitreeGo2Battery: failed to open Zenoh session")
-                self._lowstate_zenoh_subscriber = None
-
-        # battery state
-        self.battery_percentage = 0.0
-        self.battery_voltage = 0.0
-        self.battery_amperes = 0.0
-        self.battery_t = 0
-
-        # Simple description of sensor output to help LLM understand its importance and utility
-        self.descriptor_for_LLM = "Energy Levels"
-
-    def LowStateMessageHandler(self, msg: Union[LowState_, ZenohSampleType]):
-        """
-        Handle incoming LowState messages from Unitree Go2.
-
-        Parameters
-        ----------
-        msg : Union[LowState_, ZenohSampleType]
-            The incoming message containing battery information, either from CycloneDDS or Zenoh.
-        """
-        if self._lowstate_zenoh_subscriber:
-            try:
-                msg = LowState_.deserialize(msg.payload.to_bytes())  # type: ignore
-            except Exception:
-                logging.exception("UnitreeGo2Battery: failed to deserialize Zenoh message")
-                return
-
-        try:
-            self.battery_percentage = round(float(msg.bms_state.soc), 2)  # type: ignore
-            self.battery_voltage = round(float(msg.power_v), 2)  # type: ignore
-            self.battery_amperes = round(float(msg.power_a), 2)  # type: ignore
-            self.battery_t = int((msg.temperature_ntc1 + msg.temperature_ntc2) / 2)  # type: ignore
-        except AttributeError as e:
-            logging.warning(f"Incomplete LowState message: {e}")
-            self.battery_percentage = 0.0
-            self.battery_voltage = 0.0
-            self.battery_amperes = 0.0
-            self.battery_t = 0
-
-    async def report_status(self):
-        """
-        Report the battery status to the status provider.
-        """
-        self.status_provider.share_status(
-            TeleopsStatus(
-                machine_name="UnitreeGo2",
-                update_time=str(time.time()),
-                om1_heartbeat=str(time.time()),
-                battery_status=BatteryStatus(
-                    battery_level=self.battery_percentage,
-                    temperature=self.battery_t,
-                    voltage=self.battery_voltage,
-                    timestamp=str(time.time()),
-                    charging_status=False,
-                ),
-            )
-        )
-
-    async def _poll(self) -> List[float]:
-        """
-        Poll for new lowstate data.
-
-        Returns
-        -------
-        List[float]
-            list of floats
-        """
-        await asyncio.sleep(2.0)
-        await self.report_status()
-
-        logging.info(
-            (
-                f"Battery percentage: {self.battery_percentage} "
-                f"voltage: {self.battery_voltage} "
-                f"amperes: {self.battery_amperes}"
-            )
-        )
-
-        return [self.battery_percentage, self.battery_voltage, self.battery_amperes]
-
-    async def _raw_to_text(self, raw_input: List[float]) -> Optional[Message]:
-        """
-        Process raw lowstate to generate text description.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            Raw lowstate data to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Timestamped message containing description
-        """
-        battery_percentage = raw_input[0]
-        logging.debug(f"Battery percentage: {battery_percentage}")
-
-        if battery_percentage < 7:
-            message = "CRITICAL: Your battery is almost empty. Immediately move to your charging station and recharge. If you cannot find your charging station, consider sitting down."
-            return Message(timestamp=time.time(), message=message)
-        elif battery_percentage < 15:
-            message = "WARNING: You are low on energy. Move to your charging station and recharge."
-            return Message(timestamp=time.time(), message=message)
-
-    async def raw_to_text(self, raw_input: List[float]):
-        """
-        Convert raw lowstate to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            Raw lowstate data to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-{self.descriptor_for_LLM}: "{latest_message.message}"
-"""
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/unitree_go2_camera_vlm_cloud.py b/src/inputs/plugins/unitree_go2_camera_vlm_cloud.py
deleted file mode 100644
index 9d7976ea30..0000000000
--- a/src/inputs/plugins/unitree_go2_camera_vlm_cloud.py
+++ /dev/null
@@ -1,190 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import Dict, List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_camera_vlm_provider import UnitreeCameraVLMProvider
-
-
-class UnitreeGo2CameraVLMCloudConfig(SensorConfig):
-    """
-    Configuration for Unitree Go2 Camera VLM Cloud input.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    base_url : str
-        Base URL for the VLM service.
-    stream_base_url : Optional[str]
-        Stream Base URL.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    base_url: str = Field(
-        default="wss://api-vila.openmind.com",
-        description="Base URL for the VLM service",
-    )
-    stream_base_url: Optional[str] = Field(default=None, description="Stream Base URL")
-
-
-class UnitreeGo2CameraVLMCloud(FuserInput[UnitreeGo2CameraVLMCloudConfig, Optional[str]]):
-    """
-    Unitree Go2 Air Camera VLM bridge.
-
-    Takes Unitree Go2 Air Camera images, sends them to a cloud VLM provider,
-    converts the responses to text strings, and sends them to the fuser.
-    """
-
-    def __init__(self, config: UnitreeGo2CameraVLMCloudConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        self.descriptor_for_LLM = "Robot Camera Vision"
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        api_key = self.config.api_key
-
-        base_url = self.config.base_url
-        stream_base_url = (
-            self.config.stream_base_url or f"wss://api.openmind.com/api/core/teleops/stream?api_key={api_key}"
-        )
-
-        self.vlm: UnitreeCameraVLMProvider = UnitreeCameraVLMProvider(base_url=base_url, stream_url=stream_base_url)
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-    def _handle_vlm_message(self, raw_message: str):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info("Detected VLM message: %s", vlm_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/unitree_go2_gps_odom_reader.py b/src/inputs/plugins/unitree_go2_gps_odom_reader.py
deleted file mode 100644
index 9c09577870..0000000000
--- a/src/inputs/plugins/unitree_go2_gps_odom_reader.py
+++ /dev/null
@@ -1,177 +0,0 @@
-import asyncio
-import logging
-import math
-import time
-from typing import Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_odom_provider import UnitreeGo2OdomProvider
-
-R_EARTH = 6_371_000.0  # mean Earth radius (m)
-
-
-class UnitreeGo2GPSOdomReaderConfig(SensorConfig):
-    """
-    Configuration for GPS and Unitree Go2 Odom Reader Sensor.
-
-    Parameters
-    ----------
-    origin_lat : Optional[float]
-        Origin Latitude.
-    origin_lon : Optional[float]
-        Origin Longitude.
-    origin_yaw_deg : Optional[float]
-        Origin Yaw Degrees.
-    unitree_ethernet : Optional[str]
-        Unitree Ethernet Interface.
-    """
-
-    origin_lat: Optional[float] = Field(default=None, description="Origin Latitude")
-    origin_lon: Optional[float] = Field(default=None, description="Origin Longitude")
-    origin_yaw_deg: Optional[float] = Field(default=None, description="Origin Yaw Degrees")
-    unitree_ethernet: Optional[str] = Field(default=None, description="Unitree Ethernet Interface")
-
-
-class UnitreeGo2GPSOdomReader(FuserInput[UnitreeGo2GPSOdomReaderConfig, Optional[str]]):
-    """
-    GPS Odom Reader input handler for reading Unitree Go2 odometry data and converting it to GPS coordinates.
-    """
-
-    def __init__(self, config: UnitreeGo2GPSOdomReaderConfig):
-        """
-        Initialize the GPSOdomReader input handler.
-
-        Sets up the required providers and buffers for handling GPS/odometry data.
-        Initializes variables for origin coordinates and yaw offset.
-
-        Parameters
-        ----------
-        config : GPSOdomReaderConfig
-            Configuration for the sensor input, including origin coordinates and yaw.
-        """
-        super().__init__(config)
-
-        self.lat0 = self.config.origin_lat
-        self.lon0 = self.config.origin_lon
-        yaw0_deg = self.config.origin_yaw_deg
-        if self.lat0 is None or self.lon0 is None or yaw0_deg is None:
-            logging.error("GPSOdomReader: origin_lat, origin_lon, and origin_yaw_deg must be set in the config.")
-            raise ValueError("Missing origin coordinates or yaw in config.")
-        self._yaw_offset = math.radians(yaw0_deg) if yaw0_deg is not None else 0.0
-
-        self.pose_x = 0.0  # metres East of origin
-        self.pose_y = 0.0  # metres North of origin
-        self.pose_yaw = 0.0  # rad
-
-        self.io_provider = IOProvider()
-        self.buf: list[Message] = []
-        self.descriptor_for_LLM = "Latitude, Longitude, and Yaw"
-
-        unitree_ethernet = self.config.unitree_ethernet
-        self.odom = UnitreeGo2OdomProvider(channel=unitree_ethernet)
-        logging.info(f"Mapper Odom Provider: {self.odom}")
-
-    @staticmethod
-    def _wrap_angle(a: float) -> float:
-        """
-        Normalize an angle to the range [-pi, pi].
-
-        Parameters
-        ----------
-        a : float
-            Input angle in radians.
-
-        Returns
-        -------
-        float
-            Normalized angle within [-pi, pi].
-        """
-        return (a + math.pi) % (2 * math.pi) - math.pi
-
-    def _xy_to_latlon(self, x: float, y: float):
-        """
-        Convert local cartesian coordinates to latitude and longitude.
-
-        Parameters
-        ----------
-        x : float
-            East offset in metres from origin.
-        y : float
-            North offset in metres from origin.
-
-        Returns
-        -------
-        map
-            Mapped degrees of latitude and longitude.
-        """
-        φ0, λ0 = map(math.radians, (self.lat0, self.lon0))  # type: ignore
-        φ = φ0 + y / R_EARTH
-        λ = λ0 + x / (R_EARTH * math.cos(φ0))
-        return map(math.degrees, (φ, λ))
-
-    async def _update_pose(self):
-        """
-        Update robot pose from latest odometry data.
-
-        Reads x, y, and yaw from the odometry provider and applies
-        the yaw offset to compute the pose in the world frame.
-        """
-        o = self.odom
-        logging.debug(f"Odom data: {o}")
-        self.pose_x = self.odom.x
-        self.pose_y = self.odom.y
-        yaw_world = math.radians(self.odom.odom_yaw_m180_p180)
-        self.pose_yaw = self._wrap_angle(yaw_world + self._yaw_offset)
-
-        # publish through IOProvider
-        lat, lon = self._xy_to_latlon(self.pose_x, self.pose_y)
-        self.io_provider.add_dynamic_variable("latitude", lat)
-        self.io_provider.add_dynamic_variable("longitude", lon)
-        self.io_provider.add_dynamic_variable("yaw_deg", math.degrees(self.pose_yaw))
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for updated odometry and compute global pose.
-
-        Returns
-        -------
-        Optional[str]
-            Always returns None.
-        """
-        await asyncio.sleep(0.5)
-        await self._update_pose()
-        return None
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Allow external callers (e.g. GUI, CLI) to push arbitrary text into
-        the same IO/logging path that serial parsing used to feed.
-        """
-        if not raw_input:
-            return
-        now = time.time()
-        text = raw_input.strip()
-        self.buf.append(Message(now, text))
-        self.io_provider.add_input(self.__class__.__name__, text, now)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Return the newest buffered message in the canonical // START … // END
-        block that the LLM side expects, then clear the buffer.
-        """
-        if not self.buf:
-            return None
-
-        message = self.buf[-1]
-        self.buf.clear()
-        self.io_provider.add_input(self.__class__.__name__, message.message, message.timestamp)
-        return f"""
-{self.descriptor_for_LLM} INPUT
-// START
-{message.message}
-// END
-"""
diff --git a/src/inputs/plugins/unitree_go2_locations_input.py b/src/inputs/plugins/unitree_go2_locations_input.py
deleted file mode 100644
index 47a94f1905..0000000000
--- a/src/inputs/plugins/unitree_go2_locations_input.py
+++ /dev/null
@@ -1,183 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from pydantic import Field, model_validator
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_locations_provider import UnitreeGo2LocationsProvider
-
-
-class UnitreeGo2LocationsSensorConfig(SensorConfig):
-    """
-    Configuration for Unitree Go2 Locations Sensor.
-
-    Parameters
-    ----------
-    base_url : Optional[str]
-        Base URL for the locations service. If None, determined by use_sim flag.
-    api_key: str
-        API key for OpenMind cloud system.
-    use_sim : bool
-        Whether to run the connector in the simulator.
-    timeout : int
-        Timeout in seconds.
-    refresh_interval : int
-        Refresh interval in seconds.
-    """
-
-    base_url: Optional[str] = Field(
-        default=None,
-        description="Base URL for the locations service. If None, determined by use_sim flag.",
-    )
-    api_key: str = Field(
-        default="",
-        description="API key for OpenMind cloud system",
-    )
-    use_sim: bool = Field(default=False, description="Whether to run the connector in the simulator.")
-    timeout: int = Field(default=5, description="Timeout in seconds")
-    refresh_interval: int = Field(default=30, description="Refresh interval in seconds")
-
-    @model_validator(mode="after")
-    def set_base_url(self) -> "UnitreeGo2LocationsSensorConfig":
-        """
-        Set base_url based on use_sim if not explicitly provided.
-
-        Returns
-        -------
-        UnitreeGo2LocationsSensorConfig
-            The validated configuration with base_url set if it was None.
-        """
-        if self.base_url is None:
-            if self.use_sim:
-                self.base_url = "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-            else:
-                self.base_url = "http://localhost:5000/maps/locations/list"
-
-        return self
-
-
-class UnitreeGo2LocationsInput(FuserInput[UnitreeGo2LocationsSensorConfig, Optional[str]]):
-    """
-    Input plugin that publishes available saved locations for LLM prompts (Unitree Go2).
-
-    Reads locations from IOProvider (populated by Locations background task).
-    """
-
-    def __init__(self, config: UnitreeGo2LocationsSensorConfig):
-        """
-        Initialize the UnitreeGo2LocationsInput plugin.
-
-        Parameters
-        ----------
-        config : UnitreeGo2LocationsSensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        base_url = self.config.base_url
-        api_key = self.config.api_key
-        timeout = self.config.timeout
-        refresh_interval = self.config.refresh_interval
-
-        if not base_url:
-            logging.error("UnitreeGo2LocationsInput requires a base_url to be set in the configuration")
-            return
-
-        self.locations_provider = UnitreeGo2LocationsProvider(base_url, api_key, timeout, refresh_interval)
-        self.io_provider = IOProvider()
-
-        self.messages: List[Message] = []
-        self.descriptor_for_LLM = "These are the saved locations you can navigate to."
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll the UnitreeGo2LocationsProvider for the latest locations.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of locations or None if no locations are available.
-        """
-        await asyncio.sleep(0.5)
-
-        locations = self.locations_provider.get_all_locations()
-
-        lines = []
-        for name, entry in locations.items():
-            label = entry.get("name") if isinstance(entry, dict) else name
-            pose = entry.get("pose") if isinstance(entry, dict) else None
-            if pose and isinstance(pose, dict):
-                pos = pose.get("position", {})
-                lines.append(f"{label} (x:{pos.get('x',0):.2f} y:{pos.get('y',0):.2f})")
-            else:
-                lines.append(f"{label}")
-
-        result = "\n".join(lines)
-        logging.debug(f"UnitreeGo2LocationsInput: formatted {len(lines)} locations")
-        return result
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input string to Message dataclass.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        if raw_input is None:
-            return
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{self.messages[-1].message}
-// END
-"""
-        self.io_provider.add_input(
-            self.__class__.__name__,
-            self.messages[-1].message,
-            self.messages[-1].timestamp,
-        )
-
-        # Reset messages buffer
-        self.messages = []
-        return result
diff --git a/src/inputs/plugins/unitree_go2_odom.py b/src/inputs/plugins/unitree_go2_odom.py
deleted file mode 100644
index 240a108fd5..0000000000
--- a/src/inputs/plugins/unitree_go2_odom.py
+++ /dev/null
@@ -1,186 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_odom_provider import RobotState, UnitreeGo2OdomProvider
-from providers.unitree_go2_odom_zenoh_provider import UnitreeGo2OdomZenohProvider
-
-
-class UnitreeGo2OdomConfig(SensorConfig):
-    """
-    Configuration for Unitree Go2 Odom Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API key for authentication, if required by the Zenoh session.
-    topic : str
-        Zenoh keyexpression to subscribe to.
-    use_sim : bool
-        Whether to use the simulation Zenoh endpoint instead of a local one.
-    unitree_ethernet : Optional[str]
-        Ethernet channel for Unitree odometry.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    topic: str = Field(
-        default="utlidar/robot_pose",
-        description="Zenoh key for Go2 robot_pose / odom.",
-    )
-    use_sim: bool = Field(
-        default=False,
-        description="Whether to use the simulation Zenoh endpoint instead of a local one.",
-    )
-    unitree_ethernet: Optional[str] = Field(default=None, description="Ethernet channel for Unitree odometry")
-
-
-class UnitreeGo2Odom(FuserInput[UnitreeGo2OdomConfig, Optional[dict]]):
-    """
-    Odom input handler for reading Unitree Go2 odometry data.
-    """
-
-    def __init__(self, config: UnitreeGo2OdomConfig):
-        """
-        Initialize the Odom input processor.
-
-        Parameters
-        ----------
-        config : OdomConfig
-            Configuration for the Odom sensor.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        logging.info(f"Config: {self.config}")
-
-        unitree_ethernet = self.config.unitree_ethernet
-
-        if self.config.use_sim is True:
-            self.odom = UnitreeGo2OdomZenohProvider(
-                api_key=self.config.api_key,
-                topic=self.config.topic,
-                use_sim=self.config.use_sim,
-            )
-            logging.info("Using Zenoh-based Odom Provider for Unitree Go2")
-        else:
-            self.odom = UnitreeGo2OdomProvider(unitree_ethernet)
-            logging.info("Using CycloneDDS-based Odom Provider for Unitree Go2")
-
-        self.descriptor_for_LLM = "Information about your location and body pose, to help plan your movements."
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for new messages from the Odom Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[dict]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.1)
-
-        try:
-            return self.odom.position
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        logging.debug(f"odom: {raw_input}")
-
-        if raw_input is None:
-            return None
-
-        res = ""
-        moving = raw_input["moving"]
-        attitude = raw_input["body_attitude"]
-
-        if attitude is RobotState.SITTING:
-            res = "You are sitting down - do not generate new movement commands. "
-        elif moving:
-            # already moving
-            res = "You are moving - do not generate new movement commands. "
-        else:
-            res = "You are standing still - you can move if you want to. "
-
-        return Message(timestamp=time.time(), message=res)
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/unitree_go2_rplidar.py b/src/inputs/plugins/unitree_go2_rplidar.py
deleted file mode 100644
index 934df92a3e..0000000000
--- a/src/inputs/plugins/unitree_go2_rplidar.py
+++ /dev/null
@@ -1,197 +0,0 @@
-import asyncio
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_rplidar_provider import UnitreeGo2RPLidarProvider
-
-
-class RPLidarConfig(SensorConfig):
-    """
-    Configuration for RPLidar Sensor.
-
-    Parameters
-    ----------
-    serial_port : Optional[str]
-        Serial Port to connect to.
-    half_width_robot : float
-        Half width of the robot.
-    angles_blanked : List[float]
-        List of angles to blank out.
-    relevant_distance_max : float
-        Maximum relevant distance.
-    relevant_distance_min : float
-        Minimum relevant distance.
-    sensor_mounting_angle : float
-        Mounting angle of the sensor.
-    log_file : bool
-        Whether to log to a file.
-    """
-
-    serial_port: Optional[str] = Field(default=None, description="Serial Port to connect to")
-    half_width_robot: float = Field(default=0.20, description="Half width of the robot")
-    angles_blanked: List[float] = Field(default_factory=list, description="List of angles to blank out")
-    relevant_distance_max: float = Field(default=1.1, description="Maximum relevant distance")
-    relevant_distance_min: float = Field(default=0.08, description="Minimum relevant distance")
-    sensor_mounting_angle: float = Field(default=180.0, description="Mounting angle of the sensor")
-    log_file: bool = Field(default=False, description="Whether to log to a file")
-
-
-class UnitreeGo2RPLidar(FuserInput[RPLidarConfig, Optional[str]]):
-    """
-    RPLidar input handler for processing laser range finder data.
-    """
-
-    def __init__(self, config: RPLidarConfig):
-        """
-        Initialize the RPLidar input handler.
-
-        Parameters
-        ----------
-        config : RPLidarConfig
-            Configuration for the RPLidar input handler.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Build lidar configuration from config
-        lidar_config = self._extract_lidar_config(config)
-
-        # Initialize RPLidar Provider
-        self.lidar: UnitreeGo2RPLidarProvider = UnitreeGo2RPLidarProvider(**lidar_config)
-        self.lidar.start()
-
-        self.descriptor_for_LLM = (
-            "Information about objects and walls around you, to plan your movements and avoid bumping into things."
-        )
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the RPLidar Provider.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.2)
-
-        try:
-            return self.lidar.lidar_string
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def _extract_lidar_config(self, config: RPLidarConfig) -> dict:
-        """
-        Extract lidar configuration parameters from sensor config.
-
-        Converts the RPLidarConfig Pydantic model into a dictionary format
-        suitable for passing to the RPLidarProvider constructor.
-
-        Parameters
-        ----------
-        config : RPLidarConfig
-            Configuration object containing all sensor parameters.
-
-        Returns
-        -------
-        dict
-            Dictionary containing all configuration parameters with their
-            corresponding field names and values.
-        """
-        lidar_config = {
-            "serial_port": config.serial_port,
-            "half_width_robot": config.half_width_robot,
-            "angles_blanked": config.angles_blanked,
-            "relevant_distance_max": config.relevant_distance_max,
-            "relevant_distance_min": config.relevant_distance_min,
-            "sensor_mounting_angle": config.sensor_mounting_angle,
-            "log_file": config.log_file,
-        }
-
-        return lidar_config
diff --git a/src/inputs/plugins/vlm_coco_local.py b/src/inputs/plugins/vlm_coco_local.py
deleted file mode 100644
index bade1784f6..0000000000
--- a/src/inputs/plugins/vlm_coco_local.py
+++ /dev/null
@@ -1,245 +0,0 @@
-import asyncio
-import collections
-import logging
-import time
-from typing import Optional
-
-import cv2
-import numpy as np
-import torch
-from pydantic import Field
-from torchvision.models import detection as detection_model
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class VLM_COCO_LocalConfig(SensorConfig):
-    """
-    Configuration for Local COCO VLM Sensor.
-
-    Parameters
-    ----------
-    camera_index : int
-        Index of the camera device.
-    """
-
-    camera_index: int = Field(default=0, description="Index of the camera device")
-
-
-Detection = collections.namedtuple("Detection", "label, bbox, score")
-
-# if working on Mac, please disable continuity camera on your iphone
-# Settings > General > AirPlay & Continuity, and turn off Continuity
-
-
-def check_webcam(index_to_check):
-    """
-    Checks if a webcam is available and returns True if found, False otherwise.
-
-    Parameters
-    ----------
-    index_to_check : int
-        The camera index to check.
-
-    Returns
-    -------
-    bool
-        True if the webcam is available, False otherwise.
-    """
-    cap = cv2.VideoCapture(index_to_check)  # 0 is the default camera index
-    if not cap.isOpened():
-        logging.info(f"ERROR: COCO did not find cam: {index_to_check}")
-        return False
-    logging.info(f"COCO found cam: {index_to_check}")
-    return True
-
-
-class VLM_COCO_Local(FuserInput[VLM_COCO_LocalConfig, Optional[np.ndarray]]):
-    """
-    Detects COCO objects in image and publishes messages.
-    Uses PyTorch and FasterRCNN_MobileNet model from torchvision.
-    Bounding Boxes use image convention, ie center.y = 0 means top of image.
-    """
-
-    def __init__(self, config: VLM_COCO_LocalConfig):
-        """
-        Initialize VLM input handler with empty message buffer.
-        """
-        super().__init__(config)
-
-        self.device = "cpu"
-        self.detection_threshold = 0.2
-
-        self.camera_index = self.config.camera_index
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Messages buffer
-        self.messages: list[Message] = []
-
-        # Simple description of sensor output to help LLM understand its importance and utility
-        self.descriptor_for_LLM = "Object Detector"
-
-        # Low resolution Faster R-CNN model with a MobileNetV3-Large backbone tuned for mobile use cases.
-        self.model = detection_model.fasterrcnn_mobilenet_v3_large_320_fpn(
-            weights="FasterRCNN_MobileNet_V3_Large_320_FPN_Weights.COCO_V1",
-            progress=True,
-            weights_backbone="MobileNet_V3_Large_Weights.IMAGENET1K_V1",
-        ).to(self.device)
-        self.class_labels = detection_model.FasterRCNN_MobileNet_V3_Large_320_FPN_Weights.DEFAULT.meta["categories"]
-        self.model.eval()
-        logging.info("COCO Object Detector Started")
-
-        self.have_cam = check_webcam(self.camera_index)
-
-        # Start capturing video, if we have a webcam
-        self.cap = None
-        if self.have_cam:
-            self.cap = cv2.VideoCapture(self.camera_index)
-            self.width = int(self.cap.get(3))  # float `width`
-            self.height = int(self.cap.get(4))  # float `height`
-            self.cam_third = int(self.width / 3)
-            logging.info(f"Webcam pixel dimensions for COCO: {self.width}, {self.height}")
-
-    async def _poll(self) -> Optional[np.ndarray]:
-        """
-        Poll for new image input.
-
-        Currently generates random colored images for testing.
-        In production, this would interface with camera or sensor.
-
-        Returns
-        -------
-        Optional[np.ndarray]
-            Generated or captured image as a numpy array
-        """
-        await asyncio.sleep(0.5)
-
-        # Capture a frame every 500 ms
-        # logging.info(f"VLM_COCO_Local poll")
-
-        if self.have_cam and self.cap is not None:
-            ret, frame = self.cap.read()
-            if not ret or frame is None:
-                logging.warning("COCO: Failed to read frame from camera, skipping")
-                return None
-            return frame
-
-        return None
-
-    async def _raw_to_text(self, raw_input: Optional[np.ndarray]) -> Optional[Message]:
-        """
-        Process raw image input to generate text description.
-
-        Parameters
-        ----------
-        raw_input : np.ndarray
-            Input numpy array image to process
-
-        Returns
-        -------
-        Message
-            Timestamped message containing description
-        """
-        filtered_detections = None
-
-        if raw_input is not None:
-            image = raw_input.copy().transpose((2, 0, 1))
-
-            batch_image = np.expand_dims(image, axis=0)
-            tensor_image = torch.tensor(batch_image / 255.0, dtype=torch.float, device=self.device)
-            mobilenet_detections = self.model(tensor_image)[0]  # pylint: disable=E1102 disable not callable warning
-
-            # logging.info(f"VLM_COCO_Local detections: {mobilenet_detections}")
-            filtered_detections = [
-                Detection(label_id, box, score)
-                for label_id, box, score in zip(
-                    mobilenet_detections["labels"],
-                    mobilenet_detections["boxes"],
-                    mobilenet_detections["scores"],
-                )
-                if score >= self.detection_threshold
-            ]
-            logging.debug(f"COCO filtered_detections {filtered_detections}")
-
-        sentence = None
-
-        if filtered_detections and len(filtered_detections) > 0:
-
-            pred_boxes = torch.stack([detection.bbox for detection in filtered_detections])
-            pred_scores = torch.stack([detection.score for detection in filtered_detections])
-            pred_labels = [self.class_labels[detection.label] for detection in filtered_detections]
-            logging.debug(f"COCO labels {pred_labels} scores {pred_scores}")
-
-            # we have a least one detection, and that will have the highest score
-            thing = pred_labels[0]
-            x1 = pred_boxes[0, 0]
-            x2 = pred_boxes[0, 2]
-            center_x = (x1 + x2) / 2  # center of the bbox
-
-            direction = "in front of you"
-            # so if the width is 1920, then the left third runs between 0 and 639
-            # middle is 640 - 1279
-            # right is > 1280
-            if center_x < self.cam_third:
-                direction = "on your left"
-            elif center_x > 2 * self.cam_third:
-                direction = "on your right"
-
-            sentence = f"You see a {thing} {direction}."
-
-            # add at most one more object
-            if len(pred_labels) > 1:
-                other_thing = pred_labels[1]
-                sentence = sentence + f" You also see a {other_thing}."
-
-        if sentence is not None:
-            return Message(timestamp=time.time(), message=sentence)
-
-    async def raw_to_text(self, raw_input: Optional[np.ndarray]):
-        """
-        Convert raw image to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[np.ndarray]
-            Raw image to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        logging.info(f"VLM_COCO_Local: {latest_message.message}")
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/vlm_dummy_local.py b/src/inputs/plugins/vlm_dummy_local.py
deleted file mode 100644
index a2f810f7df..0000000000
--- a/src/inputs/plugins/vlm_dummy_local.py
+++ /dev/null
@@ -1,119 +0,0 @@
-import asyncio
-import random
-import time
-from typing import Optional
-
-from PIL import Image
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class DummyVLMLocal(FuserInput[SensorConfig, Image.Image]):
-    """
-    Vision Language Model input handler.
-
-    Simulates processing of image inputs and generates dummy text descriptions.
-    Maintains a buffer of processed messages.
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize VLM input handler with empty message buffer.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Messages buffer
-        self.messages: list[Message] = []
-
-        self.descriptor_for_LLM = "Vision"
-
-    async def _poll(self) -> Image.Image:
-        """
-        Poll for new image input.
-
-        Currently generates random colored images for testing.
-        In production, this would interface with camera or sensor.
-
-        Returns
-        -------
-        Image.Image
-            Generated or captured image
-        """
-        await asyncio.sleep(0.5)
-
-        # this could be a camera or other sensor
-        img = Image.new(
-            "RGB",
-            (100, 100),
-            (random.randint(0, 255), random.randint(0, 255), random.randint(0, 255)),
-        )
-        return img
-
-    async def _raw_to_text(self, raw_input: Image.Image) -> Message:
-        """
-        Process raw image input to generate text description.
-
-        Parameters
-        ----------
-        raw_input : Image.Image
-            Input image to process
-
-        Returns
-        -------
-        Message
-            Timestamped message containing description
-        """
-        # You can use the `raw_input` variable for something, it is of Type Image
-        # But for simplicity let's just create a string that changes
-        num = random.randint(0, 100)
-        message = f"DUMMY VLM - FAKE DATA - I see {num} people. Also, I see a rocket."
-
-        return Message(timestamp=time.time(), message=message)
-
-    async def raw_to_text(self, raw_input: Image.Image):
-        """
-        Convert raw image to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : Image.Image
-            Raw image to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/vlm_gemini.py b/src/inputs/plugins/vlm_gemini.py
deleted file mode 100644
index b56494f5d3..0000000000
--- a/src/inputs/plugins/vlm_gemini.py
+++ /dev/null
@@ -1,259 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional, Union
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.vlm_gemini_provider import VLMGeminiProvider
-from providers.vlm_gemini_zenoh_provider import VLMGeminiZenohProvider
-
-
-class VLMGeminiConfig(SensorConfig):
-    """
-    Configuration for VLM Gemini Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        OM portal key. If unset, falls back to env $OM_API_KEY.
-    base_url : str
-        OM Gemini proxy URL (HTTP, not WS).
-    topic : str
-        Zenoh topic carrying sensor_msgs/Image frames.
-    decode_format : str
-        Stored on the VideoZenohStream but unused by it; safe to leave default.
-    model : str
-        Gemini model id.
-    max_tokens : int
-        Token budget. Reasoning models burn through this — bump if cut off.
-    prompt : Optional[str]
-        Prompt sent with each frame. Defaults to a one-sentence scene-description prompt; override for task-specific use.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    base_url: str = Field(
-        default="https://api.openmind.com/api/core/gemini",
-        description="Base URL for the Gemini service",
-    )
-    stream_base_url: Optional[str] = Field(default=None, description="Stream Base URL")
-    camera_index: int = Field(default=0, description="Index of the camera device")
-
-    topic: str = Field(default="camera/go2/image_raw", description="Zenoh topic for the image stream")
-    decode_format: str = Field(default="RAW", description="Image decode format hint")
-    use_sim: bool = Field(default=False, description="Whether to use the simulation stream endpoint")
-
-    model: str = Field(
-        default="gemini-2.5-flash",
-        description="Gemini model id; supported (server-side): "
-        "gemini-2.5-flash, gemini-2.5-flash-lite, gemini-2.5-pro, "
-        "gemini-3.1-flash-lite, gemini-3.1-pro-preview"
-        "gemini-3.5-flash",
-    )
-    max_tokens: int = Field(
-        default=1024,
-        description="Token budget for VLM response. Reasoning-capable models "
-        "(gemini-3.x, 2.5-pro) consume hidden reasoning tokens "
-        "before visible content — bump to 2048+ if responses cut off.",
-    )
-    prompt: Optional[str] = Field(
-        default=None,
-        description="Prompt sent with each frame. Defaults to a one-sentence "
-        "scene-description prompt; override for task-specific use.",
-    )
-
-
-class VLMGemini(FuserInput[VLMGeminiConfig, Optional[str]]):
-    """
-    Vision Language Model input handler.
-
-    A class that processes image inputs and generates text descriptions using
-    a vision language model. It maintains an internal buffer of processed messages
-    and interfaces with a VLM provider for image analysis.
-
-    The class handles asynchronous processing of images, maintains message history,
-    and provides formatted output of the latest processed messages.
-    """
-
-    def __init__(self, config: VLMGeminiConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-
-        Parameters
-        ----------
-        config : VLMGeminiConfig
-            Configuration for the VLM input handler.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        api_key = self.config.api_key
-
-        if api_key is None or api_key == "":
-            raise ValueError("config file missing api_key")
-
-        base_url = self.config.base_url
-        stream_base_url = (
-            self.config.stream_base_url or f"wss://api.openmind.com/api/core/teleops/stream/video?api_key={api_key}"
-        )
-        camera_index = self.config.camera_index
-
-        provider_kwargs = {
-            "model": self.config.model,
-            "max_tokens": self.config.max_tokens,
-        }
-
-        if self.config.prompt is not None:
-            provider_kwargs["prompt"] = self.config.prompt
-
-        if self.config.use_sim:
-            self.vlm: Union[VLMGeminiZenohProvider, VLMGeminiProvider] = VLMGeminiZenohProvider(
-                base_url=self.config.base_url,
-                api_key=api_key,
-                topic=self.config.topic,
-                decode_format=self.config.decode_format,
-                **provider_kwargs,
-            )
-        else:
-            self.vlm = VLMGeminiProvider(
-                base_url=base_url,
-                api_key=api_key,
-                stream_url=stream_base_url,
-                camera_index=camera_index,
-                **provider_kwargs,
-            )
-
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-        self.descriptor_for_LLM = "Vision"
-
-    def _handle_vlm_message(self, content: str):
-        """
-        Process incoming VLM messages.
-
-        Parameters
-        ----------
-        content : str
-            Plain text content from the VLM proxy (already extracted from
-            choices[0].message.content by the provider).
-        """
-        if content:
-            logging.info(f"VLM Gemini received message: {content}")
-            self.message_buffer.put(content)
-        else:
-            logging.warning("VLM Gemini received empty message")
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-{self.descriptor_for_LLM}: "{latest_message.message}"
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def stop(self):
-        """
-        Stop the VLM input.
-        """
-        if self.vlm:
-            self.vlm.deregister_message_callback()
-            self.vlm.stop()
diff --git a/src/inputs/plugins/vlm_local_yolo.py b/src/inputs/plugins/vlm_local_yolo.py
deleted file mode 100644
index c396a738ae..0000000000
--- a/src/inputs/plugins/vlm_local_yolo.py
+++ /dev/null
@@ -1,378 +0,0 @@
-import asyncio
-import json
-import logging
-import os
-import time
-from typing import List, Optional
-
-import cv2
-from pydantic import Field
-from ultralytics import YOLO  # type: ignore
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.unitree_go2_odom_provider import UnitreeGo2OdomProvider
-
-
-class VLM_Local_YOLOConfig(SensorConfig):
-    """
-    Configuration for Local YOLO VLM Sensor.
-
-    Parameters
-    ----------
-    camera_index : int
-        Index of the camera device.
-    log_file : bool
-        Whether to enable file logging.
-    """
-
-    camera_index: int = Field(default=0, description="Index of the camera device")
-    log_file: bool = Field(default=False, description="Whether to enable file logging")
-
-
-# Common resolutions to test (width, height), ordered high to low
-RESOLUTIONS = [
-    (3840, 2160),  # 4K
-    (2560, 1440),  # QHD
-    (1920, 1080),  # Full HD
-    (1280, 720),  # HD
-    (1024, 576),
-    (800, 600),
-    (640, 480),  # VGA fallback
-]
-
-
-def set_best_resolution(cap: cv2.VideoCapture, resolutions: List[tuple]) -> tuple:
-    """
-    Attempts to set the camera to the best available resolution from the provided list.
-
-    Parameters
-    ----------
-    cap : cv2.VideoCapture
-        The OpenCV VideoCapture object.
-    resolutions : List[tuple]
-        List of (width, height) tuples to try.
-
-    Returns
-    -------
-    tuple
-        The (width, height) of the successfully set resolution.
-    """
-    for width, height in resolutions:
-        cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
-        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
-
-        # Give it a moment to settle
-        time.sleep(0.1)
-
-        actual_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
-        actual_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
-
-        if actual_width == width and actual_height == height:
-            logging.info(f"✅ Resolution set to: {width}x{height}")
-            return width, height
-
-    logging.info("⚠️ Could not set preferred resolution. Using default.")
-    return int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)), int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
-
-
-# if working on Mac, please disable continuity camera on your iphone
-# Settings > General > AirPlay & Continuity, and turn off Continuity
-def check_webcam(index_to_check):
-    """
-    Checks if a webcam is available and returns True if found, False otherwise.
-
-    Parameters
-    ----------
-    index_to_check : int
-        The camera index to check.
-
-    Returns
-    -------
-    tuple
-        Tuple of (width, height) if webcam is found, (0, 0) otherwise.
-    """
-    cap = cv2.VideoCapture(index_to_check)
-    if not cap.isOpened():
-        logging.error(f"YOLO did not find cam: {index_to_check}")
-        cap.release()
-        return 0, 0
-
-    # Set the best available resolution
-    width, height = set_best_resolution(cap, RESOLUTIONS)
-    logging.info(f"YOLO found cam: {index_to_check} set to {width}x{height}")
-    cap.release()
-    return width, height
-
-
-class VLM_Local_YOLO(FuserInput[VLM_Local_YOLOConfig, Optional[List]]):
-    """
-    VLM Input Handler using Local YOLO Model with Unitree Go2 Odometry.
-    """
-
-    def __init__(self, config: VLM_Local_YOLOConfig):
-        """
-        Initialize VLM input handler with empty message buffer.
-        """
-        super().__init__(config)
-
-        self.camera_index = self.config.camera_index
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Messages buffer
-        self.messages: list[Message] = []
-
-        # Simple description of sensor output to help LLM understand its importance and utility
-        self.descriptor_for_LLM = "Eyes"
-
-        # Load model
-        self.model = YOLO("yolov8n_aug.pt")
-
-        self.write_to_local_file = False
-        if self.config.log_file:
-            self.write_to_local_file = self.config.log_file
-
-        self.filename_current = None
-        self.max_file_size_bytes = 1024 * 1024
-
-        # Create timestamped log filename
-        if self.write_to_local_file:
-            self.filename_current = self.update_filename()
-            logging.info(f"YOLO Logging to {self.filename_current}")
-
-        self.width, self.height = check_webcam(self.camera_index)
-
-        self.have_cam = self.width > 0
-        self.frame_index = 0
-        self.cam_third = int(self.width / 3) if self.width > 0 else 0
-
-        # Start capturing video, if we have a webcam
-        self.cap = None
-        if self.have_cam:
-            self.cap = cv2.VideoCapture(self.camera_index)
-            self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
-            self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
-            self.cam_third = int(self.width / 3)
-            logging.info(f"Webcam pixel dimensions for YOLO: {self.width}, {self.height}")
-
-        self.odom = UnitreeGo2OdomProvider()
-        logging.info(f"YOLO Odom Provider: {self.odom}")
-        self.odom_rockchip_ts = 0.0
-        self.odom_subscriber_ts = 0.0
-        self.odom_x = 0.0
-        self.odom_y = 0.0
-        self.odom_yaw_0_360 = 0.0
-        self.odom_yaw_m180_p180 = 0.0
-
-    def update_filename(self):
-        """
-        Create a new filename with the current timestamp.
-        """
-        unix_ts = round(time.time(), 6)
-        logging.info(f"YOLO time: {unix_ts}")
-        unix_ts = str(unix_ts).replace(".", "_")
-        filename = f"dump/yolo_{unix_ts}Z.jsonl"
-        return filename
-
-    def get_top_detection(self, detections: List[dict]) -> tuple:
-        """
-        Returns the class label and bbox of the detection with the highest confidence.
-
-        Parameters
-        ----------
-        detections : List[dict]
-            List of detection dictionaries with 'class', 'confidence', and 'bbox' keys.
-
-        Returns
-        -------
-        tuple
-            (class label, bbox) of the top detection or (None, None) if no detections
-            are available.
-        """
-        if not detections:
-            return None, None
-
-        top = max(detections, key=lambda d: d["confidence"])
-        return top["class"], top["bbox"]
-
-    async def _poll(self) -> Optional[List]:
-        """
-        Poll for new image input.
-
-        Returns
-        -------
-        np.ndarray
-            Generated or captured image as a numpy array
-        """
-        await asyncio.sleep(0.25)
-
-        if self.have_cam and self.cap is not None:
-
-            ret, frame = self.cap.read()
-            if not ret or frame is None:
-                logging.warning("YOLO: Failed to read frame from camera, skipping")
-                return None
-
-            self.frame_index += 1
-            timestamp = time.time()
-
-            try:
-                o = self.odom.position
-                logging.debug(f"Odom data: {o}")
-                if o:
-                    self.odom_x = o["odom_x"]
-                    self.odom_y = o["odom_y"]
-                    self.odom_rockchip_ts = o["odom_rockchip_ts"]
-                    self.odom_subscriber_ts = o["odom_subscriber_ts"]
-                    self.odom_yaw_0_360 = o["odom_yaw_0_360"]
-                    self.odom_yaw_m180_p180 = o["odom_yaw_m180_p180"]
-            except Exception as e:
-                logging.error(f"Error parsing Odom: {e}")
-
-            results = self.model.predict(source=frame, save=False, stream=True, verbose=False)
-
-            detections = []
-            for r in results:
-                if r.boxes is not None:
-                    for box in r.boxes:
-                        x1, y1, x2, y2 = map(float, box.xyxy[0])
-                        cls = int(box.cls[0])
-                        conf = float(box.conf[0])
-                        label = self.model.names[cls]
-                        detections.append(
-                            {
-                                "class": label,
-                                "confidence": round(conf, 4),
-                                "bbox": [round(x1), round(y1), round(x2), round(y2)],
-                            }
-                        )
-
-            logging.debug(f"\nFrame {self.frame_index} @ {timestamp} — {len(detections)} objects:")
-
-            if self.write_to_local_file:
-                try:
-                    json_line = json.dumps(
-                        {
-                            "frame": self.frame_index,
-                            "timestamp": timestamp,
-                            "detections": detections,
-                            "odom_rockchip_ts": self.odom_rockchip_ts,
-                            "odom_subscriber_ts": self.odom_subscriber_ts,
-                            "odom_x": self.odom_x,
-                            "odom_y": self.odom_y,
-                            "odom_yaw_0_360": self.odom_yaw_0_360,
-                            "odom_yaw_m180_p180": self.odom_yaw_m180_p180,
-                        }
-                    )
-                    self.write_str_to_file(json_line)
-                    logging.info(f"YOLO wrote to {self.filename_current}")
-                except Exception as e:
-                    logging.error(f"Error saving YOLO: {str(e)}")
-
-            return detections
-
-    def write_str_to_file(self, json_line: str):
-        """
-        Writes a string to a file in JSON lines format. If the file exceeds max_file_size_bytes,
-        creates a new file with a timestamp.
-
-        Parameters
-        ----------
-        json_line : str
-            JSON string to write to the file.
-        """
-        if not isinstance(json_line, str):
-            raise ValueError("Provided json_line must be a json string.")
-
-        if (
-            self.filename_current is not None
-            and os.path.exists(self.filename_current)
-            and os.path.getsize(self.filename_current) > self.max_file_size_bytes
-        ):
-            self.filename_current = self.update_filename()
-            logging.info(f"New yolo file name: {self.filename_current}")
-
-        if self.filename_current is not None:
-            with open(self.filename_current, "a", encoding="utf-8") as f:
-                f.write(json_line + "\n")
-                f.flush()
-
-    async def _raw_to_text(self, raw_input: Optional[List]) -> Optional[Message]:
-        """
-        Process raw image input to generate text description.
-
-        Parameters
-        ----------
-        raw_input : List of YOLO detections
-
-        Returns
-        -------
-        Message
-            Timestamped message containing description
-        """
-        detections = raw_input
-
-        if detections:
-
-            for det in detections:
-                logging.debug(f"{det['class']} ({det['confidence']:.2f}) -> {det['bbox']}")
-
-            sentence = None
-
-            thing, bbox = self.get_top_detection(detections)
-            x1 = bbox[0]  # type: ignore
-            x2 = bbox[2]  # type: ignore
-            center_x = (x1 + x2) / 2  # center of the bbox
-
-            direction = "in front of you"
-            if center_x < self.cam_third:
-                direction = "on your left"
-            elif center_x > 2 * self.cam_third:
-                direction = "on your right"
-
-            sentence = f"You see a {thing} {direction}."
-
-            if sentence is not None:
-                return Message(timestamp=time.time(), message=sentence)
-
-    async def raw_to_text(self, raw_input: Optional[List]):
-        """
-        Convert list of detections to text and update message buffer.
-
-        Parameters
-        ----------
-        raw_input : List[detections]
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Formats the most recent message with timestamp and class name,
-        adds it to the IO provider, then clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        logging.info(f"VLM_YOLO_Local: {latest_message.message}")
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/vlm_openai.py b/src/inputs/plugins/vlm_openai.py
deleted file mode 100644
index a4247a2969..0000000000
--- a/src/inputs/plugins/vlm_openai.py
+++ /dev/null
@@ -1,206 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from openai.types.chat import ChatCompletion
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.vlm_openai_provider import VLMOpenAIProvider
-
-
-class VLMOpenAIConfig(SensorConfig):
-    """
-    Configuration for VLM OpenAI Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    base_url : str
-        Base URL for the OpenAI service.
-    stream_base_url : Optional[str]
-        Stream Base URL.
-    camera_index : int
-        Index of the camera device.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    base_url: str = Field(default="https://api.openmind.com/api/core/openai", description="Base URL")
-    stream_base_url: Optional[str] = Field(default=None, description="Stream Base URL")
-    camera_index: int = Field(default=0, description="Camera Index")
-
-
-class VLMOpenAI(FuserInput[VLMOpenAIConfig, Optional[str]]):
-    """
-    Vision Language Model input handler.
-
-    A class that processes image inputs and generates text descriptions using
-    a vision language model. It maintains an internal buffer of processed messages
-    and interfaces with a VLM provider for image analysis.
-
-    The class handles asynchronous processing of images, maintains message history,
-    and provides formatted output of the latest processed messages.
-    """
-
-    def __init__(self, config: VLMOpenAIConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        api_key = self.config.api_key
-
-        if api_key is None or api_key == "":
-            raise ValueError("config file missing api_key")
-
-        base_url = self.config.base_url
-        stream_base_url = (
-            self.config.stream_base_url or f"wss://api.openmind.com/api/core/teleops/stream/video?api_key={api_key}"
-        )
-        camera_index = self.config.camera_index
-
-        self.vlm: VLMOpenAIProvider = VLMOpenAIProvider(
-            base_url=base_url,
-            api_key=api_key,
-            stream_url=stream_base_url,
-            camera_index=camera_index,
-        )
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-        self.descriptor_for_LLM = "Vision"
-
-    def _handle_vlm_message(self, raw_message: ChatCompletion):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        logging.info(f"VLM OpenAI received message: {raw_message}")
-        content = raw_message.choices[0].message.content
-        if content is not None:
-            self.message_buffer.put(content)
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def stop(self):
-        """
-        Stop the VLM input.
-        """
-        if self.vlm:
-            self.vlm.stop()
diff --git a/src/inputs/plugins/vlm_openai_rtsp.py b/src/inputs/plugins/vlm_openai_rtsp.py
deleted file mode 100644
index 6765579412..0000000000
--- a/src/inputs/plugins/vlm_openai_rtsp.py
+++ /dev/null
@@ -1,214 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-from openai.types.chat import ChatCompletion
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.vlm_openai_rtsp_provider import VLMOpenAIRTSPProvider
-
-
-class VLMOpenAIRTSPConfig(SensorConfig):
-    """
-    Configuration for VLM OpenAI RTSP Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    base_url : str
-        Base URL for the OpenAI service.
-    rtsp_url : str
-        RTSP URL for the camera stream.
-    prompt : str
-        Prompt for the VLM.
-    fps : int
-        Frames per second to process.
-    descriptor_for_LLM : str
-        Descriptor for LLM context.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    base_url: str = Field(
-        default="https://api.openmind.com/api/core/openai",
-        description="Base URL for the OpenAI service",
-    )
-    rtsp_url: str = Field(
-        default="rtsp://localhost:8554/top_camera",
-        description="RTSP URL for the camera stream",
-    )
-    prompt: str = Field(
-        default="What is the most interesting aspect in this series of images?",
-        description="Prompt for the VLM",
-    )
-    fps: int = Field(default=15, description="Frames per second to process")
-    descriptor_for_LLM: str = Field(default="Vision", description="Descriptor for LLM context")
-
-
-class VLMOpenAIRTSP(FuserInput[VLMOpenAIRTSPConfig, Optional[str]]):
-    """
-    Vision Language Model input handler.
-
-    A class that processes image inputs and generates text descriptions using
-    a vision language model. It maintains an internal buffer of processed messages
-    and interfaces with a VLM provider for image analysis.
-
-    The class handles asynchronous processing of images, maintains message history,
-    and provides formatted output of the latest processed messages.
-    """
-
-    def __init__(self, config: VLMOpenAIRTSPConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        api_key = self.config.api_key
-
-        if api_key is None or api_key == "":
-            raise ValueError("config file missing api_key")
-
-        base_url = self.config.base_url
-
-        rtsp_url = self.config.rtsp_url
-        prompt = self.config.prompt
-        fps = self.config.fps
-        self.descriptor_for_LLM = self.config.descriptor_for_LLM
-
-        self.vlm: VLMOpenAIRTSPProvider = VLMOpenAIRTSPProvider(
-            base_url=base_url,
-            api_key=api_key,
-            rtsp_url=rtsp_url,
-            prompt=prompt,
-            fps=fps,
-        )
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-    def _handle_vlm_message(self, raw_message: ChatCompletion):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        logging.info(f"VLM OpenAI received message: {raw_message}")
-        content = raw_message.choices[0].message.content
-        if content is not None:
-            self.message_buffer.put(content)
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/vlm_vila.py b/src/inputs/plugins/vlm_vila.py
deleted file mode 100644
index b406c0f2f9..0000000000
--- a/src/inputs/plugins/vlm_vila.py
+++ /dev/null
@@ -1,199 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import Dict, List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.vlm_vila_provider import VLMVilaProvider
-
-
-class VLMVilaConfig(SensorConfig):
-    """
-    Configuration for VLM Vila Sensor.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key.
-    base_url : str
-        Base URL for the VLM service.
-    stream_base_url : Optional[str]
-        Stream Base URL.
-    camera_index : int
-        Index of the camera device.
-    """
-
-    api_key: Optional[str] = Field(default=None, description="API Key")
-    base_url: str = Field(
-        default="wss://api-vila.openmind.com",
-        description="Base URL for the VLM service",
-    )
-    stream_base_url: Optional[str] = Field(default=None, description="Stream Base URL")
-    camera_index: int = Field(default=0, description="Index of the camera device")
-
-
-class VLMVila(FuserInput[VLMVilaConfig, Optional[str]]):
-    """
-    Vision Language Model input handler.
-
-    A class that processes image inputs and generates text descriptions using
-    a vision language model. It maintains an internal buffer of processed messages
-    and interfaces with a VLM provider for image analysis.
-
-    The class handles asynchronous processing of images, maintains message history,
-    and provides formatted output of the latest processed messages.
-    """
-
-    def __init__(self, config: VLMVilaConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        api_key = self.config.api_key
-        base_url = self.config.base_url
-        stream_base_url = (
-            self.config.stream_base_url or f"wss://api.openmind.com/api/core/teleops/stream/video?api_key={api_key}"
-        )
-        camera_index = self.config.camera_index
-
-        self.vlm: VLMVilaProvider = VLMVilaProvider(
-            ws_url=base_url, stream_url=stream_base_url, camera_index=camera_index
-        )
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-        self.descriptor_for_LLM = "Vision"
-
-    def _handle_vlm_message(self, raw_message: str):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info("Detected VLM message: %s", vlm_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/vlm_vila_rtsp.py b/src/inputs/plugins/vlm_vila_rtsp.py
deleted file mode 100644
index 8f20aa40a8..0000000000
--- a/src/inputs/plugins/vlm_vila_rtsp.py
+++ /dev/null
@@ -1,196 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import Dict, List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.vlm_vila_rtsp_provider import VLMVilaRTSPProvider
-
-
-class VLMVilaRTSPConfig(SensorConfig):
-    """
-    Configuration for VLM Vila RTSP Sensor.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the VLM service.
-    rtsp_url : str
-        RTSP URL for the camera stream.
-    decode_format : str
-        Image decode format (e.g., "H264").
-    """
-
-    base_url: str = Field(
-        default="wss://api-vila.openmind.com",
-        description="Base URL for the VLM service",
-    )
-    rtsp_url: str = Field(
-        default="rtsp://localhost:8554/top_camera",
-        description="RTSP URL for the camera stream",
-    )
-    decode_format: str = Field(default="H264", description='Image decode format (e.g., "H264")')
-
-
-class VLMVilaRTSP(FuserInput[VLMVilaRTSPConfig, Optional[str]]):
-    """
-    Vision Language Model input handler.
-
-    A class that processes image inputs and generates text descriptions using
-    a vision language model. It maintains an internal buffer of processed messages
-    and interfaces with a VLM provider for image analysis.
-
-    The class handles asynchronous processing of images, maintains message history,
-    and provides formatted output of the latest processed messages.
-    """
-
-    def __init__(self, config: VLMVilaRTSPConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        base_url = self.config.base_url
-        rtsp_url = self.config.rtsp_url
-        decode_format = self.config.decode_format
-
-        self.vlm: VLMVilaRTSPProvider = VLMVilaRTSPProvider(
-            ws_url=base_url, rtsp_url=rtsp_url, decode_format=decode_format
-        )
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-        self.descriptor_for_LLM = "Vision"
-
-    def _handle_vlm_message(self, raw_message: str):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info("Detected VLM message: %s", vlm_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/vlm_vila_zenoh.py b/src/inputs/plugins/vlm_vila_zenoh.py
deleted file mode 100644
index d569579d6c..0000000000
--- a/src/inputs/plugins/vlm_vila_zenoh.py
+++ /dev/null
@@ -1,191 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import Dict, List, Optional
-
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.vlm_vila_zenoh_provider import VLMVilaZenohProvider
-
-
-class VLMVilaZenohConfig(SensorConfig):
-    """
-    Configuration for VLM Vila Zenoh Sensor.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for the VLM service.
-    topic : str
-        Zenoh topic for receiving images.
-    decode_format : str
-        Image decode format (e.g., "H264").
-    """
-
-    base_url: str = Field(
-        default="wss://api-vila.openmind.com",
-        description="Base URL for the VLM service",
-    )
-    topic: str = Field(default="rgb_image", description="Zenoh topic for receiving images")
-    decode_format: str = Field(default="H264", description='Image decode format (e.g., "H264")')
-
-
-class VLMVilaZenoh(FuserInput[VLMVilaZenohConfig, Optional[str]]):
-    """
-    Vision Language Model input handler.
-
-    A class that processes image inputs and generates text descriptions using
-    a vision language model. It maintains an internal buffer of processed messages
-    and interfaces with a VLM provider for image analysis.
-
-    The class handles asynchronous processing of images, maintains message history,
-    and provides formatted output of the latest processed messages.
-    """
-
-    def __init__(self, config: VLMVilaZenohConfig):
-        """
-        Initialize VLM input handler.
-
-        Sets up the required providers and buffers for handling VLM processing.
-        Initializes connection to the VLM service and registers message handlers.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        base_url = self.config.base_url
-        topic = self.config.topic
-        decode_format = self.config.decode_format
-
-        self.vlm: VLMVilaZenohProvider = VLMVilaZenohProvider(ws_url=base_url, topic=topic, decode_format=decode_format)
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-        self.descriptor_for_LLM = "Vision"
-
-    def _handle_vlm_message(self, raw_message: str):
-        """
-        Process incoming VLM messages.
-
-        Parses JSON messages from the VLM service and adds valid responses
-        to the message buffer for further processing.
-
-        Parameters
-        ----------
-        raw_message : str
-            Raw JSON message received from the VLM service
-        """
-        try:
-            json_message: Dict = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info("Detected VLM message: %s", vlm_reply)
-        except json.JSONDecodeError:
-            pass
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages from the VLM service.
-
-        Checks the message buffer for new messages with a brief delay
-        to prevent excessive CPU usage.
-
-        Returns
-        -------
-        Optional[str]
-            The next message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.5)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Process raw input to generate a timestamped message.
-
-        Creates a Message object from the raw input string, adding
-        the current timestamp.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input string to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            A timestamped message containing the processed input
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to text and update message buffer.
-
-        Processes the raw input if present and adds the resulting
-        message to the internal message buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed, or None if no input is available
-        """
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Retrieves the most recent message from the buffer, formats it
-        with timestamp and class name, adds it to the IO provider,
-        and clears the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string containing the latest message and metadata,
-            or None if the buffer is empty
-
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-INPUT: {self.descriptor_for_LLM}
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/wallet_coinbase.py b/src/inputs/plugins/wallet_coinbase.py
deleted file mode 100644
index b19249e308..0000000000
--- a/src/inputs/plugins/wallet_coinbase.py
+++ /dev/null
@@ -1,245 +0,0 @@
-import asyncio
-import logging
-import os
-import time
-from typing import List, Optional
-
-from cdp import CdpClient
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class WalletCoinbaseConfig(SensorConfig):
-    """
-    Configuration for Wallet Coinbase Sensor.
-
-    Parameters
-    ----------
-    asset_id : str
-        Asset ID to query.
-    wallet_address : str, optional
-        Wallet address to monitor. If not provided, uses COINBASE_WALLET_ADDRESS env var.
-    network : str
-        Network to use (e.g., 'base', 'base-sepolia', 'ethereum'). Defaults to 'base'.
-    """
-
-    asset_id: str = Field(default="eth", description="Asset ID to query")
-    wallet_address: Optional[str] = Field(default=None, description="Wallet address to monitor")
-    network: str = Field(default="base", description="Network to use")
-
-
-class WalletCoinbase(FuserInput[WalletCoinbaseConfig, List[float]]):
-    """
-    Queries current balance of the configured asset and reports a balance increase.
-
-    Note: This uses the CDP SDK 1.x API. The wallet must be created and managed
-    outside this sensor. This sensor only monitors balance changes.
-    """
-
-    def __init__(self, config: WalletCoinbaseConfig):
-        """
-        Initialize the WalletCoinbase input handler.
-
-        Sets up the required providers and buffers for handling Coinbase wallet data.
-        Fetches the initial wallet balance.
-
-        Parameters
-        ----------
-        config : WalletCoinbaseConfig
-            Configuration for the sensor input, specifying the asset ID to query.
-        """
-        super().__init__(config)
-
-        self.asset_id = self.config.asset_id
-        self.network = self.config.network
-
-        # Track IO
-        self.io_provider = IOProvider()
-        self.messages: List[Message] = []
-
-        self.POLL_INTERVAL = 0.5  # seconds between blockchain data updates
-        self.COINBASE_WALLET_ADDRESS = self.config.wallet_address or os.environ.get("COINBASE_WALLET_ADDRESS")
-        if self.COINBASE_WALLET_ADDRESS:
-            logging.info(f"Coinbase wallet address configured: {self.COINBASE_WALLET_ADDRESS}")
-        else:
-            logging.warning("COINBASE_WALLET_ADDRESS environment variable not set")
-
-        # Initialize CDP Client
-        API_KEY_ID = os.environ.get("CDP_API_KEY_ID")
-        API_KEY_SECRET = os.environ.get("CDP_API_KEY_SECRET")
-
-        if not API_KEY_ID or not API_KEY_SECRET:
-            logging.error("CDP_API_KEY_ID and CDP_API_KEY_SECRET environment variables are not set")
-            self.cdp_client = None
-        else:
-            try:
-                self.cdp_client = CdpClient(api_key_id=API_KEY_ID, api_key_secret=API_KEY_SECRET)
-                logging.info("CDP Client initialized successfully")
-            except Exception as e:
-                logging.error(f"Error initializing CDP Client: {e}")
-                self.cdp_client = None
-
-        # Initialize balance tracking
-        self.balance = 0.0
-        self.balance_previous = 0.0
-
-        logging.info("Testing: WalletCoinbase: Initialized")
-
-    async def _fetch_balance(self) -> float:
-        """
-        Fetch current balance asynchronously using CDP SDK 1.x.
-
-        Returns
-        -------
-        float
-            Current balance of the specified asset
-        """
-        if not self.cdp_client or not self.COINBASE_WALLET_ADDRESS:
-            logging.warning("CDP client or wallet address not configured")
-            return 0.0
-
-        try:
-            # Query token balances for the address on the specified network
-            balances_result = await self.cdp_client.evm.list_token_balances(
-                address=self.COINBASE_WALLET_ADDRESS,
-                network=self.network,
-            )
-
-            for balance_item in balances_result.balances:
-                token_symbol = getattr(balance_item, "symbol", "").lower()
-                if token_symbol == self.asset_id.lower():
-                    amount = getattr(balance_item, "amount", "0")
-                    decimals = getattr(balance_item, "decimals", 18)
-                    balance_value = float(amount) / (10**decimals)
-                    logging.debug(
-                        f"Balance for {self.asset_id}: {balance_value} " f"(raw: {amount}, decimals: {decimals})"
-                    )
-                    return balance_value
-
-            logging.debug(
-                f"Asset {self.asset_id} not found in token balances. "
-                f"Available tokens: {[getattr(b, 'symbol', 'unknown') for b in balances_result.balances]}"
-            )
-            return 0.0
-
-        except AttributeError as e:
-            logging.error(f"CDP SDK API structure mismatch. The API may have changed: {e}")
-            return 0.0
-        except Exception as e:
-            logging.error(f"Error fetching token balance: {e}")
-            return 0.0
-
-    async def _poll(self) -> List[float]:
-        """
-        Poll for Coinbase Wallet balance updates.
-
-        Returns
-        -------
-        List[float]
-            [current_balance, balance_change]
-        """
-        await asyncio.sleep(self.POLL_INTERVAL)
-
-        try:
-            if not self.cdp_client or not self.COINBASE_WALLET_ADDRESS:
-                logging.debug("CDP client or wallet address not configured")
-                return [self.balance, 0.0]
-
-            new_balance = await self._fetch_balance()
-
-            balance_change = new_balance - self.balance_previous
-
-            self.balance = new_balance
-            self.balance_previous = new_balance
-
-            if balance_change != 0:
-                logging.info(
-                    f"WalletCoinbase: Balance updated to {self.balance} {self.asset_id} "
-                    f"(change: {balance_change:+.5f})"
-                )
-
-        except Exception as e:
-            logging.error(f"Error refreshing wallet data: {e}")
-            balance_change = 0.0
-
-        return [self.balance, balance_change]
-
-    async def _raw_to_text(self, raw_input: List[float]) -> Optional[Message]:
-        """
-        Convert balance data to human-readable message.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            [current_balance, balance_change]
-
-        Returns
-        -------
-        Message
-            Timestamped status or transaction notification
-        """
-        balance_change = raw_input[1]
-
-        message = ""
-
-        if balance_change > 0:
-            message = f"{balance_change:.5f}"
-            logging.info(f"\n\nWalletCoinbase balance change: {message}")
-        else:
-            return None
-
-        logging.debug(f"WalletCoinbase: {message}")
-        return Message(timestamp=time.time(), message=message)
-
-    async def raw_to_text(self, raw_input: List[float]):
-        """
-        Process balance update and manage message buffer.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            Raw balance data
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the buffer contents. If there are multiple transactions,
-        combine them into a single message.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        transaction_sum = 0
-
-        # all the messages, by definition, are non-zero
-        for message in self.messages:
-            transaction_sum += float(message.message)
-
-        last_message = self.messages[-1]
-        result_message = Message(
-            timestamp=last_message.timestamp,
-            message=f"You just received {transaction_sum:.5f} {self.asset_id.upper()}.",
-        )
-
-        result = f"""
-{self.__class__.__name__} INPUT
-// START
-{result_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, result_message.message, result_message.timestamp)
-        self.messages = []
-        return result
diff --git a/src/inputs/plugins/wallet_ethereum.py b/src/inputs/plugins/wallet_ethereum.py
deleted file mode 100644
index 1f2d7eabef..0000000000
--- a/src/inputs/plugins/wallet_ethereum.py
+++ /dev/null
@@ -1,154 +0,0 @@
-import asyncio
-import logging
-import os
-import time
-from typing import List, Optional
-
-from web3 import Web3
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class WalletEthereum(FuserInput[SensorConfig, List[float]]):
-    """
-    Ethereum wallet monitor that tracks ETH balance changes.
-
-    Queries the Ethereum blockchain for account balance updates and reports
-    incoming transactions.
-
-    Raises
-    ------
-    Exception
-        If connection to Ethereum network fails
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize WalletEthereum instance.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        self.ETH_balance = 0
-        self.ETH_balance_previous = 0
-        self.balance_eth = 0
-        self.balance_change = 0
-
-        self.messages: list[Message] = []
-        self.eth_info = ""
-
-        self.PROVIDER_URL = "https://eth.llamarpc.com"
-        self.POLL_INTERVAL = 4  # seconds between blockchain data updates
-        self.ACCOUNT_ADDRESS = os.environ.get("ETH_ADDRESS", "0xd8dA6BF26964aF9D7eEd9e03E53415D37aA96045")
-        logging.debug(f"Using {self.ACCOUNT_ADDRESS} as the wallet address")
-        logging.info("Testing: WalletEthereum: Initialized")
-
-        # Initialize Web3
-        self.web3 = Web3(Web3.HTTPProvider(self.PROVIDER_URL))
-        if not self.web3.is_connected():
-            raise Exception("Failed to connect to Ethereum")
-
-    async def _poll(self) -> List[float]:
-        """
-        Poll for Ethereum balance updates.
-
-        Returns
-        -------
-        List[float]
-            [current_balance, balance_change]
-        """
-        await asyncio.sleep(self.POLL_INTERVAL)
-
-        try:
-            # Get latest block data
-            block_number = self.web3.eth.block_number
-
-            # Get account data
-            balance_wei = self.web3.eth.get_balance(self.ACCOUNT_ADDRESS)  # type: ignore
-            self.balance_eth = float(self.web3.from_wei(balance_wei, "ether"))
-
-            self.eth_info = {
-                "block_number": int(block_number),
-                "address": str(self.ACCOUNT_ADDRESS),  # that's a string prefixed with `0x`
-                "balance": self.balance_eth,
-            }
-            logging.debug(
-                f"Block: {self.eth_info['block_number']}, Account Balance: {self.eth_info['balance']:.3f} ETH"
-            )
-
-            self.ETH_balance = self.balance_eth
-            self.balance_change = self.ETH_balance - self.ETH_balance_previous
-            self.ETH_balance_previous = self.ETH_balance
-
-        except Exception as e:
-            logging.error(f"Error fetching blockchain data: {e}")
-
-        # use the old values if the try fails, otherwise use the new/updated values
-        return [self.ETH_balance, self.balance_change]
-
-    async def _raw_to_text(self, raw_input: List[float]) -> Optional[Message]:
-        """
-        Convert balance data to human-readable message.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            [current_balance, balance_change]
-
-        Returns
-        -------
-        Optional[Message]
-            Timestamped status or transaction notification
-        """
-        # balance = raw_input[0]
-        balance_change = raw_input[1]
-
-        if balance_change > 0:
-            message = f"You just received {balance_change:.3f} ETH."
-            logging.debug(f"WalletEthereum: {message}")
-            return Message(timestamp=time.time(), message=message)
-
-        return None
-
-    async def raw_to_text(self, raw_input: List[float]):
-        """
-        Process balance update and manage message buffer.
-
-        Parameters
-        ----------
-        raw_input : List[float]
-            Raw balance data
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-{self.__class__.__name__} INPUT
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-        return result
diff --git a/src/inputs/plugins/weather.py b/src/inputs/plugins/weather.py
deleted file mode 100644
index 2b043f1462..0000000000
--- a/src/inputs/plugins/weather.py
+++ /dev/null
@@ -1,224 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import Optional
-
-import aiohttp
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-class WeatherConfig(SensorConfig):
-    """
-    Configuration for Weather Input.
-
-    Parameters
-    ----------
-    api_key : str
-        OpenWeatherMap API key.
-    latitude : float
-        Location latitude.
-    longitude : float
-        Location longitude.
-    poll_interval : float
-        Seconds between weather updates (default: 300 = 5 minutes).
-    units : str
-        Temperature units: 'metric' (Celsius), 'imperial' (Fahrenheit), 'standard' (Kelvin).
-    """
-
-    api_key: str = Field(description="OpenWeatherMap API key")
-    latitude: float = Field(default=40.7128, description="Location latitude")
-    longitude: float = Field(default=-74.0060, description="Location longitude")
-    poll_interval: float = Field(default=300.0, description="Seconds between weather updates")
-    units: str = Field(default="metric", description="Temperature units")
-
-
-class WeatherInput(FuserInput[WeatherConfig, Optional[dict]]):
-    """
-    Weather input that fetches current weather data from OpenWeatherMap API.
-
-    Provides real-time weather information including temperature, conditions,
-    humidity, and wind speed to give the robot environmental awareness.
-    """
-
-    def __init__(self, config: WeatherConfig):
-        """
-        Initialize the Weather input.
-
-        Parameters
-        ----------
-        config : WeatherConfig
-            Configuration for the weather sensor.
-        """
-        super().__init__(config)
-
-        self.io_provider = IOProvider()
-        self.messages: list[Message] = []
-        self.descriptor_for_LLM = "Current Weather"
-
-        self.api_key = config.api_key
-        self.latitude = config.latitude
-        self.longitude = config.longitude
-        self.poll_interval = config.poll_interval
-        self.units = config.units
-
-        self._last_poll_time: float = 0
-
-        if not self.api_key:
-            logging.warning("WeatherInput: API key not provided")
-
-    async def _fetch_weather(self) -> Optional[dict]:
-        """
-        Fetch weather data from OpenWeatherMap API.
-
-        Returns
-        -------
-        Optional[dict]
-            Weather data or None if request failed.
-        """
-        if not self.api_key:
-            return None
-
-        url = "https://api.openweathermap.org/data/2.5/weather"
-        params = {
-            "lat": self.latitude,
-            "lon": self.longitude,
-            "appid": self.api_key,
-            "units": self.units,
-        }
-
-        try:
-            timeout = aiohttp.ClientTimeout(total=10)
-            async with aiohttp.ClientSession(timeout=timeout) as session:
-                async with session.get(url, params=params) as response:
-                    if response.status == 200:
-                        data = await response.json()
-                        logging.debug(f"WeatherInput: Fetched weather data: {data}")
-                        return data
-                    else:
-                        error_text = await response.text()
-                        logging.error(f"WeatherInput: API error {response.status}: {error_text}")
-                        return None
-        except asyncio.TimeoutError:
-            logging.error("WeatherInput: Request timed out")
-            return None
-        except aiohttp.ClientError as e:
-            logging.error(f"WeatherInput: Network error: {e}")
-            return None
-        except Exception as e:
-            logging.error(f"WeatherInput: Unexpected error: {e}")
-            return None
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for weather data based on poll_interval.
-
-        Returns
-        -------
-        Optional[dict]
-            Fresh weather data when poll interval has elapsed, None otherwise.
-        """
-        current_time = time.time()
-
-        if current_time - self._last_poll_time < self.poll_interval:
-            await asyncio.sleep(1.0)
-            return None
-
-        self._last_poll_time = current_time
-        await asyncio.sleep(1.0)
-        return await self._fetch_weather()
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """
-        Convert raw weather data to human-readable text.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw weather data from API.
-
-        Returns
-        -------
-        Optional[Message]
-            Formatted weather message or None.
-        """
-        if raw_input is None:
-            return None
-
-        try:
-            main = raw_input.get("main", {})
-            weather = raw_input.get("weather", [{}])[0]
-            wind = raw_input.get("wind", {})
-            location = raw_input.get("name", "Unknown location")
-
-            temp = main.get("temp")
-            feels_like = main.get("feels_like")
-            humidity = main.get("humidity")
-            condition = weather.get("description", "unknown")
-            wind_speed = wind.get("speed")
-
-            if self.units == "metric":
-                unit_symbol = "°C"
-                wind_unit = "m/s"
-            elif self.units == "imperial":
-                unit_symbol = "°F"
-                wind_unit = "mph"
-            else:
-                unit_symbol = " K"
-                wind_unit = "m/s"
-
-            parts = [f"Weather in {location}: {condition}"]
-
-            if temp is not None:
-                parts.append(f"Temperature: {temp}{unit_symbol}")
-            if feels_like is not None:
-                parts.append(f"feels like {feels_like}{unit_symbol}")
-            if humidity is not None:
-                parts.append(f"Humidity: {humidity}%")
-            if wind_speed is not None:
-                parts.append(f"Wind: {wind_speed} {wind_unit}")
-
-            message = ". ".join(parts) + "."
-            return Message(timestamp=time.time(), message=message)
-
-        except Exception as e:
-            logging.error(f"WeatherInput: Error parsing weather data: {e}")
-            return None
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """
-        Update message buffer with processed weather data.
-
-        Parameters
-        ----------
-        raw_input : Optional[dict]
-            Raw weather data to be processed.
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string for LLM or None if buffer is empty.
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/webcam_to_face_emotion.py b/src/inputs/plugins/webcam_to_face_emotion.py
deleted file mode 100644
index bc630dd69d..0000000000
--- a/src/inputs/plugins/webcam_to_face_emotion.py
+++ /dev/null
@@ -1,191 +0,0 @@
-"""
-Code example is from:
-https://github.com/manish-9245/Facial-Emotion-Recognition-using-OpenCV-and-Deepface
-Thank you @manish-9245.
-"""
-
-import asyncio
-import logging
-import random
-import time
-from typing import Optional
-
-import cv2
-from deepface import DeepFace
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-
-
-def check_webcam():
-    """
-    Checks if a webcam is available and returns True if found, False otherwise.
-    """
-    cap = cv2.VideoCapture(0)  # 0 is the default camera index
-    if not cap.isOpened():
-        logging.info("No webcam found")
-        return False
-    logging.info("Found cam(0)")
-    return True
-
-
-class FaceEmotionCapture(FuserInput[SensorConfig, Optional[cv2.typing.MatLike]]):
-    """
-    Real-time facial emotion recognition using webcam input.
-
-    Uses OpenCV for face detection and DeepFace for emotion analysis.
-    Processes video frames to detect faces and classify emotions.
-    """
-
-    def __init__(self, config: SensorConfig):
-        """
-        Initialize the FaceEmotionCapture input handler.
-
-        Sets up the required providers and resources for handling facial emotion recognition.
-        Initializes OpenCV face cascade classifier and webcam capture if available.
-
-        Parameters
-        ----------
-        config : SensorConfig
-            Configuration for the sensor input.
-        """
-        super().__init__(config)
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Load face cascade classifier
-        self.face_cascade = cv2.CascadeClassifier(
-            cv2.data.haarcascades + "haarcascade_frontalface_default.xml"  # type: ignore
-        )
-
-        self.have_cam = check_webcam()
-
-        # Start capturing video, if we have a webcam
-        self.cap = None
-        if self.have_cam:
-            self.cap = cv2.VideoCapture(0)
-
-        # Initialize emotion label
-        self.emotion = ""
-
-        # Messages buffer
-        self.messages: list[Message] = []
-
-    async def _poll(self) -> Optional[cv2.typing.MatLike]:
-        """
-        Capture frame from webcam.
-
-        Returns
-        -------
-        cv2.typing.MatLike
-            Captured video frame
-        """
-        await asyncio.sleep(0.5)
-
-        # Capture a frame every 500 ms
-        if self.have_cam and self.cap is not None:
-            ret, frame = self.cap.read()
-            if not ret or frame is None:
-                logging.warning("FaceEmotion: Failed to read frame from camera, skipping")
-                return None
-            return frame
-
-    async def _raw_to_text(self, raw_input: Optional[cv2.typing.MatLike]) -> Optional[Message]:
-        """
-        Process video frame for emotion detection.
-
-        Parameters
-        ----------
-        raw_input : Optional[cv2.typing.MatLike]
-            Captured video frame
-
-        Returns
-        -------
-        Optional[Message]
-            Message containing detected emotion or status
-        """
-        if not self.have_cam:
-            # simulate a model response
-            emotions = ["happy", "angry", "sad", "bored"]
-            random_emotion = random.choice(emotions)
-            message = f"I see a person. Their emotion is {random_emotion}."
-            return Message(timestamp=time.time(), message=message)
-
-        frame = raw_input
-
-        # If no frame is captured, return None
-        if frame is None:
-            return None
-
-        # Convert frame to grayscale
-        gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
-
-        # Convert grayscale frame to RGB format
-        rgb_frame = cv2.cvtColor(gray_frame, cv2.COLOR_GRAY2RGB)
-
-        # Detect faces in the frame
-        faces = self.face_cascade.detectMultiScale(gray_frame, scaleFactor=1.1, minNeighbors=5, minSize=(30, 30))
-
-        for x, y, w, h in faces:
-            # Extract the face ROI (Region of Interest)
-            face_roi = rgb_frame[y : y + h, x : x + w]
-
-            # Perform emotion analysis on the face ROI
-            result = DeepFace.analyze(face_roi, actions=["emotion"], enforce_detection=False)
-
-            # Determine the dominant emotion
-            if isinstance(result, list) and len(result) > 0:
-                emotion_data = result[0]
-                if isinstance(emotion_data, dict):
-                    self.emotion = emotion_data.get("dominant_emotion", "")
-
-        if self.emotion == "":
-            message = "I do not see anyone, so I can't estimate their emotion."
-        else:
-            message = f"I see a person. Their emotion is {self.emotion}."
-
-        logging.info(f"EmotionCapture: {message}")
-
-        return Message(timestamp=time.time(), message=message)
-
-    async def raw_to_text(self, raw_input: Optional[cv2.typing.MatLike]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[cv2.typing.MatLike]
-            Raw video frame to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"""
-{self.__class__.__name__} INPUT
-// START
-{latest_message.message}
-// END
-"""
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
diff --git a/src/inputs/plugins/zenoh.py b/src/inputs/plugins/zenoh.py
deleted file mode 100644
index e38dafd2e5..0000000000
--- a/src/inputs/plugins/zenoh.py
+++ /dev/null
@@ -1,166 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from queue import Empty, Queue
-from typing import List, Optional
-
-import zenoh
-from pydantic import Field
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.zenoh_listener_provider import ZenohListenerProvider
-
-
-class ZenohListenerConfig(SensorConfig):
-    """
-    Configuration for Zenoh Listener Sensor.
-
-    Parameters
-    ----------
-    listen_topic : Optional[str]
-        Topic to listen to.
-    """
-
-    listen_topic: Optional[str] = Field(default=None, description="Listen Topic")
-
-
-class ZenohListener(FuserInput[ZenohListenerConfig, Optional[str]]):
-    """
-    Zenoh listener handler.
-
-    This class manages the input stream from Zenoh, buffering messages
-    and providing text conversion capabilities.
-    """
-
-    def __init__(self, config: ZenohListenerConfig):
-        """
-        Initialize the ZenohListener instance.
-        """
-        super().__init__(config)
-
-        # Buffer for storing the final output
-        self.messages: List[str] = []
-
-        # Set IO Provider
-        self.descriptor_for_message = "Message"
-        self.io_provider = IOProvider()
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize ZenohListenerProvider provider
-        listen_topic = self.config.listen_topic
-        if listen_topic is None:
-            listen_topic = "speech"
-            # Log the listen_topic being used
-            logging.info(f"Listen topic not provided. Using default topic: {listen_topic}")
-
-        self.listener: ZenohListenerProvider = ZenohListenerProvider(
-            topic=listen_topic,
-        )
-        self.listener.start(self._handle_zenoh_message)
-
-        # Initialize sleep ticker provider
-        self.global_sleep_ticker_provider = SleepTickerProvider()
-
-    def _handle_zenoh_message(self, zenoh_input: zenoh.Sample):
-        """
-        Process an incoming Zenoh message.
-
-        Parameters
-        ----------
-        zenoh_input : object
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        try:
-            zenoh_message = json.loads(zenoh_input.payload.to_string())
-            if "message" in zenoh_message:
-                heard_message = zenoh_message["message"]
-                self.message_buffer.put(heard_message)
-                logging.info("Heard Zenoh message: %s", heard_message)
-            else:
-                logging.error("Deserialized payload does not have message")
-        except Exception as e:
-            logging.error(f"Error hearing: {e}")
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for new messages in the buffer.
-
-        Returns
-        -------
-        Optional[str]
-            Message from the buffer if available, None otherwise
-        """
-        await asyncio.sleep(0.1)
-        try:
-            message = self.message_buffer.get_nowait()
-            return message
-        except Empty:
-            return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """
-        Convert raw input to text format.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-
-        Returns
-        -------
-        Optional[Message]
-            Processed message or None if input is None
-        """
-        if raw_input is None:
-            return None
-
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """
-        Convert raw input to processed text and manage buffer.
-
-        Parameters
-        ----------
-        raw_input : Optional[str]
-            Raw input to be processed
-        """
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is None:
-            if len(self.messages) != 0:
-                # Skip sleep if there's already a message in the messages buffer
-                self.global_sleep_ticker_provider.skip_sleep = True
-
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """
-        Format and clear the latest buffer contents.
-
-        Returns
-        -------
-        Optional[str]
-            Formatted string of buffer contents or None if buffer is empty
-        """
-        if len(self.messages) == 0:
-            return None
-
-        result = f"""
-{self.descriptor_for_message} INPUT
-// START
-{self.messages[-1]}
-// END
-"""
-        self.io_provider.add_input(self.descriptor_for_message, self.messages[-1], time.time())
-        self.messages = []
-        return result
diff --git a/src/llm/__init__.py b/src/llm/__init__.py
deleted file mode 100644
index f4dd664061..0000000000
--- a/src/llm/__init__.py
+++ /dev/null
@@ -1,297 +0,0 @@
-import importlib
-import inspect
-import logging
-import os
-import re
-import typing as T
-
-from pydantic import BaseModel, ConfigDict, Field
-
-from llm.function_schemas import generate_function_schemas_from_actions
-from providers.io_provider import IOProvider
-from providers.tracer import Tracer
-
-R = T.TypeVar("R")
-
-
-class LLMConfig(BaseModel):
-    """
-    Configuration class for Language Learning Models.
-
-    Parameters
-    ----------
-    base_url : str, optional
-        Base URL for the LLM API endpoint
-    api_key : str, optional
-        Authentication key for the LLM service
-    model : str, optional
-        Name of the LLM model to use
-    history_length : int, optional
-        Number of interactions to store in the history buffer
-    extra_params : dict, optional
-        Additional parameters for the LLM API request
-    """
-
-    model_config = ConfigDict(extra="allow")
-
-    base_url: T.Optional[str] = Field(default=None, description="Base URL for the LLM API endpoint")
-    api_key: T.Optional[str] = Field(default=None, description="Authentication key for the LLM service")
-    model: T.Optional[str] = Field(default=None, description="Name of the LLM model to use")
-    timeout: T.Optional[int] = Field(default=10, description="Request timeout in seconds")
-    agent_name: T.Optional[str] = Field(default="IRIS", description="Name of the agent identity")
-    history_length: T.Optional[int] = Field(default=0, description="Number of past interactions to keep in context")
-    extra_params: T.Dict[str, T.Any] = Field(default_factory=dict)
-
-    def __getitem__(self, item: str) -> T.Any:
-        """
-        Get an item from the configuration.
-
-        Parameters
-        ----------
-        item : str
-            The key to retrieve from the configuration
-
-        Returns
-        -------
-        T.Any
-            The value associated with the key in the configuration
-        """
-        try:
-            return getattr(self, item)
-        except AttributeError:
-            return self.extra_params[item]
-
-    def __setitem__(self, key: str, value: T.Any) -> None:
-        """
-        Set an item in the configuration.
-
-        Parameters
-        ----------
-        key : str
-            The key to set in the configuration
-        value : T.Any
-            The value to associate with the key in the configuration
-        """
-        if hasattr(self, key):
-            setattr(self, key, value)
-        else:
-            self.extra_params[key] = value
-
-
-class LLM(T.Generic[R]):
-    """
-    Base class for Language Learning Model implementations.
-
-    Generic interface for implementing LLM clients with type-safe responses.
-
-    Type Parameters
-    ---------------
-    R
-        Type specification for model responses.
-
-    Parameters
-    ----------
-    config : LLMConfig
-        Configuration settings for the LLM.
-    available_actions : list, optional
-        List of available actions for function calling.
-    """
-
-    def __init__(
-        self,
-        config: LLMConfig,
-        available_actions: T.Optional[list] = None,
-    ):
-        # Set up the LLM configuration
-        self._config = config
-
-        # Set up available actions for function calling
-        self._available_actions = available_actions or []
-        self.function_schemas = []
-        if self._available_actions:
-            self.function_schemas = generate_function_schemas_from_actions(self._available_actions)
-            logging.info(f"LLM initialized with {len(self.function_schemas)} function schemas")
-
-        # Set up the IO provider
-        self.io_provider = IOProvider()
-
-        # Initialize the tracer
-        self.tracer = Tracer()
-
-        # Enable state management by default
-        self._skip_state_management: bool = False
-
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Send a prompt to the LLM and receive a typed response.
-
-        Parameters
-        ----------
-        prompt : str
-            Input text to send to the model
-        messages : List[Dict[str, str]]
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R
-            Response matching the output_model type specification
-
-        Raises
-        ------
-        NotImplementedError
-            Must be implemented by subclasses
-        """
-        raise NotImplementedError
-
-    async def ask_stream(
-        self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None
-    ) -> T.AsyncGenerator[R, None]:
-        """
-        Send a prompt to the LLM and stream results.
-
-        Default implementation yields a single result from ask().
-        Subclasses can override for true streaming (e.g., ParallelLLM).
-
-        Parameters
-        ----------
-        prompt : str
-            Input text to send to the model
-        messages : List[Dict[str, str]]
-            List of message dictionaries to send to the model.
-
-        Yields
-        ------
-        R
-            Response matching the output_model type specification
-        """
-        result = await self.ask(prompt, messages)
-        if result is not None:
-            yield result
-
-
-def find_module_with_class(class_name: str) -> T.Optional[str]:
-    """
-    Find which module file contains the specified class name.
-
-    Parameters
-    ----------
-    class_name : str
-        The class name to search for
-
-    Returns
-    -------
-    str or None
-        The module name (without .py) that contains the class, or None if not found
-    """
-    plugins_dir = os.path.join(os.path.dirname(__file__), "plugins")
-
-    if not os.path.exists(plugins_dir):
-        return None
-
-    plugin_files = [f for f in os.listdir(plugins_dir) if f.endswith(".py")]
-
-    for plugin_file in plugin_files:
-        file_path = os.path.join(plugins_dir, plugin_file)
-
-        try:
-            with open(file_path, "r", encoding="utf-8") as f:
-                content = f.read()
-
-            pattern = rf"^class\s+{re.escape(class_name)}\s*\([^)]*LLM[^)]*\)\s*:"
-
-            if re.search(pattern, content, re.MULTILINE):
-                return plugin_file[:-3]
-
-        except Exception as e:
-            logging.warning(f"Could not read {plugin_file}: {e}")
-            continue
-
-    return None
-
-
-def get_llm_class(class_name: str) -> T.Type[LLM]:
-    """
-    Get an LLM class by its class name.
-
-    Parameters
-    ----------
-    class_name : str
-        The exact class name
-
-    Returns
-    -------
-    T.Type[LLM]
-        The LLM class
-    """
-    module_name = find_module_with_class(class_name)
-
-    if module_name is None:
-        raise ValueError(f"Class '{class_name}' not found in any LLM plugin module")
-
-    try:
-        module = importlib.import_module(f"llm.plugins.{module_name}")
-        llm_class = getattr(module, class_name)
-
-        if not (inspect.isclass(llm_class) and issubclass(llm_class, LLM) and llm_class != LLM):
-            raise ValueError(f"'{class_name}' is not a valid LLM subclass")
-
-        logging.debug(f"Got LLM class {class_name} from {module_name}.py")
-        return llm_class
-
-    except ImportError as e:
-        raise ValueError(f"Could not import LLM module '{module_name}': {e}")
-    except AttributeError:
-        raise ValueError(f"Class '{class_name}' not found in LLM module '{module_name}'")
-
-
-def load_llm(
-    llm_config: T.Dict[str, T.Any],
-    available_actions: T.Optional[list] = None,
-) -> LLM:
-    """
-    Load an LLM instance with its configuration.
-
-    Parameters
-    ----------
-    llm_config : dict
-        Configuration dictionary
-    available_actions : list, optional
-        List of available actions for function calling
-
-    Returns
-    -------
-    LLM
-        The instantiated LLM
-    """
-    class_name = llm_config["type"]
-    module_name = find_module_with_class(class_name)
-
-    if module_name is None:
-        raise ValueError(f"Class '{class_name}' not found in LLM plugin module")
-
-    try:
-        module = importlib.import_module(f"llm.plugins.{module_name}")
-        llm_class = getattr(module, class_name)
-
-        if not (inspect.isclass(llm_class) and issubclass(llm_class, LLM) and llm_class != LLM):
-            raise ValueError(f"'{class_name}' is not a valid LLM subclass")
-
-        config_class = None
-        for obj in module.__dict__.values():
-            if isinstance(obj, type) and issubclass(obj, LLMConfig) and obj != LLMConfig:
-                config_class = obj
-
-        config_dict = llm_config.get("config", {})
-        if config_class is not None:
-            config = config_class(**(config_dict if isinstance(config_dict, dict) else {}))
-        else:
-            config = LLMConfig(**(config_dict if isinstance(config_dict, dict) else {}))
-
-        logging.debug(f"Loaded LLM {class_name} from {module_name}.py")
-        return llm_class(config=config, available_actions=available_actions)
-
-    except ImportError as e:
-        raise ValueError(f"Could not import LLM module '{module_name}': {e}")
-    except AttributeError:
-        raise ValueError(f"Class '{class_name}' not found in LLM module '{module_name}'")
diff --git a/src/llm/function_schemas.py b/src/llm/function_schemas.py
deleted file mode 100644
index 31ba0fc10e..0000000000
--- a/src/llm/function_schemas.py
+++ /dev/null
@@ -1,173 +0,0 @@
-"""
-Utility functions for generating OpenAI function schemas from AgentActions.
-
-This module is separate from both the actions and llm modules to avoid circular imports.
-"""
-
-import json
-import logging
-from enum import Enum
-from typing import get_type_hints
-
-from llm.output_model import Action
-
-
-def generate_function_schema_from_action(action) -> dict:
-    """
-    Generate OpenAI function schema from an AgentAction.
-
-    Parameters
-    ----------
-    action : AgentAction
-        The action to generate a function schema for.
-
-    Returns
-    -------
-    dict
-        OpenAI function schema dictionary.
-    """
-    interface = action.interface
-    input_interface = get_type_hints(interface)["input"]
-
-    doc = interface.__doc__ or ""
-    doc = doc.replace("\n", " ").strip()
-
-    properties = {}
-    required = []
-
-    for field_name, field_type in get_type_hints(input_interface).items():
-        if isinstance(field_type, type) and issubclass(field_type, Enum):
-            enum_values = [v.value for v in field_type]
-            properties[field_name] = {
-                "type": "string",
-                "enum": enum_values,
-                "description": f"The {field_name} to perform. Must be one of: {', '.join(enum_values)}",
-            }
-        elif isinstance(field_type, str):
-            properties[field_name] = {
-                "type": "string",
-                "description": f"The {field_name} parameter",
-            }
-        elif isinstance(field_type, int):
-            properties[field_name] = {
-                "type": "integer",
-                "description": f"The {field_name} parameter",
-            }
-        elif isinstance(field_type, float):
-            properties[field_name] = {
-                "type": "number",
-                "description": f"The {field_name} parameter",
-            }
-        elif isinstance(field_type, bool):
-            properties[field_name] = {
-                "type": "boolean",
-                "description": f"The {field_name} parameter",
-            }
-        else:
-            properties[field_name] = {
-                "type": "string",
-                "description": f"The {field_name} parameter",
-            }
-
-        required.append(field_name)
-
-    return {
-        "type": "function",
-        "function": {
-            "name": action.llm_label,
-            "description": doc or f"Execute {action.llm_label} action",
-            "parameters": {
-                "type": "object",
-                "properties": properties,
-                "required": required,
-                "additionalProperties": False,
-            },
-            "strict": True,
-        },
-    }
-
-
-def generate_function_schemas_from_actions(actions: list) -> list[dict]:
-    """
-    Generate OpenAI function schemas from a list of AgentActions.
-
-    Parameters
-    ----------
-    actions : list
-        List of actions to generate function schemas for.
-
-    Returns
-    -------
-    list[dict]
-        List of OpenAI function schema dictionaries.
-    """
-    schemas = []
-    for action in actions:
-        if not action.exclude_from_prompt:
-            try:
-                schema = generate_function_schema_from_action(action)
-                schemas.append(schema)
-                logging.debug(f"Generated function schema for {action.llm_label}: {schema}")
-            except Exception as e:
-                logging.error(f"Error generating function schema for {action.llm_label}: {e}")
-
-    return schemas
-
-
-def convert_function_calls_to_actions(function_calls: list[dict]) -> list[Action]:
-    """
-    Convert OpenAI function call responses to Action objects.
-
-    Parameters
-    ----------
-    function_calls : list[dict]
-        List of function call dictionaries from OpenAI response.
-
-    Returns
-    -------
-    list[Action]
-        List of Action objects for the action orchestrator.
-    """
-    actions = []
-
-    for call in function_calls:
-        try:
-            function_name = call.get("function", {}).get("name")
-            function_args = call.get("function", {}).get("arguments", "{}")
-
-            # Parse arguments if they're a string
-            if isinstance(function_args, str):
-                try:
-                    args = json.loads(function_args)
-                except json.JSONDecodeError:
-                    logging.error(f"Failed to parse function arguments: {function_args}")
-                    continue
-            else:
-                args = function_args
-
-            if function_name.startswith("mcp_"):
-                action_value = json.dumps(args) if args else ""
-            elif "action" in args and len(args) == 1:
-                action_value = args["action"]
-            elif len(args) > 1:
-                action_value = json.dumps(args)
-            elif len(args) == 1:
-                for param in ["text", "message", "value", "command"]:
-                    if param in args:
-                        action_value = args[param]
-                        break
-                else:
-                    action_value = str(list(args.values())[0])
-            else:
-                action_value = ""
-
-            action = Action(type=function_name, value=action_value)
-            actions.append(action)
-
-            logging.info(f"Converted function call {function_name}({args}) to action: {action}")
-
-        except Exception as e:
-            logging.error(f"Error converting function call to action: {e}")
-            continue
-
-    return actions
diff --git a/src/llm/output_model.py b/src/llm/output_model.py
deleted file mode 100644
index 79fd66643d..0000000000
--- a/src/llm/output_model.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from pydantic import BaseModel, Field
-
-
-class Action(BaseModel):
-    """
-    Executable action with its argument.
-
-    Parameters
-    ----------
-    type : str
-        Type of action to execute, such as 'move' or 'speak'
-    value : str
-        The action argument, such as the magnitude of a movement or the sentence to speak
-    """
-
-    type: str = Field(..., description="The specific type of action, such as 'move' or 'speak'")
-    value: str = Field(..., description="The action argument")
-
-
-class CortexOutputModel(BaseModel):
-    """
-    Output model for the Cortex LLM responses.
-
-    Parameters
-    ----------
-    actions : list[Action]
-        List of actions to be executed
-    """
-
-    actions: list[Action] = Field(..., description="List of actions to execute")
diff --git a/src/llm/plugins/__init__.py b/src/llm/plugins/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/llm/plugins/deepseek_llm.py b/src/llm/plugins/deepseek_llm.py
deleted file mode 100644
index 65f6951340..0000000000
--- a/src/llm/plugins/deepseek_llm.py
+++ /dev/null
@@ -1,164 +0,0 @@
-import logging
-import time
-import typing as T
-from enum import Enum
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class DeepSeekModel(str, Enum):
-    """Available DeepSeek models."""
-
-    DEEPSEEK_CHAT = "deepseek-chat"
-
-
-class DeepSeekConfig(LLMConfig):
-    """DeepSeek-specific configuration with model enum."""
-
-    base_url: T.Optional[str] = Field(
-        default="https://api.openmind.com/api/core/deepseek",
-        description="Base URL for the DeepSeek API endpoint",
-    )
-    model: T.Optional[T.Union[DeepSeekModel, str]] = Field(
-        default=DeepSeekModel.DEEPSEEK_CHAT,
-        description="DeepSeek model to use",
-    )
-
-
-class DeepSeekLLM(LLM[R]):
-    """
-    A DeepSeek-based Language Learning Model implementation.
-
-    This class implements the LLM interface for DeepSeek's conversation models, handling
-    configuration, authentication, and async API communication.
-    """
-
-    def __init__(
-        self,
-        config: DeepSeekConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the DeepSeek LLM instance.
-
-        Parameters
-        ----------
-        config : DeepSeekConfig
-            Configuration settings for the LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        if not config.api_key:
-            raise ValueError("config file missing api_key")
-        if not config.model:
-            self._config.model = DeepSeekModel.DEEPSEEK_CHAT
-
-        self.base_url = config.base_url or "https://api.openmind.com/api/core/deepseek"
-        self._client = openai.AsyncOpenAI(
-            base_url=self.base_url,
-            api_key=config.api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Send a prompt to the DeepSeek API and get a structured response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.debug(f"DeepSeek LLM input: {prompt}")
-            logging.debug(f"DeepSeek LLM messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted_messages = [
-                {"role": msg.get("role", "user"), "content": msg.get("content", "")} for msg in messages
-            ]
-            formatted_messages.append({"role": "user", "content": prompt})
-
-            response = await self._client.chat.completions.create(
-                model=self._config.model or DeepSeekModel.DEEPSEEK_CHAT,
-                messages=T.cast(T.Any, formatted_messages),
-                tools=T.cast(T.Any, self.function_schemas),
-                tool_choice="auto",
-                timeout=self._config.timeout,
-            )
-
-            if not response.choices:
-                logging.warning("DeepSeek API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(
-                model=str(self._config.model or DeepSeekModel.DEEPSEEK_CHAT),
-                endpoint=str(self.base_url),
-            ).observe(latency)
-            om1_llm_latency_last.labels(
-                model=str(self._config.model or DeepSeekModel.DEEPSEEK_CHAT),
-                endpoint=str(self.base_url),
-            ).set(latency)
-
-            if message.tool_calls:
-                logging.info(f"Received {len(message.tool_calls)} function calls")
-                logging.info(f"Function calls: {message.tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": getattr(tc, "function").name,
-                            "arguments": getattr(tc, "function").arguments,
-                        }
-                    }
-                    for tc in message.tool_calls
-                ]
-
-                actions = convert_function_calls_to_actions(function_call_data)
-
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                logging.info(f"DeepSeek LLM function call output: {result}")
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-
-        except Exception as e:
-            logging.error(f"DeepSeek API error: {e}")
-            return None
diff --git a/src/llm/plugins/dual_llm.py b/src/llm/plugins/dual_llm.py
deleted file mode 100644
index 7a6998264e..0000000000
--- a/src/llm/plugins/dual_llm.py
+++ /dev/null
@@ -1,368 +0,0 @@
-# DualLLM: A system where a local and cloud LLM race to answer,
-# with smart selection based on function calls and quality evaluation.
-
-import asyncio
-import json
-import logging
-import re
-import time
-import typing as T
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig, get_llm_class
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-def _extract_voice_input(prompt: str) -> str:
-    """
-    Extract voice input from the prompt.
-
-    Parameters
-    ----------
-    prompt : str
-        Full prompt containing INPUT: Voice section.
-
-    Returns
-    -------
-    str
-        Extracted voice input text, or empty string if not found.
-    """
-    match = re.search(r"Voice:\s*([^\n]+)", prompt)
-    if match:
-        return match.group(1).strip()
-
-    return ""
-
-
-class DualLLMConfig(LLMConfig):
-    """
-    Configuration for DualLLM.
-
-    Parameters
-    ----------
-    local_llm_type : str
-        Class name of the local LLM (default: "QwenLLM").
-    local_llm_config : dict
-        Configuration for the local LLM.
-    cloud_llm_type : str
-        Class name of the cloud LLM (default: "OpenAILLM").
-    cloud_llm_config : dict
-        Configuration for the cloud LLM.
-    """
-
-    local_llm_type: str = Field(default="QwenLLM", description="Class name of the local LLM")
-    local_llm_config: T.Dict[str, T.Any] = Field(
-        default_factory=lambda: {"model": "RedHatAI/Qwen3-30B-A3B-quantized.w4a16"},
-        description="Configuration for the local LLM",
-    )
-    cloud_llm_type: str = Field(default="OpenAILLM", description="Class name of the cloud LLM")
-    cloud_llm_config: T.Dict[str, T.Any] = Field(
-        default_factory=lambda: {"model": "gpt-4.1"},
-        description="Configuration for the cloud LLM",
-    )
-
-
-class DualLLM(LLM[R]):
-    """
-    Dual LLM that races local and cloud LLMs with three selection rules:
-    1. Both in time → pick one with function calls, or evaluate quality if both have
-    2. One in time → use it
-    3. Neither in time → use first to complete.
-
-    Config example:
-        "cortex_llm": {
-            "type": "DualLLM",
-            "config": {
-                "local_llm_type": "QwenLLM",
-                "local_llm_config": {"model": "RedHatAI/Qwen3-30B-A3B-quantized.w4a16"},
-                "cloud_llm_type": "OpenAILLM",
-                "cloud_llm_config": {"model": "gpt-4.1"}
-            }
-        }
-    """
-
-    TIMEOUT_THRESHOLD = 3.2
-
-    def __init__(
-        self,
-        config: DualLLMConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the DualLLM instance.
-
-        Sets up the local and cloud LLMs based on configuration, initializes
-        the evaluation client, and prepares the history manager.
-
-        Parameters
-        ----------
-        config : DualLLMConfig
-            Configuration settings for the Dual LLM, including local and cloud LLM details.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        self._config: DualLLMConfig
-
-        local_type = self._config.local_llm_type
-        local_cfg = self._config.local_llm_config.copy()
-        cloud_type = self._config.cloud_llm_type
-        cloud_cfg = self._config.cloud_llm_config.copy()
-
-        cloud_cfg["api_key"] = self._config.api_key
-
-        LocalLLMClass = get_llm_class(local_type)
-        CloudLLMClass = get_llm_class(cloud_type)
-
-        self._local_llm: LLM = LocalLLMClass(config=LLMConfig(**local_cfg), available_actions=available_actions)
-        self._cloud_llm: LLM = CloudLLMClass(config=LLMConfig(**cloud_cfg), available_actions=available_actions)
-
-        self._local_llm._skip_state_management = True
-        self._cloud_llm._skip_state_management = True
-
-        self._eval_client = openai.AsyncClient(
-            base_url="http://127.0.0.1:8860/v1", api_key="local", http_client=get_async_httpx_client()
-        )
-        self._eval_model = local_cfg.get("model", "RedHatAI/Qwen3-30B-A3B-quantized.w4a16")
-
-        self.history_manager = LLMHistoryManager(self._config, self._eval_client)
-
-    async def _call_llm(self, llm: LLM, prompt: str, messages: T.List[T.Dict[str, T.Any]], source: str) -> dict:
-        """
-        Call an LLM and return result with timing info.
-
-        Parameters
-        ----------
-        llm : LLM
-            The LLM instance to call.
-        prompt : str
-            The prompt to send.
-        source : str
-            Identifier for the source ("local" or "cloud").
-
-        Returns
-        -------
-        dict
-            Dictionary with keys: result, time, source.
-        """
-        start = time.time()
-        try:
-            result = await llm.ask(prompt, messages)
-            return {"result": result, "time": time.time() - start, "source": source}
-        except Exception as e:
-            logging.error(f"{source} LLM error: {e}")
-            return {"result": None, "time": time.time() - start, "source": source}
-
-    def _has_function_calls(self, entry: dict) -> bool:
-        """
-        Check if result has valid function calls.
-
-        Parameters
-        ----------
-        entry : dict
-            Result dictionary from _call_llm.
-
-        Returns
-        -------
-        bool
-            True if result contains valid actions.
-        """
-        result = entry["result"]
-        return result is not None and hasattr(result, "actions") and bool(result.actions)
-
-    async def _evaluate_quality(self, local_entry: dict, cloud_entry: dict, prompt: str) -> str:
-        """
-        Use LLM to evaluate which response better answers the user's question.
-
-        Parameters
-        ----------
-        local_entry : dict
-            Result from local LLM.
-        cloud_entry : dict
-            Result from cloud LLM.
-        prompt : str
-            Extracted user voice input for context.
-
-        Returns
-        -------
-        str
-            "local" or "cloud" indicating the better response.
-        """
-        try:
-            local_actions = [{"type": a.type, "value": a.value} for a in local_entry["result"].actions]
-            cloud_actions = [{"type": a.type, "value": a.value} for a in cloud_entry["result"].actions]
-
-            eval_prompt = f"""You are evaluating two AI responses to determine which better answers the user's question.
-
-Original User Question/Context:
-{prompt[:500]}
-
-Response A (local model):
-{json.dumps(local_actions, indent=2)}
-
-Response B (cloud model):
-{json.dumps(cloud_actions, indent=2)}
-
-Evaluate based on:
-1. Relevance - Which response better addresses the user's question?
-2. Completeness - Does it fully answer what was asked?
-3. Appropriateness - Are the actions suitable for the context?
-4. Quality - Is the content natural and engaging?
-
-Respond with ONLY a single word: either "A" or "B" for the better response."""
-
-            response = await self._eval_client.chat.completions.create(
-                model=self._eval_model,
-                messages=[{"role": "user", "content": eval_prompt}],
-                temperature=0.0,
-                max_tokens=10,
-                timeout=2.0,
-                extra_body={"chat_template_kwargs": {"enable_thinking": False}},
-            )
-
-            if not response.choices:
-                logging.warning("LLM evaluation returned empty choices")
-                return "local"
-
-            content = response.choices[0].message.content
-            if content is None:
-                return "local"
-
-            result = content.strip().upper()
-            return "local" if "A" in result else "cloud"
-        except Exception as e:
-            logging.warning(f"LLM quality evaluation failed, defaulting to local: {e}")
-            return "local"
-
-    async def _select_best(self, local_entry: dict, cloud_entry: dict, prompt: str) -> dict:
-        """
-        Select best response when both LLMs respond in time.
-
-        Parameters
-        ----------
-        local_entry : dict
-            Result from local LLM.
-        cloud_entry : dict
-            Result from cloud LLM.
-        prompt : str
-            The prompt text for evaluation context.
-
-        Returns
-        -------
-        dict
-            The selected result entry.
-        """
-        local_has_function_call = self._has_function_calls(local_entry)
-        cloud_has_function_call = self._has_function_calls(cloud_entry)
-
-        if local_has_function_call and not cloud_has_function_call:
-            return local_entry
-        if cloud_has_function_call and not local_has_function_call:
-            return cloud_entry
-        if not local_has_function_call and not cloud_has_function_call:
-            return local_entry
-
-        # Both have function calls → evaluate quality
-        winner = await self._evaluate_quality(local_entry, cloud_entry, prompt)
-        return local_entry if winner == "local" else cloud_entry
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, T.Any]]] = None) -> R | None:
-        """
-        Send prompt to both LLMs and select the best response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send.
-        messages : list of dict, optional
-            Conversation history.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output model, or None if failed.
-        """
-        if messages is None:
-            messages = []
-        try:
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            voice_input = _extract_voice_input(prompt)
-
-            local_task = asyncio.create_task(self._call_llm(self._local_llm, prompt, messages, "local"))
-            cloud_task = asyncio.create_task(self._call_llm(self._cloud_llm, prompt, messages, "cloud"))
-            tasks = {"local": local_task, "cloud": cloud_task}
-
-            start_time = time.time()
-            in_time = {}
-
-            # Wait for responses until timeout
-            while len(in_time) < 2 and (time.time() - start_time) < self.TIMEOUT_THRESHOLD:
-                pending = [t for name, t in tasks.items() if name not in in_time]
-                if not pending:
-                    break
-
-                remaining = self.TIMEOUT_THRESHOLD - (time.time() - start_time)
-                if remaining <= 0:
-                    break
-
-                done, _ = await asyncio.wait(pending, timeout=remaining, return_when=asyncio.FIRST_COMPLETED)
-
-                for task in done:
-                    result = task.result()
-                    if result["time"] <= self.TIMEOUT_THRESHOLD and result["result"] is not None:
-                        in_time[result["source"]] = result
-
-            # Both in time → select best
-            if len(in_time) == 2:
-                logging.debug("Both LLMs responded in time, evaluating best response.")
-                chosen = await self._select_best(in_time["local"], in_time["cloud"], voice_input)
-
-            # One in time → use it
-            elif len(in_time) == 1:
-                chosen = list(in_time.values())[0]
-                logging.debug(f"One LLM responded in time, using its response. {chosen['source']} LLM selected.")
-                # Cancel the other task
-                for name, task in tasks.items():
-                    if name not in in_time:
-                        task.cancel()
-                        logging.debug(f"Cancelled {name} LLM task due to timeout.")
-
-            # Neither in time → wait for first to complete
-            else:
-                logging.debug("Neither LLM responded in time, waiting for first to complete.")
-                pending = [t for t in tasks.values() if not t.done()]
-                if pending:
-                    done, rest = await asyncio.wait(pending, return_when=asyncio.FIRST_COMPLETED)
-                    chosen = list(done)[0].result()
-                    logging.debug(f"Using first completed LLM response from {chosen['source']} LLM.")
-                    for task in rest:
-                        task.cancel()
-                        logging.debug(f"Cancelled {task} LLM task due to timeout.")
-                else:
-                    # Both already completed (just late)
-                    results = [t.result() for t in tasks.values()]
-                    chosen = min(results, key=lambda x: x["time"])
-
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(model=str("dual_llm"), endpoint=str("dual_selection")).observe(latency)
-            om1_llm_latency_last.labels(model=str("dual_llm"), endpoint=str("dual_selection")).set(latency)
-
-            if chosen and chosen["result"]:
-                return T.cast(R, chosen["result"])
-            return None
-
-        except Exception as e:
-            logging.error(f"DualLLM error: {e}")
-            return None
diff --git a/src/llm/plugins/functiongemma.py b/src/llm/plugins/functiongemma.py
deleted file mode 100644
index 2d182af538..0000000000
--- a/src/llm/plugins/functiongemma.py
+++ /dev/null
@@ -1,182 +0,0 @@
-import logging
-import re
-import time
-import typing as T
-from enum import Enum
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-def _extract_voice_input(prompt: str) -> str:
-    """
-    Extract voice input from the prompt.
-
-    Parameters
-    ----------
-    prompt : str
-        Full prompt containing INPUT: Voice section.
-
-    Returns
-    -------
-    str
-        Extracted voice input text, or empty string if not found.
-    """
-    match = re.search(r"Voice:\s*([^\n]+)", prompt)
-    if match:
-        return match.group(1).strip().strip("\"'")
-
-    return ""
-
-
-class FunctionGemmaModel(str, Enum):
-    """Available FunctionGemma models."""
-
-    MULTILINGUAL = "functiongemma-finetuned-g1-multilingual"
-
-
-class FunctionGemmaConfig(LLMConfig):
-    """FunctionGemma-specific configuration with model enum."""
-
-    base_url: T.Optional[str] = Field(
-        default="http://localhost:8200/v1",
-        description="Base URL for the FunctionGemma API endpoint",
-    )
-    model: T.Optional[T.Union[FunctionGemmaModel, str]] = Field(
-        default=FunctionGemmaModel.MULTILINGUAL,
-        description="FunctionGemma model to use",
-    )
-
-
-class FunctionGemmaLLM(LLM[R]):
-    """
-    An FunctionGemma-based Language Learning Model implementation with function call support.
-
-    This class implements the LLM interface for FunctionGemma's models, handling
-    configuration, authentication, and async API communication. It supports both
-    traditional JSON structured output and function calling.
-    """
-
-    def __init__(
-        self,
-        config: FunctionGemmaConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the FunctionGemma LLM instance.
-
-        Parameters
-        ----------
-        config : FunctionGemmaConfig, optional
-            Configuration settings for the LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        if not config.api_key:
-            raise ValueError("config file missing api_key")
-        if not config.model:
-            self._config.model = FunctionGemmaModel.MULTILINGUAL
-
-        self.base_url = config.base_url or "http://localhost:8200/v1"
-        self._client = openai.AsyncClient(
-            base_url=self.base_url,
-            api_key=config.api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Send a prompt to the FunctionGemma API and get a structured response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        try:
-            logging.info(f"FunctionGemma input: {prompt}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            # FunctionGemma expects messages in a specific format, so we wrap the prompt accordingly
-            voice = _extract_voice_input(prompt)
-            message = [{"role": "user", "content": voice}]
-
-            response = await self._client.chat.completions.create(
-                model=self._config.model or FunctionGemmaModel.MULTILINGUAL,
-                messages=T.cast(T.Any, message),
-                tools=T.cast(T.Any, self.function_schemas),
-                tool_choice="auto",
-                timeout=self._config.timeout,
-            )
-
-            if not response.choices:
-                logging.warning("FunctionGemma API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(
-                model=str(self._config.model or FunctionGemmaModel.MULTILINGUAL),
-                endpoint=str(self.base_url),
-            ).observe(latency)
-            om1_llm_latency_last.labels(
-                model=str(self._config.model or FunctionGemmaModel.MULTILINGUAL),
-                endpoint=str(self.base_url),
-            ).set(latency)
-
-            if message.tool_calls:
-                logging.info(f"Received {len(message.tool_calls)} function calls")
-                logging.info(f"Function calls: {message.tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": getattr(tc, "function").name,
-                            "arguments": getattr(tc, "function").arguments,
-                        }
-                    }
-                    for tc in message.tool_calls
-                ]
-
-                actions = convert_function_calls_to_actions(function_call_data)
-
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-
-        except Exception as e:
-            logging.error(f"FunctionGemma API error: {e}")
-            return None
diff --git a/src/llm/plugins/gemini_llm.py b/src/llm/plugins/gemini_llm.py
deleted file mode 100644
index 1461d4a846..0000000000
--- a/src/llm/plugins/gemini_llm.py
+++ /dev/null
@@ -1,167 +0,0 @@
-import logging
-import time
-import typing as T
-from enum import Enum
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class GeminiModel(str, Enum):
-    """Available Gemini models."""
-
-    GEMINI_2_5_FLASH = "gemini-2.5-flash"
-    GEMINI_2_5_FLASH_LITE = "gemini-2.5-flash-lite"
-    GEMINI_2_5_PRO = "gemini-2.5-pro"
-    GEMINI_3_1_PRO_PREVIEW = "gemini-3.1-pro-preview"
-    GEMINI_3_1_FLASH_LITE = "gemini-3.1-flash-lite"
-    GEMINI_3_5_FLASH = "gemini-3.5-flash"
-
-
-class GeminiConfig(LLMConfig):
-    """Gemini-specific configuration with model enum."""
-
-    base_url: T.Optional[str] = Field(
-        default="https://api.openmind.com/api/core/gemini",
-        description="Base URL for the Gemini API endpoint",
-    )
-    model: T.Optional[T.Union[GeminiModel, str]] = Field(
-        default=GeminiModel.GEMINI_3_1_FLASH_LITE,
-        description="Gemini model to use",
-    )
-
-
-class GeminiLLM(LLM[R]):
-    """
-    Google Gemini LLM implementation using OpenAI-compatible API.
-
-    Handles authentication and response parsing for Gemini endpoints.
-    """
-
-    def __init__(
-        self,
-        config: GeminiConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the Gemini LLM instance.
-
-        Parameters
-        ----------
-        config : GeminiConfig
-            Configuration settings for the LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        if not config.api_key:
-            raise ValueError("config file missing api_key")
-        if not config.model:
-            self._config.model = GeminiModel.GEMINI_3_1_FLASH_LITE
-
-        self.base_url = config.base_url or "https://api.openmind.com/api/core/gemini"
-        self._client = openai.AsyncOpenAI(
-            base_url=self.base_url,
-            api_key=config.api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Execute LLM query and parse response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.info(f"Gemini LLM input: {prompt}")
-            logging.info(f"Gemini LLM messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted_messages = [
-                {"role": msg.get("role", "user"), "content": msg.get("content", "")} for msg in messages
-            ]
-            formatted_messages.append({"role": "user", "content": prompt})
-
-            response = await self._client.chat.completions.create(
-                model=self._config.model or GeminiModel.GEMINI_3_1_FLASH_LITE,
-                messages=T.cast(T.Any, formatted_messages),
-                tools=T.cast(T.Any, self.function_schemas),
-                tool_choice="auto",
-                timeout=self._config.timeout,
-            )
-
-            if not response.choices:
-                logging.warning("Gemini API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(
-                model=str(self._config.model or GeminiModel.GEMINI_3_1_FLASH_LITE),
-                endpoint=str(self.base_url),
-            ).observe(latency)
-            om1_llm_latency_last.labels(
-                model=str(self._config.model or GeminiModel.GEMINI_3_1_FLASH_LITE),
-                endpoint=str(self.base_url),
-            ).set(latency)
-
-            if message.tool_calls:
-                logging.info(f"Received {len(message.tool_calls)} function calls")
-                logging.info(f"Function calls: {message.tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": getattr(tc, "function").name,
-                            "arguments": getattr(tc, "function").arguments,
-                        }
-                    }
-                    for tc in message.tool_calls
-                ]
-
-                actions = convert_function_calls_to_actions(function_call_data)
-
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                logging.info(f"Gemini LLM function call output: {result}")
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-        except Exception as e:
-            logging.error(f"Gemini API error: {e}")
-            return None
diff --git a/src/llm/plugins/near_ai_llm.py b/src/llm/plugins/near_ai_llm.py
deleted file mode 100644
index 7fda56596b..0000000000
--- a/src/llm/plugins/near_ai_llm.py
+++ /dev/null
@@ -1,169 +0,0 @@
-import logging
-import time
-import typing as T
-from enum import Enum
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class NearAIModel(str, Enum):
-    """Available NearAI models."""
-
-    QWEN_30B_A3B_INSTRUCT_2507 = "Qwen/Qwen3-30B-A3B-Instruct-2507"
-    DEEPSEEK_V3_1 = "deepseek-ai/DeepSeek-V3.1"
-    GPT_OSS_120B = "openai/gpt-oss-120b"
-    GPT_5_2 = "openai/gpt-5.2"
-    GLM_4_7 = "zai-org/GLM-4.7"
-    CLAUDE_SONNET_4_5 = "anthropic/claude-sonnet-4-5"
-    GEMINI_3_PRO = "google/gemini-3-pro"
-
-
-class NearAIConfig(LLMConfig):
-    """NearAI-specific configuration with model enum."""
-
-    base_url: T.Optional[str] = Field(
-        default="https://api.openmind.com/api/core/nearai",
-        description="Base URL for the NearAI API endpoint",
-    )
-    model: T.Optional[T.Union[NearAIModel, str]] = Field(
-        default=NearAIModel.GPT_OSS_120B,
-        description="NearAI model to use",
-    )
-
-
-class NearAILLM(LLM[R]):
-    """
-    A NearAI-based Language Learning Model implementation.
-
-    This class implements the LLM interface for Near AI's open-source models, handling
-    configuration, authentication, and async API communication.
-    """
-
-    def __init__(
-        self,
-        config: NearAIConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the NearAI LLM instance.
-
-        Parameters
-        ----------
-        config : NearAIConfig
-            Configuration settings for the LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        if not config.api_key:
-            raise ValueError("config file missing api_key")
-        if not config.model:
-            self._config.model = "Qwen/Qwen3-30B-A3B-Instruct-2507"
-
-        self.base_url = config.base_url or "https://api.openmind.com/api/core/nearai"
-        self._client = openai.AsyncClient(
-            base_url=self.base_url,
-            api_key=config.api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Send a prompt to the NearAI API and get a structured response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.info(f"NearAI LLM input: {prompt}")
-            logging.info(f"NearAI LLM messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted_messages = [
-                {"role": msg.get("role", "user"), "content": msg.get("content", "")} for msg in messages
-            ]
-            formatted_messages.append({"role": "user", "content": prompt})
-
-            response = await self._client.beta.chat.completions.parse(
-                model=self._config.model or NearAIModel.QWEN_30B_A3B_INSTRUCT_2507,
-                messages=T.cast(T.Any, formatted_messages),
-                tools=T.cast(T.Any, self.function_schemas),
-                tool_choice="auto",
-                timeout=self._config.timeout,
-            )
-
-            if not response.choices:
-                logging.warning("NearAI API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(
-                model=str(self._config.model or NearAIModel.QWEN_30B_A3B_INSTRUCT_2507),
-                endpoint=str(self.base_url),
-            ).observe(latency)
-            om1_llm_latency_last.labels(
-                model=str(self._config.model or NearAIModel.QWEN_30B_A3B_INSTRUCT_2507),
-                endpoint=str(self.base_url),
-            ).set(latency)
-
-            if message.tool_calls:
-                logging.info(f"Received {len(message.tool_calls)} function calls")
-                logging.info(f"Function calls: {message.tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": tc.function.name,
-                            "arguments": tc.function.arguments,
-                        }
-                    }
-                    for tc in message.tool_calls
-                ]
-
-                actions = convert_function_calls_to_actions(function_call_data)
-
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                logging.info(f"NearAI LLM function call output: {result}")
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-        except Exception as e:
-            logging.error(f"NearAI API error: {e}")
-            return None
diff --git a/src/llm/plugins/ollama_llm.py b/src/llm/plugins/ollama_llm.py
deleted file mode 100644
index d0eddf70f1..0000000000
--- a/src/llm/plugins/ollama_llm.py
+++ /dev/null
@@ -1,224 +0,0 @@
-import json
-import logging
-import time
-import typing as T
-
-import httpx
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class OllamaLLMConfig(LLMConfig):
-    """
-    Configuration for Ollama LLM.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for Ollama API (default: http://localhost:11434)
-    model : str
-        Ollama model name (e.g., llama3.2, mistral, phi3, llava)
-    temperature : float
-        Sampling temperature (0.0 - 1.0)
-    num_ctx : int
-        Context window size
-    """
-
-    base_url: T.Optional[str] = Field(default="http://localhost:11434", description="Base URL for Ollama API")
-    model: T.Optional[str] = Field(default="llama3.2", description="Ollama model name")
-    temperature: float = Field(default=0.7, description="Sampling temperature")
-    num_ctx: int = Field(default=4096, description="Context window size")
-    timeout: T.Optional[int] = Field(
-        default=120,
-        description="Request timeout in seconds (longer for local inference)",
-    )
-
-
-class OllamaLLM(LLM[R]):
-    """
-    Ollama-based Language Learning Model implementation.
-
-    This class implements the LLM interface for local Ollama models,
-    providing privacy-focused, cost-free, offline-capable inference.
-    """
-
-    def __init__(
-        self,
-        config: OllamaLLMConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the Ollama LLM instance.
-
-        Parameters
-        ----------
-        config : OllamaLLMConfig
-            Configuration settings for Ollama.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        self._config: OllamaLLMConfig = config
-
-        self._base_url = (self._config.base_url or "http://localhost:11434").strip("/")
-        self._chat_url = f"{self._base_url}/api/chat"
-
-        self._client = httpx.AsyncClient(timeout=config.timeout)
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)  # type: ignore
-
-        logging.info(f"OllamaLLM initialized with model: {config.model}")
-        logging.info(f"Ollama endpoint: {self._chat_url}")
-
-    def _convert_tools_to_ollama_format(self) -> T.List[T.Dict]:
-        """
-        Convert function schemas to Ollama's tool format.
-
-        Returns
-        -------
-        list
-            List of tools in Ollama format
-        """
-        if not self.function_schemas:
-            return []
-
-        ollama_tools = []
-        for schema in self.function_schemas:
-            tool = {
-                "type": "function",
-                "function": {
-                    "name": schema["function"]["name"],
-                    "description": schema["function"].get("description", ""),
-                    "parameters": schema["function"].get("parameters", {}),
-                },
-            }
-            ollama_tools.append(tool)
-
-        return ollama_tools
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Send a prompt to Ollama and get a structured response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries for conversation history.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.info(f"Ollama input: {prompt}")
-            logging.debug(f"Ollama messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted_messages = [
-                {"role": msg.get("role", "user"), "content": msg.get("content", "")} for msg in messages
-            ]
-            formatted_messages.append({"role": "user", "content": prompt})
-
-            payload = {
-                "model": self._config.model,
-                "messages": formatted_messages,
-                "stream": False,
-                "options": {
-                    "temperature": self._config.temperature,
-                    "num_ctx": self._config.num_ctx,
-                },
-            }
-
-            tools = self._convert_tools_to_ollama_format()
-            if tools:
-                payload["tools"] = tools
-
-            logging.debug(f"Ollama request payload: {json.dumps(payload, indent=2)}")
-
-            response = await self._client.post(
-                self._chat_url,
-                json=payload,
-            )
-
-            if response.status_code != 200:
-                logging.error(f"Ollama API error: {response.status_code} - {response.text}")
-                return None
-
-            result = response.json()
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(model=str(self._config.model), endpoint=str(self._base_url)).observe(latency)
-            om1_llm_latency_last.labels(model=str(self._config.model), endpoint=str(self._base_url)).set(latency)
-
-            logging.debug(f"Ollama response: {json.dumps(result, indent=2)}")
-
-            message = result.get("message", {})
-
-            tool_calls = message.get("tool_calls", [])
-            if tool_calls:
-                logging.info(f"Received {len(tool_calls)} function calls from Ollama")
-                logging.info(f"Function calls: {tool_calls}")
-
-                function_call_data = []
-                for tc in tool_calls:
-                    func = tc.get("function", {})
-                    function_call_data.append(
-                        {
-                            "function": {
-                                "name": func.get("name", ""),
-                                "arguments": (
-                                    json.dumps(func.get("arguments", {}))
-                                    if isinstance(func.get("arguments"), dict)
-                                    else func.get("arguments", "{}")
-                                ),
-                            }
-                        }
-                    )
-
-                actions = convert_function_calls_to_actions(function_call_data)
-                result_model = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                return T.cast(R, result_model)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-
-        except httpx.ConnectError as e:
-            logging.error(f"Cannot connect to Ollama at {self._base_url}. Is Ollama running?")
-            logging.error("Start Ollama with: ollama serve")
-            logging.error(f"Error: {e}")
-            return None
-        except httpx.TimeoutException as e:
-            logging.error(f"Ollama request timed out after {self._config.timeout}s")
-            logging.error("Try increasing timeout or using a smaller model")
-            logging.error(f"Error: {e}")
-            return None
-        except Exception as e:
-            logging.error(f"Ollama API error: {e}")
-            return None
-
-    async def close(self):
-        """Close the HTTP client."""
-        await self._client.aclose()
diff --git a/src/llm/plugins/openai_llm.py b/src/llm/plugins/openai_llm.py
deleted file mode 100644
index f4fa692144..0000000000
--- a/src/llm/plugins/openai_llm.py
+++ /dev/null
@@ -1,171 +0,0 @@
-import logging
-import time
-import typing as T
-from enum import Enum
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class OpenAIModel(str, Enum):
-    """Available OpenAI models."""
-
-    GPT_4_O = "gpt-4o"
-    GPT_4_O_MINI = "gpt-4o-mini"
-    GPT_4_1 = "gpt-4.1"
-    GPT_4_1_MINI = "gpt-4.1-mini"
-    GPT_4_1_NANO = "gpt-4.1-nano"
-    GPT_5 = "gpt-5"
-    GPT_5_MINI = "gpt-5-mini"
-    GPT_5_NANO = "gpt-5-nano"
-    GPT_5_1 = "gpt-5.1"
-    GPT_5_2 = "gpt-5.2"
-
-
-class OpenAIConfig(LLMConfig):
-    """OpenAI-specific configuration with model enum."""
-
-    base_url: T.Optional[str] = Field(
-        default="https://api.openmind.com/api/core/openai",
-        description="Base URL for the OpenAI API endpoint",
-    )
-    model: T.Optional[T.Union[OpenAIModel, str]] = Field(
-        default=OpenAIModel.GPT_4_1_MINI,
-        description="OpenAI model to use",
-    )
-
-
-class OpenAILLM(LLM[R]):
-    """
-    An OpenAI-based Language Learning Model implementation with function call support.
-
-    This class implements the LLM interface for OpenAI's GPT models, handling
-    configuration, authentication, and async API communication. It supports both
-    traditional JSON structured output and function calling.
-    """
-
-    def __init__(
-        self,
-        config: OpenAIConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the OpenAI LLM instance.
-
-        Parameters
-        ----------
-        config : OpenAILLMConfig, optional
-            Configuration settings for the LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        if not config.api_key:
-            raise ValueError("config file missing api_key")
-        if not config.model:
-            self._config.model = "gpt-4.1-mini"
-
-        self.base_url = config.base_url or "https://api.openmind.com/api/core/openai"
-        self._client = openai.AsyncClient(
-            base_url=self.base_url,
-            api_key=config.api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Send a prompt to the OpenAI API and get a structured response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.info(f"OpenAI input: {prompt}")
-            logging.info(f"OpenAI messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted_messages = [
-                {"role": msg.get("role", "user"), "content": msg.get("content", "")} for msg in messages
-            ]
-            formatted_messages.append({"role": "user", "content": prompt})
-
-            response = await self._client.chat.completions.create(
-                model=self._config.model or OpenAIModel.GPT_5,
-                messages=T.cast(T.Any, formatted_messages),
-                tools=T.cast(T.Any, self.function_schemas),
-                tool_choice="auto",
-                timeout=self._config.timeout,
-            )
-
-            if not response.choices:
-                logging.warning("OpenAI API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(model=str(self.base_url or OpenAIModel.GPT_5), endpoint=str(self.base_url)).observe(
-                latency
-            )
-            om1_llm_latency_last.labels(model=str(self.base_url or OpenAIModel.GPT_5), endpoint=str(self.base_url)).set(
-                latency
-            )
-
-            if message.tool_calls:
-                logging.info(f"Received {len(message.tool_calls)} function calls")
-                logging.info(f"Function calls: {message.tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": getattr(tc, "function").name,
-                            "arguments": getattr(tc, "function").arguments,
-                        }
-                    }
-                    for tc in message.tool_calls
-                ]
-
-                actions = convert_function_calls_to_actions(function_call_data)
-
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-
-        except Exception as e:
-            logging.error(f"OpenAI API error: {e}")
-            return None
diff --git a/src/llm/plugins/openrouter.py b/src/llm/plugins/openrouter.py
deleted file mode 100644
index 64e2b4ebbb..0000000000
--- a/src/llm/plugins/openrouter.py
+++ /dev/null
@@ -1,173 +0,0 @@
-import logging
-import time
-import typing as T
-from enum import Enum
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class OpenRouterModel(str, Enum):
-    """Available OpenRouter models."""
-
-    ANTHROPIC_SONNET_4_5 = "anthropic/claude-sonnet-4.5"
-    ANTHROPIC_OPUS_4_5 = "anthropic/claude-opus-4.5"
-    ANTHROPIC_HAIKU_4_5 = "anthropic/claude-haiku-4.5"
-    MOONSHOT_KIMI_K2_5 = "moonshotai/kimi-k2.5"
-    MINIMAX_M2_1 = "minimax/minimax-m2.1"
-    Z_AI_GLM_4_7 = "z-ai/glm-4.7"
-    X_AI_GROK_4_FAST = "x-ai/grok-4-fast"
-    DEEPSEEK_V3_2 = "deepseek/deepseek-v3.2"
-    LLAMA_3_3_70B = "meta-llama/llama-3.3-70b-instruct"
-
-
-class OpenRouterConfig(LLMConfig):
-    """OpenRouter-specific configuration with model enum."""
-
-    base_url: T.Optional[str] = Field(
-        default="https://api.openmind.com/api/core/openrouter",
-        description="Base URL for the OpenRouter API endpoint",
-    )
-    model: T.Optional[T.Union[OpenRouterModel, str]] = Field(
-        default=OpenRouterModel.ANTHROPIC_SONNET_4_5,
-        description="OpenRouter model to use",
-    )
-
-
-class OpenRouter(LLM[R]):
-    """
-    An OpenRouter-based Language Learning Model implementation with function call support.
-
-    This class implements the LLM interface for OpenRouter's models (Meta and Anthropic), handling
-    configuration, authentication, and async API communication. It supports both
-    traditional JSON structured output and function calling.
-    """
-
-    def __init__(
-        self,
-        config: OpenRouterConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the OpenRouter instance.
-
-        Parameters
-        ----------
-        config : OpenRouterConfig
-            Configuration settings for the LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        if not config.api_key:
-            raise ValueError("config file missing api_key")
-        if not config.model:
-            self._config.model = "meta-llama/llama-3.3-70b-instruct"
-
-        self.base_url = config.base_url or "https://api.openmind.com/api/core/openrouter"
-        self._client = openai.AsyncClient(
-            base_url=self.base_url,
-            api_key=config.api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Send a prompt to the OpenRouter API and get a structured response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.info(f"OpenRouter input: {prompt}")
-            logging.info(f"OpenRouter messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted_messages = [
-                {"role": msg.get("role", "user"), "content": msg.get("content", "")} for msg in messages
-            ]
-            formatted_messages.append({"role": "user", "content": prompt})
-
-            response = await self._client.chat.completions.create(
-                model=self._config.model or OpenRouterModel.LLAMA_3_3_70B,
-                messages=T.cast(T.Any, formatted_messages),
-                tools=T.cast(T.Any, self.function_schemas),
-                tool_choice="auto",
-                timeout=self._config.timeout,
-            )
-
-            if not response.choices:
-                logging.warning("OpenRouter API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(
-                model=str(self._config.model or OpenRouterModel.LLAMA_3_3_70B),
-                endpoint=str(self.base_url),
-            ).observe(latency)
-            om1_llm_latency_last.labels(
-                model=str(self._config.model or OpenRouterModel.LLAMA_3_3_70B),
-                endpoint=str(self.base_url),
-            ).set(latency)
-
-            if message.tool_calls:
-                logging.info(f"Received {len(message.tool_calls)} function calls")
-                logging.info(f"Function calls: {message.tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": getattr(tc, "function").name,
-                            "arguments": getattr(tc, "function").arguments,
-                        }
-                    }
-                    for tc in message.tool_calls
-                ]
-
-                actions = convert_function_calls_to_actions(function_call_data)
-
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                logging.info(f"OpenRouter function call output: {result}")
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-
-        except Exception as e:
-            logging.error(f"OpenRouter API error: {e}")
-            return None
diff --git a/src/llm/plugins/parallel_llm.py b/src/llm/plugins/parallel_llm.py
deleted file mode 100644
index 2f3280172c..0000000000
--- a/src/llm/plugins/parallel_llm.py
+++ /dev/null
@@ -1,439 +0,0 @@
-# ParallelLLM: A system where N LLMs (any number: 1, 2, 3, or more) run in parallel,
-# each generating specific actions they are capable of handling.
-# Results are yielded as each LLM completes, allowing the cortex
-# to execute actions immediately without waiting for all LLMs.
-
-import asyncio
-import logging
-import time
-import typing as T
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig, get_llm_class
-from llm.output_model import Action, CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class LLMSpecConfig(BaseModel):
-    """
-    Configuration for a single LLM in the parallel system.
-
-    Parameters
-    ----------
-    llm_type : str
-        Class name of the LLM (e.g., "OpenAILLM", "QwenLLM").
-    llm_config : LLMConfig
-        Configuration for the LLM.
-    action_filter : list[str], optional
-        List of action names this LLM can generate.
-        This filters the function call schemas sent to the LLM - the LLM will ONLY
-        see and be able to call functions for actions in this list.
-        If None or empty, the LLM can generate all available actions.
-    """
-
-    llm_type: str = Field(..., description="Class name of the LLM")
-    config: LLMConfig = Field(default_factory=LLMConfig, description="Configuration for the LLM")
-    action_filter: T.Optional[T.List[str]] = Field(
-        default=None,
-        description="List of action names this LLM can generate. "
-        "Filters function call schemas - LLM only sees these functions. "
-        "None means all actions.",
-    )
-
-
-class ParallelLLMConfig(LLMConfig):
-    """
-    Configuration for ParallelLLM.
-
-    Parameters
-    ----------
-    llms : list[LLMSpecConfig]
-        List of LLM specifications to run in parallel. Can be any number (1+).
-    execute_immediately : bool
-        If True, process results as each LLM completes (stream mode).
-        If False, wait for all LLMs to complete before processing (batch mode).
-        Default is True for streaming.
-    """
-
-    llms: T.List[LLMSpecConfig] = Field(..., description="List of LLM specifications to run in parallel")
-    execute_immediately: bool = Field(
-        default=True,
-        description="Process results as each LLM completes (streaming mode)",
-    )
-
-
-class ParallelLLM(LLM[R]):
-    """
-    Parallel LLM that runs N LLMs concurrently with streaming result delivery.
-
-    Each LLM can be configured to generate only specific action types,
-    allowing specialized models to handle different aspects of the response.
-    Each LLM maintains its own independent history manager for context tracking.
-
-    Actions are yielded via ask_stream() as each LLM completes - no waiting.
-    This allows true parallel execution where different LLMs handle different
-    capabilities independently, and the orchestrator executes actions immediately
-    as they become available.
-
-    You can configure any number of LLMs (1, 2, 3, or more) based on your needs.
-
-    Config example (3 LLMs):
-        "cortex_llm": {
-            "type": "ParallelLLM",
-            "config": {
-                "llms": [
-                    {
-                        "llm_type": "OpenAILLM",
-                        "llm_config": {"model": "gpt-4.1"},
-                        "action_filter": ["speak", "emotion"]
-                    },
-                    {
-                        "llm_type": "QwenLLM",
-                        "llm_config": {"model": "RedHatAI/Qwen3-30B-A3B-quantized.w4a16"},
-                        "action_filter": ["move", "navigate"]
-                    },
-                    {
-                        "llm_type": "DeepSeekLLM",
-                        "llm_config": {"model": "deepseek-chat"},
-                        "action_filter": ["search", "analyze"]
-                    }
-                ],
-                "execute_immediately": true
-            }
-        }
-    """
-
-    def __init__(
-        self,
-        config: ParallelLLMConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the ParallelLLM instance.
-
-        Sets up multiple LLMs based on configuration, filtering available
-        actions for each LLM according to their action_filter specification.
-
-        Parameters
-        ----------
-        config : ParallelLLMConfig
-            Configuration settings for the Parallel LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        self._config: ParallelLLMConfig
-
-        if not self._config.llms:
-            raise ValueError("ParallelLLM requires at least one LLM configuration")
-
-        self._llms: T.List[T.Tuple[LLM, T.Optional[T.List[str]]]] = []
-        self._llm_label_to_name: T.Dict[str, str] = {}
-        if available_actions:
-            self._llm_label_to_name.update({a.llm_label: a.name for a in available_actions})
-
-        # Initialize each LLM with filtered actions (supports N LLMs)
-        for llm_spec in self._config.llms:
-            llm_type = llm_spec.llm_type
-            llm_cfg = llm_spec.config.model_copy()
-
-            if not llm_cfg.api_key and self._config.api_key:
-                llm_cfg.api_key = self._config.api_key
-            if not llm_cfg.agent_name and self._config.agent_name:
-                llm_cfg.agent_name = self._config.agent_name
-            if not llm_cfg.history_length and self._config.history_length:
-                llm_cfg.history_length = self._config.history_length
-            if not llm_cfg.timeout and self._config.timeout:
-                llm_cfg.timeout = self._config.timeout
-
-            LLMClass = get_llm_class(llm_type)
-
-            # Filter actions if action_filter is specified
-            # This filters the function schemas sent to the LLM, so it only
-            # sees and can call the specific function/actions in its filter.
-            # The LLM will not have access to function call information for
-            # actions outside its filter.
-            filtered_actions = available_actions
-            if llm_spec.action_filter and available_actions:
-                filtered_actions = [action for action in available_actions if action.name in llm_spec.action_filter]
-                logging.info(
-                    f"Filtered function schemas for {llm_type}: "
-                    f"{[a.name for a in filtered_actions]} "
-                    f"(excluded {len(available_actions) - len(filtered_actions)} actions)"
-                )
-            elif available_actions:
-                logging.info(f"No filter for {llm_type}, using all {len(available_actions)} actions")
-
-            llm_instance: LLM = LLMClass(config=llm_cfg, available_actions=filtered_actions)
-
-            self._llms.append((llm_instance, llm_spec.action_filter))
-
-        client = None
-        if self._llms:
-            first_llm = self._llms[0][0]
-            if hasattr(first_llm, "_client"):
-                client = first_llm._client  # type: ignore
-
-        if client is None:
-            client = openai.AsyncClient(
-                api_key=self._config.api_key or "dummy",
-                base_url="http://localhost:8860/v1",
-                http_client=get_async_httpx_client(),
-            )
-
-        self.history_manager = LLMHistoryManager(self._config, client)
-
-        logging.info(
-            f"ParallelLLM initialized with {len(self._llms)} LLMs, "
-            f"execute_immediately: {self._config.execute_immediately}."
-        )
-
-    async def _call_llm(
-        self,
-        llm: LLM,
-        prompt: str,
-        llm_name: str,
-        action_filter: T.Optional[T.List[str]],
-    ) -> dict:
-        """
-        Call an LLM and return result with timing info.
-
-        Parameters
-        ----------
-        llm : LLM
-            The LLM instance to call.
-        prompt : str
-            The prompt to send.
-        llm_name : str
-            Identifier for the LLM.
-        action_filter : list[str], optional
-            Filter for allowed action names. Used for safety validation only -
-            the function schemas were already filtered when initializing the LLM.
-
-        Returns
-        -------
-        dict
-            Dictionary with keys: result, time, llm_name, action_filter.
-        """
-        start = time.time()
-        try:
-            result = await llm.ask(prompt)
-            elapsed = time.time() - start
-
-            # Safety check: Filter actions in case LLM somehow generated actions
-            # outside its function schema (shouldn't happen, but validate anyway)
-            if result and hasattr(result, "actions") and action_filter:
-                filtered_actions = [
-                    action for action in result.actions if self._llm_label_to_name.get(action.type) in action_filter
-                ]
-                if len(filtered_actions) != len(result.actions):
-                    logging.warning(
-                        f"{llm_name} generated {len(result.actions) - len(filtered_actions)} "
-                        f"actions outside its function schema filter, removing them "
-                        f"(this should not happen - function schemas were already filtered)"
-                    )
-                    result.actions = filtered_actions
-
-            return {
-                "result": result,
-                "time": elapsed,
-                "llm_name": llm_name,
-                "action_filter": action_filter,
-            }
-        except Exception as e:
-            logging.error(f"{llm_name} LLM error: {e}")
-            return {
-                "result": None,
-                "time": time.time() - start,
-                "llm_name": llm_name,
-                "action_filter": action_filter,
-            }
-
-    def _merge_actions(self, results: T.List[dict]) -> T.List[Action]:
-        """
-        Collect actions from all LLM results (simple concatenation for final return).
-
-        Parameters
-        ----------
-        results : list[dict]
-            List of result dictionaries from _call_llm.
-
-        Returns
-        -------
-        list[Action]
-            Combined list of all actions.
-        """
-        all_actions = []
-
-        for result in results:
-            if result["result"] and hasattr(result["result"], "actions"):
-                for action in result["result"].actions:
-                    all_actions.append(action)
-
-        logging.info(f"Collected {len(all_actions)} total actions from all LLMs")
-        return all_actions
-
-    async def ask_stream(
-        self, prompt: str, messages: T.Optional[T.List[T.Dict[str, T.Any]]] = None
-    ) -> T.AsyncGenerator[R, None]:
-        """
-        Send prompt to all configured LLMs in parallel and yield actions as each completes.
-
-        This is an async generator that yields CortexOutputModel objects as soon as
-        each LLM completes, allowing the orchestrator to execute actions immediately
-        without waiting for all LLMs to finish. Works with any number of LLMs (1+).
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to all LLMs.
-        messages : list of dict, optional
-            Conversation history
-
-        Yields
-        ------
-        R
-            CortexOutputModel containing actions from each LLM as it completes.
-            Will yield N times for N LLMs configured (only if they have actions).
-        """
-        tasks = []
-        try:
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            for idx, (llm, action_filter) in enumerate(self._llms):
-                llm_name = f"{llm.__class__.__name__}_{idx}"
-                task = asyncio.create_task(self._call_llm(llm, prompt, llm_name, action_filter))
-                tasks.append(task)
-
-            for coro in asyncio.as_completed(tasks):
-                try:
-                    result = await coro
-                    if result and not isinstance(result, Exception) and result["result"]:
-                        actions = result["result"].actions
-                        if actions:
-                            logging.info(
-                                f"{result['llm_name']} completed with "
-                                f"{len(actions)} actions in {result['time']:.3f}s - "
-                                f"yielding for immediate execution"
-                            )
-                            yield T.cast(R, result["result"])
-                        else:
-                            logging.info(f"{result['llm_name']} completed in " f"{result['time']:.3f}s with no actions")
-                except Exception:
-                    logging.exception("LLM task raised exception during streaming")
-
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(model=str("parallel_llm"), endpoint=str("parallel_llm")).observe(latency)
-            om1_llm_latency_last.labels(model=str("parallel_llm"), endpoint=str("parallel_llm")).set(latency)
-
-        except asyncio.CancelledError:
-            logging.info("ParallelLLM stream cancelled, cleaning up tasks")
-            raise
-        except Exception as e:
-            logging.error(f"ParallelLLM stream error: {e}")
-        finally:
-            for task in tasks:
-                if not task.done():
-                    task.cancel()
-
-    @AvatarLLMState.trigger_thinking()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, T.Any]]] = None) -> R | None:
-        """
-        Send prompt to all configured LLMs in parallel and collect actions as they complete.
-
-        If execute_immediately is True, returns actions as they arrive (uses streaming).
-        Otherwise, waits for all LLMs and returns combined result. Works with any
-        number of configured LLMs.
-
-        Note: For immediate execution, consider using ask_stream() directly to get
-        results as they complete rather than waiting for all LLMs.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to all LLMs.
-        messages : list of dict, optional
-            Conversation history.
-
-        Returns
-        -------
-        R or None
-            Combined response containing all actions from all configured LLMs, or None if all failed.
-        """
-        try:
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            tasks = []
-            for idx, (llm, action_filter) in enumerate(self._llms):
-                llm_name = f"{llm.__class__.__name__}_{idx}"
-                task = asyncio.create_task(self._call_llm(llm, prompt, llm_name, action_filter))
-                tasks.append(task)
-
-            all_results = []
-
-            # Process results as they arrive if execute_immediately is True (streaming mode)
-            if self._config.execute_immediately:
-                for coro in asyncio.as_completed(tasks):
-                    try:
-                        result = await coro
-                        if result and not isinstance(result, Exception):
-                            all_results.append(result)
-
-                            if result["result"] and hasattr(result["result"], "actions"):
-                                actions = result["result"].actions
-                                if actions:
-                                    logging.info(
-                                        f"{result['llm_name']} completed with "
-                                        f"{len(actions)} actions in {result['time']:.3f}s - "
-                                        f"actions ready for execution"
-                                    )
-                                else:
-                                    logging.info(
-                                        f"{result['llm_name']} completed in " f"{result['time']:.3f}s with no actions"
-                                    )
-                    except Exception as e:
-                        logging.error(f"LLM task raised exception: {e}")
-
-            else:
-                # Batch mode: wait for all LLMs to complete
-                results = await asyncio.gather(*tasks, return_exceptions=True)
-
-                for idx, result in enumerate(results):
-                    if isinstance(result, Exception):
-                        logging.error(f"LLM {idx} raised exception: {result}")
-                    elif result is not None:
-                        all_results.append(result)
-
-                for result in all_results:
-                    logging.info(f"{result['llm_name']} completed in {result['time']:.3f}s")
-
-            if not all_results:
-                logging.warning("All LLMs failed or returned no results")
-                return None
-
-            all_actions = self._merge_actions(all_results)
-
-            if not all_actions:
-                logging.warning("No actions generated by any LLM")
-                return None
-
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(model=str("parallel_llm"), endpoint=str("parallel_llm")).observe(latency)
-            om1_llm_latency_last.labels(model=str("parallel_llm"), endpoint=str("parallel_llm")).set(latency)
-
-            result = CortexOutputModel(actions=all_actions)
-            return T.cast(R, result)
-
-        except Exception as e:
-            logging.error(f"ParallelLLM error: {e}")
-            return None
diff --git a/src/llm/plugins/qwen_llm.py b/src/llm/plugins/qwen_llm.py
deleted file mode 100644
index 7a48b3f249..0000000000
--- a/src/llm/plugins/qwen_llm.py
+++ /dev/null
@@ -1,211 +0,0 @@
-import json
-import logging
-import re
-import time
-import typing as T
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-_QWEN_TOOL_CALL_RE = re.compile(r"<tool_call>\s*(\{.*?\})\s*</tool_call>", re.DOTALL)
-
-
-def _parse_qwen_tool_calls(text: str) -> list:
-    """
-    Parse Qwen-style tool call blocks from text.
-
-    Parameters
-    ----------
-    text : str
-        Response text containing <tool_call>{...}</tool_call> blocks.
-
-    Returns
-    -------
-    list
-        List of parsed tool call dictionaries.
-    """
-    tool_calls = []
-    if not isinstance(text, str):
-        return tool_calls
-    for i, raw in enumerate(_QWEN_TOOL_CALL_RE.findall(text)):
-        try:
-            obj = json.loads(raw)
-            if name := obj.get("name"):
-                tool_calls.append(
-                    {
-                        "id": f"call_{i}",
-                        "type": "function",
-                        "function": {
-                            "name": name,
-                            "arguments": json.dumps(obj.get("arguments", {}), ensure_ascii=False),
-                        },
-                    }
-                )
-        except Exception:
-            continue
-    return tool_calls
-
-
-class QwenLLMConfig(LLMConfig):
-    """
-    Configuration for Qwen LLM.
-
-    Parameters
-    ----------
-    base_url : str
-        Base URL for local Qwen API (default: http://127.0.0.1:8860/v1).
-    api_key: str
-        API key for local Qwen API (if required, default: "placeholder").
-    model : str
-        Qwen model name (e.g., "RedHatAI/Qwen3-30B-A3B-quantized.w4a16").
-    enable_reasoning : bool
-        Enable reasoning mode with more detailed thought processes in responses (default: False).
-    """
-
-    base_url: T.Optional[str] = Field(default="http://127.0.0.1:8860/v1", description="Base URL for local Qwen API")
-    api_key: T.Optional[str] = Field(default="placeholder", description="API key for local Qwen API (if required)")
-    model: T.Optional[str] = Field(default="RedHatAI/Qwen3-30B-A3B-quantized.w4a16", description="Qwen model name")
-    enable_reasoning: bool = Field(
-        default=False,
-        description="Enable reasoning mode with more detailed thought processes in responses",
-    )
-
-
-class QwenLLM(LLM[R]):
-    """
-    Local Qwen LLM implementation using OpenAI-compatible API.
-    """
-
-    def __init__(
-        self,
-        config: QwenLLMConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the QwenLLM instance.
-
-        Sets up the async client for the local Qwen model, configures extra body parameters,
-        and initializes the history manager.
-
-        Parameters
-        ----------
-        config : QwenLLMConfig
-            Configuration settings for the LLM, including the model name.
-        available_actions : list, optional
-            List of available actions for function call generation.
-        """
-        super().__init__(config, available_actions)
-
-        self._config: QwenLLMConfig = config
-
-        self._base_url = self._config.base_url
-        self._api_key = self._config.api_key
-        self._model = self._config.model
-        self._enable_reasoning = self._config.enable_reasoning
-
-        self._client = openai.AsyncClient(
-            base_url=self._base_url,
-            api_key=self._api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        self._extra_body = {"chat_template_kwargs": {"enable_thinking": False}}
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-        self._skip_state_management = False
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, T.Any]]] = None) -> R | None:
-        """
-        Send prompt to local Qwen model and get structured response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send.
-        messages : list of dict, optional
-            Conversation history.
-
-        Returns
-        -------
-        R or None
-            Parsed response with actions, or None if parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.info(f"Qwen input: {prompt}")
-            logging.info(f"Qwen messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted = [{"role": m.get("role", "user"), "content": m.get("content", "")} for m in messages]
-            user_content = prompt if self._enable_reasoning else f"{prompt} /no_think"
-            formatted.append({"role": "user", "content": user_content})
-
-            request_params: dict[str, T.Any] = {
-                "model": self._model,
-                "messages": formatted,
-                "timeout": self._config.timeout,
-                "extra_body": self._extra_body,
-            }
-
-            if self.function_schemas:
-                request_params["tools"] = self.function_schemas
-                request_params["tool_choice"] = "required"
-
-            response = await self._client.chat.completions.create(**request_params)
-
-            if not response.choices:
-                logging.warning("Qwen API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(model=str(self._model), endpoint=str(self._base_url)).observe(latency)
-            om1_llm_latency_last.labels(model=str(self._model), endpoint=str(self._base_url)).set(latency)
-
-            tool_calls = list(message.tool_calls or [])
-            if not tool_calls and isinstance(message.content, str) and "<tool_call>" in message.content:
-                tool_calls = _parse_qwen_tool_calls(message.content)
-
-            if tool_calls:
-                logging.info(f"Received {len(tool_calls)} function calls")
-                logging.info(f"Function calls: {tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": (tc.function.name if hasattr(tc, "function") else tc["function"]["name"]),
-                            "arguments": (
-                                tc.function.arguments if hasattr(tc, "function") else tc["function"]["arguments"]
-                            ),
-                        }
-                    }
-                    for tc in tool_calls
-                ]
-                actions = convert_function_calls_to_actions(function_call_data)
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-        except Exception as e:
-            logging.error(f"Qwen LLM error: {e}")
-            return None
diff --git a/src/llm/plugins/xai_llm.py b/src/llm/plugins/xai_llm.py
deleted file mode 100644
index 0d6e055270..0000000000
--- a/src/llm/plugins/xai_llm.py
+++ /dev/null
@@ -1,163 +0,0 @@
-import logging
-import time
-import typing as T
-from enum import Enum
-
-import openai
-from pydantic import BaseModel, Field
-
-from llm import LLM, LLMConfig
-from llm.function_schemas import convert_function_calls_to_actions
-from llm.output_model import CortexOutputModel
-from prometheus import om1_llm_latency, om1_llm_latency_last
-from providers.avatar_llm_state_provider import AvatarLLMState
-from providers.httpx import get_async_httpx_client
-from providers.llm_history_manager import LLMHistoryManager
-
-R = T.TypeVar("R", bound=BaseModel)
-
-
-class XAIModel(str, Enum):
-    """Available XAI models."""
-
-    GROK_2_LATEST = "grok-2-latest"
-    GROK_3_BETA = "grok-3-beta"
-    GROK_4_LATEST = "grok-4-latest"
-    GROK_4 = "grok-4"
-
-
-class XAIConfig(LLMConfig):
-    """XAI-specific configuration with model enum."""
-
-    base_url: T.Optional[str] = Field(
-        default="https://api.openmind.com/api/core/xai",
-        description="Base URL for the XAI API endpoint",
-    )
-    model: T.Optional[T.Union[XAIModel, str]] = Field(
-        default=XAIModel.GROK_4_LATEST,
-        description="XAI model to use",
-    )
-
-
-class XAILLM(LLM[R]):
-    """
-    XAI LLM implementation using OpenAI-compatible API.
-
-    Handles authentication and response parsing for XAI endpoints.
-    """
-
-    def __init__(
-        self,
-        config: XAIConfig,
-        available_actions: T.Optional[T.List] = None,
-    ):
-        """
-        Initialize the XAI LLM instance.
-
-        Parameters
-        ----------
-        config : XAIConfig
-            Configuration settings for the LLM.
-        available_actions : list[AgentAction], optional
-            List of available actions for function calling.
-        """
-        super().__init__(config, available_actions)
-
-        if not config.api_key:
-            raise ValueError("config file missing api_key")
-        if not config.model:
-            self._config.model = "grok-4-latest"
-
-        self.base_url = config.base_url or "https://api.openmind.com/api/core/xai"
-        self._client = openai.AsyncOpenAI(
-            base_url=self.base_url,
-            api_key=config.api_key,
-            http_client=get_async_httpx_client(),
-        )
-
-        # Initialize history manager
-        self.history_manager = LLMHistoryManager(self._config, self._client)
-
-    @AvatarLLMState.trigger_thinking()
-    @LLMHistoryManager.update_history()
-    async def ask(self, prompt: str, messages: T.Optional[T.List[T.Dict[str, str]]] = None) -> T.Optional[R]:
-        """
-        Execute LLM query and parse response.
-
-        Parameters
-        ----------
-        prompt : str
-            The input prompt to send to the model.
-        messages : List[Dict[str, str]], optional
-            List of message dictionaries to send to the model.
-
-        Returns
-        -------
-        R or None
-            Parsed response matching the output_model structure, or None if
-            parsing fails.
-        """
-        if messages is None:
-            messages = []
-        try:
-            logging.debug(f"XAI LLM input: {prompt}")
-            logging.debug(f"XAI LLM messages: {messages}")
-
-            llm_start_time = time.time()
-            self.io_provider.set_llm_prompt(prompt)
-
-            formatted_messages = [
-                {"role": msg.get("role", "user"), "content": msg.get("content", "")} for msg in messages
-            ]
-            formatted_messages.append({"role": "user", "content": prompt})
-
-            response = await self._client.chat.completions.create(
-                model=self._config.model or XAIModel.GROK_4,
-                messages=T.cast(T.Any, formatted_messages),
-                tools=T.cast(T.Any, self.function_schemas),
-                tool_choice="auto",
-                timeout=self._config.timeout,
-            )
-
-            if not response.choices:
-                logging.warning("xAI API returned empty choices")
-                return None
-
-            message = response.choices[0].message
-            latency = time.time() - llm_start_time
-            om1_llm_latency.labels(
-                model=str(self._config.model or XAIModel.GROK_4), endpoint=str(self.base_url)
-            ).observe(latency)
-            om1_llm_latency_last.labels(
-                model=str(self._config.model or XAIModel.GROK_4), endpoint=str(self.base_url)
-            ).set(latency)
-
-            if message.tool_calls:
-                logging.info(f"Received {len(message.tool_calls)} function calls")
-                logging.info(f"Function calls: {message.tool_calls}")
-
-                function_call_data = [
-                    {
-                        "function": {
-                            "name": getattr(tc, "function").name,
-                            "arguments": getattr(tc, "function").arguments,
-                        }
-                    }
-                    for tc in message.tool_calls
-                ]
-
-                actions = convert_function_calls_to_actions(function_call_data)
-
-                result = CortexOutputModel(actions=actions)
-                self.tracer.gauge(
-                    llm_input=prompt,
-                    llm_output=[{"type": a.type, "value": a.value} for a in actions],
-                )
-                logging.info(f"XAI LLM function call output: {result}")
-                return T.cast(R, result)
-
-            self.tracer.gauge(llm_input=prompt, llm_output=[])
-            return None
-        except Exception as e:
-            logging.error(f"XAI API error: {e}")
-            return None
diff --git a/src/mcp_servers/__init__.py b/src/mcp_servers/__init__.py
deleted file mode 100644
index 96883012f1..0000000000
--- a/src/mcp_servers/__init__.py
+++ /dev/null
@@ -1,22 +0,0 @@
-from typing import Dict, List
-
-from mcp_servers.client import MCPClientManager
-
-__all__ = ["MCPClientManager", "load_mcp"]
-
-
-def load_mcp(server_configs: List[Dict]) -> MCPClientManager:
-    """Create an MCP client manager.
-
-
-    Parameters
-    ----------
-    server_configs : list[dict]
-        MCP server configurations from config file.
-
-    Returns
-    -------
-    MCPClientManager
-        MCP client manager.
-    """
-    return MCPClientManager(server_configs or [])
diff --git a/src/mcp_servers/client.py b/src/mcp_servers/client.py
deleted file mode 100644
index 7baa8e3cd7..0000000000
--- a/src/mcp_servers/client.py
+++ /dev/null
@@ -1,302 +0,0 @@
-import asyncio
-import logging
-from contextlib import AsyncExitStack
-from dataclasses import dataclass
-from enum import Enum
-from typing import Any, Dict, List, Optional
-
-import httpx
-from mcp import ClientSession, StdioServerParameters
-from mcp.client.sse import sse_client
-from mcp.client.stdio import stdio_client
-from mcp.client.streamable_http import streamable_http_client
-from mcp.types import TextContent
-from pydantic import BaseModel
-
-
-class TransportType(str, Enum):
-    """Supported MCP server transport protocols."""
-
-    STDIO = "stdio"
-    SSE = "sse"
-    HTTP = "http"
-
-
-class MCPServerConfig(BaseModel):
-    """Configuration for an MCP server."""
-
-    name: str
-    transport: TransportType = TransportType.STDIO
-    command: Optional[str] = None
-    args: List[str] = []
-    env: Optional[Dict[str, str]] = None
-    url: Optional[str] = None
-    headers: Optional[Dict[str, str]] = None
-
-
-@dataclass
-class MCPTool:
-    """Metadata for a single MCP tool."""
-
-    key: str
-    server_name: str
-    original_name: str
-    description: str
-    input_schema: dict
-
-    def convert_to_schema(self) -> dict:
-        """Convert to OpenAI function-calling schema.
-
-        Returns
-        -------
-        dict
-            Dictionary matching the OpenAI function format.
-        """
-        return {
-            "type": "function",
-            "function": {
-                "name": self.key,
-                "description": self.description,
-                "parameters": self.input_schema,
-            },
-        }
-
-    def generate_description(self) -> str:
-        """Generate description for LLM prompts.
-
-        Returns
-        -------
-        str
-            A formatted string describing the tool signature and purpose.
-        """
-        params = self.input_schema.get("properties", {})
-        param_str = ", ".join(
-            f"{param_name}: {param_info.get('type', 'any')}" for param_name, param_info in params.items()
-        )
-        return f"- {self.key}({param_str}): {self.description}"
-
-
-class MCPClientManager:
-    """Manage connections to multiple MCP servers.
-
-    Parameters
-    ----------
-    server_configs : list[dict]
-        Raw configuration dicts.
-    """
-
-    def __init__(self, server_configs: List[Dict]) -> None:
-        """Initialize the MCPClientManager with server configurations."""
-        self._configs = [MCPServerConfig(**c) for c in server_configs]
-        self._sessions: Dict[str, ClientSession] = {}
-        self._tools: Dict[str, MCPTool] = {}
-
-        self._close_event: Optional[asyncio.Event] = None
-        self._tasks: List[asyncio.Task] = []
-        self._started = False
-
-    async def start(self) -> None:
-        """Connect to all configured MCP servers.
-
-        This method spawns independent background tasks for each server
-        and waits until all connections are either established or failed.
-        """
-        if self._started:
-            return
-
-        if self._close_event is None:
-            self._close_event = asyncio.Event()
-        self._close_event.clear()
-
-        init_events = []
-        for config in self._configs:
-            ready_event = asyncio.Event()
-            init_events.append(ready_event)
-            task = asyncio.create_task(self._run_server_task(config, ready_event))
-            self._tasks.append(task)
-
-        if init_events:
-            await asyncio.gather(*(e.wait() for e in init_events))
-
-        self._started = True
-
-    async def stop(self) -> None:
-        """Disconnect all MCP servers.
-
-        This method signals all server tasks to close and waits for teardown.
-        """
-        if not self._started:
-            return
-
-        if self._close_event:
-            self._close_event.set()
-
-        if self._tasks:
-            done, pending = await asyncio.wait(self._tasks, timeout=5.0)
-            if pending:
-                for t in pending:
-                    t.cancel()
-                await asyncio.gather(*pending, return_exceptions=True)
-            self._tasks.clear()
-
-        self._sessions.clear()
-        self._tools.clear()
-        self._started = False
-
-    async def _run_server_task(self, config: MCPServerConfig, ready_event: asyncio.Event) -> None:
-        """Independent event loop task for a single MCP server."""
-        exit_stack = AsyncExitStack()
-        try:
-            await exit_stack.__aenter__()
-            session = await self._connect_server(config, exit_stack)
-            self._sessions[config.name] = session
-
-            tools_result = await session.list_tools()
-            for tool in tools_result.tools:
-                mcp_tool = MCPTool(
-                    key=f"mcp_{config.name}_{tool.name}",
-                    server_name=config.name,
-                    original_name=tool.name,
-                    description=tool.description or f"MCP tool: {tool.name}",
-                    input_schema=tool.inputSchema or {"type": "object", "properties": {}},
-                )
-                self._tools[mcp_tool.key] = mcp_tool
-
-            logging.info(
-                f"MCP server '{config.name}': {len(tools_result.tools)} tools "
-                f"({[t.name for t in tools_result.tools]})"
-            )
-
-            ready_event.set()
-
-            if self._close_event:
-                await self._close_event.wait()
-
-        except asyncio.CancelledError:
-            pass
-        except Exception as e:
-            logging.error(f"MCP server '{config.name}' disconnected unexpectedly: {e}")
-        finally:
-            ready_event.set()
-            try:
-                await exit_stack.aclose()
-            except Exception as e:
-                logging.error(f"Error closing MCP connection '{config.name}': {e}")
-
-            if config.name in self._sessions:
-                del self._sessions[config.name]
-
-            keys_to_remove = [k for k, v in self._tools.items() if v.server_name == config.name]
-            for k in keys_to_remove:
-                del self._tools[k]
-
-    async def _connect_server(self, config: MCPServerConfig, exit_stack: AsyncExitStack) -> ClientSession:
-        """Establish the connection boundaries for a specific transport."""
-        match config.transport:
-            case TransportType.STDIO:
-                if not config.command:
-                    raise ValueError(f"MCP server '{config.name}' requires 'command' for stdio transport")
-                server_params = StdioServerParameters(
-                    command=config.command,
-                    args=config.args,
-                    env=config.env,
-                )
-                client_cm = stdio_client(server_params)
-                read, write = await exit_stack.enter_async_context(client_cm)
-
-            case TransportType.SSE:
-                if not config.url:
-                    raise ValueError(f"MCP server '{config.name}' requires 'url' for sse transport")
-                client_cm = sse_client(config.url, headers=config.headers)
-                read, write = await exit_stack.enter_async_context(client_cm)
-
-            case TransportType.HTTP:
-                if not config.url:
-                    raise ValueError(f"MCP server '{config.name}' requires 'url' for http transport")
-                http_client = httpx.AsyncClient(
-                    headers=config.headers or {},
-                    timeout=httpx.Timeout(30.0, read=300.0),
-                )
-                await exit_stack.enter_async_context(http_client)
-                client_cm = streamable_http_client(config.url, http_client=http_client)
-                read, write, _ = await exit_stack.enter_async_context(client_cm)
-
-            case _:
-                raise ValueError(f"Unsupported transport type: {config.transport}")
-
-        session = ClientSession(read, write)
-        await exit_stack.enter_async_context(session)
-        await session.initialize()
-        return session
-
-    def get_tool_schemas(self) -> List[Dict]:
-        """Get OpenAI-format function schemas for all MCP tools.
-
-        Returns
-        -------
-        List[Dict]
-            A list of dictionary schemas mapping to registered MCP tools.
-        """
-        return [tool.convert_to_schema() for tool in self._tools.values()]
-
-    def get_tool_descriptions(self) -> str:
-        """Get text descriptions of MCP tools for the LLM prompt.
-
-        Returns
-        -------
-        str
-            A concatenated string block summarizing the tools.
-        """
-        if not self._tools:
-            return ""
-        header = (
-            "[MCP Tools]\n"
-            "Use these tools to get external information. "
-            "Call the tool first, then use the result to respond.\n"
-        )
-        tool_lines = "\n".join(tool.generate_description() for tool in self._tools.values())
-        return f"{header}{tool_lines}"
-
-    def is_mcp_tool(self, tool_name: str) -> bool:
-        """Check if a tool name belongs to an MCP server.
-
-        Parameters
-        ----------
-        tool_name : str
-            The name of the tool to verify.
-
-        Returns
-        -------
-        bool
-            True if the tool is an MCP tool, False otherwise.
-        """
-        return tool_name in self._tools
-
-    async def call_tool(self, tool_key: str, arguments: Dict[str, Any]) -> str:
-        """Call an MCP tool and return the text result.
-
-        Parameters
-        ----------
-        tool_key : str
-            Tool key in format 'mcp_{server}_{tool_name}'.
-        arguments : dict
-            Arguments to pass to the MCP tool.
-
-        Returns
-        -------
-        str
-            Text result from the tool.
-        """
-        tool = self._tools.get(tool_key)
-        if not tool:
-            raise ValueError(f"Unknown MCP tool: {tool_key}")
-
-        session = self._sessions[tool.server_name]
-        result = await session.call_tool(tool.original_name, arguments=arguments)
-
-        texts = []
-        for content in result.content:
-            if isinstance(content, TextContent):
-                texts.append(content.text)
-
-        return "\n".join(texts) if texts else str(result.content)
diff --git a/src/mcp_servers/orchestrator.py b/src/mcp_servers/orchestrator.py
deleted file mode 100644
index ae803c97b3..0000000000
--- a/src/mcp_servers/orchestrator.py
+++ /dev/null
@@ -1,233 +0,0 @@
-import asyncio
-import json
-import logging
-from dataclasses import dataclass
-from typing import Any, Dict, List
-
-from mcp_servers.client import MCPClientManager
-from runtime.config import RuntimeConfig
-
-
-@dataclass
-class ToolResult:
-    """Result from a single MCP tool execution."""
-
-    tool_key: str
-    success: bool
-    content: str
-
-
-class MCPOrchestrator:
-    """MCP tool helper used by the cortex tick loop.
-
-    This class provides utilities for splitting actions,
-    executing MCP tools concurrently, and building recall prompts.
-
-    Parameters
-    ----------
-    config : RuntimeConfig
-        The runtime configuration object
-    max_concurrency : int
-        Maximum number of concurrent tool executions per round.
-    """
-
-    def __init__(
-        self,
-        config: RuntimeConfig,
-        max_concurrency: int = 5,
-        max_rounds: int = 5,
-    ) -> None:
-        self._config = config
-        self._mcp_client: MCPClientManager = config.mcp_servers  # type: ignore
-        self._max_concurrency = max_concurrency
-        self.max_rounds = max_rounds
-
-    async def start(self) -> None:
-        """Connect to MCP servers and inject their tool schemas into the LLM."""
-        await self._mcp_client.start()
-
-        llm = self._config.cortex_llm
-        mcp_schemas = self._mcp_client.get_tool_schemas()
-        base_schemas = [
-            schema
-            for schema in llm.function_schemas
-            if not schema.get("function", {}).get("name", "").startswith("mcp_")
-        ]
-        llm.function_schemas = base_schemas + mcp_schemas
-
-        logging.info(f"MCP Orchestrator started with {len(mcp_schemas)} MCP tools, " f"{len(base_schemas)} base tools")
-
-    async def execute_mcp_actions(self, actions: list, succeeded_calls: set) -> tuple:
-        """Execute MCP actions that haven't succeeded yet.
-
-        Filters out already-succeeded actions, executes new ones,
-        and updates the succeeded_calls set in-place.
-
-        Parameters
-        ----------
-        actions : list
-            All actions from LLM output
-        succeeded_calls : set
-            Set of already-succeeded action signatures (updated in-place)
-
-        Returns
-        -------
-        tuple
-            (results, mcp_actions) if there are new actions to execute,
-            (None, None) if no new actions remain
-        """
-        all_mcp_actions = [a for a in actions if self._mcp_client.is_mcp_tool(a.type)]
-
-        mcp_actions = [a for a in all_mcp_actions if self.build_call_signature(a) not in succeeded_calls]
-
-        if not mcp_actions:
-            return None, None
-
-        results = await self._execute_mcp_actions(mcp_actions)
-
-        for action, result in zip(mcp_actions, results):
-            if result.success:
-                succeeded_calls.add(self.build_call_signature(action))
-
-        return results, mcp_actions
-
-    def extract_om1_actions(self, actions: list) -> list:
-        """Extract OM1 actions from a list of actions.
-
-        Parameters
-        ----------
-        actions : list
-            List of all actions from the LLM output.
-
-        Returns
-        -------
-        list
-            List of OM1 actions.
-        """
-        return [a for a in actions if not self._mcp_client.is_mcp_tool(a.type)]
-
-    async def _execute_mcp_actions(self, actions: list) -> List[ToolResult]:
-        """Execute a list of MCP actions concurrently.
-
-        Parameters
-        ----------
-        actions : list
-            MCP actions to execute in parallel.
-
-        Returns
-        -------
-        List[ToolResult]
-            List of tool results.
-        """
-        semaphore = asyncio.Semaphore(self._max_concurrency)
-
-        async def _guarded(action: Any) -> ToolResult:
-            async with semaphore:
-                return await self._execute_single_tool(action)
-
-        return await asyncio.gather(*(_guarded(a) for a in actions))
-
-    async def _execute_single_tool(self, action: Any, timeout: float = 10.0) -> ToolResult:
-        """Execute one MCP tool call with a timeout.
-
-        Parameters
-        ----------
-        action : Any
-            The MCP action to execute.
-        timeout : float
-            Maximum execution time in seconds.
-
-        Returns
-        -------
-        ToolResult
-            The execution result containing success flag and content.
-        """
-        try:
-            args = self._parse_arguments(action)
-            content = await asyncio.wait_for(self._mcp_client.call_tool(action.type, args), timeout=timeout)
-            logging.info(f"MCP tool {action.type} returned: {content}")
-
-            try:
-                parsed = json.loads(content)
-                if isinstance(parsed, dict) and "error" in parsed:
-                    return ToolResult(tool_key=action.type, success=False, content=content)
-            except (json.JSONDecodeError, TypeError):
-                pass
-
-            return ToolResult(tool_key=action.type, success=True, content=content)
-        except Exception as exc:
-            logging.error(f"Error calling {action.type}: {exc}")
-            return ToolResult(
-                tool_key=action.type,
-                success=False,
-                content=f"Error: {exc}",
-            )
-
-    def build_result_prompt(
-        self,
-        original_prompt: str,
-        latest_results: List[ToolResult],
-    ) -> str:
-        """Build the follow-up prompt with the latest tool results.
-
-        Parameters
-        ----------
-        original_prompt : str
-            The initial user prompt.
-        latest_results : List[ToolResult]
-            Results from the most recent tool-execution round.
-
-        Returns
-        -------
-        str
-            Formatted recall prompt string.
-        """
-        lines = []
-        for result in latest_results:
-            status = "OK" if result.success else "FAILED"
-            lines.append(f"[{result.tool_key}] {status}: {result.content}")
-        result_block = "\n".join(lines)
-
-        return (
-            f"{original_prompt}\n\n"
-            f"[Tool Results]\n{result_block}\n\n"
-            f"[Next Step]\n"
-            f"Do NOT re-call tools you have already called successfully. "
-            f"If all needed info is available, respond with your final actions. "
-            f"Otherwise call only the necessary tools in one batch.\n"
-        )
-
-    def build_call_signature(self, action: Any) -> str:
-        """Build a signature for an action.
-
-        Parameters
-        ----------
-        action : Any
-            The action to build a signature for.
-
-        Returns
-        -------
-        str
-            Signature for the action.
-        """
-        args = self._parse_arguments(action)
-        return f"{action.type}|{json.dumps(args, sort_keys=True, default=str)}"
-
-    def _parse_arguments(self, action: Any) -> Dict[str, Any]:
-        """Parse the action value for MCP tool args."""
-        value = action.value
-        if isinstance(value, dict):
-            return value
-        if isinstance(value, str):
-            try:
-                parsed = json.loads(value)
-                if isinstance(parsed, dict):
-                    return parsed
-            except (json.JSONDecodeError, TypeError):
-                pass
-            return {"action": value}
-        return {"action": str(value)}
-
-    async def stop(self) -> None:
-        """Stop all MCP server connections."""
-        await self._mcp_client.stop()
diff --git a/src/prometheus/__init__.py b/src/prometheus/__init__.py
deleted file mode 100644
index 72c384c88f..0000000000
--- a/src/prometheus/__init__.py
+++ /dev/null
@@ -1,85 +0,0 @@
-import atexit
-import logging
-
-from prometheus_client import Gauge, Histogram, start_http_server
-
-_prometheus_server = None
-_prometheus_thread = None
-
-
-def _stop_prometheus_server():
-    """
-    Stop the Prometheus server on program exit.
-    """
-    global _prometheus_server, _prometheus_thread
-    if _prometheus_server is not None:
-        try:
-            _prometheus_server.shutdown()
-            if _prometheus_thread is not None:
-                _prometheus_thread.join(timeout=2.0)
-            logging.info("Prometheus metrics server stopped")
-        except Exception as e:
-            logging.warning(f"Error stopping Prometheus server: {e}")
-
-
-try:
-    result = start_http_server(9090)
-    _prometheus_server, _prometheus_thread = result
-
-    atexit.register(_stop_prometheus_server)
-    logging.info("Prometheus metrics server started on port 9090")
-except OSError as e:
-    if "Address already in use" in str(e):
-        logging.warning("Prometheus port 9090 already in use, reusing existing server")
-    else:
-        raise
-
-# LLM Metrics
-om1_llm_latency = Histogram(
-    "om1_llm_latency_seconds",
-    "Latency of LLM responses in seconds",
-    ["model", "endpoint"],
-)
-
-om1_llm_latency_last = Gauge(
-    "om1_llm_latency_last_seconds",
-    "Most recent LLM response latency in seconds",
-    ["model", "endpoint"],
-)
-
-# ASR Metrics
-om1_asr_latency = Histogram(
-    "om1_asr_latency_seconds",
-    "Latency from speech activity start to final transcript in seconds",
-    ["model", "language", "api_version"],
-)
-
-om1_asr_speech_duration = Histogram(
-    "om1_asr_speech_duration_seconds",
-    "Duration of speech activity from speech_start to speech_end in seconds",
-    ["model", "language", "api_version"],
-)
-
-om1_asr_utterance_end_latency = Histogram(
-    "om1_asr_utterance_end_latency_seconds",
-    "Latency from speech activity start to end_of_utterance detection in seconds",
-    ["model", "language", "api_version"],
-)
-
-om1_asr_latency_last = Gauge(
-    "om1_asr_latency_last_seconds",
-    "Most recent latency from speech activity start to final transcript in seconds",
-    ["model", "language", "api_version"],
-)
-
-om1_asr_speech_duration_last = Gauge(
-    "om1_asr_speech_duration_last_seconds",
-    "Most recent duration of speech activity from speech_start to speech_end in seconds",
-    ["model", "language", "api_version"],
-)
-
-om1_asr_utterance_end_latency_last = Gauge(
-    "om1_asr_utterance_end_latency_last_seconds",
-    "Most recent latency from speech activity start to end_of_utterance detection in seconds",
-    ["model", "language", "api_version"],
-)
diff --git a/src/providers/__init__.py b/src/providers/__init__.py
deleted file mode 100644
index f506029545..0000000000
--- a/src/providers/__init__.py
+++ /dev/null
@@ -1,17 +0,0 @@
-from .context_provider import ContextProvider
-from .io_provider import IOProvider
-from .teleops_status_provider import (
-    BatteryStatus,
-    CommandStatus,
-    TeleopsStatus,
-    TeleopsStatusProvider,
-)
-
-__all__ = [
-    "ContextProvider",
-    "IOProvider",
-    "TeleopsStatusProvider",
-    "CommandStatus",
-    "BatteryStatus",
-    "TeleopsStatus",
-]
diff --git a/src/providers/asr_provider.py b/src/providers/asr_provider.py
deleted file mode 100644
index 7bbb05a585..0000000000
--- a/src/providers/asr_provider.py
+++ /dev/null
@@ -1,127 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-from om1_speech import AudioInputStream
-from om1_utils import ws
-
-from .singleton import singleton
-
-
-@singleton
-class ASRProvider:
-    """
-    Audio Speech Recognition Provider that handles audio streaming and websocket communication.
-
-    This class implements a singleton pattern to manage audio input streaming and websocket
-    communication for speech recognition services. It runs in a separate thread to handle
-    continuous audio processing.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        device_id: Optional[int] = None,
-        microphone_name: Optional[str] = None,
-        rate: Optional[int] = None,
-        chunk: Optional[int] = None,
-        language_code: Optional[str] = None,
-        alternative_language_codes: Optional[list[str]] = None,
-        remote_input: bool = False,
-        enable_tts_interrupt: bool = False,
-    ):
-        """
-        Initialize the ASR Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The websocket URL for the ASR service connection.
-        device_id : int
-            The device ID of the chosen microphone; used the system default if None
-        microphone_name : str
-            The name of the microphone to use for audio input
-        rate : int
-            The audio sample rate for the audio stream; used the system default if None
-        chunk : int
-            The audio chunk size for the audio stream; used the 200ms default if None
-        language_code : str
-            The language code for language in the audio stream; used the en-US default if None
-        alternative_language_codes : list[str]
-            A list of alternative language codes for the audio stream; used for multilingual ASR
-        remote_input : bool
-            If True, the audio input is processed remotely; defaults to False.
-        enable_tts_interrupt : bool
-            If True, enables TTS interrupt.
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=ws_url)
-        self.audio_stream: AudioInputStream = AudioInputStream(
-            rate=rate,
-            chunk=chunk,
-            device=device_id,
-            device_name=microphone_name,  # type: ignore
-            audio_data_callback=self.ws_client.send_message,
-            alternative_language_codes=alternative_language_codes,
-            language_code=language_code,
-            remote_input=remote_input,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing ASR results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process ASR results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-
-    def unregister_message_callback(self, message_callback: Callable):
-        """
-        Unregister a previously registered callback for ASR results.
-
-        Since ws.Client stores a single callback (not a list), this clears it
-        only if the current callback matches the one being unregistered.
-
-        Parameters
-        ----------
-        message_callback : Callable
-            The callback function to unregister.
-        """
-        if self.ws_client.message_callback == message_callback:
-            self.ws_client.message_callback = None
-            logging.info("Unregistered message callback")
-        else:
-            logging.debug("Callback already replaced by newer instance, skipping unregister")
-
-    def start(self):
-        """
-        Start the ASR provider.
-
-        Initializes and starts the websocket client, audio stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("ASR provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.audio_stream.start()
-
-        logging.info("ASR provider started")
-
-    def stop(self):
-        """
-        Stop the ASR provider.
-
-        Stops the audio stream and websocket clients, and sets the running state to False.
-        """
-        self.running = False
-        self.audio_stream.stop()
-        self.ws_client.stop()
-
-        logging.info("ASR provider stopped")
diff --git a/src/providers/asr_rtsp_provider.py b/src/providers/asr_rtsp_provider.py
deleted file mode 100644
index 29f1892037..0000000000
--- a/src/providers/asr_rtsp_provider.py
+++ /dev/null
@@ -1,124 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-from om1_speech import AudioRTSPInputStream
-from om1_utils import ws
-
-from .singleton import singleton
-
-
-@singleton
-class ASRRTSPProvider:
-    """
-    Audio Speech Recognition Provider that handles RTSP audio streaming and websocket communication.
-
-    This class implements a singleton pattern to manage audio input streaming and websocket
-    communication for speech recognition services. It runs in a separate thread to handle
-    continuous audio processing.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        rtsp_url: str = "rtsp://localhost:8554/audio",
-        rate: int = 48000,
-        chunk: Optional[int] = None,
-        language_code: Optional[str] = None,
-        alternative_language_codes: Optional[list[str]] = None,
-        enable_tts_interrupt: bool = False,
-    ):
-        """
-        Initialize the ASR Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The websocket URL for the ASR service connection.
-        rtsp_url : str
-            The RTSP URL for the audio stream; defaults to "rtsp://localhost:8554/audio"
-        rate : int
-            The audio sample rate for the audio stream; used the system default if None
-        chunk : int
-            The audio chunk size for the audio stream; used the 200ms default if None
-        language_code : str
-            The language code for language in the audio stream; used the en-US default if None
-        alternative_language_codes : list[str]
-            A list of alternative language codes for the audio stream; used for multilingual ASR
-        enable_tts_interrupt : bool
-            If True, enables TTS interrupt.
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=ws_url)
-        self.audio_stream: AudioRTSPInputStream = AudioRTSPInputStream(
-            rtsp_url=rtsp_url,
-            rate=rate,
-            chunk=chunk,
-            audio_data_callback=self.ws_client.send_message,
-            language_code=language_code,
-            alternative_language_codes=alternative_language_codes,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing ASR results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process ASR results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-            logging.info("Registered message callback")
-
-    def unregister_message_callback(self, message_callback: Callable):
-        """
-        Unregister a previously registered callback for ASR results.
-
-        Since ws.Client stores a single callback (not a list), this clears it
-        only if the current callback matches the one being unregistered.
-        This prevents a new instance's callback from being accidentally cleared
-        by an old instance's stop() during a race condition.
-
-        Parameters
-        ----------
-        message_callback : Callable
-            The callback function to remove.
-        """
-        if self.ws_client.message_callback == message_callback:
-            self.ws_client.message_callback = None
-            logging.info("Unregistered message callback")
-        else:
-            logging.debug("Callback already replaced by newer instance, skipping unregister")
-
-    def start(self):
-        """
-        Start the ASR provider.
-
-        Initializes and starts the websocket client, audio stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("ASR RTSP provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.audio_stream.start()
-
-        logging.info("ASR RTSP provider started")
-
-    def stop(self):
-        """
-        Stop the ASR provider.
-
-        Stops the audio stream and websocket clients, and sets the running state to False.
-        """
-        if not self.running:
-            logging.warning("ASR RTSP provider is not running")
-            return
-
-        self.running = False
-        self.audio_stream.stop()
-        self.ws_client.stop()
diff --git a/src/providers/avatar_llm_state_provider.py b/src/providers/avatar_llm_state_provider.py
deleted file mode 100644
index 177af03485..0000000000
--- a/src/providers/avatar_llm_state_provider.py
+++ /dev/null
@@ -1,181 +0,0 @@
-import functools
-import logging
-import threading
-from typing import Any, Awaitable, Callable, List, Optional, TypeVar
-
-from .avatar_provider import AvatarProvider
-from .io_provider import IOProvider
-
-T = TypeVar("T")
-
-
-class AvatarLLMState:
-    """
-    Singleton class to manage avatar thinking state during LLM processing.
-
-    This class implements a singleton pattern to manage avatar visual state transitions
-    during LLM (Large Language Model) processing. It coordinates between the avatar
-    provider and IO provider to display appropriate visual feedback when processing
-    voice inputs.
-    """
-
-    _instance = None
-    _lock = None
-
-    def __new__(cls):
-        """
-        Implement singleton pattern for AvatarLLMState.
-        """
-        if cls._instance is None:
-            if cls._lock is None:
-                cls._lock = threading.Lock()
-
-            with cls._lock:
-                if cls._instance is None:
-                    cls._instance = super().__new__(cls)
-                    cls._instance._initialized = False
-        return cls._instance
-
-    def __init__(self):
-        """
-        Initialize the AvatarLLMState singleton instance.
-        """
-        if not getattr(self, "_initialized", False):
-            self.avatar_provider: Optional[AvatarProvider] = None
-            self.io_provider: Optional[IOProvider] = None
-            try:
-                self.avatar_provider = AvatarProvider()
-            except Exception:
-                logging.error("Failed to initialize AvatarProvider in AvatarLLMState")
-                self.avatar_provider = None
-            try:
-                self.io_provider = IOProvider()
-            except Exception:
-                logging.error("Failed to initialize IOProvider in AvatarLLMState")
-                self.io_provider = None
-            self._initialized = True
-
-    def _has_voice_input(self) -> bool:
-        """
-        Check if current input contains voice input.
-
-        Returns
-        -------
-        bool
-            True if voice input is present, False otherwise
-        """
-        if not self.io_provider:
-            return False
-
-        try:
-            return self.io_provider.llm_prompt is not None and "INPUT: Voice" in self.io_provider.llm_prompt
-        except Exception:
-            return False
-
-    def _start_thinking(self) -> None:
-        """
-        Internal method to trigger the thinking animation on the avatar.
-
-        Sets the avatar to "Think" state to indicate LLM processing.
-        """
-        if not self._has_voice_input():
-            return
-
-        if self.avatar_provider and self.avatar_provider.running:
-            try:
-                self.avatar_provider.send_avatar_command("Think")
-            except Exception:
-                logging.error(
-                    "Failed to send 'Think' command to avatar in AvatarLLMState",
-                    exc_info=True,
-                )
-
-    def _restore_happy(self) -> None:
-        """
-        Restore the avatar to happy state.
-
-        Sets the avatar to "Happy" state after processing completion.
-        """
-        if self.avatar_provider and self.avatar_provider.running:
-            try:
-                self.avatar_provider.send_avatar_command("Happy")
-            except Exception as e:
-                logging.warning(f"Failed to restore avatar to Happy state: {e}")
-
-    def _has_face_action_in_result(self, result: Any) -> bool:
-        """
-        Check if the result contains a face action.
-
-        Parameters
-        ----------
-        result : Any
-            The result object to check.
-
-        Returns
-        -------
-        bool
-            True if result contains a face action, False otherwise
-        """
-        if not result:
-            return False
-
-        actions: Optional[List[Any]] = getattr(result, "actions", None)
-        if not actions:
-            return False
-
-        return any(getattr(a, "type", "").lower() == "face" for a in actions)
-
-    @classmethod
-    def trigger_thinking(cls, func: Optional[Callable[..., Awaitable[T]]] = None) -> Any:
-        """
-        Decorator to manage avatar state during LLM processing.
-
-        Parameters
-        ----------
-        func : Optional[Callable[..., Awaitable[T]]]
-            The async function to wrap.
-
-        Returns
-        -------
-        Callable or wrapped function
-            Wrapped function that manages avatar state
-        """
-
-        def decorator(f: Callable[..., Awaitable[T]]) -> Callable[..., Awaitable[T]]:
-            @functools.wraps(f)
-            async def wrapper(*args: Any, **kwargs: Any) -> T:
-
-                if getattr(args[0], "_skip_state_management", False):
-                    return await f(*args, **kwargs)
-
-                instance = cls()
-                instance._start_thinking()
-
-                try:
-                    result = await f(*args, **kwargs)
-
-                    if not instance._has_face_action_in_result(result):
-                        instance._restore_happy()
-
-                    return result
-
-                except Exception as e:
-                    instance._restore_happy()
-                    raise e
-
-            return wrapper
-
-        if func is not None:
-            return decorator(func)
-
-        return decorator
-
-    def stop(self) -> None:
-        """
-        Stop the AvatarLLMState singleton instance.
-        """
-        if self.avatar_provider and self.avatar_provider.running:
-            try:
-                self.avatar_provider.stop()
-            except Exception:
-                logging.error("Failed to stop AvatarProvider in AvatarLLMState")
diff --git a/src/providers/avatar_provider.py b/src/providers/avatar_provider.py
deleted file mode 100644
index 9bb3cd053a..0000000000
--- a/src/providers/avatar_provider.py
+++ /dev/null
@@ -1,142 +0,0 @@
-import logging
-from uuid import uuid4
-
-import zenoh
-
-from zenoh_msgs import (
-    AvatarFaceRequest,
-    AvatarFaceResponse,
-    String,
-    open_zenoh_session,
-    prepare_header,
-)
-
-from .singleton import singleton
-
-
-@singleton
-class AvatarProvider:
-    """
-    Singleton provider for Avatar communication via Zenoh.
-
-    """
-
-    def __init__(self):
-        """
-        Initialize the AvatarProvider.
-        """
-        self.session = None
-        # Face Publisher
-        self.avatar_publisher = None
-        # Health Check Publisher and Subscriber
-        self.avatar_healthcheck_publisher = None
-        self.avatar_subscriber = None
-        self.running = False
-
-        self._initialize_zenoh()
-
-    def _initialize_zenoh(self):
-        """
-        Initialize Zenoh session, publishers, and subscriber.
-        """
-        try:
-            self.session = open_zenoh_session()
-            self.avatar_publisher = self.session.declare_publisher("om/avatar/request")
-            self.avatar_healthcheck_publisher = self.session.declare_publisher("om/avatar/response")
-            self.avatar_subscriber = self.session.declare_subscriber("om/avatar/request", self._handle_avatar_request)
-            self.running = True
-            logging.info("AvatarProvider initialized with Zenoh on topics")
-        except Exception as e:
-            logging.error(f"Failed to initialize AvatarProvider Zenoh session: {e}")
-
-    def _handle_avatar_request(self, sample: zenoh.Sample):
-        """
-        Handle incoming avatar requests from Zenoh subscriber.
-
-        Processes health check requests (STATUS) and responds with system status.
-        Face change requests (SWITCH_FACE) are ignored in this callback.
-
-        Parameters
-        ----------
-        sample : zenoh.Sample
-            The Zenoh sample containing the serialized AvatarFaceRequest message.
-        """
-        try:
-            request = AvatarFaceRequest.deserialize(sample.payload.to_bytes())
-
-            if request.code == AvatarFaceRequest.Code.STATUS.value:
-                logging.debug("Received avatar health check request")
-
-                response = AvatarFaceResponse(
-                    header=prepare_header(str(uuid4())),
-                    request_id=request.request_id,
-                    code=AvatarFaceResponse.Code.ACTIVE.value,
-                    message=String("Avatar system active"),
-                )
-
-                if self.avatar_healthcheck_publisher:
-                    self.avatar_healthcheck_publisher.put(response.serialize())
-                    logging.debug("Sent avatar active response")
-        except Exception as e:
-            logging.error(f"Error handling avatar request: {e}")
-
-    def send_avatar_command(self, command: str) -> bool:
-        """
-        Send avatar command via Zenoh.
-
-        Parameters
-        ----------
-        command : str
-            The avatar face expression to switch to (will be converted to lowercase).
-
-        Returns
-        -------
-        bool
-            True if command was sent successfully, False otherwise
-        """
-        if not self.running or not self.avatar_publisher:
-            logging.warning(f"AvatarProvider not running, cannot send command: {command}")
-            return False
-
-        command = command.lower()
-
-        try:
-            request_id = str(uuid4())
-            face_text = command
-
-            face_msg = AvatarFaceRequest(
-                header=prepare_header(request_id),
-                request_id=String(request_id),
-                code=AvatarFaceRequest.Code.SWITCH_FACE.value,
-                face_text=String(face_text),
-            )
-            self.avatar_publisher.put(face_msg.serialize())
-            logging.info(f"AvatarProvider sent command to Zenoh: {face_text}")
-            return True
-
-        except Exception as e:
-            logging.error(f"Failed to send avatar command via Zenoh: {e}")
-            return False
-
-    def stop(self):
-        """
-        Stop the AvatarProvider and cleanup Zenoh session.
-        """
-        if not self.running:
-            logging.info("AvatarProvider is not running")
-            return
-
-        self.running = False
-
-        if self.avatar_subscriber:
-            self.avatar_subscriber.undeclare()
-            self.avatar_subscriber = None
-
-        if self.avatar_healthcheck_publisher:
-            self.avatar_healthcheck_publisher.undeclare()
-            self.avatar_healthcheck_publisher = None
-
-        if self.session:
-            self.session.close()
-
-        logging.info("AvatarProvider stopped and Zenoh session closed")
diff --git a/src/providers/config_provider.py b/src/providers/config_provider.py
deleted file mode 100644
index 725d832ba7..0000000000
--- a/src/providers/config_provider.py
+++ /dev/null
@@ -1,197 +0,0 @@
-import json
-import logging
-import os
-from uuid import uuid4
-
-import json5
-import zenoh
-
-from zenoh_msgs import (
-    ConfigRequest,
-    ConfigResponse,
-    String,
-    open_zenoh_session,
-    prepare_header,
-)
-
-from .singleton import singleton
-
-
-@singleton
-class ConfigProvider:
-    """
-    Singleton provider for runtime configuration broadcasting via Zenoh.
-    """
-
-    def __init__(self):
-        """
-        Initialize the ConfigProvider.
-        """
-        self.session = None
-        self.config_response_publisher = None
-        self.config_request_subscriber = None
-        self.running = False
-
-        self.config_path = self._get_runtime_config_path()
-
-        self._initialize_zenoh()
-
-    def _initialize_zenoh(self):
-        """
-        Initialize Zenoh session, publishers, and subscriber.
-        """
-        try:
-            self.session = open_zenoh_session()
-
-            # Publisher for config responses
-            self.config_response_publisher = self.session.declare_publisher("om/config/response")
-
-            # Subscriber for config requests
-            self.config_request_subscriber = self.session.declare_subscriber(
-                "om/config/request", self._handle_config_request
-            )
-
-            self.running = True
-            logging.info("ConfigProvider initialized with Zenoh")
-        except Exception as e:
-            logging.error(f"Failed to initialize ConfigProvider Zenoh session: {e}")
-
-    def _get_runtime_config_path(self) -> str:
-        """
-        Get the path to the runtime config file in memory folder.
-
-        Returns
-        -------
-        str
-            Path to config/memory/.runtime.json5
-        """
-        memory_folder_path = os.path.join(os.path.dirname(__file__), "../../config", "memory")
-        return os.path.abspath(os.path.join(memory_folder_path, ".runtime.json5"))
-
-    def _handle_config_request(self, sample: zenoh.Sample):
-        """
-        Handle incoming config requests from Zenoh subscriber.
-
-        Responds with current runtime configuration.
-
-        Parameters
-        ----------
-        sample : zenoh.Sample
-            The Zenoh sample containing the serialized ConfigRequest message.
-        """
-        try:
-            request = ConfigRequest.deserialize(sample.payload.to_bytes())
-            logging.debug(f"Received config request: {request.request_id}")
-
-            if request.config and request.config.data:
-                # This is a set_config request
-                self._handle_set_config(request.request_id, request.config.data)
-            else:
-                # This is a get_config request
-                self._send_config_response(request.request_id)
-
-        except Exception as e:
-            logging.error(f"Error handling config request: {e}")
-
-    def _handle_set_config(self, request_id: String, config_str: str):
-        """
-        Handle request to update runtime configuration.
-        """
-        try:
-            new_config = json5.loads(config_str)
-
-            temp_path = self.config_path + f".tmp.{uuid4()}"
-            with open(temp_path, "w") as f:
-                json.dump(new_config, f, indent=2)
-
-            os.rename(temp_path, self.config_path)
-
-            logging.info(f"Updated runtime config file: {self.config_path}")
-
-            self._send_config_response(request_id)
-
-        except Exception as e:
-            logging.error(f"Failed to update config: {e}")
-            self._send_error_response(request_id, f"Failed to update config: {e}")
-
-    def _send_config_response(self, request_id: String):
-        """
-        Send current runtime configuration as response.
-        """
-        try:
-            # Get current config
-            config_snapshot = self._get_config_snapshot()
-            config_json_str = json.dumps(config_snapshot, indent=2)
-
-            response = ConfigResponse(
-                header=prepare_header(str(uuid4())),
-                request_id=request_id,
-                config=String(config_json_str),
-                message=String("Configuration retrieved successfully"),
-            )
-
-            if self.config_response_publisher:
-                self.config_response_publisher.put(response.serialize())
-                logging.info("ConfigProvider sent config response")
-
-        except Exception as e:
-            logging.error(f"Failed to send config response: {e}")
-            self._send_error_response(request_id, str(e))
-
-    def _send_error_response(self, request_id: String, error_message: str):
-        """
-        Send error response.
-        """
-        try:
-            response = ConfigResponse(
-                header=prepare_header(str(uuid4())),
-                request_id=request_id,
-                config=String(""),
-                message=String(error_message),
-            )
-
-            if self.config_response_publisher:
-                self.config_response_publisher.put(response.serialize())
-                logging.warning(f"ConfigProvider sent error response: {error_message}")
-
-        except Exception as e:
-            logging.error(f"Failed to send error response: {e}")
-
-    def _get_config_snapshot(self) -> dict:
-        """
-        Get a snapshot of the current runtime configuration.
-        """
-        try:
-            if not os.path.exists(self.config_path):
-                logging.warning(f"ConfigProvider: Config file not found: {self.config_path}")
-                return {}
-
-            with open(self.config_path, "r") as f:
-                return json5.load(f)
-
-        except Exception as e:
-            logging.error(f"Failed to read config file {self.config_path}: {e}")
-            return {}
-
-    def stop(self):
-        """
-        Stop the ConfigProvider and cleanup Zenoh session.
-        """
-        if not self.running:
-            logging.info("ConfigProvider is not running")
-            return
-
-        self.running = False
-
-        if self.config_request_subscriber:
-            self.config_request_subscriber.undeclare()
-            self.config_request_subscriber = None
-
-        if self.config_response_publisher:
-            self.config_response_publisher.undeclare()
-            self.config_response_publisher = None
-
-        if self.session:
-            self.session.close()
-
-        logging.info("ConfigProvider stopped and Zenoh session closed")
diff --git a/src/providers/context_provider.py b/src/providers/context_provider.py
deleted file mode 100644
index fbddf9ef27..0000000000
--- a/src/providers/context_provider.py
+++ /dev/null
@@ -1,86 +0,0 @@
-import json
-import logging
-from typing import Any, Dict, Optional
-
-from zenoh_msgs import ZenohSessionType, open_zenoh_session
-
-from .singleton import singleton
-
-
-@singleton
-class ContextProvider:
-    """
-    Singleton provider for updating mode-aware context via Zenoh messaging.
-
-    This provider allows any component (inputs, actions, backgrounds) to update
-    the user context that drives context-aware mode transitions.
-    """
-
-    def __init__(self):
-        """
-        Initialize the ContextProvider.
-        """
-        self.context_update_topic = "om/mode/context"
-        self.session: Optional[ZenohSessionType] = None
-        self.publisher = None
-        self._initialize_zenoh()
-
-    def _initialize_zenoh(self):
-        """
-        Initialize Zenoh session and publisher.
-        """
-        try:
-            self.session = open_zenoh_session()
-            self.publisher = self.session.declare_publisher(self.context_update_topic)
-            logging.info("ContextProvider Zenoh session initialized")
-        except Exception as e:
-            logging.error(f"Error initializing ContextProvider Zenoh session: {e}")
-            self.session = None
-            self.publisher = None
-
-    def update_context(self, context: Dict[str, Any]):
-        """
-        Update the user context for context-aware transitions.
-
-        Parameters
-        ----------
-        context : Dict[str, Any]
-            The context information to update. This will be merged with existing context.
-        """
-        if not self.publisher:
-            logging.warning("ContextProvider not initialized, cannot update context")
-            return
-
-        try:
-            context_json = json.dumps(context)
-            self.publisher.put(context_json.encode("utf-8"))
-            logging.debug(f"Sent context update: {context}")
-        except Exception as e:
-            logging.error(f"Error sending context update: {e}")
-
-    def set_context_field(self, key: str, value: Any):
-        """
-        Update a single context field.
-
-        Parameters
-        ----------
-        key : str
-            The context key to update
-        value : Any
-            The value to set for this key
-        """
-        self.update_context({key: value})
-
-    def stop(self):
-        """
-        Stop the ContextProvider and clean up resources.
-        """
-        if self.session:
-            try:
-                self.session.close()
-                logging.info("ContextProvider stopped")
-            except Exception as e:
-                logging.error(f"Error stopping ContextProvider: {e}")
-            finally:
-                self.session = None
-                self.publisher = None
diff --git a/src/providers/d435_provider.py b/src/providers/d435_provider.py
deleted file mode 100644
index 2421cd0455..0000000000
--- a/src/providers/d435_provider.py
+++ /dev/null
@@ -1,108 +0,0 @@
-import logging
-import math
-
-import zenoh
-
-from zenoh_msgs import open_zenoh_session, sensor_msgs
-
-from .singleton import singleton
-
-
-@singleton
-class D435Provider:
-    """
-    Provider for D435 camera data using Zenoh.
-    """
-
-    def __init__(self):
-        """
-        Initialize the D435Provider instance.
-
-        Sets up the Zenoh subscriber for obstacle point cloud data and starts the provider.
-        """
-        self.obstacle: list[dict[str, float]] = []
-        self.running: bool = False
-        self.session = None
-
-        try:
-            self.session = open_zenoh_session()
-            self.session.declare_subscriber(
-                "camera/realsense2_camera_node/depth/obstacle_point",
-                self.obstacle_callback,
-            )
-            logging.info("Zenoh is open for D435Provider")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-
-        self.start()
-
-    def calculate_angle_and_distance(self, world_x: float, world_y: float) -> tuple:
-        """
-        Calculate the angle and distance from the world coordinates.
-
-        Parameters
-        ----------
-        world_x : float
-            The x-coordinate in the world.
-        world_y : float
-            The y-coordinate in the world.
-
-        Returns
-        -------
-        tuple
-            A tuple containing the angle in degrees and the distance.
-        """
-        distance = math.sqrt(world_x**2 + world_y**2)
-
-        angle_rad = math.atan2(world_y, world_x)
-        angle_degrees = math.degrees(angle_rad)
-
-        return angle_degrees, distance
-
-    def obstacle_callback(self, sample: zenoh.Sample):
-        """
-        Callback function to process the obstacle point cloud data.
-
-        Parameters
-        ----------
-        sample : zenoh.Sample
-            The sample containing the point cloud data.
-        """
-        try:
-            points = sensor_msgs.PointCloud.deserialize(sample.payload.to_bytes())
-
-            obstacles = []
-            for pt in points.points:  # type: ignore
-                x = pt.x
-                y = pt.y
-                z = pt.z
-                angle, distance = self.calculate_angle_and_distance(x, y)
-                obstacles.append({"x": x, "y": y, "z": z, "angle": angle, "distance": distance})
-            self.obstacle = obstacles
-        except Exception as e:
-            logging.error(f"Error processing obstacle info: {e}")
-
-    def start(self):
-        """
-        Start the D435 provider.
-        """
-        if self.running:
-            logging.info("D435Provider is already running")
-            return
-
-        self.running = True
-
-    def stop(self):
-        """
-        Stop the D435 provider.
-        """
-        if not self.running:
-            logging.info("D435Provider is not running")
-            return
-
-        self.running = False
-
-        if self.session:
-            self.session.close()
-
-        logging.info("D435Provider stopped and Zenoh session closed")
diff --git a/src/providers/elevenlabs_tts_provider.py b/src/providers/elevenlabs_tts_provider.py
deleted file mode 100644
index 7ae778be8f..0000000000
--- a/src/providers/elevenlabs_tts_provider.py
+++ /dev/null
@@ -1,244 +0,0 @@
-import logging
-from typing import Callable, Optional, Union
-
-from om1_speech import AudioOutputLiveStream
-
-from .singleton import singleton
-
-
-@singleton
-class ElevenLabsTTSProvider:
-    """
-    Text-to-Speech Provider that manages an audio output stream.
-
-    A singleton class that handles text-to-speech conversion and audio output
-    through a dedicated thread. It provides integration with Eleven Labs TTS service
-    for generating speech from text with configurable voice, model, and output format.
-    """
-
-    def __init__(
-        self,
-        url: str = "https://api.openmind.com/api/core/elevenlabs/tts",
-        api_key: Optional[str] = None,
-        elevenlabs_api_key: Optional[str] = None,
-        voice_id: Optional[str] = "JBFqnCBsd6RMkjVDRZzb",
-        model_id: Optional[str] = "eleven_flash_v2_5",
-        output_format: Optional[str] = "pcm_16000",
-        rate: Optional[int] = 16000,
-        enable_tts_interrupt: bool = False,
-    ):
-        """
-        Initialize the ElevenLabsTTSProvider instance.
-
-        Sets up the configuration for the Eleven Labs TTS service, including API keys,
-        voice/model selection, output format, and interrupt settings. It initializes
-        the underlying audio output stream.
-
-        Parameters
-        ----------
-        url : str, optional
-            The URL endpoint for the TTS service.
-            Defaults to "https://api.openmind.com/api/core/elevenlabs/tts".
-        api_key : str, optional
-            The primary API key for the TTS service. If provided, it's used in the
-            request headers as "x-api-key". Defaults to None.
-        elevenlabs_api_key : str, optional
-            An alternative Eleven Labs specific API key. If provided, it's included
-            in the request payload for TTS generation. Defaults to None.
-        voice_id : str, optional
-            The ID/name of the voice to use for TTS synthesis.
-            Defaults to "JBFqnCBsd6RMkjVDRZzb".
-        model_id : str, optional
-            The ID/name of the model to use for TTS synthesis.
-            Defaults to "eleven_flash_v2_5".
-        output_format : str, optional
-            The desired audio output format (e.g., pcm_16000, wav).
-            Defaults to "pcm_16000".
-        rate : int, optional
-            The audio sample rate in Hz.
-            Defaults to 16000.
-        enable_tts_interrupt : bool, optional
-            If True, enables the ability to interrupt ongoing TTS playback when ASR
-            detects new speech input. Defaults to False.
-        """
-        self.api_key = api_key
-        self.elevenlabs_api_key = elevenlabs_api_key
-        self._enable_tts_interrupt = enable_tts_interrupt
-
-        # Initialize TTS provider
-        self.running: bool = False
-        self._audio_stream: AudioOutputLiveStream = AudioOutputLiveStream(
-            url=url,
-            tts_model=model_id or "eleven_flash_v2_5",
-            tts_voice=voice_id or "JBFqnCBsd6RMkjVDRZzb",
-            response_format=output_format or "pcm_16000",
-            rate=rate or 16000,
-            api_key=api_key,
-            enable_tts_interrupt=enable_tts_interrupt,
-            extra_body=({"elevenlabs_api_key": self.elevenlabs_api_key} if self.elevenlabs_api_key else {}),
-        )
-
-        # Set Eleven Labs TTS parameters
-        self._voice_id = voice_id
-        self._model_id = model_id
-        self._output_format = output_format
-        self._rate = rate
-
-    def configure(
-        self,
-        url: str = "https://api.openmind.com/api/core/elevenlabs/tts",
-        api_key: Optional[str] = None,
-        elevenlabs_api_key: Optional[str] = None,
-        voice_id: Optional[str] = "JBFqnCBsd6RMkjVDRZzb",
-        model_id: Optional[str] = "eleven_flash_v2_5",
-        output_format: Optional[str] = "pcm_16000",
-        rate: Optional[int] = 16000,
-        enable_tts_interrupt: bool = False,
-    ):
-        """
-        Configure the TTS provider with given parameters.
-
-        Parameters
-        ----------
-        url : str
-            The URL endpoint for the TTS service.
-        api_key : str
-            The API key for the TTS service.
-        elevenlabs_api_key : Optional[str]
-            An alternative Eleven Labs specific API key.
-        voice_id : str, optional
-            The name of the voice for Eleven Labs TTS service.
-        model_id : str, optional
-            The name of the model for Eleven Labs TTS service.
-        output_format : str, optional
-            The output format for the audio stream.
-        rate : int, optional
-            The audio sample rate in Hz.
-            Defaults to 16000.
-        enable_tts_interrupt : bool
-            If True, enables TTS interrupt when ASR detects speech.
-        """
-        restart_needed = (
-            url != self._audio_stream._url
-            or api_key != self.api_key
-            or elevenlabs_api_key != self.elevenlabs_api_key
-            or voice_id != self._voice_id
-            or model_id != self._model_id
-            or output_format != self._output_format
-            or enable_tts_interrupt != self._enable_tts_interrupt
-            or rate != self._rate
-        )
-
-        if not restart_needed:
-            return
-
-        if self.running:
-            self.stop()
-
-        self.api_key = api_key
-        self.elevenlabs_api_key = elevenlabs_api_key
-        self._voice_id = voice_id
-        self._model_id = model_id
-        self._output_format = output_format
-        self._enable_tts_interrupt = enable_tts_interrupt
-        self._rate = rate
-
-        self._audio_stream: AudioOutputLiveStream = AudioOutputLiveStream(
-            url=url,
-            tts_model=model_id or "eleven_flash_v2_5",
-            tts_voice=voice_id or "JBFqnCBsd6RMkjVDRZzb",
-            response_format=output_format or "pcm_16000",
-            rate=rate or 16000,
-            enable_tts_interrupt=enable_tts_interrupt,
-            api_key=api_key,
-            extra_body=({"elevenlabs_api_key": self.elevenlabs_api_key} if self.elevenlabs_api_key else {}),
-        )
-        self._audio_stream.start()
-
-    def register_tts_state_callback(self, tts_state_callback: Optional[Callable]):
-        """
-        Register a callback for TTS state changes.
-
-        Parameters
-        ----------
-        tts_state_callback : Optional[Callable]
-            The callback function to receive TTS state changes.
-        """
-        if tts_state_callback is not None:
-            self._audio_stream.set_tts_state_callback(tts_state_callback)
-
-    def create_pending_message(self, text: str, voice_id: Optional[str] = None) -> dict:
-        """
-        Create a pending message for TTS processing.
-
-        Parameters
-        ----------
-        text : str
-            Text to be converted to speech
-        voice_id : Optional[str]
-            Optional voice ID to override the default voice for this message
-
-        Returns
-        -------
-        dict
-            A dictionary containing the TTS request parameters.
-        """
-        logging.info(
-            f"audio_stream: {text}, voice_id: {voice_id or self._voice_id}, model_id: {self._model_id}, output_format: {self._output_format}"
-        )
-        return {
-            "text": text,
-            "voice_id": self._voice_id if voice_id is None else voice_id,
-            "model_id": self._model_id,
-            "output_format": self._output_format,
-        }
-
-    def add_pending_message(self, message: Union[str, dict]):
-        """
-        Add a pending message to the TTS provider.
-
-        Parameters
-        ----------
-        message : Union[str, dict]
-            The message to be added, typically containing text and TTS parameters.
-        """
-        if not self.running:
-            logging.warning("TTS provider is not running. Call start() before adding messages.")
-            return
-
-        if isinstance(message, str):
-            message = self.create_pending_message(message)
-        self._audio_stream.add_request(message)
-
-    def get_pending_message_count(self) -> int:
-        """
-        Get the count of pending messages in the TTS provider.
-
-        Returns
-        -------
-        int
-            The number of pending messages.
-        """
-        return self._audio_stream._pending_requests.qsize()
-
-    def start(self):
-        """
-        Start the TTS provider and its audio stream.
-        """
-        if self.running:
-            logging.warning("Eleven Labs TTS provider is already running")
-            return
-
-        self.running = True
-        self._audio_stream.start()
-
-    def stop(self):
-        """
-        Stop the TTS provider and cleanup resources.
-        """
-        if not self.running:
-            logging.warning("Eleven Labs TTS provider is not running")
-            return
-
-        self.running = False
-        self._audio_stream.stop()
diff --git a/src/providers/fabric_map_provider.py b/src/providers/fabric_map_provider.py
deleted file mode 100644
index 6765d6afb5..0000000000
--- a/src/providers/fabric_map_provider.py
+++ /dev/null
@@ -1,290 +0,0 @@
-import json
-import logging
-import os
-import time
-from concurrent.futures import ThreadPoolExecutor
-from dataclasses import dataclass
-from typing import List, Optional
-
-import requests
-
-from .singleton import singleton
-
-
-@dataclass
-class RFData:
-    """
-    Data class to represent RF scan results.
-
-    Parameters
-    ----------
-    unix_ts : float
-        Unix timestamp of the scan.
-    address : str
-        Bluetooth address of the device.
-    name : Optional[str]
-        Name of the device.
-    rssi : int
-        Received Signal Strength Indicator of the device.
-    tx_power : Optional[int]
-        Transmission power.
-    service_uuid : str
-        Service UUID.
-    mfgkey : str
-        Manufacturing key.
-    mfgval : str
-        Manufacturing value.
-    """
-
-    unix_ts: float
-    address: str
-    name: Optional[str]
-    rssi: int
-    tx_power: Optional[int]
-    service_uuid: str
-    mfgkey: str
-    mfgval: str
-
-    def to_dict(self) -> dict:
-        """
-        Convert the RFData object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the RFData object.
-        """
-        return {
-            "unix_ts": self.unix_ts,
-            "address": self.address,
-            "name": self.name,
-            "rssi": self.rssi,
-            "tx_power": self.tx_power,
-            "service_uuid": self.service_uuid,
-            "mfgkey": self.mfgkey,
-            "mfgval": self.mfgval,
-        }
-
-
-@dataclass
-class RFDataRaw:
-    """
-    Data class to represent RF scan results.
-
-    Parameters
-    ----------
-    unix_ts : float
-        Unix timestamp of the scan.
-    address : str
-        Bluetooth address of the device.
-    rssi : int
-        Received Signal Strength Indicator of the device.
-    packet : str
-        Packet data.
-    """
-
-    unix_ts: float
-    address: str
-    rssi: int
-    packet: str
-
-    def to_dict(self) -> dict:
-        """
-        Convert the RFData object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the RFData object.
-        """
-        return {
-            "unix_ts": self.unix_ts,
-            "address": self.address,
-            "rssi": self.rssi,
-            "packet": self.packet,
-        }
-
-
-@dataclass
-class FabricData:
-    """
-    Data class to represent a data payload from a machine to FABRIC.
-    """
-
-    machine_id: str
-    payload_idx: int
-    gps_unix_ts: float
-    gps_lat: float
-    gps_lon: float
-    gps_alt: float
-    gps_qua: int
-    rtk_unix_ts: float
-    rtk_lat: float
-    rtk_lon: float
-    rtk_alt: float
-    rtk_qua: int
-    mag: float
-    unix_ts: float
-    odom_x: float
-    odom_y: float
-    odom_rockchip_ts: float
-    odom_subscriber_ts: float
-    odom_yaw_0_360: float
-    odom_yaw_m180_p180: float
-    rf_data: List[RFData]
-    rf_data_raw: List[RFDataRaw]
-
-    def to_dict(self) -> dict:
-        """
-        Convert the FabricData object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the FabricData object.
-        """
-        return {
-            "machine_id": self.machine_id,
-            "payload_idx": self.payload_idx,
-            "gps_unix_ts": self.gps_unix_ts,
-            "gps_lat": self.gps_lat,
-            "gps_lon": self.gps_lon,
-            "gps_alt": self.gps_alt,
-            "gps_qua": self.gps_qua,
-            "rtk_unix_ts": self.rtk_unix_ts,
-            "rtk_lat": self.rtk_lat,
-            "rtk_lon": self.rtk_lon,
-            "rtk_alt": self.rtk_alt,
-            "rtk_qua": self.rtk_qua,
-            "mag": self.mag,
-            "unix_ts": self.unix_ts,
-            "odom_x": self.odom_x,
-            "odom_y": self.odom_y,
-            "odom_yaw_0_360": self.odom_yaw_0_360,
-            "odom_yaw_m180_p180": self.odom_yaw_m180_p180,
-            "odom_rockchip_ts": self.odom_rockchip_ts,
-            "odom_subscriber_ts": self.odom_subscriber_ts,
-            "rf_data": [rf.to_dict() for rf in self.rf_data] if self.rf_data else [],
-            "rf_data_raw": ([rf.to_dict() for rf in self.rf_data_raw] if self.rf_data_raw else []),
-        }
-
-
-@singleton
-class FabricDataSubmitter:
-    """
-    Allows a machine to locally log mapping data and submit data to FABRIC.
-    """
-
-    def __init__(
-        self,
-        api_key: Optional[str] = None,
-        base_url: str = "https://api.openmind.com/api/core/fabric/submit",
-        write_to_local_file: bool = False,
-    ):
-        """
-        Initialize the FabricDataSubmitter.
-
-        Parameters
-        ----------
-        api_key : Optional[str]
-            API key for authentication. Default is None.
-        base_url : str
-            Base URL for the FABRIC API. Default is
-            "https://api.openmind.com/api/core/fabric/submit".
-        write_to_local_file : bool
-            If True, enables local file logging of submitted data.
-            Default is False.
-        """
-        self.api_key = api_key
-        self.base_url = base_url
-        self.write_to_local_file = write_to_local_file
-        self.filename_base = "dump/fabric"
-        self.filename_current = self.update_filename()
-        self.max_file_size_bytes = 1024 * 1024
-        self.executor = ThreadPoolExecutor(max_workers=1)
-
-    def update_filename(self):
-        """
-        Update the filename for local logging with a timestamp.
-        """
-        unix_ts = time.time()
-        logging.info(f"fabric time: {unix_ts}")
-        unix_ts = str(unix_ts).replace(".", "_")
-        filename = f"{self.filename_base}_{unix_ts}Z.jsonl"
-        return filename
-
-    def write_dict_to_file(self, data: dict):
-        """
-        Writes a dictionary to a file in JSON lines format. If the file exceeds max_file_size_bytes,
-        creates a new file with a timestamp.
-
-        Parameters
-        ----------
-        data : dict
-            The dictionary to write to the file.
-        """
-        if not isinstance(data, dict):
-            raise ValueError("Provided data must be a dictionary.")
-
-        if os.path.exists(self.filename_current) and os.path.getsize(self.filename_current) > self.max_file_size_bytes:
-            self.filename_current = self.update_filename()
-            logging.info(f"new file name: {self.filename_current}")
-
-        with open(self.filename_current, "a", encoding="utf-8") as f:
-            json_line = json.dumps(data)
-            f.write(json_line + "\n")
-            f.flush()
-
-    def _share_data_worker(self, data: FabricData):
-        """
-        Worker function to share data from the machine.
-        This function runs in a separate thread to avoid blocking the main thread.
-
-        Parameters
-        ----------
-        data : FabricData
-            The data to be shared.
-        """
-        logging.info(f"_share_data_worker: {data}")
-        try:
-            json_dict = data.to_dict()
-        except Exception as e:
-            logging.error(f"Error converting to dict: {str(e)}")
-            return
-
-        if self.write_to_local_file:
-            self.write_dict_to_file(json_dict)
-            logging.info(f"FDS wrote to {self.filename_current}")
-
-        if self.api_key is None or self.api_key == "":
-            logging.error("API key missing. Cannot share data to FABRIC.")
-            return
-
-        try:
-            request = requests.post(
-                self.base_url,
-                headers={"Authorization": f"Bearer {self.api_key}"},
-                json=json_dict,
-                timeout=10,
-            )
-
-            if request.status_code == 201:
-                logging.debug(f"Data shared: {request.json()}")
-            else:
-                logging.error(f"Failed to share data: {request.status_code} - {request.text}")
-        except Exception as e:
-            logging.error(f"Error sharing data: {str(e)}")
-
-    def share_data(self, data: FabricData):
-        """
-        Share mapping data.
-        This function submits mapping data collected by a machine to a thread pool executor
-        to run in a separate thread.
-
-        Parameters
-        ----------
-        data : FabricData
-            A mapping data payload to submit.
-        """
-        logging.debug(f"share data: {data}")
-        self.executor.submit(self._share_data_worker, data)
diff --git a/src/providers/face_presence_provider.py b/src/providers/face_presence_provider.py
deleted file mode 100644
index 834eb66080..0000000000
--- a/src/providers/face_presence_provider.py
+++ /dev/null
@@ -1,362 +0,0 @@
-import asyncio
-import logging
-import threading
-import time
-from dataclasses import dataclass
-from typing import Callable, Dict, List, Optional
-
-import requests
-
-from .singleton import singleton
-
-
-@dataclass
-class PresenceSnapshot:
-    """
-    Canonical record returned by `/who`.
-
-    Attributes
-    ----------
-    timestamp : float
-        Server timestamp in UNIX epoch seconds (falls back to local time if missing).
-    names : list[str]
-        Known identities present (deduplicated).
-    unknown_faces : int
-        Count of unknown faces present.
-    closest_name : str
-        Name of the person with the largest face area (closest to camera), or "unknown" if unavailable.
-    raw : dict
-        Full response body from `/who` for advanced consumers.
-
-    Methods
-    -------
-    to_text() -> str
-        Produce a concise human-readable summary suitable for logs/prompts.
-    """
-
-    timestamp: float
-    names: List[str]
-    unknown_faces: int
-    closest_name: str
-    raw: Dict
-
-    def to_text(self) -> str:
-        """
-        Produce a concise, natural sentence without timestamps, handling
-        any number of known people and unknown faces.
-
-        Examples
-        --------
-        - names=["wendy"], unknown=0
-        -> "In Camera View: 1 known (wendy)."
-        - names=["wendy","alice","bob"], unknown=2
-        -> "In Camera view: 3 known (wendy, alice and bob) and 2 unknown faces."
-        - names=[], unknown=1
-        -> "In Camera view: 1 unknown face."
-        - names=[], unknown=0
-        -> "No one in view."
-        """
-        seen_names = set()
-        valid_names: List[str] = []
-        for name in self.names or []:
-            cleaned_name = (name or "").strip()
-            if cleaned_name and cleaned_name.lower() != "unknown" and cleaned_name not in seen_names:
-                seen_names.add(cleaned_name)
-                valid_names.append(cleaned_name)
-
-        known_count = len(valid_names)
-        unknown_count = int(self.unknown_faces or 0)
-
-        def join_names(name_list: List[str]) -> str:
-            """
-            Join a list of names into a human-readable string.
-
-            Parameters
-            ----------
-            name_list : List[str]
-                List of name strings to join.
-
-            Returns
-            -------
-            str
-                Human-readable string with proper conjunctions.
-            """
-            if not name_list:
-                return ""
-            if len(name_list) == 1:
-                return name_list[0]
-            if len(name_list) == 2:
-                return f"{name_list[0]} and {name_list[1]}"
-            return ", ".join(name_list[:-1]) + f" and {name_list[-1]}"
-
-        if known_count == 0 and unknown_count == 0:
-            return "No one in view."
-
-        parts = []
-        if known_count > 0:
-            parts.append(f"{known_count} known ({join_names(valid_names)})")
-        if unknown_count > 0:
-            parts.append(f"{unknown_count} unknown face" + ("s" if unknown_count != 1 else ""))
-
-        result = "In Camera View: " + " and ".join(parts) + "."
-
-        if self.closest_name:
-            result += f" Closest: {self.closest_name}."
-
-        return result
-
-
-@singleton
-class FacePresenceProvider:
-    """
-    Singleton provider that polls `/who` at a fixed cadence and emits text lines.
-
-    Tasks
-    ------------
-    - Spawns one background thread that periodically POSTs to `{base_url}/who`.
-    - Converts each JSON snapshot to a concise string via `PresenceSnapshot.to_text()`.
-    - Invokes every registered callback with that string (same polling thread).
-    """
-
-    def __init__(
-        self,
-        *,
-        base_url: str = "http://127.0.0.1:6793",
-        recent_sec: float = 1.0,
-        fps: float = 5.0,
-        timeout_s: float = 2.0,
-        unknown_frac_threshold: float = 0.15,
-        unknown_min_count: int = 6,
-        min_obs_window: int = 24,
-        min_face_area: int = 500,
-    ) -> None:
-        """
-        Configure the provider (first construction establishes the singleton).
-
-        Parameters
-        ----------
-        base_url : str, optional
-            Base HTTP URL of the face stream API (e.g., "http://127.0.0.1:6793").
-            The provider will call POST `{base_url}/who`. Defaults to "http://127.0.0.1:6793".
-        recent_sec : float, optional
-            Lookback window passed to `/who` (seconds of presence history).
-            Defaults to 3.0.
-        fps : float, optional
-            Polling rate in events per second (e.g., 5.0 → every 0.2s).
-            Defaults to 5.0.
-        timeout_s : float, optional
-            HTTP request timeout in seconds. Defaults to 2.0.
-        unknown_frac_threshold : float, optional
-            Fraction threshold for suppressing unknown face counts based on recent frames.
-            Defaults to 0.15.
-        unknown_min_count : int, optional
-            Minimum count of unknown faces required before applying suppression logic.
-            Defaults to 6.
-        min_obs_window : int, optional
-            Minimum observation window size (in frames) used for unknown face suppression.
-            Defaults to 24.
-        min_face_area : int, optional
-            Minimum area (in pixels) for detected faces to be included in the snapshot.
-            Defaults to 500.
-        """
-        self.base_url = base_url.rstrip("/")
-        self.recent_sec = float(recent_sec)
-        self.period = 1.0 / max(1e-6, float(fps))
-        self.timeout_s = float(timeout_s)
-        self.unknown_frac_threshold = float(unknown_frac_threshold)
-        self.unknown_min_count = int(unknown_min_count)
-        self.min_obs_window = int(min_obs_window)
-        self.min_face_area = int(min_face_area)
-
-        self._stop = threading.Event()
-        self._thread: Optional[threading.Thread] = None
-        self._callbacks: List = []
-        self._callback_lock = threading.Lock()
-        self._session = requests.Session()
-        self._unknown_faces: int = 0
-
-    def set_recent_sec(self, sec: float) -> None:
-        """
-        Dynamically change the lookback window used for `/who`.
-
-        Parameters
-        ----------
-        sec : float
-            The number of seconds to use as the lookback window.
-        """
-        self.recent_sec = max(0.0, float(sec))
-
-    def register_message_callback(self, callback: Callable[[str], None]) -> None:
-        """
-        Subscribe a consumer to receive each emitted presence line.
-
-        Parameters
-        ----------
-        callback : Callable[[str], None]
-            Function invoked from the polling thread with one formatted string.
-        """
-        with self._callback_lock:
-            if callback not in self._callbacks:
-                self._callbacks.append(callback)
-
-    def unregister_message_callback(self, callback: Callable[[str], None]) -> None:
-        """
-        Remove a previously registered consumer.
-
-        Parameters
-        ----------
-        callback : Callable[[str], None]
-            The same callable passed to `register_message_callback()`.
-        """
-        with self._callback_lock:
-            try:
-                self._callbacks.remove(callback)
-            except ValueError:
-                pass
-
-    def start(self) -> None:
-        """Start the background polling thread."""
-        if self._thread and self._thread.is_alive():
-            return
-        self._stop.clear()
-        self._thread = threading.Thread(target=self._loop, name="face-presence-poll", daemon=True)
-        self._thread.start()
-
-    def stop(self, *, wait: bool = False) -> None:
-        """
-        Request the background thread to stop.
-
-        Parameters
-        ----------
-        wait : bool
-            If True, waits for the thread to finish. Defaults to False.
-        """
-        self._stop.set()
-        if wait and self._thread:
-            self._thread.join(timeout=3.0)
-
-    def _loop(self) -> None:
-        """
-        Internal polling loop.
-
-        Tasks
-        --------
-        - Waits until the next scheduled time (based on `fps`).
-        - Calls `_fetch_snapshot()` → formats with `to_text()` → `_emit(text)`.
-        """
-        next_time = time.time()
-        while not self._stop.is_set():
-            now = time.time()
-            if now < next_time:
-                time.sleep(min(0.02, next_time - now))
-                continue
-            try:
-                snap = self._fetch_snapshot()
-                text = snap.to_text()
-                self._emit(text)
-            except Exception as e:
-                logging.warning(f"Failed to fetch/emit face presence snapshot: {e}")
-                time.sleep(2.0)
-
-            next_time += self.period
-            if next_time < time.time() - self.period:
-                next_time = time.time()
-
-    def _emit(self, text: str) -> None:
-        """
-        Deliver one formatted presence line to all subscribers.
-
-        Parameters
-        ----------
-        text : str
-            A concise, human-readable snapshot (e.g., "present=[alice], unknown=0, ts=...").
-        """
-        with self._callback_lock:
-            callbacks = list(self._callbacks)
-        for callback in callbacks:
-            try:
-                callback(text)
-            except Exception as e:
-                logging.warning(f"Face presence callback failed: {e}")
-
-    async def fetch_snapshot(self, recent_sec: Optional[float] = None) -> PresenceSnapshot:
-        """
-        Async wrapper for `_fetch_snapshot()`.
-
-        Parameters
-        ----------
-        recent_sec : Optional[float]
-            Lookback window in seconds (overrides self.recent_sec if given).
-
-        Returns
-        -------
-        PresenceSnapshot
-            The canonical presence snapshot.
-        """
-        loop = asyncio.get_event_loop()
-        return await loop.run_in_executor(None, self._fetch_snapshot, recent_sec)
-
-    def _fetch_snapshot(self, recent_sec: Optional[float] = None) -> PresenceSnapshot:
-        """
-        POST `/who` with a lookback window (default: self.recent_sec) and build a
-        turn-friendly snapshot using **frames-based** suppression for unknowns.
-
-        Suppression rule:
-          If (frames_recent >= min_obs_window) AND
-             (frames_with_unknown / frames_recent < unknown_frac_threshold),
-          then suppress unknowns (report 0). Otherwise, report the **peak**
-          number of unknown faces observed in any single frame within the window.
-
-        Parameters
-        ----------
-        recent_sec : Optional[float]
-            Lookback window in seconds (overrides self.recent_sec if given).
-
-        Returns
-        -------
-        PresenceSnapshot
-            The canonical presence snapshot.
-        """
-        sec = float(self.recent_sec if recent_sec is None else recent_sec)
-        url = f"{self.base_url}/who"
-        r = self._session.post(url, json={"recent_sec": sec}, timeout=self.timeout_s)
-        r.raise_for_status()
-        data: Dict = r.json() or {}
-
-        faces = data.get("faces", []) or []
-        filtered_faces = [f for f in faces if f.get("area", 0) >= self.min_face_area]
-        sorted_faces = sorted(filtered_faces, key=lambda f: f.get("area", 0), reverse=True)
-
-        closest_name = "unknown"
-        if sorted_faces:
-            closest_face_name = (sorted_faces[0].get("name", "") or "").strip()
-            if closest_face_name and closest_face_name.lower() != "unknown":
-                closest_name = closest_face_name
-
-        seen_names = set()
-        names = []
-        for face in sorted_faces:
-            name = (face.get("name", "") or "").strip()
-            if name and name.lower() != "unknown" and name not in seen_names:
-                seen_names.add(name)
-                names.append(name)
-
-        unknown_count_in_faces = sum(
-            1 for face in filtered_faces if (face.get("name", "") or "").strip().lower() == "unknown"
-        )
-
-        timestamp = float(data.get("server_ts", time.time()))
-        self._unknown_faces = int(unknown_count_in_faces)
-
-        return PresenceSnapshot(
-            timestamp=timestamp,
-            names=names,
-            unknown_faces=unknown_count_in_faces,
-            closest_name=closest_name,
-            raw=data,
-        )
-
-    @property
-    def unknown_faces(self) -> int:
-        """Most recent (suppressed) count of unknown faces detected in the lookback window."""
-        return self._unknown_faces
diff --git a/src/providers/function_call_provider.py b/src/providers/function_call_provider.py
deleted file mode 100644
index c969da7383..0000000000
--- a/src/providers/function_call_provider.py
+++ /dev/null
@@ -1,179 +0,0 @@
-import inspect
-import typing as T
-from typing import get_args, get_origin, get_type_hints
-
-
-class LLMFunction:
-    """
-    Decorator to mark methods as LLM-callable functions.
-    """
-
-    def __init__(self, description: str, name: T.Optional[str] = None):
-        """
-        Initialize the LLM function decorator.
-
-        Parameters
-        ----------
-        description : str
-            Description of what the function does for the LLM.
-        name : str, optional
-            Custom name for the function. If None, uses the method name.
-        """
-        self.description = description
-        self.name = name
-
-    def __call__(self, func: T.Callable) -> T.Callable:
-        """
-        Decorate the method to mark it as an LLM function.
-
-        Parameters
-        ----------
-        func : callable
-            The method to decorate.
-
-        Returns
-        -------
-        callable
-            The decorated method with LLM function metadata.
-        """
-        func._llm_function = True  # type: ignore
-        func._llm_description = self.description  # type: ignore
-        func._llm_name = self.name or func.__name__  # type: ignore
-        return func
-
-
-class FunctionGenerator:
-    """
-    Utility class to automatically generate OpenAI function schemas from methods.
-    """
-
-    @staticmethod
-    def python_type_to_json_schema(python_type: T.Type) -> T.Dict:
-        """
-        Convert Python type hints to JSON schema format.
-
-        Parameters
-        ----------
-        python_type : T.Type
-            The Python type to convert.
-
-        Returns
-        -------
-        T.Dict
-            JSON schema representation of the Python type.
-        """
-        origin = get_origin(python_type)
-        args = get_args(python_type)
-
-        # Handle Optional types
-        if origin is T.Union:
-            if len(args) == 2 and type(None) in args:
-                non_none_type = args[0] if args[1] is type(None) else args[1]
-                schema = FunctionGenerator.python_type_to_json_schema(non_none_type)
-                return schema
-            else:
-                return {"type": "string"}
-
-        # Handle List/list generics
-        if origin is list or origin is T.List:
-            item_type = args[0] if args else str
-            return {
-                "type": "array",
-                "items": FunctionGenerator.python_type_to_json_schema(item_type),
-            }
-
-        # Handle Dict/dict generics
-        if origin is dict or origin is T.Dict:
-            return {"type": "object"}
-
-        type_mapping = {
-            str: {"type": "string"},
-            int: {"type": "integer"},
-            float: {"type": "number"},
-            bool: {"type": "boolean"},
-            list: {"type": "array"},
-            dict: {"type": "object"},
-        }
-
-        return type_mapping.get(python_type, {"type": "string"})
-
-    @staticmethod
-    def extract_function_schema(method: T.Callable) -> T.Dict:
-        """
-        Extract OpenAI function schema from a method.
-
-        Parameters
-        ----------
-        method : callable
-            The method to extract the schema from.
-
-        Returns
-        -------
-        T.Dict
-            JSON schema representation of the function.
-        """
-        sig = inspect.signature(method)
-        type_hints = get_type_hints(method)
-
-        properties = {}
-        required = []
-
-        for param_name, param in sig.parameters.items():
-            if param_name == "self":
-                continue
-
-            param_type = type_hints.get(param_name, str)
-
-            param_schema = FunctionGenerator.python_type_to_json_schema(param_type)
-
-            docstring = inspect.getdoc(method)
-            if docstring and param_name in docstring:
-                param_schema["description"] = f"Parameter {param_name}"
-
-            required.append(param_name)
-
-            if param.default != inspect.Parameter.empty:
-                desc = param_schema.get("description", f"Parameter {param_name}")
-                if "(optional)" not in desc and "(optional" not in desc:
-                    param_schema["description"] = f"{desc} (optional, default: {param.default})"
-
-            properties[param_name] = param_schema
-
-        return {
-            "type": "function",
-            "function": {
-                "name": getattr(method, "_llm_name", method.__name__),
-                "description": getattr(method, "_llm_description", ""),
-                "parameters": {
-                    "type": "object",
-                    "properties": properties,
-                    "required": required,
-                    "additionalProperties": False,
-                },
-                "strict": True,
-            },
-        }
-
-    @staticmethod
-    def generate_functions_from_class(cls_instance: T.Type) -> T.Dict:
-        """
-        Generate all function schemas from a class with decorated methods.
-
-        Parameters
-        ----------
-        cls_instance : type
-            The class to extract function schemas from.
-
-        Returns
-        -------
-        T.Dict
-            Dictionary of function names to their JSON schema representations.
-        """
-        functions = {}
-
-        for _, method in inspect.getmembers(cls_instance, predicate=inspect.ismethod):
-            if getattr(method.__func__, "_llm_function", False):
-                function_schema = FunctionGenerator.extract_function_schema(method)
-                functions[getattr(method, "_llm_name", method.__name__)] = function_schema
-
-        return functions
diff --git a/src/providers/gallery_identities_provider.py b/src/providers/gallery_identities_provider.py
deleted file mode 100644
index b34ff54cb3..0000000000
--- a/src/providers/gallery_identities_provider.py
+++ /dev/null
@@ -1,229 +0,0 @@
-import logging
-import threading
-import time
-from dataclasses import dataclass
-from typing import Callable, Dict, List, Optional
-
-import requests
-
-from .singleton import singleton
-
-
-@dataclass
-class IdentitiesSnapshot:
-    """
-    Canonical record returned by `/gallery/identities`.
-
-    Attributes
-    ----------
-    ts : float
-        UNIX epoch seconds (local fallback).
-    total : int
-        Total number of identities in the gallery.
-    names : list[str]
-        Identity labels.
-    raw : dict
-        Full response body for advanced consumers.
-
-    Methods
-    -------
-    to_text() -> str
-        Produce the compact human-readable line the LLM/fuser expects.
-    """
-
-    ts: float
-    total: int
-    names: List[str]
-    raw: Dict
-
-    def to_text(self) -> str:
-        """
-        Produce a concise one-line summary of the identities snapshot.
-
-        Returns
-        -------
-        str
-            Formatted string like "total=3 ids=[Alice, Bob, Charlie]".
-        """
-        seen = set()
-        ordered = []
-        for n in self.names or []:
-            name = (n or "").strip()
-            if name and name not in seen:
-                seen.add(name)
-                ordered.append(name)
-        return f"total={self.total} ids=[{', '.join(ordered)}]"
-
-
-@singleton
-class GalleryIdentitiesProvider:
-    """
-    Singleton provider that polls `/gallery/identities` and emits text lines.
-
-    Tasks
-    -----
-    - Background thread POSTs to `{base_url}/gallery/identities` at a cadence.
-    - Converts JSON to the concise string via `IdentitiesSnapshot.to_text()`.
-    - Invokes every registered callback with that string.
-    """
-
-    def __init__(
-        self,
-        *,
-        base_url: str = "http://127.0.0.1:6793",
-        fps: float = 1.0,
-        timeout_s: float = 2.0,
-    ) -> None:
-        """
-        Parameters
-        ----------
-        base_url : str
-            Base HTTP URL of the face service (e.g., "http://127.0.0.1:6793").
-        fps : float
-            Polling rate (events/sec). 1.0 → every 1s.
-        timeout_s : float
-            HTTP request timeout in seconds.
-        """
-        self.base_url = base_url.rstrip("/")
-        self.period = 1.0 / max(1e-6, float(fps))
-        self.timeout_s = float(timeout_s)
-
-        self._stop = threading.Event()
-        self._thread: Optional[threading.Thread] = None
-
-        self._callbacks: List[Callable[[str], None]] = []
-        self._cb_lock = threading.Lock()
-
-        self._session = requests.Session()
-
-    def register_message_callback(self, fn: Callable[[str], None]) -> None:
-        """
-        Subscribe a consumer to receive each emitted gallery identities line.
-
-        Parameters
-        ----------
-        fn : Callable[[str], None]
-            Function invoked from the polling thread with one formatted string.
-        """
-        with self._cb_lock:
-            if fn not in self._callbacks:
-                self._callbacks.append(fn)
-
-    def unregister_message_callback(self, fn: Callable[[str], None]) -> None:
-        """
-        Remove a previously registered consumer.
-
-        Parameters
-        ----------
-        fn : Callable[[str], None]
-            The same callable passed to `register_message_callback()`.
-        """
-        with self._cb_lock:
-            try:
-                self._callbacks.remove(fn)
-            except ValueError:
-                pass
-
-    def start(self) -> None:
-        """Start the background polling thread."""
-        if self._thread and self._thread.is_alive():
-            return
-        self._stop.clear()
-        self._thread = threading.Thread(target=self._loop, name="gallery-identities-poll", daemon=True)
-        self._thread.start()
-
-    def stop(self, *, wait: bool = False) -> None:
-        """
-        Request the background thread to stop.
-
-        Parameters
-        ----------
-        wait : bool
-            If True, waits for the thread to finish. Defaults to False.
-        """
-        self._stop.set()
-        if wait and self._thread:
-            self._thread.join(timeout=3.0)
-
-    def _loop(self) -> None:
-        """
-        Internal polling loop (runs on the provider's background thread).
-
-        Overview
-        --------
-        Sleeps between polls based on `fps`, fetches the gallery list, converts it
-        to a summary line, and emits to registered callbacks (respecting emit policy).
-        """
-        next_t = time.time()
-        while not self._stop.is_set():
-            now = time.time()
-            if now < next_t:
-                time.sleep(min(0.02, next_t - now))
-                continue
-            try:
-                snap = self._fetch_snapshot()
-                self._emit(snap.to_text())
-            except Exception as e:
-                logging.warning(f"Failed to fetch/emit gallery identities snapshot: {e}")
-
-            next_t += self.period
-            if next_t < time.time() - self.period:
-                next_t = time.time()
-
-    def _emit(self, text: str) -> None:
-        """
-        Invoke all registered callbacks with the given summary line.
-
-        Parameters
-        ----------
-        text : str
-            Preformatted gallery line to deliver.
-        """
-        with self._cb_lock:
-            callbacks = list(self._callbacks)
-        for cb in callbacks:
-            try:
-                cb(text)
-            except Exception as e:
-                logging.warning(f"Gallery identities callback failed: {e}")
-
-    def _fetch_snapshot(self) -> IdentitiesSnapshot:
-        """
-        Fetch and parse `/gallery/identities` into a structured record.
-
-        Overview
-        --------
-        Issues a POST with `{}` to `{base_url}/gallery/identities`, validates the
-        response, and maps it to a small structure (e.g., total count and name list).
-
-        Returns
-        -------
-        GalleryIdentityList
-            Structured view of the current gallery (e.g., `total`, `names`, raw JSON).
-        """
-        url = f"{self.base_url}/gallery/identities"
-        r = self._session.post(url, json={}, timeout=self.timeout_s)  # type: ignore
-        r.raise_for_status()
-        data = r.json() or {}
-
-        ok = bool(data.get("ok"))
-        if not ok:
-            # Graceful empty snapshot on bad response
-            return IdentitiesSnapshot(ts=time.time(), total=0, names=[], raw=data)
-
-        total = int(data.get("total", 0) or 0)
-        raw_identities = data.get("identities", []) or []
-        names = []
-        try:
-            for item in raw_identities:
-                if isinstance(item, dict):
-                    n = str(item.get("id", "")).strip()
-                    if n:
-                        names.append(n)
-        except Exception as e:
-            logging.warning(f"Failed to parse gallery identities: {e}")
-            names = []
-
-        # Use local time; server may not return one
-        ts = time.time()
-        return IdentitiesSnapshot(ts=ts, total=total, names=names, raw=data)
diff --git a/src/providers/gps_provider.py b/src/providers/gps_provider.py
deleted file mode 100644
index cce3b93513..0000000000
--- a/src/providers/gps_provider.py
+++ /dev/null
@@ -1,294 +0,0 @@
-import logging
-import re
-import threading
-import time
-from datetime import datetime, timezone
-from typing import List, Optional
-
-import serial
-
-from providers.fabric_map_provider import RFDataRaw
-
-from .singleton import singleton
-
-
-@singleton
-class GpsProvider:
-    """
-    GPS Provider for managing GPS, magnetometer, and BLE data from serial connection.
-
-    This class implements a singleton pattern to manage GPS data acquisition from a serial
-    port connection (typically connected to an Arduino-based GPS module). It handles:
-        * GPS position data (latitude, longitude, altitude)
-        * Satellite information and fix quality
-        * Magnetometer heading data
-        * BLE (Bluetooth Low Energy) scan data for triangulation
-        * Real-time data processing in a background thread
-
-    The provider automatically starts a background thread upon initialization to continuously
-    read and process incoming serial data. GPS data is updated in real-time and can be accessed
-    through the `data` property.
-    """
-
-    def __init__(self, serial_port: str = ""):
-        """
-        Initialize the GPS Provider with serial port connection.
-
-        Parameters
-        ----------
-        serial_port : str
-            The serial port to connect to (e.g., '/dev/ttyUSB0' or 'COM3').
-        """
-        logging.info(f"GPS_Provider booting GPS Provider at serial: {serial_port}")
-
-        baudrate = 115200
-        timeout = 1
-
-        self.serial_connection = None
-        try:
-            self.serial_connection = serial.Serial(serial_port, baudrate, timeout=timeout)
-            self.serial_connection.reset_input_buffer()
-            logging.info(f"Connected to {serial_port} at {baudrate} baud")
-        except serial.SerialException as e:
-            logging.error(f"Error: {e}")
-
-        self._gps: Optional[dict] = None
-
-        self.lat = 0.0
-        self.lon = 0.0
-        self.alt = 0.0
-        self.sat = 0
-        self.qua = 0
-
-        self.gps_unix_ts = 0.0
-
-        self.yaw_mag_0_360 = 0.0
-        self.yaw_mag_cardinal = ""
-
-        self.ble_scan: List[RFDataRaw] = []
-
-        self.running = False
-        self._thread: Optional[threading.Thread] = None
-        self.start()
-
-    def string_to_unix_timestamp(self, time_str: str) -> float:
-        """
-        Convert a time string in the format 'YYYY:MM:DD:HH:MM:SS:ms'
-        to a Unix timestamp (UTC).
-
-        Parameters
-        ----------
-        time_str : str
-            The input time string.
-
-        Returns
-        -------
-        float
-            The corresponding Unix timestamp.
-        """
-        dt = datetime.strptime(time_str, "%Y:%m:%d:%H:%M:%S:%f")
-        dt = dt.replace(tzinfo=timezone.utc)
-        return dt.timestamp()
-
-    def magGPSProcessor(self, data: str):
-        """
-        Process incoming MAG/GPS/BLE data from serial input.
-
-        Parameters
-        ----------
-        data : str
-            The input data string from serial.
-        """
-        try:
-            if data.startswith("HDG:"):
-                parts = data.split(":")
-                if len(parts) >= 2:
-                    # that's a HDG packet
-                    self.yaw_mag_0_360 = float(parts[1])
-                    self.yaw_mag_cardinal = self.compass_heading_to_direction(self.yaw_mag_0_360)
-                    logging.debug(f"MAG: {self.yaw_mag_0_360}")
-                else:
-                    logging.warning(f"Unable to parse heading: {data}")
-            elif data.startswith("YPR:"):
-                yaw, pitch, roll = map(str.strip, data[4:].split(","))
-                logging.debug(f"Orientation is Yaw: {yaw}°, Pitch: {pitch}°, Roll: {roll}°.")
-            elif data.startswith("SAT:"):
-                logging.info(f"{data}")
-            elif data.startswith("GPS:"):
-                try:
-                    logging.info(f"{data}")
-                    parts = data[4:].split(",")
-                    lat = parts[0]
-                    lon = parts[1]
-                    heading = parts[3].split(":")[1]
-                    alt = parts[4].split(":")[1]
-                    sat = parts[5].split(":")[1]
-                    time = parts[6][5:]
-                    # turn 25 into full year -> 2025, for example
-                    self.gps_unix_ts = self.string_to_unix_timestamp("20" + time)
-
-                    qua = 0
-                    if len(parts) > 7:
-                        qua = parts[7].split(":")[1]
-
-                    if "N" in lat:
-                        self.lat = float(lat.replace("N", ""))
-                    else:
-                        self.lat = -1.0 * float(lat.replace("S", ""))
-
-                    if "W" in lon:
-                        self.lon = -1.0 * float(lon.replace("W", ""))
-                    else:
-                        self.lon = float(lon.replace("E", ""))
-
-                    # round to 10 cm localisation in x,y, and 1 cm in z
-                    self.lon = round(self.lon, 6)
-                    self.lat = round(self.lat, 6)
-                    self.alt = round(float(alt), 2)
-
-                    self.sat = int(sat)
-                    self.qua = int(qua)
-
-                    logging.debug(
-                        (
-                            f"Current location is {self.lat}, {self.lon} at {alt}m altitude. "
-                            f"GPS Heading {heading}° with {sat} satellites locked. "
-                            f"The unix timestamp is {self.gps_unix_ts}. "
-                            f"The fix quality is {self.qua}."
-                        )
-                    )
-                except Exception as e:
-                    logging.warning(f"Failed to parse GPS: {data} ({e})")
-            elif data.startswith("BLE:"):
-                try:
-                    self.ble_scan = self.parse_ble_triang_string(data)
-                    logging.debug(f"nRF BLE data {self.ble_scan}")
-                except Exception as e:
-                    logging.warning(f"Failed to parse BLE: {data} ({e})")
-        except Exception as e:
-            logging.warning(f"Error processing serial MAG/GPS/BLE input: {data} ({e})")
-
-        self._gps = {
-            "yaw_mag_0_360": self.yaw_mag_0_360,
-            "yaw_mag_cardinal": self.yaw_mag_cardinal,
-            "gps_lat": self.lat,
-            "gps_lon": self.lon,
-            "gps_alt": self.alt,
-            "gps_sat": self.sat,
-            "gps_qua": self.qua,
-            "gps_unix_ts": self.gps_unix_ts,
-            "ble_scan": self.ble_scan,
-        }
-
-    def compass_heading_to_direction(self, degrees: float) -> str:
-        """
-        Convert compass heading in degrees to cardinal direction.
-
-        Parameters
-        ----------
-        degrees : float
-            Compass heading in degrees.
-
-        Returns
-        -------
-        str
-            Cardinal direction as a string.
-        """
-        directions = [
-            "North",
-            "North East",
-            "East",
-            "South East",
-            "South",
-            "South West",
-            "West",
-            "North West",
-        ]
-        index = int((degrees + 22.5) % 360 / 45)
-        return directions[index]
-
-    def parse_ble_triang_string(self, input_string: str) -> List[RFDataRaw]:
-        """
-        Parse BLE triangulation data from a string.
-
-        Parameters
-        ----------
-        input_string : str
-            The input string containing BLE triangulation data.
-
-        Returns
-        -------
-        List[RFDataRaw]
-            A list of RFDataRaw objects parsed from the input string.
-        """
-        if not input_string.startswith("BLE:"):
-            return []
-
-        data = input_string[4:].strip()
-        pattern = r"([0-9A-Fa-f]{12}):([+-]?\d+):([0-9A-Fa-f]{2,})"
-        matches = re.findall(pattern, data)
-        unix_ts = time.time()
-
-        devices: List[RFDataRaw] = []
-
-        for match in matches:
-            address = match[0].upper()
-            rssi = int(match[1])
-            packet = match[2].lower()
-            devices.append(RFDataRaw(unix_ts=unix_ts, address=address, rssi=rssi, packet=packet))
-
-        return devices
-
-    def start(self):
-        """
-        Starts the GPS Provider and processing thread
-        if not already running.
-        """
-        if self._thread and self._thread.is_alive():
-            return
-
-        self.running = True
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-
-    def _run(self):
-        """
-        Main loop for the GPS provider.
-        WARNING: this assumes that the data from the Arduino are arriving
-        relatively slowly.
-        """
-        while self.running:
-            if self.serial_connection:
-                # Read a line, decode, and remove whitespace
-                data = self.serial_connection.readline().decode("utf-8").strip()
-                logging.debug(f"Serial GPS/MAG: {data}")
-                self.magGPSProcessor(data)
-            time.sleep(0.1)
-
-    def stop(self):
-        """
-        Stop the GPS provider.
-        """
-        self.running = False
-        if self._thread:
-            logging.info("Stopping GPS provider")
-            self._thread.join(timeout=5)
-
-        if self.serial_connection and self.serial_connection.is_open:
-            try:
-                self.serial_connection.close()
-                logging.info("GPS serial port closed")
-            except Exception as e:
-                logging.error(f"Error closing serial port: {e}")
-
-    @property
-    def data(self) -> Optional[dict]:
-        """
-        Get the latest GPS data.
-
-        Returns
-        -------
-        Optional[dict]
-            The current GPS data dictionary or None if no data is available.
-        """
-        return self._gps
diff --git a/src/providers/greeting_conversation_state_provider.py b/src/providers/greeting_conversation_state_provider.py
deleted file mode 100644
index b91b84067a..0000000000
--- a/src/providers/greeting_conversation_state_provider.py
+++ /dev/null
@@ -1,569 +0,0 @@
-import logging
-import time
-from dataclasses import dataclass
-from enum import Enum
-from typing import Any, Dict, TypedDict
-
-from .io_provider import IOProvider
-from .singleton import singleton
-
-
-class ConversationState(Enum):
-    """
-    States for greeting conversation.
-    """
-
-    IDLE = "idle"
-    APPROACHING = "approaching"
-    ENGAGING = "engaging"
-    CONVERSING = "conversing"
-    CONCLUDING = "concluding"
-    FINISHED = "finished"
-
-
-@dataclass
-class ConfidenceFactors:
-    """All factors that contribute to conversation completion confidence."""
-
-    conversation_state: ConversationState  # From LLM output
-    llm_confidence: float  # From LLM output
-    silence_duration: float  # Seconds of silence
-    speech_clarity: float  # Audio quality/recognition confidence
-    person_distance: float  # Meters from robot
-    conversation_duration: float  # Total conversation time
-    turn_count: int  # Number of back-and-forth exchanges
-    last_user_utterance_length: int  # Words in last user response
-
-
-class ConfidenceBreakdown(TypedDict):
-    """Breakdown of individual confidence components."""
-
-    llm: float
-    silence: float
-    engagement: float
-    quality: float
-
-
-class ConfidenceResult(TypedDict):
-    """Complete confidence calculation result."""
-
-    overall: float
-    breakdown: ConfidenceBreakdown
-    factors: ConfidenceFactors
-
-
-class ConfidenceCalculator:
-    """Calculates overall confidence score for conversation completion."""
-
-    def __init__(self) -> None:
-        self.silence_threshold_soft = 5.0  # seconds
-        self.silence_threshold_hard = 10.0
-        self.min_conversation_duration = 15.0  # seconds
-        self.engagement_distance_max = 2.5  # meters
-        self.min_turn_count = 2  # At least some back-and-forth
-
-        self.weights = {
-            "llm": 0.35,
-            "silence": 0.25,
-            "engagement": 0.20,  # distance + facing
-            "conversation_quality": 0.20,  # duration + turns
-        }
-
-    def calculate_completion_confidence(self, factors: ConfidenceFactors) -> ConfidenceResult:
-        """
-        Calculate comprehensive confidence that conversation should end.
-
-        Parameters
-        ----------
-        factors : ConfidenceFactors
-            The various factors contributing to confidence.
-
-        Returns
-        -------
-        ConfidenceResult
-            Dictionary with overall confidence score and breakdown.
-        """
-        # LLM confidence
-        llm_state_value = factors.conversation_state.value
-
-        if llm_state_value in [
-            ConversationState.CONCLUDING.value,
-            ConversationState.FINISHED.value,
-        ]:
-            # LLM wants to conclude - use confidence as-is
-            llm_score = factors.llm_confidence
-        elif llm_state_value == ConversationState.CONVERSING.value:
-            # LLM wants to continue - invert the confidence for "end" score
-            llm_score = round(1.0 - factors.llm_confidence, 3)
-        else:
-            # Other states (IDLE, APPROACHING, ENGAGING) - neutral
-            llm_score = 0.5
-
-        # Silence factor
-        if factors.silence_duration >= self.silence_threshold_hard:
-            silence_score = 1.0
-        elif factors.silence_duration >= self.silence_threshold_soft:
-            silence_score = 0.5 + 0.5 * (
-                (factors.silence_duration - self.silence_threshold_soft)
-                / (self.silence_threshold_hard - self.silence_threshold_soft)
-            )
-        else:
-            silence_score = factors.silence_duration / self.silence_threshold_soft * 0.5
-
-        # 3. Engagement score (lower engagement = higher confidence to end)
-        engagement_score = min(factors.person_distance / self.engagement_distance_max, 1.0)
-
-        # 4. Conversation quality score (has it been substantial enough to end naturally?)
-        # If conversation was very short, we're less confident it's really done
-        duration_score = min(factors.conversation_duration / self.min_conversation_duration, 1.0)
-        turn_score = min(factors.turn_count / self.min_turn_count, 1.0)
-
-        # Short user utterances might indicate disengagement
-        utterance_score = 1.0 if factors.last_user_utterance_length < 3 else 0.5
-
-        quality_score = (duration_score + turn_score + utterance_score) / 3
-
-        # 5. Combine weighted scores
-        overall_confidence = (
-            self.weights["llm"] * llm_score
-            + self.weights["silence"] * silence_score
-            + self.weights["engagement"] * engagement_score
-            + self.weights["conversation_quality"] * quality_score
-        )
-
-        return {
-            "overall": overall_confidence,
-            "breakdown": {
-                "llm": llm_score,
-                "silence": silence_score,
-                "engagement": engagement_score,
-                "quality": quality_score,
-            },
-            "factors": factors,
-        }
-
-    def should_transition_to_concluding(self, confidence_result: ConfidenceResult) -> bool:
-        """
-        Decide if we should move to concluding state.
-
-        Parameters
-        ----------
-        confidence_result : ConfidenceResult
-            The result from calculate_completion_confidence.
-
-        Returns
-        -------
-        bool
-            True if we should transition to concluding state, False otherwise.
-        """
-        overall = confidence_result["overall"]
-        breakdown = confidence_result["breakdown"]
-        llm_state = confidence_result["factors"].conversation_state
-
-        # LLM explicitly wants to conclude with decent confidence
-        llm_state_value = llm_state.value
-        llm_wants_to_conclude = llm_state_value in [
-            ConversationState.CONCLUDING.value,
-            ConversationState.FINISHED.value,
-        ]
-
-        if llm_wants_to_conclude and breakdown["llm"] >= 0.7:
-            if overall >= 0.5:
-                return True
-
-        # High overall confidence
-        if overall >= 0.75:
-            return True
-
-        # Medium confidence but strong signals from multiple sources
-        if overall >= 0.6:
-            strong_signals = sum(
-                [
-                    breakdown["llm"] >= 0.7,
-                    breakdown["silence"] >= 0.6,
-                    breakdown["engagement"] >= 0.6,
-                ]
-            )
-            if strong_signals >= 2:
-                return True
-
-        return False
-
-    def should_transition_to_finished(self, confidence_result: ConfidenceResult, time_in_concluding: float) -> bool:
-        """
-        Decide if we should move to finished state.
-
-        Parameters
-        ----------
-        confidence_result : ConfidenceResult
-            The result from calculate_completion_confidence.
-        time_in_concluding : float
-            Time spent in concluding state in seconds.
-
-        Returns
-        -------
-        bool
-            True if we should transition to finished state, False otherwise.
-        """
-        overall = confidence_result["overall"]
-        breakdown = confidence_result["breakdown"]
-
-        # Very high confidence - immediate transition
-        if overall >= 0.9:
-            return True
-
-        # High silence after we've been concluding
-        if time_in_concluding >= 3.0 and breakdown["silence"] >= 0.8:
-            return True
-
-        # Person is clearly leaving
-        if breakdown["engagement"] >= 0.8 and time_in_concluding >= 2.0:
-            return True
-
-        # Timeout with reasonable confidence
-        if time_in_concluding >= 5.0 and overall >= 0.6:
-            return True
-
-        return False
-
-
-@singleton
-class GreetingConversationStateMachineProvider:
-    """Manages greeting conversation state transitions based on confidence scores."""
-
-    def __init__(self, max_turn_count: int = 5) -> None:
-        """
-        Initialize the state machine with default values.
-
-        Parameters
-        ----------
-        max_turn_count : int, optional
-            Maximum number of conversational turns before forcing a transition to finished (default is 5).
-        """
-        self.current_state = ConversationState.IDLE
-        self.previous_state = None
-        self.state_entry_time = time.time()
-        self.conversation_start_time = None
-        self.turn_count = 0
-        self.max_turn_count = max_turn_count
-        self.last_user_utterance = ""
-
-        self.confidence_calculator = ConfidenceCalculator()
-
-        self.confidence_history = []
-        self.max_history = 5
-
-        self.io_provider = IOProvider()
-
-    def process_conversation(self, llm_output: Dict[str, Any]) -> Dict:
-        """
-        Process greeting conversation state based on LLM output and other factors.
-
-        Parameters
-        ----------
-        llm_output : Dict[str, Any]
-            Output from LLM containing confidence and other info.
-
-        Returns
-        -------
-        Dict
-            Current state and confidence details.
-        """
-        # TODO: Integration person distance, speech clarity, etc.
-        person_distance = 1.5  # Placeholder
-
-        silence_duration = time.time() - self.state_entry_time
-        voice_data = self.io_provider.get_input("Voice")
-        if voice_data:
-            silence_duration = time.time() - voice_data.timestamp if voice_data.timestamp else silence_duration
-
-        last_user_utterance_length = len(self.last_user_utterance)
-
-        llm_state_raw = llm_output.get("conversation_state", "conversing")
-        llm_state_str = llm_state_raw.value if hasattr(llm_state_raw, "value") else str(llm_state_raw)
-
-        try:
-            conversation_state = ConversationState(llm_state_str)
-        except (ValueError, KeyError):
-            logging.warning(f"Invalid conversation_state from LLM: {llm_state_str}, defaulting to CONVERSING")
-            conversation_state = ConversationState.CONVERSING
-
-        factors = ConfidenceFactors(
-            conversation_state=conversation_state,
-            llm_confidence=llm_output.get("confidence", 0.0),
-            silence_duration=silence_duration,
-            speech_clarity=llm_output.get("speech_clarity", 1.0),
-            person_distance=person_distance,
-            conversation_duration=(
-                (time.time() - self.conversation_start_time) if self.conversation_start_time else 0.0
-            ),
-            turn_count=self.turn_count,
-            last_user_utterance_length=last_user_utterance_length,
-        )
-
-        confidence_result = self.confidence_calculator.calculate_completion_confidence(factors)
-
-        self.confidence_history.append(confidence_result["overall"])
-        if len(self.confidence_history) > self.max_history:
-            self.confidence_history.pop(0)
-
-        new_state = self._determine_next_state(confidence_result)
-        self.previous_state = self.current_state
-        if new_state != self.current_state:
-            self.current_state = new_state
-            self.state_entry_time = time.time()
-            logging.info(f"State transition: {self.previous_state.value} -> {self.current_state.value}")
-            logging.info(f"Confidence: {confidence_result['overall']:.2f}")
-            logging.info(f"Breakdown: {confidence_result['breakdown']}")
-
-        if voice_data:
-            if self.io_provider.tick_counter == voice_data.tick:
-                self.turn_count += 1
-                self.last_user_utterance = voice_data.input or ""
-
-        command = self._generate_command(confidence_result)
-
-        return {
-            "current_state": self.current_state.value,
-            "confidence": confidence_result,
-            "command": command,
-            "time_in_state": time.time() - self.state_entry_time,
-            "confidence_trend": self._get_confidence_trend(),
-            "turn_count": self.turn_count,
-        }
-
-    def _determine_next_state(self, confidence_result: ConfidenceResult) -> ConversationState:
-        """
-        Determine the next conversation state based on LLM output and confidence.
-
-        Parameters
-        ----------
-        confidence_result : ConfidenceResult
-            The confidence calculation result.
-
-        Returns
-        -------
-        ConversationState
-            The next conversation state.
-        """
-        llm_conversation_state = confidence_result["factors"].conversation_state
-        time_in_state = time.time() - self.state_entry_time
-
-        # Force finish if we've had too many turns to prevent infinite conversations
-        if self.turn_count >= self.max_turn_count:
-            logging.info(f"Maximum turn count ({self.max_turn_count}) reached - forcing finish")
-            return ConversationState.FINISHED
-
-        # From CONVERSING to CONCLUDING
-        if self.current_state == ConversationState.CONVERSING:
-            # LLM thinks we should conclude with high confidence
-            if llm_conversation_state == ConversationState.CONCLUDING and confidence_result["breakdown"]["llm"] >= 0.7:
-                logging.info("LLM indicates concluding with high confidence to conclude")
-                return ConversationState.CONCLUDING
-
-            # Traditional confidence-based transition
-            if self.confidence_calculator.should_transition_to_concluding(confidence_result):
-                logging.info("Transitioning to CONCLUDING based on confidence to conclude")
-                return ConversationState.CONCLUDING
-
-        # From CONCLUDING to FINISHED
-        elif self.current_state == ConversationState.CONCLUDING:
-            if self.confidence_calculator.should_transition_to_finished(confidence_result, time_in_state):
-                logging.info("Transitioning to FINISHED based on confidence to finish")
-                return ConversationState.FINISHED
-
-            # Revert to CONVERSING if:
-            # 1. LLM explicitly says we're still conversing, OR
-            # 2. Low overall confidence with strong engagement
-            if llm_conversation_state == ConversationState.CONVERSING:
-                logging.info("LLM indicates conversation continuing, reverting to conversing")
-                return ConversationState.CONVERSING
-
-            if confidence_result["overall"] < 0.4 and confidence_result["breakdown"]["engagement"] < 0.3:
-                logging.info("Low confidence and strong engagement, reverting to conversing")
-                return ConversationState.CONVERSING
-
-        # Emergency timeout - force finish after very long concluding
-        if self.current_state == ConversationState.CONCLUDING and time_in_state > 15.0:
-            logging.info("Emergency timeout - forcing finish")
-            return ConversationState.FINISHED
-
-        return self.current_state
-
-    def _get_confidence_trend(self) -> str:
-        """
-        Analyze if confidence is increasing or decreasing.
-
-        Returns
-        -------
-        str
-            "increasing", "decreasing", or "stable"
-        """
-        if len(self.confidence_history) < 3:
-            return "insufficient_data"
-
-        recent = self.confidence_history[-3:]
-        if recent[-1] > recent[0] + 0.1:
-            return "increasing"
-        elif recent[-1] < recent[0] - 0.1:
-            return "decreasing"
-        return "stable"
-
-    def _generate_command(self, confidence_result: ConfidenceResult) -> Dict:
-        """
-        Generate command with confidence metadata.
-
-        Parameters
-        ----------
-        confidence_result : ConfidenceResult
-            The confidence calculation result.
-
-        Returns
-        -------
-        Dict
-            Command dictionary including confidence metadata.
-        """
-        base_command = self._get_base_command()
-
-        return {
-            **base_command,
-            "confidence_metadata": {
-                "overall": confidence_result["overall"],
-                "breakdown": confidence_result["breakdown"],
-                "trend": self._get_confidence_trend(),
-            },
-        }
-
-    def _get_conversation_duration(self) -> float:
-        """
-        Get total conversation duration.
-
-        Returns
-        -------
-        float
-            Duration in seconds.
-        """
-        if self.conversation_start_time is None:
-            return 0.0
-        return time.time() - self.conversation_start_time
-
-    def _get_base_command(self) -> Dict:
-        """
-        Get base command for robot based on current conversation state.
-
-        Returns
-        -------
-        Dict
-            Command dictionary for robot behavior.
-        """
-        if self.current_state == ConversationState.FINISHED:
-            return {
-                "action": "move_to_next_person",
-                "track_current": False,
-                "find_new_target": True,
-            }
-        elif self.current_state == ConversationState.CONCLUDING:
-            return {
-                "action": "maintain_position",
-                "track_current": True,
-                "find_new_target": False,
-            }
-        elif self.current_state == ConversationState.CONVERSING:
-            return {
-                "action": "stay_with_person",
-                "track_current": True,
-                "find_new_target": False,
-            }
-        else:
-            return {"action": "wait", "track_current": True, "find_new_target": False}
-
-    def update_state_without_llm(self) -> Dict[str, Any]:
-        """
-        Update conversation state based on current factors without requiring LLM input.
-        This should be called periodically (e.g., in tick()) to handle timeouts and
-        state transitions based on silence and other factors.
-
-        Returns
-        -------
-        Dict
-            Current state and confidence details.
-        """
-        # Get current factors without new LLM input
-        person_distance = 1.5  # Placeholder - should be updated from actual sensor data
-
-        silence_duration = time.time() - self.state_entry_time
-        voice_data = self.io_provider.get_input("Voice")
-        if voice_data:
-            silence_duration = time.time() - voice_data.timestamp if voice_data.timestamp else silence_duration
-
-        last_user_utterance_length = len(self.last_user_utterance)
-
-        # Use previous LLM confidence or default
-        factors = ConfidenceFactors(
-            conversation_state=self.current_state,  # Use current state
-            llm_confidence=0.5,  # Neutral confidence when no LLM input
-            silence_duration=silence_duration,
-            speech_clarity=1.0,  # Assume good clarity
-            person_distance=person_distance,
-            conversation_duration=(
-                (time.time() - self.conversation_start_time) if self.conversation_start_time else 0.0
-            ),
-            turn_count=self.turn_count,
-            last_user_utterance_length=last_user_utterance_length,
-        )
-
-        confidence_result = self.confidence_calculator.calculate_completion_confidence(factors)
-
-        # Update confidence history
-        self.confidence_history.append(confidence_result["overall"])
-        if len(self.confidence_history) > self.max_history:
-            self.confidence_history.pop(0)
-
-        # Determine next state based on confidence
-        new_state = self._determine_next_state(confidence_result)
-        self.previous_state = self.current_state
-        if new_state != self.current_state:
-            logging.info(f"State transition: {self.current_state.value} -> {new_state.value}")
-            self.current_state = new_state
-            self.state_entry_time = time.time()
-            logging.info(f"Entered {self.current_state.value} state")
-
-        # Generate command
-        command = self._generate_command(confidence_result)
-
-        return {
-            "current_state": self.current_state.value,
-            "confidence": confidence_result,
-            "command": command,
-            "time_in_state": time.time() - self.state_entry_time,
-            "confidence_trend": self._get_confidence_trend(),
-            "silence_duration": silence_duration,
-        }
-
-    def start_conversation(self):
-        """
-        Call when starting a new conversation.
-        """
-        self.conversation_start_time = time.time()
-        self.turn_count = 0
-        self.confidence_history = []
-        self.current_state = ConversationState.CONVERSING
-
-    def reset_state(self, initial_state: ConversationState = ConversationState.CONVERSING):
-        """
-        Reset the conversation state machine to initial values.
-        Typically called when transitioning from approaching to greeting.
-
-        Parameters
-        ----------
-        initial_state : ConversationState, optional
-            The initial state to set. Defaults to CONVERSING.
-        """
-        self.current_state = initial_state
-        self.previous_state = None
-        self.state_entry_time = time.time()
-        self.conversation_start_time = time.time()
-        self.turn_count = 0
-        self.last_user_utterance = ""
-        self.confidence_history = []
-        self.current_state = ConversationState.CONVERSING
diff --git a/src/providers/httpx.py b/src/providers/httpx.py
deleted file mode 100644
index 3bbd205733..0000000000
--- a/src/providers/httpx.py
+++ /dev/null
@@ -1,166 +0,0 @@
-import logging
-import time
-
-import httpx
-from om1_utils.prometheus import (
-    om1_http_proxy_total_last_seconds,
-    om1_http_proxy_total_seconds,
-    om1_http_request_duration_last_seconds,
-    om1_http_request_duration_seconds,
-    om1_http_upstream_total_last_seconds,
-    om1_http_upstream_total_seconds,
-    om1_http_upstream_ttfb_last_seconds,
-    om1_http_upstream_ttfb_seconds,
-)
-
-
-def get_httpx_event_hooks() -> dict[str, list]:
-    """
-    Return a dictionary of event hooks for logging HTTP requests and responses.
-
-    Returns
-    -------
-    dict[str, list]
-        A dictionary containing lists of event hook functions for 'request' and 'response' events.
-    """
-
-    async def log_request(request: httpx.Request):
-        """
-        Log details of the outgoing HTTP request.
-
-        Parameters
-        ----------
-        request : httpx.Request
-            The HTTP request object to log.
-        """
-        request.extensions["start_time"] = time.perf_counter()
-
-    async def log_response(response: httpx.Response):
-        """
-        Log details of the incoming HTTP response, including latency.
-
-        Parameters
-        ----------
-        response : httpx.Response
-            The HTTP response object to log.
-        """
-        start_time = response.request.extensions.get("start_time", None)
-        if start_time is None:
-            logging.warning(
-                f"HTTP {response.request.method} {response.request.url} - " "No start_time recorded, skipping metrics"
-            )
-            return
-
-        elapsed = (time.perf_counter() - start_time) * 1000
-        http_version = response.http_version
-        proxy_parse_total_time = response.headers.get("x-proxy-parse-ms", "?")
-        upstream_total_time = response.headers.get("x-upstream-total-ms", "?")
-        upstream_ttfb_time = response.headers.get("x-upstream-ttfb-ms", "?")
-        proxy_total_time = response.headers.get("x-proxy-total-ms", "?")
-        logging.info(
-            f"HTTP {response.request.method} {response.request.url} - "
-            f"Status: {response.status_code}, "
-            f"HTTP Version: {http_version}, "
-            f"Elapsed: {elapsed:.2f} ms, "
-            f"Proxy Parse Time: {proxy_parse_total_time} ms, "
-            f"Upstream Total Time: {upstream_total_time} ms, "
-            f"Upstream TTFB: {upstream_ttfb_time} ms, "
-            f"Proxy Total Time: {proxy_total_time} ms"
-        )
-
-        method = response.request.method
-        status_code = str(response.status_code)
-        host = str(response.request.url.host)
-        path = str(response.request.url.path)
-        elapsed_s = elapsed / 1000.0
-
-        om1_http_request_duration_seconds.labels(host=host, path=path, method=method, status_code=status_code).observe(
-            elapsed_s
-        )
-        om1_http_request_duration_last_seconds.labels(host=host, path=path, method=method, status_code=status_code).set(
-            elapsed_s
-        )
-
-        if upstream_total_time != "?":
-            try:
-                val = float(upstream_total_time) / 1000.0
-                om1_http_upstream_total_seconds.labels(
-                    host=host, path=path, method=method, status_code=status_code
-                ).observe(val)
-                om1_http_upstream_total_last_seconds.labels(
-                    host=host, path=path, method=method, status_code=status_code
-                ).set(val)
-            except ValueError:
-                pass
-
-        if upstream_ttfb_time != "?":
-            try:
-                val = float(upstream_ttfb_time) / 1000.0
-                om1_http_upstream_ttfb_seconds.labels(
-                    host=host, path=path, method=method, status_code=status_code
-                ).observe(val)
-                om1_http_upstream_ttfb_last_seconds.labels(
-                    host=host, path=path, method=method, status_code=status_code
-                ).set(val)
-            except ValueError:
-                pass
-
-        if proxy_total_time != "?":
-            try:
-                val = float(proxy_total_time) / 1000.0
-                om1_http_proxy_total_seconds.labels(
-                    host=host, path=path, method=method, status_code=status_code
-                ).observe(val)
-                om1_http_proxy_total_last_seconds.labels(
-                    host=host, path=path, method=method, status_code=status_code
-                ).set(val)
-            except ValueError:
-                pass
-
-    return {
-        "request": [log_request],
-        "response": [log_response],
-    }
-
-
-def get_async_httpx_client(
-    http2: bool = True,
-    max_keepalive_connections: int = 20,
-    max_connections: int = 100,
-    keepalive_expiry: float = 300.0,
-    timeout: float = 60.0,
-    connect_timeout: float = 5.0,
-) -> httpx.AsyncClient:
-    """
-    Create and return a configured AsyncClient for HTTP requests.
-
-    Parameters
-    ----------
-    http2 : bool
-        Whether to enable HTTP/2 support.
-    max_keepalive_connections : int
-        Maximum number of keep-alive connections to maintain.
-    max_connections : int
-        Maximum number of concurrent connections allowed.
-    keepalive_expiry : float
-        Time in seconds before idle keep-alive connections are closed.
-    timeout : float
-        Total timeout for requests in seconds.
-    connect_timeout : float
-        Timeout for establishing a connection in seconds.
-
-    Returns
-    -------
-    httpx.AsyncClient
-        A configured AsyncClient instance ready for making HTTP requests.
-    """
-    return httpx.AsyncClient(
-        http2=http2,
-        limits=httpx.Limits(
-            max_keepalive_connections=max_keepalive_connections,
-            max_connections=max_connections,
-            keepalive_expiry=keepalive_expiry,
-        ),
-        timeout=httpx.Timeout(timeout, connect=connect_timeout),
-        event_hooks=get_httpx_event_hooks(),
-    )
diff --git a/src/providers/io_provider.py b/src/providers/io_provider.py
deleted file mode 100644
index 7c997cac28..0000000000
--- a/src/providers/io_provider.py
+++ /dev/null
@@ -1,442 +0,0 @@
-import threading
-import time
-from contextlib import contextmanager
-from dataclasses import dataclass
-from typing import Any, Dict, Optional
-
-from .singleton import singleton
-
-
-@dataclass
-class Input:
-    """
-    A dataclass representing an input with optional timestamp and tick counter.
-
-    Parameters
-    ----------
-    input : str
-        The input value.
-    timestamp : float, optional
-        The timestamp associated with the input (default is None).
-    tick : int, optional
-        The tick counter when this input was added (default is None).
-    """
-
-    input: str
-    timestamp: Optional[float] = None
-    tick: Optional[int] = None
-
-
-@singleton
-class IOProvider:
-    """
-    A thread-safe singleton class for managing inputs, timestamps, and LLM-related data.
-
-    This class provides synchronized access to input storage and various timing metrics
-    using thread locks for safe concurrent access.
-    """
-
-    def __init__(self):
-        """
-        Initialize the IOProvider with thread lock and empty storage.
-        """
-        self._lock: threading.Lock = threading.Lock()
-
-        self._inputs: Dict[str, Input] = {}
-
-        self._fuser_system_prompt: Optional[str] = None
-        self._fuser_inputs: Optional[str] = None
-        self._fuser_start_time: Optional[float] = None
-        self._fuser_end_time: Optional[float] = None
-
-        self._llm_prompt: Optional[str] = None
-
-        self._mode_transition_input: Optional[str] = None
-
-        # Additional variables storage
-        self._variables: Dict[str, Any] = {}
-
-        # Tick counter for tracking system cycles
-        self._tick_counter: int = 0
-
-    @property
-    def inputs(self) -> Dict[str, Input]:
-        """
-        Get all inputs with their timestamps and tick counters.
-
-        Returns
-        -------
-        Dict[str, Input]
-            Dictionary mapping input keys to Input objects.
-        """
-        with self._lock:
-            return dict(self._inputs)
-
-    def add_input(self, key: str, value: str, timestamp: Optional[float]) -> None:
-        """
-        Add an input with optional timestamp and automatic tick tracking.
-
-        Parameters
-        ----------
-        key : str
-            The input identifier.
-        value : str
-            The input value.
-        timestamp : float, optional
-            The timestamp for the input.
-        """
-        with self._lock:
-            ts = timestamp if timestamp is not None else time.time()
-            self._inputs[key] = Input(input=value, timestamp=ts, tick=self._tick_counter)
-
-    def remove_input(self, key: str) -> None:
-        """
-        Remove an input and its associated metadata.
-
-        Parameters
-        ----------
-        key : str
-            The input identifier to remove.
-        """
-        with self._lock:
-            self._inputs.pop(key, None)
-
-    def get_input(self, key: str) -> Optional[Input]:
-        """
-        Get an input by its key.
-
-        Parameters
-        ----------
-        key : str
-            The input identifier.
-
-        Returns
-        -------
-        Input or None
-            The Input object if found, None otherwise.
-        """
-        with self._lock:
-            return self._inputs.get(key)
-
-    def add_input_timestamp(self, key: str, timestamp: float) -> None:
-        """
-        Add a timestamp for an existing input.
-
-        Parameters
-        ----------
-        key : str
-            The input identifier.
-        timestamp : float
-            The timestamp to add.
-        """
-        with self._lock:
-            if key in self._inputs:
-                existing_input = self._inputs[key]
-                self._inputs[key] = Input(
-                    input=existing_input.input,
-                    timestamp=timestamp,
-                    tick=existing_input.tick,
-                )
-
-    def get_input_timestamp(self, key: str) -> Optional[float]:
-        """
-        Get the timestamp for a specific input.
-
-        Parameters
-        ----------
-        key : str
-            The input identifier.
-
-        Returns
-        -------
-        float or None
-            The timestamp if it exists, None otherwise.
-        """
-        with self._lock:
-            input_obj = self._inputs.get(key)
-            return input_obj.timestamp if input_obj else None
-
-    @property
-    def fuser_system_prompt(self) -> Optional[str]:
-        """
-        Get the fuser system prompt.
-        """
-        with self._lock:
-            return self._fuser_system_prompt
-
-    @fuser_system_prompt.setter
-    def fuser_system_prompt(self, value: Optional[str]) -> None:
-        """
-        Set the fuser system prompt.
-
-        Parameters
-        ----------
-        value : Optional[str]
-            The fuser system prompt value to set.
-        """
-        with self._lock:
-            self._fuser_system_prompt = value
-
-    def set_fuser_system_prompt(self, value: Optional[str]) -> None:
-        """
-        Alternative method to set fuser system prompt.
-
-        Parameters
-        ----------
-        value : Optional[str]
-            The fuser system prompt value to set.
-        """
-        with self._lock:
-            self._fuser_system_prompt = value
-
-    @property
-    def fuser_inputs(self) -> Optional[str]:
-        """
-        Get the fuser inputs.
-        """
-        with self._lock:
-            return self._fuser_inputs
-
-    @fuser_inputs.setter
-    def fuser_inputs(self, value: Optional[str]) -> None:
-        """
-        Set the fuser inputs.
-
-        Parameters
-        ----------
-        value : Optional[str]
-            The fuser inputs value to set.
-        """
-        with self._lock:
-            self._fuser_inputs = value
-
-    def set_fuser_inputs(self, value: Optional[str]) -> None:
-        """
-        Alternative method to set fuser inputs.
-
-        Parameters
-        ----------
-        value : Optional[str]
-            The fuser inputs value to set.
-        """
-        with self._lock:
-            self._fuser_inputs = value
-
-    @property
-    def fuser_start_time(self) -> Optional[float]:
-        """
-        Get the fuser start time.
-        """
-        with self._lock:
-            return self._fuser_start_time
-
-    @fuser_start_time.setter
-    def fuser_start_time(self, value: Optional[float]) -> None:
-        """
-        Set the fuser start time.
-
-        Parameters
-        ----------
-        value : Optional[float]
-            The fuser start time value to set.
-        """
-        with self._lock:
-            self._fuser_start_time = value
-
-    def set_fuser_start_time(self, value: Optional[float]) -> None:
-        """
-        Alternative method to set fuser start time.
-
-        Parameters
-        ----------
-        value : Optional[float]
-            The fuser start time value to set.
-        """
-        with self._lock:
-            self._fuser_start_time = value
-
-    @property
-    def fuser_end_time(self) -> Optional[float]:
-        """
-        Get the fuser end time.
-        """
-        with self._lock:
-            return self._fuser_end_time
-
-    @fuser_end_time.setter
-    def fuser_end_time(self, value: Optional[float]) -> None:
-        """
-        Set the fuser end time.
-
-        Parameters
-        ----------
-        value : Optional[float]
-            The fuser end time value to set.
-        """
-        with self._lock:
-            self._fuser_end_time = value
-
-    def set_fuser_end_time(self, value: Optional[float]) -> None:
-        """
-        Alternative method to set fuser end time.
-
-        Parameters
-        ----------
-        value : Optional[float]
-            The fuser end time value to set.
-        """
-        with self._lock:
-            self._fuser_end_time = value
-
-    @property
-    def llm_prompt(self) -> Optional[str]:
-        """
-        Get the LLM prompt.
-        """
-        with self._lock:
-            return self._llm_prompt
-
-    @llm_prompt.setter
-    def llm_prompt(self, value: Optional[str]) -> None:
-        """
-        Set the LLM prompt.
-
-        Parameters
-        ----------
-        value : Optional[str]
-            The LLM prompt value to set.
-        """
-        with self._lock:
-            self._llm_prompt = value
-
-    def set_llm_prompt(self, value: Optional[str]) -> None:
-        """
-        Alternative method to set LLM prompt.
-
-        Parameters
-        ----------
-        value : Optional[str]
-            The LLM prompt value to set.
-        """
-        with self._lock:
-            self._llm_prompt = value
-
-    def clear_llm_prompt(self) -> None:
-        """Clear the LLM prompt."""
-        with self._lock:
-            self._llm_prompt = None
-
-    def add_dynamic_variable(self, key: str, value: Any) -> None:
-        """
-        Add a dynamic variable to the provider.
-
-        Parameters
-        ----------
-        key : str
-            The variable key.
-        value : Any
-            The variable value.
-        """
-        with self._lock:
-            self._variables[key] = value
-
-    def get_dynamic_variable(self, key: str) -> Any:
-        """
-        Get a dynamic variable from the provider.
-
-        Parameters
-        ----------
-        key : str
-            The variable key.
-
-        Returns
-        -------
-        Any
-            The variable value.
-        """
-        with self._lock:
-            return self._variables.get(key)
-
-    def add_mode_transition_input(self, input_text: str) -> None:
-        """
-        Add input text that triggered a mode transition.
-
-        Parameters
-        ----------
-        input_text : str
-            The input text that caused the mode transition.
-        """
-        with self._lock:
-            if self._mode_transition_input is None:
-                self._mode_transition_input = input_text
-            else:
-                self._mode_transition_input = self._mode_transition_input + " " + input_text
-
-    @contextmanager
-    def mode_transition_input(self):
-        """
-        Context manager for providing mode transition input that automatically resets after use.
-
-        Yields
-        ------
-        Optional[str]
-            The current mode transition input text.
-        """
-        try:
-            with self._lock:
-                current_input = self._mode_transition_input
-            yield current_input
-        finally:
-            self.delete_mode_transition_input()
-
-    def get_mode_transition_input(self) -> Optional[str]:
-        """
-        Get the stored mode transition input text.
-
-        Returns
-        -------
-        Optional[str]
-            The stored mode transition input text, or None if not set.
-        """
-        with self._lock:
-            return self._mode_transition_input
-
-    def delete_mode_transition_input(self) -> None:
-        """
-        Clear the stored mode transition input text.
-        """
-        with self._lock:
-            self._mode_transition_input = None
-
-    @property
-    def tick_counter(self) -> int:
-        """
-        Get the current tick counter value.
-
-        Returns
-        -------
-        int
-            The current tick counter value.
-        """
-        with self._lock:
-            return self._tick_counter
-
-    def increment_tick(self) -> int:
-        """
-        Increment the tick counter and return the new value.
-
-        Returns
-        -------
-        int
-            The new tick counter value after incrementing.
-        """
-        with self._lock:
-            self._tick_counter += 1
-            return self._tick_counter
-
-    def reset_tick_counter(self) -> None:
-        """
-        Reset the tick counter to zero.
-        """
-        with self._lock:
-            self._tick_counter = 0
diff --git a/src/providers/k1_odom_provider.py b/src/providers/k1_odom_provider.py
deleted file mode 100644
index b9b6752503..0000000000
--- a/src/providers/k1_odom_provider.py
+++ /dev/null
@@ -1,215 +0,0 @@
-import logging
-import math
-import multiprocessing as mp
-import threading
-import time
-from typing import Optional
-
-import zenoh
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-from zenoh_msgs import Odometer, open_zenoh_session
-
-from .odom_provider_base import OdomProviderBase, RobotState
-from .singleton import singleton
-
-rad_to_deg = 57.2958
-
-
-def k1_odom_processor(
-    topic: str,
-    data_queue: mp.Queue,
-    logging_config: Optional[LoggingConfig] = None,
-) -> None:
-    """
-    Process function for the K1 Odom Provider.
-    This function runs in a separate process to periodically retrieve the odometry
-    data from the robot via Zenoh and put it into a multiprocessing queue.
-    """
-    setup_logging("k1_odom_processor", logging_config=logging_config)
-
-    def zenoh_odom_handler(data: zenoh.Sample):
-        """
-        Zenoh handler for odometry data.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample containing the odometry data.
-        """
-        try:
-            odom: Odometer = Odometer.deserialize(data.payload.to_bytes())
-            logging.debug(f"K1 Zenoh odom handler: x={odom.x}, y={odom.y}, theta={odom.theta}")
-
-            data_queue.put(
-                {
-                    "x": odom.x,
-                    "y": odom.y,
-                    "theta": odom.theta,
-                    "timestamp": time.time(),
-                }
-            )
-        except Exception as e:
-            logging.error(f"Error deserializing K1 odometry data: {e}")
-
-    try:
-        session = open_zenoh_session()
-        logging.info(f"K1 Zenoh odom provider opened session: {session}")
-        logging.info(f"K1 odom listener subscribing to topic: {topic}")
-        session.declare_subscriber(topic, zenoh_odom_handler)
-    except Exception as e:
-        logging.error(f"Error opening Zenoh client for K1 odom: {e}")
-        return None
-
-    while True:
-        time.sleep(0.1)
-
-
-@singleton
-class K1OdomProvider(OdomProviderBase):
-    """
-    K1 Odom Provider.
-
-    This class implements odometry management for K1 robots using Zenoh
-    for communication.
-
-    Parameters
-    ----------
-    topic : str
-        The Zenoh topic to subscribe to for odometry data.
-        Defaults to "odometer_state".
-    """
-
-    def __init__(self, topic: str = "odometer_state"):
-        """
-        Initialize the K1 Odom Provider with Zenoh configuration.
-
-        Parameters
-        ----------
-        topic : str
-            The Zenoh topic to subscribe to for odometry data.
-            Defaults to "odometer_state".
-        """
-        super().__init__()
-        self.topic = topic
-        self.start()
-
-    def start(self) -> None:
-        """
-        Start the K1 Odom Provider.
-        """
-        if self._odom_reader_thread and self._odom_reader_thread.is_alive():
-            logging.warning("K1 Odom Provider is already running.")
-            return
-
-        if not self.topic:
-            logging.error("Topic must be specified to start the K1 Odom Provider.")
-            return
-
-        logging.info(f"Starting K1 Odom Provider on Zenoh topic: {self.topic}")
-
-        self._odom_reader_thread = mp.Process(
-            target=k1_odom_processor,
-            args=(
-                self.topic,
-                self.data_queue,
-                get_logging_config(),
-            ),
-            daemon=True,
-        )
-        self._odom_reader_thread.start()
-
-        if self._odom_processor_thread and self._odom_processor_thread.is_alive():
-            logging.warning("K1 Odom processor thread is already running.")
-            return
-        else:
-            logging.info("Starting K1 Odom processor thread")
-            self._odom_processor_thread = threading.Thread(target=self.process_odom, daemon=True)
-            self._odom_processor_thread.start()
-
-    def _update_body_state(self, pose):
-        """
-        Update body height and attitude based on pose data for K1 robot.
-
-        Parameters
-        ----------
-        pose : Pose
-            The pose data containing position and orientation.
-        """
-        # For K1 robot, we don't have z position data from the simple Odometer message
-        # Assume robot is always standing when we receive odometry data
-        self.body_attitude = RobotState.STANDING
-        self.body_height_cm = 70  # Default standing height
-
-    def process_odom(self):
-        """
-        Process the odom data from K1's custom Odometer message.
-        This method runs in a separate thread and continuously processes
-        odometry data from the queue.
-        """
-        while not self._stop_event.is_set():
-            try:
-                odom_data = self.data_queue.get(timeout=1)
-            except Exception:
-                # Queue timeout or other errors
-                continue
-
-            if not isinstance(odom_data, dict):
-                logging.warning(f"Unexpected odom data type: {type(odom_data)}")
-                continue
-
-            # Extract data from custom Odometer message
-            x = odom_data.get("x", 0.0)
-            y = odom_data.get("y", 0.0)
-            theta = odom_data.get("theta", 0.0)  # theta is in radians
-
-            # Update timestamp
-            self.odom_subscriber_ts = time.time()
-            self.odom_rockchip_ts = odom_data.get("timestamp", self.odom_subscriber_ts)
-
-            # Calculate movement delta
-            dx = (x - self.previous_x) ** 2
-            dy = (y - self.previous_y) ** 2
-
-            self.previous_x = x
-            self.previous_y = y
-
-            delta = math.sqrt(dx + dy)
-
-            # Moving? Use a decay kernel
-            self.move_history = 0.7 * delta + 0.3 * self.move_history
-
-            if delta > 0.01 or self.move_history > 0.01:
-                self.moving = True
-                logging.info(f"delta moving (m): {round(delta, 3)} {round(self.move_history, 3)}")
-            else:
-                self.moving = False
-
-            # Convert theta (radians) to degrees
-            # theta is already in standard robot convention where positive is counter-clockwise
-            self.odom_yaw_m180_p180 = round(theta * rad_to_deg, 4)
-
-            # Normalize to [-180, 180] range
-            while self.odom_yaw_m180_p180 > 180.0:
-                self.odom_yaw_m180_p180 -= 360.0
-            while self.odom_yaw_m180_p180 < -180.0:
-                self.odom_yaw_m180_p180 += 360.0
-
-            # Provide alternate representation [0, 360] with clockwise positive
-            flip = -1.0 * self.odom_yaw_m180_p180
-            if flip < 0.0:
-                flip = flip + 360.0
-
-            self.odom_yaw_0_360 = round(flip, 4)
-
-            # Current position in world frame
-            self.x = round(x, 4)
-            self.y = round(y, 4)
-
-            # Update body state
-            self._update_body_state(None)
-
-            logging.debug(
-                f"k1 odom: X:{self.x} Y:{self.y} Theta:{round(theta, 4)} "
-                f"Yaw_m180_p180:{self.odom_yaw_m180_p180} Yaw_0_360:{self.odom_yaw_0_360}"
-            )
diff --git a/src/providers/kokoro_tts_provider.py b/src/providers/kokoro_tts_provider.py
deleted file mode 100644
index ac499b74d5..0000000000
--- a/src/providers/kokoro_tts_provider.py
+++ /dev/null
@@ -1,244 +0,0 @@
-import logging
-from typing import Callable, Optional, Union
-
-from om1_speech import AudioOutputLiveStream
-
-from .singleton import singleton
-
-
-@singleton
-class KokoroTTSProvider:
-    """
-    Text-to-Speech Provider that manages an audio output stream.
-
-    This class provides an interface to configure and manage a TTS service using
-    the Kokoro TTS engine. It supports setting voice, model, output format, and
-    interrupt capabilities. The provider uses an underlying AudioOutputStream to
-    handle audio playback.
-    """
-
-    def __init__(
-        self,
-        url: str = "http://127.0.0.1:8880/v1",
-        api_key: Optional[str] = None,
-        voice_id: str = "af_bella",
-        model_id: str = "kokoro",
-        output_format: str = "pcm",
-        rate: int = 24000,
-        enable_tts_interrupt: bool = False,
-    ):
-        """
-        Initialize the KokoroTTSProvider instance.
-
-        Sets up the configuration for the Kokoro TTS service, including API keys,
-        voice/model selection, output format, and interrupt settings. It initializes
-        the underlying audio output stream.
-
-        Parameters
-        ----------
-        url : str, optional
-            The URL endpoint for the TTS service. Defaults to "http://127.0.0.1:8880/v1"
-        api_key : str, optional
-            The API key for the TTS service. If provided, it's used in the request
-            headers as "x-api-key". Defaults to None.
-        voice_id : str
-            The ID/name of the voice to use for TTS synthesis. Defaults to "af_bella".
-        model_id : str
-            The ID/name of the model to use for TTS synthesis. Defaults to "kokoro".
-        output_format : str
-            The desired audio output format (e.g., pcm, wav). Defaults to "pcm".
-        rate : int
-            The audio sample rate in Hz. Defaults to 24000.
-        enable_tts_interrupt : bool, optional
-            If True, enables the ability to interrupt ongoing TTS playback when ASR
-            detects new speech input. Defaults to False.
-        """
-        self.api_key = api_key
-
-        # Initialize TTS provider
-        self.running: bool = False
-        self._audio_stream: AudioOutputLiveStream = AudioOutputLiveStream(
-            url=url,
-            tts_model=model_id,
-            tts_voice=voice_id,
-            response_format=output_format,
-            rate=rate,
-            api_key=api_key,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-
-        # Set TTS parameters
-        self._voice_id = voice_id
-        self._model_id = model_id
-        self._output_format = output_format
-        self._rate = rate
-        self._enable_tts_interrupt = enable_tts_interrupt
-
-    def configure(
-        self,
-        url: str = "http://127.0.0.1:8880/v1",
-        api_key: Optional[str] = None,
-        voice_id: str = "af_bella",
-        model_id: str = "kokoro",
-        output_format: str = "pcm",
-        rate: int = 24000,
-        enable_tts_interrupt: bool = False,
-    ):
-        """
-        Configure the TTS provider with given parameters.
-
-        Parameters
-        ----------
-        url : str, optional
-            The URL endpoint for the TTS service. Defaults to "http://127.0.0.1:8880/v1"
-        api_key : str, optional
-            The API key for the TTS service. If provided, it's used in the request
-            headers as "x-api-key". Defaults to None.
-        voice_id : str
-            The ID/name of the voice to use for TTS synthesis. Defaults to "af_bella".
-        model_id : str
-            The ID/name of the model to use for TTS synthesis. Defaults to "kokoro".
-        output_format : str
-            The desired audio output format (e.g., pcm, wav). Defaults to "pcm".
-        rate : int
-            The audio sample rate in Hz. Defaults to 24000.
-        enable_tts_interrupt : bool, optional
-            If True, enables the ability to interrupt ongoing TTS playback when ASR
-            detects new speech input. Defaults to False.
-        """
-        restart_needed = (
-            url != self._audio_stream._url
-            or api_key != self.api_key
-            or voice_id != self._voice_id
-            or model_id != self._model_id
-            or output_format != self._output_format
-            or rate != self._rate
-            or enable_tts_interrupt != self._enable_tts_interrupt
-        )
-
-        if not restart_needed:
-            return
-
-        if self.running:
-            self.stop()
-
-        self.api_key = api_key
-        self._voice_id = voice_id
-        self._model_id = model_id
-        self._output_format = output_format
-        self._rate = rate
-        self._enable_tts_interrupt = enable_tts_interrupt
-
-        self._audio_stream: AudioOutputLiveStream = AudioOutputLiveStream(
-            url=url,
-            tts_model=model_id,
-            tts_voice=voice_id,
-            response_format=output_format,
-            rate=rate,
-            api_key=api_key,
-            enable_tts_interrupt=enable_tts_interrupt,
-        )
-        self._audio_stream.start()
-
-    def register_tts_state_callback(self, tts_state_callback: Optional[Callable]):
-        """
-        Register a callback for TTS state changes.
-
-        Parameters
-        ----------
-        tts_state_callback : Optional[Callable]
-            The callback function to receive TTS state changes.
-        """
-        if tts_state_callback is not None:
-            self._audio_stream.set_tts_state_callback(tts_state_callback)
-
-    def create_pending_message(self, text: str) -> dict:
-        """
-        Create a pending message for TTS processing.
-
-        Parameters
-        ----------
-        text : str
-            Text to be converted to speech
-
-        Returns
-        -------
-        dict
-            A dictionary containing the TTS request parameters.
-        """
-        logging.info(f"audio_stream: {text}")
-        return {
-            "text": text,
-            "voice_id": self._voice_id,
-            "model_id": self._model_id,
-            "output_format": self._output_format,
-        }
-
-    def add_pending_message(self, message: Union[str, dict]):
-        """
-        Add a pending message to the TTS provider.
-
-        Parameters
-        ----------
-        message : Union[str, dict]
-            The message to be added, typically containing text and TTS parameters.
-        """
-        if not self.running:
-            logging.warning("TTS provider is not running. Call start() before adding messages.")
-            return
-
-        if isinstance(message, str):
-            message = self.create_pending_message(message)
-
-        logging.info(f"Adding pending TTS message: {message}")
-        self._audio_stream.add_request(message)
-
-    def clear_pending_messages(self):
-        """
-        Clear all pending TTS messages from the queue.
-        """
-        if self.get_pending_message_count() > 0:
-            count = 0
-            while not self._audio_stream._pending_requests.empty():
-                try:
-                    self._audio_stream._pending_requests.get_nowait()
-                    count += 1
-                except Exception:
-                    break
-            if count > 0:
-                logging.info(f"Cleared {count} pending TTS messages")
-        else:
-            logging.debug("AudioOutputLiveStream has no _pending_requests queue to clear")
-
-    def get_pending_message_count(self) -> int:
-        """
-        Get the count of pending messages in the TTS provider.
-
-        Returns
-        -------
-        int
-            The number of pending messages.
-        """
-        return self._audio_stream._pending_requests.qsize()
-
-    def start(self):
-        """
-        Start the TTS provider and its audio stream.
-        """
-        if self.running:
-            logging.warning("Kokoro TTS provider is already running")
-            return
-
-        self.running = True
-        self._audio_stream.start()
-
-    def stop(self):
-        """
-        Stop the TTS provider and cleanup resources.
-        """
-        if not self.running:
-            logging.warning("Kokoro TTS provider is not running")
-            return
-
-        self.running = False
-        self._audio_stream.stop()
diff --git a/src/providers/llm_history_manager.py b/src/providers/llm_history_manager.py
deleted file mode 100644
index 32a5f72f41..0000000000
--- a/src/providers/llm_history_manager.py
+++ /dev/null
@@ -1,346 +0,0 @@
-import asyncio
-import functools
-import logging
-from dataclasses import dataclass
-from typing import Any, Awaitable, Callable, List, Optional, TypeVar, Union
-
-import openai
-
-from llm import LLMConfig
-
-from .io_provider import IOProvider
-
-R = TypeVar("R")
-
-
-@dataclass
-class ChatMessage:
-    """
-    Represents a chat message with role and content.
-    """
-
-    role: str
-    content: str
-
-
-ACTION_MAP = {
-    "emotion": "**** felt: {}.",
-    "speak": "**** said: {}",
-    "move": "**** performed this motion: {}.",
-    "schedule_cron_job": "**** registered a scheduled cron job: {}.",
-}
-
-
-class LLMHistoryManager:
-    """
-    Manages the history of interactions for LLMs, including summarization.
-    """
-
-    def __init__(
-        self,
-        config: LLMConfig,
-        client: Union[openai.AsyncClient, openai.OpenAI],
-        system_prompt: str = "You are a helpful assistant that summarizes a succession of events and interactions accurately and concisely. You are watching a robot named **** interact with people and the world. Your goal is to help **** remember what the robot felt, saw, and heard, and how the robot responded to those inputs.",
-        summary_command: str = "\nConsidering the new information, write an updated summary of the situation for ****. Emphasize information that **** needs to know to respond to people and situations in the best possible and most compelling way.",
-    ):
-        """
-        Initialize the LLMHistoryManager.
-
-        Parameters
-        ----------
-        config : LLMConfig
-            Configuration object containing LLM settings and parameters.
-        client : Union[openai.AsyncClient, openai.OpenAI]
-            OpenAI client instance for making API calls (async or sync).
-        system_prompt : str, optional
-            System prompt template for summarization. Defaults to a prompt
-            that describes the assistant's role in summarizing robot interactions.
-            The string "****" will be replaced with the agent name.
-        summary_command : str, optional
-            Command template appended to messages when requesting summaries.
-            Defaults to a command asking for an updated situation summary.
-            The string "****" will be replaced with the agent name.
-        """
-        self.client = client
-
-        # configuration
-        self.config = config
-        self.agent_name = self.config.agent_name
-        self.system_prompt = system_prompt.replace("****", self.agent_name) if self.agent_name else system_prompt
-        self.summary_command = summary_command.replace("****", self.agent_name) if self.agent_name else summary_command
-
-        # frame index
-        self.frame_index = 0
-
-        # task executor
-        self._summary_task: Optional[asyncio.Task] = None
-
-        # history buffer
-        self.history: List[ChatMessage] = []
-
-        # io provider
-        self.io_provider = IOProvider()
-
-    async def summarize_messages(self, messages: List[ChatMessage]) -> ChatMessage:
-        """
-        Summarize a list of messages using the OpenAI API.
-
-        Parameters
-        ----------
-        messages : List[ChatMessage]
-            List of chat messages to summarize.
-
-        Returns
-        -------
-        ChatMessage
-            A new message containing the summary with role "assistant" or
-            "system" (in case of errors).
-
-        Raises
-        ------
-        asyncio.TimeoutError
-            If the API request times out.
-        openai.APIError
-            If there's an error with the OpenAI API.
-        """
-        # Set timeout for API call
-        timeout = 10.0  # seconds
-
-        try:
-            if not messages:
-                logging.warning("No messages to summarize")
-                return ChatMessage(role="system", content="No history to summarize")
-
-            logging.debug(f"All raw info: {messages} len{len(messages)}")
-
-            summary_prompt = ""
-
-            if len(messages) == 4:
-                # the normal case - previous summary and new data
-                # the previous summary
-                summary_prompt += f"{messages[0].content}\n"
-                # actions - already part of the summary - no need to add
-                # summary_prompt += f"{messages[1].content}\n"
-                summary_prompt += "\nNow, the following new information has arrived. "
-                summary_prompt += f"{messages[2].content}\n"
-                summary_prompt += f"{messages[3].content}\n"
-            else:
-                for msg in messages:
-                    summary_prompt += f"{msg.content}\n"
-
-            summary_prompt += self.summary_command
-
-            # insert actual robot name
-            summary_prompt = summary_prompt.replace("****", self.agent_name) if self.agent_name else summary_prompt
-
-            logging.info(f"Information to summarize:\n{summary_prompt}")
-
-            api_kwargs = {
-                "model": self.config.model or "gpt-4o-mini",
-                "messages": [
-                    {"role": "system", "content": self.system_prompt},
-                    {"role": "user", "content": summary_prompt},
-                ],
-            }
-
-            if isinstance(self.client, openai.AsyncClient):
-                response = await asyncio.wait_for(
-                    self.client.chat.completions.create(**api_kwargs),
-                    timeout=timeout,
-                )
-            else:
-                loop = asyncio.get_running_loop()
-                response = await asyncio.wait_for(
-                    loop.run_in_executor(
-                        None,
-                        functools.partial(self.client.chat.completions.create, **api_kwargs),
-                    ),
-                    timeout=timeout,
-                )
-
-            if not response or not response.choices:
-                logging.error("Invalid API response format")
-                return ChatMessage(role="system", content="Error: Received invalid response from API")
-
-            summary = response.choices[0].message.content
-            if summary is None:
-                logging.error("Received empty summary from API")
-                return ChatMessage(role="system", content="Error: Received empty summary from API")
-            return ChatMessage(role="assistant", content=f"Previously, {summary}")
-
-        except asyncio.TimeoutError:
-            logging.error(f"API request timed out after {timeout} seconds")
-            return ChatMessage(role="system", content="Error: API request timed out")
-        except openai.APIError as e:
-            logging.error(f"OpenAI API error: {e}")
-            return ChatMessage(role="system", content=f"Error: API service unavailable: {str(e)}")
-        except Exception as e:
-            logging.error(f"Error summarizing messages: {type(e).__name__}: {e}")
-            return ChatMessage(role="system", content="Error summarizing state")
-
-    async def start_summary_task(self, messages: List[ChatMessage]):
-        """
-        Start a new asynchronous task to summarize the messages.
-
-        Parameters
-        ----------
-        messages : List[ChatMessage]
-            List of chat messages to summarize. This list will be modified
-            in-place when the summary task completes successfully.
-
-        Notes
-        -----
-        If a previous summary task is still running, this method will return
-        early without starting a new task. The summary result will be added
-        to the messages list via a callback when the task completes.
-        """
-        if not messages:
-            logging.warning("No messages to summarize in start_summary_task")
-            return
-
-        try:
-            if self._summary_task and not self._summary_task.done():
-                logging.info("Previous summary task still running")
-                return
-
-            messages_copy = messages.copy()
-            num_summarized = len(messages_copy)
-            self._summary_task = asyncio.create_task(self.summarize_messages(messages_copy))
-
-            def callback(task):
-                try:
-                    if task.cancelled():
-                        logging.warning("Summary task was cancelled")
-                        return
-
-                    summary_message = task.result()
-                    if summary_message.role == "assistant":
-                        del messages[:num_summarized]
-                        messages.insert(0, summary_message)
-                        logging.info("Successfully summarized the state")
-                    elif summary_message.role == "system" and "Error" in summary_message.content:
-                        logging.error(f"Summarization failed: {summary_message.content}")
-                        target_length = self.config.history_length
-                        if target_length is not None and len(messages) > target_length:
-                            excess = len(messages) - target_length
-                            del messages[:excess]
-                            logging.warning(
-                                f"Truncated {excess} oldest messages to maintain history_length={target_length}"
-                            )
-                    else:
-                        logging.warning(f"Unexpected summary result: {summary_message}")
-                except Exception as e:
-                    logging.error(f"Error in summary task callback: {type(e).__name__}: {e}")
-                    target_length = self.config.history_length
-                    if target_length is not None and len(messages) > target_length:
-                        excess = len(messages) - target_length
-                        del messages[:excess]
-                        logging.warning(f"Truncated {excess} oldest messages after exception")
-
-            self._summary_task.add_done_callback(callback)
-
-        except asyncio.CancelledError:
-            logging.warning("Summary task creation cancelled")
-        except Exception as e:
-            logging.error(f"Error starting summary task: {type(e).__name__}: {e}")
-            messages.pop(0) if messages else None
-            messages.pop(0) if messages else None
-
-    def get_messages(self) -> List[dict]:
-        """
-        Get messages in format required by OpenAI API.
-
-        Returns
-        -------
-        List[dict]
-            List of message dictionaries with "role" and "content" keys,
-            formatted for OpenAI API consumption.
-        """
-        return [{"role": msg.role, "content": msg.content} for msg in self.history]
-
-    @staticmethod
-    def update_history() -> Callable[[Callable[..., Awaitable[R]]], Callable[..., Awaitable[R]]]:
-        """
-        Decorator to manage LLM history around an async function.
-
-        Returns
-        -------
-        Callable
-            Decorator function.
-        """
-
-        def decorator(func: Callable[..., Awaitable[R]]) -> Callable[..., Awaitable[R]]:
-            @functools.wraps(func)
-            async def wrapper(
-                self: Any,
-                prompt: str,
-                messages: Optional[List[dict]] = None,
-                *args: Any,
-                **kwargs: Any,
-            ) -> R:
-                if getattr(self, "_skip_state_management", False):
-                    return await func(self, prompt, messages, *args, **kwargs)
-
-                if self._config.history_length == 0:
-                    response = await func(self, prompt, None, *args, **kwargs)
-                    self.history_manager.frame_index += 1
-                    return response
-
-                self.agent_name = self._config.agent_name
-
-                cycle = self.history_manager.frame_index
-                logging.debug(f"LLM Tasking cycle debug tracker: {cycle}")
-
-                current_tick = self.io_provider.tick_counter
-                formatted_inputs = f"{self.agent_name} sensed the following: "
-                for input_type, input_info in self.io_provider.inputs.items():
-                    if input_info.tick == current_tick:
-                        logging.debug(f"LLM: {input_type} (tick #{input_info.tick})")
-                        logging.debug(f"LLM: {input_info}")
-                        formatted_inputs += f"{input_type}. {input_info.input} | "
-
-                formatted_inputs = formatted_inputs.replace("..", ".")
-                formatted_inputs = formatted_inputs.replace("  ", " ")
-
-                inputs = ChatMessage(role="user", content=formatted_inputs)
-
-                logging.debug(f"Inputs: {inputs}")
-                self.history_manager.history.append(inputs)
-
-                messages = self.history_manager.get_messages()
-                logging.debug(f"messages:\n{messages}")
-                # this advances the frame index
-                response = await func(self, prompt, messages, *args, **kwargs)
-                logging.debug(f"Response to parse:\n{response}")
-
-                if response is not None:
-
-                    action_message = "Given that information, **** took these actions: " + (
-                        " | ".join(
-                            ACTION_MAP[action.type.lower()].format(action.value if action.value else "")
-                            for action in response.actions  # type: ignore
-                            if action.type.lower() in ACTION_MAP
-                        )
-                    )
-
-                    action_message = action_message.replace("****", self.agent_name)
-
-                    self.history_manager.history.append(ChatMessage(role="assistant", content=action_message))
-
-                    if (
-                        self.history_manager.config.history_length > 0
-                        and len(self.history_manager.history) > self.history_manager.config.history_length
-                    ):
-                        await self.history_manager.start_summary_task(self.history_manager.history)
-                else:
-                    if self.history_manager.history and self.history_manager.history[-1].role == "user":
-                        logging.warning("LLM response failed, removing unpaired user message")
-                        self.history_manager.history.pop()
-
-                self.history_manager.frame_index += 1
-
-                return response
-
-            return wrapper
-
-        return decorator
diff --git a/src/providers/odom_provider_base.py b/src/providers/odom_provider_base.py
deleted file mode 100644
index fc3c143d8c..0000000000
--- a/src/providers/odom_provider_base.py
+++ /dev/null
@@ -1,246 +0,0 @@
-import logging
-import math
-import multiprocessing as mp
-import threading
-import time
-from abc import ABC, abstractmethod
-from enum import Enum
-from typing import Optional
-
-rad_to_deg = 57.2958
-
-
-class RobotState(Enum):
-    """
-    Enumeration for robot states.
-    """
-
-    STANDING = "standing"
-    SITTING = "sitting"
-
-
-class OdomProviderBase(ABC):
-    """
-    Base class for Odometry Providers.
-
-    This abstract class provides common functionality for managing odometry
-    and pose data across different robot platforms.
-    """
-
-    def __init__(self):
-        """
-        Initialize the base Odometry Provider.
-        """
-        logging.info(f"Booting {self.__class__.__name__}")
-
-        self.data_queue: mp.Queue = mp.Queue()
-        self._odom_reader_thread: Optional[mp.Process] = None
-        self._odom_processor_thread: Optional[threading.Thread] = None
-        self._stop_event = threading.Event()
-
-        self.body_height_cm = 0
-        self.body_attitude: Optional[RobotState] = None
-
-        self.moving: bool = False
-        self.previous_x = 0.0
-        self.previous_y = 0.0
-        self.previous_z = 0.0
-        self.move_history = 0.0
-
-        self.x = 0.0
-        self.y = 0.0
-        self.z = 0.0
-        self.odom_yaw_0_360 = 0.0
-        self.odom_yaw_m180_p180 = 0.0
-        self.odom_rockchip_ts = 0.0
-        self.odom_subscriber_ts = 0.0
-
-    @abstractmethod
-    def start(self) -> None:
-        """
-        Start the Odometry Provider.
-        Must be implemented by subclasses.
-        """
-        pass
-
-    def euler_from_quaternion(self, x: float, y: float, z: float, w: float) -> tuple:
-        """
-        Convert a quaternion into euler angles (roll, pitch, yaw)
-        roll is rotation around x in radians (counterclockwise)
-        pitch is rotation around y in radians (counterclockwise)
-        yaw is rotation around z in radians (counterclockwise).
-
-        https://automaticaddison.com/how-to-convert-a-quaternion-into-euler-angles-in-python/
-
-        Parameters
-        ----------
-        x : float
-            The x component of the quaternion.
-        y : float
-            The y component of the quaternion.
-        z : float
-            The z component of the quaternion.
-        w : float
-            The w component of the quaternion.
-
-        Returns
-        -------
-        tuple
-            A tuple containing the roll, pitch, and yaw angles in radians.
-        """
-        t0 = +2.0 * (w * x + y * z)
-        t1 = +1.0 - 2.0 * (x * x + y * y)
-        roll_x = math.atan2(t0, t1)
-
-        t2 = +2.0 * (w * y - z * x)
-        t2 = +1.0 if t2 > +1.0 else t2
-        t2 = -1.0 if t2 < -1.0 else t2
-        pitch_y = math.asin(t2)
-
-        t3 = +2.0 * (w * z + x * y)
-        t4 = +1.0 - 2.0 * (y * y + z * z)
-        yaw_z = math.atan2(t3, t4)
-
-        return roll_x, pitch_y, yaw_z  # in radians
-
-    def process_odom(self):
-        """
-        Process the odom data and update the internal state.
-        This method runs in a separate thread and continuously processes
-        odometry data from the queue.
-        """
-        while not self._stop_event.is_set():
-            try:
-                pose_data = self.data_queue.get(timeout=1)
-            except Exception:
-                # Queue timeout or other errors
-                continue
-
-            # Handle different message types
-            # PoseWithCovarianceStamped has pose.pose, PoseStamped has just pose
-            if hasattr(pose_data.pose, "pose"):
-                # PoseWithCovarianceStamped
-                pose = pose_data.pose.pose
-            else:
-                # PoseStamped or similar
-                pose = pose_data.pose
-
-            header = pose_data.header
-
-            # This is the time according to the RockChip. It may be off by several seconds from UTC
-            self.odom_rockchip_ts = header.stamp.sec + header.stamp.nanosec * 1e-9
-
-            # The local timestamp
-            self.odom_subscriber_ts = time.time()
-
-            # Update body height and attitude if applicable
-            self._update_body_state(pose)
-
-            x = pose.orientation.x
-            y = pose.orientation.y
-            z = pose.orientation.z
-            w = pose.orientation.w
-
-            dx = (pose.position.x - self.previous_x) ** 2
-            dy = (pose.position.y - self.previous_y) ** 2
-            dz = (pose.position.z - self.previous_z) ** 2
-
-            self.previous_x = pose.position.x
-            self.previous_y = pose.position.y
-            self.previous_z = pose.position.z
-
-            delta = math.sqrt(dx + dy + dz)
-
-            # moving? Use a decay kernel
-            self.move_history = 0.7 * delta + 0.3 * self.move_history
-
-            if delta > 0.01 or self.move_history > 0.01:
-                self.moving = True
-                logging.info(f"delta moving (m): {round(delta, 3)} {round(self.move_history, 3)}")
-            else:
-                self.moving = False
-
-            angles = self.euler_from_quaternion(x, y, z, w)
-
-            # This is in the standard robot convention
-            # yaw increases when you turn LEFT
-            # (counter-clockwise rotation about the vertical axis)
-            self.odom_yaw_m180_p180 = round(angles[2] * rad_to_deg, 4)
-
-            # We also provide a second data product, where
-            # * yaw increases when you turn RIGHT (CW), and
-            # * the range runs from 0 to 360 Deg
-            flip = -1.0 * self.odom_yaw_m180_p180
-            if flip < 0.0:
-                flip = flip + 360.0
-
-            self.odom_yaw_0_360 = round(flip, 4)
-
-            # Current position in world frame
-            self.x = round(pose.position.x, 4)
-            self.y = round(pose.position.y, 4)
-            logging.debug(
-                f"odom: X:{self.x} Y:{self.y} W:{self.odom_yaw_m180_p180} H:{self.odom_yaw_0_360} T:{self.odom_rockchip_ts}"
-            )
-
-    def _update_body_state(self, pose):
-        """
-        Update body height and attitude based on pose data.
-        Can be overridden by subclasses for robot-specific logic.
-
-        Parameters
-        ----------
-        pose : Pose
-            The pose data containing position and orientation.
-        """
-        # Default implementation does nothing
-        # Subclasses can override this for robot-specific behavior
-        pass
-
-    @property
-    def position(self) -> dict:
-        """
-        Get the current robot position in world frame.
-        Returns a dictionary with x, y, and odom_yaw_0_360.
-
-        Returns
-        -------
-        dict
-            A dictionary containing the current position and orientation of the robot.
-            Keys include:
-            - odom_x: The x coordinate of the robot in the world frame.
-            - odom_y: The y coordinate of the robot in the world frame.
-            - moving: A boolean indicating if the robot is currently moving.
-            - odom_yaw_0_360: The yaw angle of the robot in degrees, ranging from 0 to 360.
-            - odom_yaw_m180_p180: The yaw angle of the robot in degrees, ranging from -180 to 180.
-            - body_height_cm: The height of the robot's body in centimeters.
-            - body_attitude: The current attitude of the robot (e.g., sitting or standing).
-            - odom_rockchip_ts: The unix timestamp of the last odometry update. Provided by the publisher.
-            - odom_subscriber_ts: The unix timestamp of the last odometry update according to the subscriber.
-        """
-        return {
-            "odom_x": self.x,
-            "odom_y": self.y,
-            "moving": self.moving,
-            "odom_yaw_0_360": self.odom_yaw_0_360,
-            "odom_yaw_m180_p180": self.odom_yaw_m180_p180,
-            "body_height_cm": self.body_height_cm,
-            "body_attitude": self.body_attitude,
-            "odom_rockchip_ts": self.odom_rockchip_ts,
-            "odom_subscriber_ts": self.odom_subscriber_ts,
-        }
-
-    def stop(self):
-        """
-        Stop the OdomProvider and clean up resources.
-        """
-        self._stop_event.set()
-
-        if self._odom_reader_thread:
-            self._odom_reader_thread.terminate()
-            self._odom_reader_thread.join()
-            logging.info(f"{self.__class__.__name__} reader thread stopped.")
-
-        if self._odom_processor_thread:
-            self._odom_processor_thread.join()
-            logging.info(f"{self.__class__.__name__} processor thread stopped.")
diff --git a/src/providers/riva_tts_provider.py b/src/providers/riva_tts_provider.py
deleted file mode 100644
index 2f8d5ee16a..0000000000
--- a/src/providers/riva_tts_provider.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-from om1_speech import AudioOutputStream
-
-from .singleton import singleton
-
-
-@singleton
-class RivaTTSProvider:
-    """
-    Text-to-Speech Provider that manages an audio output stream.
-
-    A singleton class that handles text-to-speech conversion and audio output
-    through a dedicated thread.
-    """
-
-    def __init__(
-        self,
-        url: str,
-        api_key: Optional[str] = None,
-    ):
-        """
-        Initialize the TTS provider with given URL and API key.
-
-        Parameters
-        ----------
-        url : str
-            The URL endpoint for the TTS service.
-        api_key : str, optional
-            The API key for the TTS service. If provided, it's used in the
-            request headers. Defaults to None.
-        """
-        self.running: bool = False
-        self._audio_stream: AudioOutputStream = AudioOutputStream(
-            url=url,
-            headers={"x-api-key": api_key} if api_key else None,
-        )
-
-    def register_tts_state_callback(self, tts_state_callback: Optional[Callable]):
-        """
-        Register a callback for TTS state changes.
-
-        Parameters
-        ----------
-        tts_state_callback : Optional[callable]
-            The callback function to receive TTS state changes.
-        """
-        if tts_state_callback is not None:
-            self._audio_stream.set_tts_state_callback(tts_state_callback)
-
-    def add_pending_message(self, text: str):
-        """
-        Add text to the pending queue for TTS processing.
-
-        Parameters
-        ----------
-        text : str
-            Text to be converted to speech
-        """
-        logging.info(f"audio_stream: {text}")
-        self._audio_stream.add_request({"text": text})
-
-    def start(self):
-        """
-        Start the TTS provider and its audio stream.
-        """
-        if self.running:
-            logging.warning("Riva TTS provider is already running")
-            return
-
-        self.running = True
-        self._audio_stream.start()
-
-    def stop(self):
-        """
-        Stop the TTS provider and cleanup resources.
-        """
-        self.running = False
-        self._audio_stream.stop()
diff --git a/src/providers/ros2_publisher_provider.py b/src/providers/ros2_publisher_provider.py
deleted file mode 100644
index a40843f626..0000000000
--- a/src/providers/ros2_publisher_provider.py
+++ /dev/null
@@ -1,122 +0,0 @@
-#!/usr/bin/env python3
-import logging
-import threading
-import time
-from queue import Empty, Queue
-from typing import Optional
-
-import rclpy  # type: ignore
-from rclpy.node import Node  # type: ignore
-from std_msgs.msg import String  # type: ignore
-
-rclpy.init()
-
-
-class ROS2PublisherProvider(Node):
-    """
-    Publisher provider for ROS 2.
-
-    This class extends ROS 2 Node to provide a publisher that queues and
-    publishes messages asynchronously in a separate thread. Messages are
-    added to a queue and processed sequentially by a background thread.
-    """
-
-    def __init__(self, topic: str = "speak_topic"):
-        """
-        Initialize the ROS 2 Publisher Provider.
-
-        Parameters
-        ----------
-        topic : str, optional
-            The ROS 2 topic name to publish messages to. Defaults to
-            "speak_topic". The publisher uses a queue size of 10.
-        """
-        try:
-            super().__init__("ROS2_publisher_provider")
-        except Exception as e:
-            logging.error(f"Node initialization error: {e}")
-
-        # Initialize the publisher.
-        try:
-            self.publisher_ = self.create_publisher(String, topic, 10)
-            logging.info(f"Initialized ROS 2 publisher on topic '{topic}'")
-        except Exception as e:
-            logging.exception(f"Failed to create publisher on topic '{topic}': {e}")
-
-        # Pending message queue and threading constructs
-        self._pending_messages = Queue()
-        self.running: bool = False
-        self._thread: Optional[threading.Thread] = None
-
-    def add_pending_message(self, text: str):
-        """
-        Queue a message to be published.
-
-        Parameters
-        ----------
-        text : str
-            The text message to publish.
-        """
-        try:
-            msg = String()
-            # Append a timestamp to the message text.
-            msg.data = f"{text} - {time.time()}"
-            logging.info(f"Queueing message: {msg.data}")
-            self._pending_messages.put(msg)
-        except Exception as e:
-            logging.exception(f"Error adding pending message: {e}")
-
-    def _publish_message(self, msg: String):
-        """
-        Publish a single message and log the result.
-
-        Parameters
-        ----------
-        msg : String
-            The ROS 2 String message to publish.
-        """
-        try:
-            self.publisher_.publish(msg)
-            logging.info(f"Published message: {msg.data}")
-        except Exception as e:
-            logging.exception(f"Error publishing message: {e}")
-        return None
-
-    def start(self):
-        """
-        Start the publisher provider by launching the processing thread.
-        """
-        if self.running:
-            return
-
-        self.running = True
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-        logging.info("ROS2 Publisher Provider started")
-
-    def _run(self):
-        """
-        Internal loop that processes and publishes pending messages.
-        """
-        while self.running:
-            try:
-                # Wait up to 0.5 seconds for a message.
-                msg = self._pending_messages.get(timeout=0.5)
-                self._publish_message(msg)
-            except Empty:
-                continue
-            except Exception as e:
-                logging.exception("Exception in publisher thread: %s", e)
-
-    def stop(self):
-        """
-        Stop the publisher provider and clean up resources.
-        """
-        self.running = False
-
-        if self._thread:
-            self._thread.join(timeout=5)
-
-        self.publisher_.Close()
-
-        logging.info("ROS2 Publisher Provider stopped")
diff --git a/src/providers/rplidar_driver.py b/src/providers/rplidar_driver.py
deleted file mode 100644
index cddd1d1044..0000000000
--- a/src/providers/rplidar_driver.py
+++ /dev/null
@@ -1,621 +0,0 @@
-# type: ignore
-"""Simple and lightweight module for working with RPLidar rangefinder scanners.
-
-Usage example:
-
->>> from rplidar import RPLidar
->>> lidar = RPLidar('/dev/ttyUSB0')
->>>
->>> info = lidar.get_info()
->>> print(info)
->>>
->>> health = lidar.get_health()
->>> print(health)
->>>
->>> for i, scan in enumerate(lidar.iter_scans()):
-...  print('%d: Got %d measures' % (i, len(scan)))
-...  if i > 10:
-...   break
-...
->>> lidar.stop()
->>> lidar.stop_motor()
->>> lidar.disconnect()
-
-For additional information please refer to the RPLidar class documentation.
-"""
-
-import codecs
-import logging
-import struct
-import sys
-import time
-from collections import namedtuple
-
-import serial
-
-# Protocol constants
-SYNC_BYTE = b"\xa5"
-SYNC_BYTE2 = b"\x5a"
-
-# Command bytes
-GET_INFO_BYTE = b"\x50"
-GET_HEALTH_BYTE = b"\x52"
-STOP_BYTE = b"\x25"
-RESET_BYTE = b"\x40"
-SET_PWM_BYTE = b"\xf0"
-
-# Scan configuration
-_SCAN_TYPE = {
-    "normal": {"byte": b"\x20", "response": 129, "size": 5},
-    "force": {"byte": b"\x21", "response": 129, "size": 5},
-    "express": {"byte": b"\x82", "response": 130, "size": 84},
-}
-
-# Response lengths
-DESCRIPTOR_LEN = 7
-INFO_LEN = 20
-HEALTH_LEN = 3
-
-# Response types
-INFO_TYPE = 4
-HEALTH_TYPE = 6
-
-# Motor control
-MAX_MOTOR_PWM = 1023
-DEFAULT_MOTOR_PWM = 400
-
-# Health status mapping
-_HEALTH_STATUSES = {
-    0: "Good",
-    1: "Warning",
-    2: "Error",
-}
-
-
-class RPLidarException(Exception):
-    """Basic exception class for RPLidar."""
-
-
-def _b2i(byte):
-    """Converts byte to integer (for Python 2 compatibility)."""
-    return byte if int(sys.version[0]) == 3 else ord(byte)
-
-
-def _showhex(signal):
-    """Converts string bytes to hex representation (useful for debugging)."""
-    return [format(_b2i(b), "#02x") for b in signal]
-
-
-def _process_scan(raw):
-    """Processes input raw data and returns measurement data."""
-    new_scan = bool(_b2i(raw[0]) & 0b1)
-    inversed_new_scan = bool((_b2i(raw[0]) >> 1) & 0b1)
-    quality = _b2i(raw[0]) >> 2
-    if new_scan == inversed_new_scan:
-        raise RPLidarException("New scan flags mismatch")
-    check_bit = _b2i(raw[1]) & 0b1
-    if check_bit != 1:
-        raise RPLidarException("Check bit not equal to 1")
-    angle = ((_b2i(raw[1]) >> 1) + (_b2i(raw[2]) << 7)) / 64.0
-    distance = (_b2i(raw[3]) + (_b2i(raw[4]) << 8)) / 4.0
-    return new_scan, quality, angle, distance
-
-
-def _process_express_scan(data, new_angle, trame):
-    """
-    Process an express scan packet from RPLidar.
-
-    Parameters
-    ----------
-    data : object
-        Scan data containing start angle, angles and distances.
-    new_angle : float
-        The new angle value from the latest packet.
-    trame : int
-        Frame index within the express scan packet.
-
-    Returns
-    -------
-    tuple
-        Tuple of (new_scan, quality, angle, distance).
-    """
-    new_scan = (new_angle < data.start_angle) & (trame == 1)
-    angle = (data.start_angle + ((new_angle - data.start_angle) % 360) / 32 * trame - data.angle[trame - 1]) % 360
-    distance = data.distance[trame - 1]
-    # print(
-    #     f"Express scan: new_scan={new_scan}, angle={angle}, "
-    #     f"distance={distance}, trame={trame}"
-    # )
-    return new_scan, None, angle, distance
-
-
-class RPDriver(object):
-    """Class for communicating with RPLidar rangefinder scanners."""
-
-    def __init__(self, port, baudrate=115200, timeout=1, logger=None):
-        """Initialize RPLidar object for communicating with the sensor.
-
-        Parameters
-        ----------
-        port : str
-            Serial port name to which sensor is connected
-        baudrate : int, optional
-            Baudrate for serial connection (the default is 115200)
-        timeout : float, optional
-            Serial port connection timeout in seconds (the default is 1)
-        logger : logging.Logger instance, optional
-            Logger instance, if none is provided new instance is created
-        """
-        self._serial = None
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self._motor_speed = DEFAULT_MOTOR_PWM
-        self.scanning = [False, 0, "normal"]
-        self.express_trame = 32
-        self.express_data = False
-        self.motor_running = None
-        if logger is None:
-            logger = logging.getLogger("rplidar")
-        self.logger = logger
-        self.connect()
-
-    def connect(self):
-        """Connects to the serial port with the name `self.port`. If it was
-        connected to another serial port disconnects from it first.
-        """
-        if self._serial is not None:
-            self.disconnect()
-        try:
-            self._serial = serial.Serial(
-                self.port,
-                self.baudrate,
-                parity=serial.PARITY_NONE,
-                stopbits=serial.STOPBITS_ONE,
-                timeout=self.timeout,
-                write_timeout=self.timeout,
-            )
-        except serial.SerialException as err:
-            raise RPLidarException("Failed to connect to the sensor " "due to: %s" % err)
-
-    def disconnect(self):
-        """Disconnects from the serial port."""
-        if self._serial is None:
-            return
-        self._serial.close()
-
-    def _set_pwm(self, pwm):
-        """
-        Set the PWM value for the RPLidar motor.
-
-        Parameters
-        ----------
-        pwm : int
-            PWM value to set for motor speed control.
-        """
-        payload = struct.pack("<H", pwm)
-        self._send_payload_cmd(SET_PWM_BYTE, payload)
-
-    @property
-    def motor_speed(self):
-        """Get current motor speed (PWM value)."""
-        return self._motor_speed
-
-    @motor_speed.setter
-    def motor_speed(self, pwm: int):
-        """
-        Set motor speed (PWM value).
-
-        Parameters
-        ----------
-        pwm : int
-            PWM value to set the motor speed to.
-        """
-        if not (0 <= pwm <= MAX_MOTOR_PWM):
-            raise ValueError(f"PWM value must be between 0 and {MAX_MOTOR_PWM}, got {pwm}")
-        self._motor_speed = pwm
-        if self.motor_running:
-            self._set_pwm(self._motor_speed)
-
-    def start_motor(self):
-        """Starts sensor motor."""
-        self.logger.info("Starting motor")
-        # For A1
-        self._serial.setDTR(False)
-
-        # For A2
-        self._set_pwm(self._motor_speed)
-        self.motor_running = True
-
-    def stop_motor(self):
-        """Stops sensor motor."""
-        self.logger.info("Stopping motor")
-        # For A2
-        self._set_pwm(0)
-        time.sleep(0.001)
-        # For A1
-        self._serial.setDTR(True)
-        self.motor_running = False
-
-    def _send_payload_cmd(self, cmd, payload):
-        """Sends `cmd` command with `payload` to the sensor."""
-        size = struct.pack("B", len(payload))
-        req = SYNC_BYTE + cmd + size + payload
-        checksum = 0
-        for v in struct.unpack("B" * len(req), req):
-            checksum ^= v
-        req += struct.pack("B", checksum)
-        self._serial.write(req)
-        self.logger.debug("Command sent: %s" % _showhex(req))
-
-    def _send_cmd(self, cmd):
-        """Sends `cmd` command to the sensor."""
-        req = SYNC_BYTE + cmd
-        self._serial.write(req)
-        self.logger.debug("Command sent: %s" % _showhex(req))
-
-    def _read_descriptor(self):
-        """Reads descriptor packet."""
-        descriptor = self._serial.read(DESCRIPTOR_LEN)
-        self.logger.debug("Received descriptor: %s", _showhex(descriptor))
-        if len(descriptor) != DESCRIPTOR_LEN:
-            raise RPLidarException("Descriptor length mismatch")
-        elif not descriptor.startswith(SYNC_BYTE + SYNC_BYTE2):
-            raise RPLidarException("Incorrect descriptor starting bytes")
-        is_single = _b2i(descriptor[-2]) == 0
-        return _b2i(descriptor[2]), is_single, _b2i(descriptor[-1])
-
-    def _read_response(self, dsize):
-        """Reads response packet with length of `dsize` bytes."""
-        self.logger.debug("Trying to read response: %d bytes", dsize)
-        while self._serial.inWaiting() < dsize:
-            time.sleep(0.001)
-        data = self._serial.read(dsize)
-        self.logger.debug("Received data: %s", _showhex(data))
-        return data
-
-    def get_info(self):
-        """Get device information.
-
-        Returns
-        -------
-        dict
-            Dictionary with the sensor information
-        """
-        if self._serial.inWaiting() > 0:
-            self.clean_input()
-            time.sleep(0.5)
-        self._send_cmd(GET_INFO_BYTE)
-        dsize, is_single, dtype = self._read_descriptor()
-        if dsize != INFO_LEN:
-            raise RPLidarException("Wrong get_info reply length")
-        if not is_single:
-            raise RPLidarException("Not a single response mode")
-        if dtype != INFO_TYPE:
-            raise RPLidarException("Wrong response data type")
-        raw = self._read_response(dsize)
-        serialnumber = codecs.encode(raw[4:], "hex").upper()
-        serialnumber = codecs.decode(serialnumber, "ascii")
-        data = {
-            "model": _b2i(raw[0]),
-            "firmware": (_b2i(raw[2]), _b2i(raw[1])),
-            "hardware": _b2i(raw[3]),
-            "serial number": serialnumber,
-        }
-        return data
-
-    def get_health(self):
-        """Get device health state. When the core system detects some
-        potential risk that may cause hardware failure in the future,
-        the returned status value will be 'Warning'. But sensor can still work
-        as normal. When sensor is in the Protection Stop state, the returned
-        status value will be 'Error'. In case of warning or error statuses
-        non-zero error code will be returned.
-
-        Returns
-        -------
-        status : str
-            'Good', 'Warning' or 'Error' statuses
-        error_code : int
-            The related error code that caused a warning/error.
-        """
-        if self._serial.inWaiting() > 0:
-            self.clean_input()
-            time.sleep(0.5)
-        self.logger.info("Asking for health")
-        self._send_cmd(GET_HEALTH_BYTE)
-        dsize, is_single, dtype = self._read_descriptor()
-        if dsize != HEALTH_LEN:
-            raise RPLidarException("Wrong get_info reply length")
-        if not is_single:
-            raise RPLidarException("Not a single response mode")
-        if dtype != HEALTH_TYPE:
-            raise RPLidarException("Wrong response data type")
-        raw = self._read_response(dsize)
-        status = _HEALTH_STATUSES[_b2i(raw[0])]
-        error_code = (_b2i(raw[1]) << 8) + _b2i(raw[2])
-        return status, error_code
-
-    def clean_input(self):
-        """Clean input buffer by reading all available data."""
-        if self.scanning[0]:
-            raise RPLidarException("Cleaning not allowed during active scanning!")
-        self._serial.flushInput()
-        self.express_trame = 32
-        self.express_data = False
-
-    def stop(self):
-        """Stops scanning process, disables laser diode and the measurement
-        system, moves sensor to the idle state.
-        """
-        self.logger.info("Stop scanning")
-        self._send_cmd(STOP_BYTE)
-        time.sleep(0.1)
-        self.scanning[0] = False
-        self.clean_input()
-
-    def start(self, scan_type="normal"):
-        """Start the scanning process.
-
-        Parameters
-        ----------
-        scan_type : str
-            Scan mode: normal, force, or express.
-        """
-        if self.scanning[0]:
-            raise RPLidarException("Scan already running!")
-
-        # Check sensor health before starting
-        status, error_code = self.get_health()
-        self.logger.debug("Health status: %s [%d]", status, error_code)
-
-        if status == _HEALTH_STATUSES[2]:
-            self.logger.warning("Trying to reset sensor due to error. Error code: %d", error_code)
-            self.reset()
-            status, error_code = self.get_health()
-            if status == _HEALTH_STATUSES[2]:
-                raise RPLidarException("RPLidar hardware failure. Error code: %d" % error_code)
-        elif status == _HEALTH_STATUSES[1]:
-            self.logger.warning("Warning sensor status detected! Error code: %d", error_code)
-
-        cmd = _SCAN_TYPE[scan_type]["byte"]
-        self.logger.info("Starting scan process in %s mode", scan_type)
-
-        if scan_type == "express":
-            self._send_payload_cmd(cmd, b"\x00\x00\x00\x00\x00")
-        else:
-            self._send_cmd(cmd)
-
-        dsize, is_single, dtype = self._read_descriptor()
-        if dsize != _SCAN_TYPE[scan_type]["size"]:
-            raise RPLidarException("Wrong get_info reply length")
-        if is_single:
-            raise RPLidarException("Not a multiple response mode")
-        if dtype != _SCAN_TYPE[scan_type]["response"]:
-            raise RPLidarException("Wrong response data type")
-        self.scanning = [True, dsize, scan_type]
-
-    def reset(self):
-        """Resets sensor core, reverting it to a similar state as it has
-        just been powered up.
-        """
-        self.logger.info("Resetting the RPLidar")
-        self._send_cmd(RESET_BYTE)
-        time.sleep(2)
-        self.clean_input()
-
-    def iter_measures(self, scan_type="normal", max_buf_meas=3000):
-        """Iterate over measurements. Note that consumer must be fast enough,
-        otherwise data will accumulate inside buffer and consumer will get
-        data with increasing lag.
-
-        Parameters
-        ----------
-        scan_type : str
-            Type of scan to perform ('normal' or 'express'). Defaults to 'normal'.
-        max_buf_meas : int or False if you want unlimited buffer
-            Maximum number of bytes to be stored inside the buffer. Once
-            number exceeds this limit buffer will be emptied out.
-
-        Yields
-        ------
-        tuple
-            A tuple containing (new_scan, quality, angle, distance):
-            - new_scan (bool): True if measurement belongs to a new scan
-            - quality (int): Reflected laser pulse strength
-            - angle (float): The measurement heading angle in degree units [0, 360)
-            - distance (float): Measured object distance related to the sensor's
-              rotation center in millimeters. Set to 0 when measure is invalid.
-        """
-        self.start_motor()
-        if not self.scanning[0]:
-            self.start(scan_type)
-
-        while True:
-            dsize = self.scanning[1]
-
-            if max_buf_meas:
-                data_in_buf = self._serial.inWaiting()
-                if data_in_buf > max_buf_meas:
-                    self.logger.warning(
-                        "Too many bytes in the input buffer: %d/%d. " "Cleaning buffer...",
-                        data_in_buf,
-                        max_buf_meas,
-                    )
-                    self.stop()
-                    self.start(self.scanning[2])
-
-            if self.scanning[2] == "normal":
-                self.logger.debug("Normal scanning mode")
-                raw = self._read_response(dsize)
-                self.logger.debug(f"Raw data: {raw}")
-                yield _process_scan(raw)
-            if self.scanning[2] == "express":
-                try:
-                    # print("M: Express scanning")
-                    if self.express_trame == 32:
-                        self.express_trame = 0
-                        # print("self.express_data: ",  self.express_data)
-                        if not self.express_data:
-                            self.logger.debug("reading first time bytes")
-                            raw_data = self._read_response(dsize)
-                            self.express_data = ExpressPacket.from_string(raw_data)
-
-                        self.express_old_data = self.express_data
-                        self.logger.debug(
-                            "set old_data with start_angle %f",
-                            self.express_old_data.start_angle,
-                        )
-                        raw_data = self._read_response(dsize)
-                        self.express_data = ExpressPacket.from_string(raw_data)
-                        self.logger.debug(
-                            "set new_data with start_angle %f",
-                            self.express_data.start_angle,
-                        )
-
-                    self.express_trame += 1
-                    self.logger.debug(
-                        "process scan of frame %d with angle : %f and angle new : %f",
-                        self.express_trame,
-                        self.express_old_data.start_angle,
-                        self.express_data.start_angle,
-                    )
-                    # print(
-                    #     "process scan of frame %d with angle : %f and angle new : %f",
-                    #     self.express_trame,
-                    #     self.express_old_data.start_angle,
-                    #     self.express_data.start_angle,
-                    # )
-                    yield _process_express_scan(
-                        self.express_old_data,
-                        self.express_data.start_angle,
-                        self.express_trame,
-                    )
-
-                except ValueError as e:
-                    self.logger.warning("Error while processing express scan: %s", e)
-                    self.express_trame = 32
-                    self.express_data = False
-
-                    self.stop()
-                    time.sleep(0.1)
-                    self.clean_input()
-                    time.sleep(0.1)
-                    self.start("express")
-                    continue
-
-    def iter_scans(self, scan_type="normal", max_buf_meas=3000, min_len=5):
-        """Iterate over scans. Note that consumer must be fast enough,
-        otherwise data will be accumulated inside buffer and consumer will get
-        data with increasing lag.
-
-        Parameters
-        ----------
-        scan_type : str
-            Type of scan to perform ('normal' or 'express'). Defaults to 'normal'.
-        max_buf_meas : int
-            Maximum number of measures to be stored inside the buffer. Once
-            number exceeds this limit buffer will be cleared.
-        min_len : int
-            Minimum number of measures in the scan for it to be returned.
-
-        Yields
-        ------
-        list
-            List of the measurements. Each measurement is a tuple with following
-            format: (quality, angle, distance). For values description please
-            refer to `iter_measures` method's documentation.
-        """
-        scan_list = []
-        iterator = self.iter_measures(scan_type, max_buf_meas)
-        for new_scan, quality, angle, distance in iterator:
-            if new_scan:
-                if len(scan_list) > min_len:
-                    yield scan_list
-                scan_list = []
-            if distance > 0:
-                scan_list.append((quality, angle, distance))
-
-    def iter_scans_local(self, scan_type="normal", max_buf_meas=3000, min_len=5, max_distance_mm=2000):
-        """Iterate over scans. Note that consumer must be fast enough,
-        otherwise data will accumulate inside buffer and consumer will get
-        data with increasing lag.
-
-        Parameters
-        ----------
-        scan_type : str
-            Type of scan to perform ('normal' or 'express'). Defaults to 'normal'.
-        max_buf_meas : int
-            Maximum number of measures to be stored inside the buffer. Once
-            number exceeds this limit buffer will be cleared.
-        min_len : int
-            Minimum number of measures in the scan for it to be returned.
-        max_distance_mm : int
-            Maximum distance in millimeters. Points beyond this distance are filtered out.
-
-        Yields
-        ------
-        list
-            List of the measurements. Each measurement is a tuple with following
-            format: (angle, distance). For values description please
-            refer to `iter_measures` method's documentation.
-        """
-        scan_list = []
-        iterator = self.iter_measures(scan_type, max_buf_meas)
-        for new_scan, _quality, angle, distance in iterator:
-            if new_scan:
-                if len(scan_list) > min_len:
-                    yield scan_list
-                scan_list = []
-            if distance > 0 and distance < max_distance_mm:
-                scan_list.append((angle, distance))
-
-
-class ExpressPacket(namedtuple("express_packet", "distance angle new_scan start_angle")):
-    """
-    Class representing an express scan packet from RPLidar.
-    """
-
-    sync1 = 0xA
-    sync2 = 0x5
-    sign = {0: 1, 1: -1}
-
-    @classmethod
-    def from_string(cls, data):
-        """
-        Create ExpressPacket from raw data string.
-
-        Parameters
-        ----------
-        data : bytes
-            Raw data bytes to parse.
-        """
-        packet = bytearray(data)
-
-        if (packet[0] >> 4) != cls.sync1 or (packet[1] >> 4) != cls.sync2:
-            raise ValueError(f"trying to parse corrupted data ({packet})")
-
-        checksum = 0
-        for b in packet[2:]:
-            checksum ^= b
-        if checksum != (packet[0] & 0b00001111) + ((packet[1] & 0b00001111) << 4):
-            raise ValueError(f"Invalid checksum ({packet})")
-
-        new_scan = packet[3] >> 7
-        start_angle = (packet[2] + ((packet[3] & 0b01111111) << 8)) / 64
-
-        d = a = ()
-        for i in range(0, 80, 5):
-            d += ((packet[i + 4] >> 2) + (packet[i + 5] << 6),)
-            a += (
-                ((packet[i + 8] & 0b00001111) + ((packet[i + 4] & 0b00000001) << 4))
-                / 8
-                * cls.sign[(packet[i + 4] & 0b00000010) >> 1],
-            )
-            d += ((packet[i + 6] >> 2) + (packet[i + 7] << 6),)
-            a += (
-                ((packet[i + 8] >> 4) + ((packet[i + 6] & 0b00000001) << 4))
-                / 8
-                * cls.sign[(packet[i + 6] & 0b00000010) >> 1],
-            )
-        return cls(d, a, new_scan, start_angle)
diff --git a/src/providers/rtk_provider.py b/src/providers/rtk_provider.py
deleted file mode 100644
index 5c2c6e21b5..0000000000
--- a/src/providers/rtk_provider.py
+++ /dev/null
@@ -1,231 +0,0 @@
-import datetime
-import logging
-import re
-import threading
-import time
-from typing import Optional
-
-import serial
-from pynmeagps import NMEAReader
-
-from .singleton import singleton
-
-
-@singleton
-class RtkProvider:
-    """
-    RTK Provider.
-
-    This class handles the connection to an RTK device via a serial port,
-    processes incoming NMEA messages, and provides access to the latest RTK
-    position data.
-    """
-
-    def __init__(self, serial_port: str = ""):
-        """
-        Initialize the RTKProvider instance.
-
-        Sets up the serial connection to the RTK device.
-
-        Parameters
-        ----------
-        serial_port : str
-            The serial port to connect to the RTK device.
-        """
-        logging.info("Booting RTK Provider")
-
-        baudrate = 115200
-        timeout = 0.2  # seconds
-
-        self.serial_connection = None
-        try:
-            self.serial_connection = serial.Serial(serial_port, baudrate, timeout=timeout)
-            self.serial_connection.reset_input_buffer()
-            logging.info(f"Connected to {serial_port} at {baudrate} baud")
-        except serial.SerialException as e:
-            logging.error(f"Error: {e}")
-
-        self._rtk: Optional[dict] = None
-
-        self.lat = 0.0
-        self.lon = 0.0
-        self.alt = 0.0
-        self.sat = 0
-        self.qua = 0
-        self.unix_ts = 0.0
-
-        self.running = False
-        self._thread: Optional[threading.Thread] = None
-        self.start()
-
-    def utc_time_obj_to_unix(self, utc_time_obj):
-        """
-        Convert a UTC datetime.time object to a Unix timestamp by combining
-        it with the local computer's current date.
-
-        Parameters
-        ----------
-        utc_time_obj : datetime.time
-            A UTC time object to convert.
-
-        Returns
-        -------
-        float
-            Unix timestamp representing the combined date and time.
-        """
-        if not isinstance(utc_time_obj, datetime.time):
-            raise TypeError("Expected a datetime.time object")
-
-        # Get the local date
-        local_date = datetime.date.today()
-
-        # Combine local date with provided UTC time
-        dt = datetime.datetime.combine(local_date, utc_time_obj).replace(tzinfo=datetime.timezone.utc)
-
-        # Convert to Unix timestamp
-        return dt.timestamp()
-
-    def get_latest_gngga_message(self, nmea_data):
-        """
-        Extract the latest GNGGA message from a block of NMEA data.
-
-        Parameters
-        ----------
-        nmea_data : str
-            The block of NMEA data as a string.
-        """
-        pattern = re.compile(r"(\$GNGGA,(?P<time>\d{6}(?:\.\d+)?),[^*]*\*[0-9A-Fa-f]{2})", re.MULTILINE)
-
-        gngga_entries = []
-
-        matches = pattern.finditer(nmea_data)
-
-        for match in matches:
-            # logging.info(f"matches: {match}")
-            full_msg = match.group(1)
-            time_str = match.group("time")
-            try:
-                time_val = float(time_str)
-                gngga_entries.append((time_val, full_msg))
-            except ValueError:
-                continue  # Skip if time field is malformed
-
-        # Sort by time and return the latest message
-        if gngga_entries:
-            most_recent = max(gngga_entries, key=lambda x: x[0])
-            # "most_recent" is a time and the message,
-            # the [1] just returns the message
-            return most_recent[1]
-
-    def magRTKProcessor(self, msg):
-        """
-        Process incoming RTK NMEA messages.
-
-        Parameters
-        ----------
-        msg : NMEA message object
-            The NMEA message to process.
-        """
-        try:
-            logging.debug(f"RTK:{msg}")
-
-            # NMEA-GN-GGA
-            # Description:
-            # Standard NMEA: Global positioning system fix data. This message contains time, date,
-            # position (in LLH coordinates), fix quality, number of satellites, and horizontal dilution of
-            # precision (HDOP) data provided by the selected source.
-
-            if msg and msg.msgID == "GGA":
-                try:
-                    # round to 1 cm localisation in x,y, and 1 cm in z
-                    logging.debug(f"RTK GGA:{msg}")
-
-                    if msg.lat:
-                        self.lat = round(float(msg.lat), 7)
-                        self.lon = round(float(msg.lon), 7)
-                        self.alt = round(float(msg.alt), 2)
-
-                        self.sat = int(msg.numSV)
-                        self.qua = int(msg.quality)
-
-                        # the data look something like this: 23:12:25.300000
-                        self.unix_ts = self.utc_time_obj_to_unix(msg.time)
-                    logging.debug(
-                        (
-                            f"RTK:{self.lat},{self.lon},ALT:{self.alt},"
-                            f"QUA:{self.qua},SAT:{self.sat},TIME:{self.unix_ts}"
-                        )
-                    )
-                except Exception as e:
-                    logging.warning(f"Failed to parse GGA message: {msg} ({e})")
-        except Exception as e:
-            logging.warning(f"Error processing serial RTK input: {msg} ({e})")
-
-        self._rtk = {
-            "rtk_lat": self.lat,
-            "rtk_lon": self.lon,
-            "rtk_alt": self.alt,
-            "rtk_sat": self.sat,
-            "rtk_qua": self.qua,
-            "rtk_unix_ts": self.unix_ts,
-        }
-
-    def start(self):
-        """
-        Starts the RTK Provider and processing thread
-        if not already running.
-        """
-        if self._thread and self._thread.is_alive():
-            return
-
-        self.running = True
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-
-    def _run(self):
-        """
-        Main loop for the RTK provider.
-        """
-        while self.running:
-
-            if self.serial_connection:
-                bytes_waiting = self.serial_connection.in_waiting
-                while bytes_waiting > 0:
-                    data = self.serial_connection.read(size=bytes_waiting)
-                    if data:
-                        data = data.decode("utf-8", errors="ignore")
-                        latest_GNGGA = self.get_latest_gngga_message(data)
-                        if latest_GNGGA:
-                            parsed_nmea = NMEAReader.parse(latest_GNGGA)
-                            self.magRTKProcessor(parsed_nmea)
-                    bytes_waiting = self.serial_connection.in_waiting
-
-            time.sleep(0.1)
-
-    def stop(self):
-        """
-        Stop the RTK provider and cleanup resources.
-        """
-        self.running = False
-        if self._thread:
-            logging.info("Stopping RTK provider")
-            self._thread.join(timeout=5)
-
-        if self.serial_connection and self.serial_connection.is_open:
-            try:
-                self.serial_connection.close()
-                logging.info("RTK serial port closed")
-            except Exception as e:
-                logging.error(f"Error closing RTK serial port: {e}")
-
-    @property
-    def data(self) -> Optional[dict]:
-        """
-        Get the current robot RTK data.
-
-        Returns
-        -------
-        Optional[dict]
-            Dictionary containing RTK position data or None if not available
-        """
-        return self._rtk
diff --git a/src/providers/simple_paths_provider.py b/src/providers/simple_paths_provider.py
deleted file mode 100644
index bab2772166..0000000000
--- a/src/providers/simple_paths_provider.py
+++ /dev/null
@@ -1,280 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-import time
-from queue import Empty, Full
-from typing import Dict, List, Optional, Union
-
-import zenoh
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-from zenoh_msgs import load_session_config, open_zenoh_session, sensor_msgs
-
-from .singleton import singleton
-
-
-def simple_paths_processor(
-    api_key: Optional[str],
-    use_sim: bool,
-    data_queue: mp.Queue,
-    control_queue: mp.Queue,
-    logging_config: Optional[LoggingConfig] = None,
-):
-    """
-    Process paths data from the Zenoh session.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API Key for authentication with the Zenoh broker, if required.
-    use_sim : bool
-        Whether to use the simulation endpoint instead of a local one.
-    data_queue : mp.Queue
-        Queue for receiving paths data.
-    control_queue : mp.Queue
-        Queue for sending control commands.
-    logging_config : Optional[LoggingConfig]
-        Optional logging configuration for the processor.
-    """
-    setup_logging("rplidar_processor", logging_config=logging_config)
-
-    def paths_callback(msg: zenoh.Sample):
-        """
-        Callback for receiving paths messages.
-
-        Parameters
-        ----------
-        msg: zenoh.Sample
-            The message containing paths data.
-        """
-        paths = sensor_msgs.Paths.deserialize(msg.payload.to_bytes())
-
-        msg_time = paths.header.stamp.sec + paths.header.stamp.nanosec * 1e-9
-        current_time = time.time()
-        latency = current_time - msg_time
-
-        logging.debug(f"Received paths with latency: {latency:.6f} seconds")
-        logging.info(f"Received paths: {paths.paths}")
-
-        try:
-            data_queue.put_nowait(paths)
-        except Full:
-            try:
-                data_queue.get_nowait()
-                data_queue.put_nowait(paths)
-            except Empty:
-                pass
-
-    running = True
-
-    try:
-        load_session_config(api_key, use_sim)
-        session = open_zenoh_session()
-
-        session.declare_subscriber("om/paths", paths_callback)
-
-        logging.info("Zenoh is open for SimplePathsProvider")
-    except Exception as e:
-        logging.error(f"Failed to open Zenoh session: {e}")
-
-    while running:
-        try:
-            cmd = control_queue.get_nowait()
-            if cmd == "STOP":
-                running = False
-                break
-        except Empty:
-            pass
-
-        time.sleep(0.1)
-
-
-@singleton
-class SimplePathsProvider:
-    """
-    Singleton class to provide simple path processing using Zenoh.
-    """
-
-    def __init__(self, api_key: Optional[str] = None, use_sim: bool = False):
-        """
-        Initialize the SimplePathsProvider, set up Zenoh session, and prepare for path processing.
-
-        Parameters
-        ----------
-        api_key : Optional[str]
-            API Key for authentication with the Zenoh broker, if required.
-        use_sim : bool
-            Whether to use the simulation endpoint instead of a local one.
-        """
-        self.api_key = api_key
-        self.use_sim = use_sim
-        self.session = None
-        self.paths = None
-
-        # Paths attributes
-        self.turn_left = []
-        self.turn_right = []
-        self.advance = []
-        self.retreat = False
-
-        # Valid paths list
-        self._valid_paths = []
-
-        # LLM string
-        self._lidar_string = ""
-
-        # Path angles for movement options
-        self.path_angles = [-60, -45, -30, -15, 0, 15, 30, 45, 60, 180]
-
-        # Data Queues for multiprocessing
-        self.data_queue = mp.Queue(maxsize=5)
-        self.control_queue = mp.Queue()
-
-        # Thread control
-        self._simple_paths_processor_thread = None
-        self._simple_paths_derived_thread = None
-        self._stop_event = threading.Event()
-
-    def start(self):
-        """
-        Start the SimplePathsProvider by opening a Zenoh session.
-        """
-        if not self._simple_paths_processor_thread or not self._simple_paths_processor_thread.is_alive():
-            self._simple_paths_processor_thread = mp.Process(
-                target=simple_paths_processor,
-                args=(self.api_key, self.use_sim, self.data_queue, self.control_queue, get_logging_config()),
-            )
-            self._simple_paths_processor_thread.start()
-            logging.info("SimplePathsProvider started.")
-
-        if not self._simple_paths_derived_thread or not self._simple_paths_derived_thread.is_alive():
-            self._simple_paths_derived_thread = threading.Thread(
-                target=self._simple_paths_derived_processor,
-                daemon=True,
-            )
-            self._simple_paths_derived_thread.start()
-            logging.info("SimplePathsProvider derived processor started.")
-
-    def stop(self):
-        """
-        Stop the SimplePathsProvider by closing the Zenoh session.
-        """
-        self._stop_event.set()
-
-        if self._simple_paths_processor_thread:
-            self.control_queue.put("STOP")
-            self._simple_paths_processor_thread.join()
-            logging.info("SimplePathsProvider stopped.")
-
-        if self._simple_paths_derived_thread:
-            self._simple_paths_derived_thread.join()
-            logging.info("SimplePathsProvider derived processor stopped.")
-
-    def _simple_paths_derived_processor(self):
-        """
-        Process paths data from the data queue and generate movement options.
-        """
-        while not self._stop_event.is_set():
-            try:
-                paths = self.data_queue.get_nowait()
-
-                self.turn_left = []
-                self.turn_right = []
-                self.advance = []
-                self.retreat = False
-
-                for path in paths.paths:
-                    if path < 3:
-                        self.turn_left.append(path)
-                    elif path >= 3 and path <= 5:
-                        self.advance.append(path)
-                    elif path < 9:
-                        self.turn_right.append(path)
-                    elif path == 9:
-                        self.retreat = True
-
-                self._valid_paths = paths
-                self._lidar_string = self._generate_movement_string(paths)
-
-            except Empty:
-                time.sleep(0.1)
-                continue
-
-    def _generate_movement_string(self, valid_paths: list) -> str:
-        """
-        Generate movement direction string based on valid paths.
-
-        Parameters
-        ----------
-        valid_paths : list
-            A list of valid paths represented as integers.
-            Each integer corresponds to a specific movement direction.
-
-        Returns
-        -------
-        str
-            A string describing the safe movement directions based on the valid paths.
-        """
-        if not valid_paths:
-            return "You are surrounded by objects and cannot safely move in any direction. DO NOT MOVE."
-
-        parts = ["The safe movement directions are: {"]
-
-        if self.turn_left:
-            parts.append("'turn left', ")
-        if self.advance:
-            parts.append("'move forwards', ")
-        if self.turn_right:
-            parts.append("'turn right', ")
-        if self.retreat:
-            parts.append("'move back', ")
-
-        parts.append("'stand still'}. ")
-        return "".join(parts)
-
-    @property
-    def valid_paths(self) -> Optional[List]:
-        """
-        Get the currently valid paths.
-
-        Returns
-        -------
-        Optional[list]
-            The currently valid paths as a list, or None if not
-            available. The list contains 0 to 10 entries,
-            corresponding to possible paths - for example: [0,3,4,5]
-        """
-        return self._valid_paths
-
-    @property
-    def lidar_string(self) -> str:
-        """
-        Get the latest natural language assessment of possible paths.
-
-        Returns
-        -------
-        str
-            A natural language summary of possible motion paths
-        """
-        return self._lidar_string
-
-    @property
-    def movement_options(self) -> Dict[str, Union[List[int], bool]]:
-        """
-        Get the movement options based on the current valid paths.
-
-        Returns
-        -------
-        Dict[str, List[int]]
-            A dictionary containing lists of valid movement options:
-            - 'turn_left': Indices for turning left
-            - 'advance': Indices for moving forward
-            - 'turn_right': Indices for turning right
-            - 'retreat': Indices for moving backward
-        """
-        return {
-            "turn_left": self.turn_left,
-            "advance": self.advance,
-            "turn_right": self.turn_right,
-            "retreat": self.retreat,
-        }
diff --git a/src/providers/singleton.py b/src/providers/singleton.py
deleted file mode 100644
index 5f35cbe11b..0000000000
--- a/src/providers/singleton.py
+++ /dev/null
@@ -1,57 +0,0 @@
-import threading
-from typing import Any
-
-
-def singleton(cls):
-    """
-    A thread-safe singleton decorator that ensures only one instance of a class exists.
-
-    This decorator implements a singleton pattern with thread safety using a lock.
-    Multiple threads attempting to create an instance will be synchronized to prevent
-    race conditions.
-
-    Args:
-        cls: The class to be converted into a singleton.
-
-    Returns
-    -------
-        function: A getter function that returns the singleton instance.
-    """
-    if not hasattr(cls, "_singleton_instance"):
-        cls._singleton_instance = None
-    lock = threading.Lock()
-
-    def get_instance(*args, **kwargs) -> Any:
-        """
-        Returns the singleton instance of the decorated class.
-
-        If the instance doesn't exist, creates it with the provided arguments.
-        Thread-safe implementation using a lock.
-
-        Args:
-            *args: Positional arguments to pass to the class constructor.
-            **kwargs: Keyword arguments to pass to the class constructor.
-
-        Returns
-        -------
-            Any: The singleton instance of the decorated class.
-        """
-        with lock:
-            if cls._singleton_instance is None:
-                cls._singleton_instance = cls(*args, **kwargs)
-            return cls._singleton_instance
-
-    def reset_instance():
-        """
-        Resets the singleton instance of the decorated class.
-
-        This method sets the singleton instance to None, allowing a new instance
-        to be created on the next call to get_instance.
-        """
-        with lock:
-            cls._singleton_instance = None
-
-    get_instance._singleton_class = cls  # type: ignore
-    get_instance.reset = reset_instance  # type: ignore
-
-    return get_instance
diff --git a/src/providers/sleep_ticker_provider.py b/src/providers/sleep_ticker_provider.py
deleted file mode 100644
index 8544982253..0000000000
--- a/src/providers/sleep_ticker_provider.py
+++ /dev/null
@@ -1,92 +0,0 @@
-import asyncio
-import logging
-import threading
-from typing import Optional
-
-from .singleton import singleton
-
-
-@singleton
-class SleepTickerProvider:
-    """
-    A singleton provider for managing asynchronous sleep operations with cancellation support.
-
-    This class provides a thread-safe way to manage sleep operations that can be
-    skipped/cancelled. It uses a lock mechanism to ensure thread safety when
-    modifying the skip state.
-    """
-
-    def __init__(self):
-        """
-        Initialize the SleepTickerProvider with default values.
-
-        The provider starts with sleep enabled (_skip_sleep = False) and no active
-        sleep task.
-        """
-        self._lock: threading.Lock = threading.Lock()
-        self._skip_sleep: bool = False
-        self._current_sleep_task: Optional[asyncio.Task] = None
-
-    @property
-    def skip_sleep(self) -> bool:
-        """
-        Get the current skip sleep state.
-
-        Returns
-        -------
-        bool
-            True if sleep operations should be skipped, False otherwise.
-        """
-        with self._lock:
-            return self._skip_sleep
-
-    @skip_sleep.setter
-    def skip_sleep(self, value: bool) -> None:
-        """
-        Set the skip sleep state and optionally cancel current sleep task.
-
-        Parameters
-        ----------
-        value : bool
-            The new skip sleep state. If True and there's an active sleep task,
-            the task will be cancelled.
-        """
-        with self._lock:
-            self._skip_sleep = value
-            if value and self._current_sleep_task:
-                self._current_sleep_task.cancel()
-
-    async def sleep(self, duration: float) -> None:
-        """
-        Create and await an asynchronous sleep task.
-
-        Creates a new sleep task and stores it as the current task. The task can
-        be cancelled if skip_sleep is set to True while the sleep is in progress.
-
-        Parameters
-        ----------
-        duration : float
-            The duration to sleep in seconds.
-
-        Returns
-        -------
-        None
-
-        Raises
-        ------
-        asyncio.CancelledError
-            If the sleep operation is cancelled, though this is caught internally.
-        """
-        if self.skip_sleep:
-            return
-
-        try:
-            self._current_sleep_task = asyncio.create_task(asyncio.sleep(duration))
-            await self._current_sleep_task
-        except asyncio.CancelledError:
-            logging.warning("Sleep operation was cancelled.")
-            pass
-        except Exception as e:
-            logging.error(f"Error during sleep operation: {e}")
-        finally:
-            self._current_sleep_task = None
diff --git a/src/providers/teleops_conversation_provider.py b/src/providers/teleops_conversation_provider.py
deleted file mode 100644
index a7648807d4..0000000000
--- a/src/providers/teleops_conversation_provider.py
+++ /dev/null
@@ -1,190 +0,0 @@
-import logging
-import time
-from concurrent.futures import ThreadPoolExecutor
-from dataclasses import dataclass
-from enum import Enum
-from typing import Optional
-
-import requests
-
-from .singleton import singleton
-
-
-class MessageType(Enum):
-    """
-    Enumeration for message types in the conversation.
-    """
-
-    USER = "user"
-    ROBOT = "robot"
-
-
-@dataclass
-class ConversationMessage:
-    """
-    Represents a conversation message with type, content, and timestamp.
-
-    Parameters
-    ----------
-    message_type : MessageType
-        The type of the message, either USER or ROBOT.
-    content : str
-        The text content of the message.
-    timestamp : float
-        Unix timestamp when the message was created.
-    """
-
-    message_type: MessageType
-    content: str
-    timestamp: float
-
-    def to_dict(self) -> dict:
-        """
-        Convert the ConversationMessage to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the ConversationMessage.
-        """
-        return {
-            "type": self.message_type.value,
-            "content": self.content,
-            "timestamp": self.timestamp,
-        }
-
-    @classmethod
-    def from_dict(cls, data: dict) -> "ConversationMessage":
-        """
-        Create a ConversationMessage from a dictionary.
-
-        Parameters
-        ----------
-        data : dict
-            Dictionary containing message data.
-
-        Returns
-        -------
-        ConversationMessage
-            The created ConversationMessage instance.
-        """
-        return cls(
-            message_type=MessageType(data.get("type", MessageType.USER.value)),
-            content=data.get("content", ""),
-            timestamp=data.get("timestamp", 0.0),
-        )
-
-
-@singleton
-class TeleopsConversationProvider:
-    """
-    Singleton class to manage conversation messages with a Teleops backend.
-    """
-
-    def __init__(
-        self,
-        api_key: Optional[str] = None,
-        base_url: str = "https://api.openmind.com/api/core/teleops/conversation",
-    ):
-        """
-        Initialize the Teleops conversation provider.
-
-        Parameters
-        ----------
-        api_key : str, optional
-            API key for authenticating requests to the Teleops backend.
-            If None or empty, message storage will be disabled.
-        base_url : str, default="https://api.openmind.com/api/core/teleops/conversation"
-            Base URL for the Teleops conversation API endpoint.
-        """
-        self.api_key = api_key
-        self.base_url = base_url
-        self.executor = ThreadPoolExecutor(max_workers=1)
-
-    def store_user_message(self, content: str) -> None:
-        """
-        Store a user message in the conversation.
-
-        Parameters
-        ----------
-        content : str
-            The content of the user message.
-        """
-        message = ConversationMessage(
-            message_type=MessageType.USER,
-            content=content.strip(),
-            timestamp=time.time(),
-        )
-        self._store_message(message)
-
-    def store_robot_message(self, content: str) -> None:
-        """
-        Store a robot message in the conversation.
-
-        Parameters
-        ----------
-        content : str
-            The content of the robot message.
-        """
-        message = ConversationMessage(
-            message_type=MessageType.ROBOT,
-            content=content.strip(),
-            timestamp=time.time(),
-        )
-        self._store_message(message)
-
-    def _store_message_worker(self, message: ConversationMessage) -> None:
-        """
-        Worker method to store a conversation message via HTTP POST.
-
-        Parameters
-        ----------
-        message : ConversationMessage
-            The conversation message to store.
-        """
-        if self.api_key is None or self.api_key == "":
-            logging.debug("API key is missing. Cannot store conversation message.")
-            return
-
-        if not message.content or not message.content.strip():
-            logging.debug("Empty content, skipping conversation storage")
-            return
-
-        try:
-            request = requests.post(
-                self.base_url,
-                headers={"Authorization": f"Bearer {self.api_key}"},
-                json=message.to_dict(),
-                timeout=2,
-            )
-
-            if request.status_code == 200:
-                logging.debug(f"Successfully stored {message.message_type.value} message to conversation")
-            else:
-                logging.debug(
-                    f"Failed to store {message.message_type.value} message: {request.status_code} - {request.text}"
-                )
-        except Exception as e:
-            logging.debug(f"Error storing {message.message_type.value} conversation message: {str(e)}")
-
-    def _store_message(self, message: ConversationMessage) -> None:
-        """
-        Submit the message storage task to the executor.
-
-        Parameters
-        ----------
-        message : ConversationMessage
-            The conversation message to store.
-        """
-        self.executor.submit(self._store_message_worker, message)
-
-    def is_enabled(self) -> bool:
-        """
-        Check if the Teleops conversation provider is enabled.
-
-        Returns
-        -------
-        bool
-            True if the API key is set, False otherwise.
-        """
-        return self.api_key is not None and self.api_key != ""
diff --git a/src/providers/teleops_status_provider.py b/src/providers/teleops_status_provider.py
deleted file mode 100644
index a42c213b8b..0000000000
--- a/src/providers/teleops_status_provider.py
+++ /dev/null
@@ -1,305 +0,0 @@
-import logging
-import time
-from concurrent.futures import ThreadPoolExecutor
-from dataclasses import dataclass, field
-from enum import Enum
-from typing import Optional
-
-import requests
-
-from .singleton import singleton
-
-
-@dataclass
-class BatteryStatus:
-    """
-    Data class to represent the battery status of a teleops system.
-    """
-
-    battery_level: float
-    temperature: float
-    voltage: float
-    timestamp: str
-    charging_status: bool = False
-
-    def to_dict(self) -> dict:
-        """
-        Convert the BatteryStatus object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the BatteryStatus object.
-        """
-        return {
-            "battery_level": self.battery_level,
-            "charging_status": self.charging_status,
-            "temperature": self.temperature,
-            "voltage": self.voltage,
-            "timestamp": self.timestamp,
-        }
-
-    @classmethod
-    def from_dict(cls, data: dict) -> "BatteryStatus":
-        """
-        Populate the BatteryStatus object from a dictionary.
-
-        Parameters
-        ----------
-        data : dict
-            Dictionary containing battery status information.
-        """
-        return cls(
-            battery_level=data.get("battery_level", 0.0),
-            charging_status=data.get("charging_status", False),
-            temperature=data.get("temperature", 0.0),
-            voltage=data.get("voltage", 0.0),
-            timestamp=data.get("timestamp", str(time.time())),
-        )
-
-
-@dataclass
-class CommandStatus:
-    """
-    Data class to represent the command status of a teleops system.
-    """
-
-    vx: float
-    vy: float
-    vyaw: float
-    timestamp: str
-
-    def to_dict(self) -> dict:
-        """
-        Convert the CommandStatus object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the CommandStatus object.
-        """
-        return {
-            "vx": self.vx,
-            "vy": self.vy,
-            "vyaw": self.vyaw,
-            "timestamp": self.timestamp,
-        }
-
-    @classmethod
-    def from_dict(cls, data: dict) -> "CommandStatus":
-        """
-        Populate the CommandStatus object from a dictionary.
-
-        Parameters
-        ----------
-        data : dict
-            Dictionary containing command status information.
-        """
-        return cls(
-            vx=data.get("vx", 0.0),
-            vy=data.get("vy", 0.0),
-            vyaw=data.get("vyaw", 0.0),
-            timestamp=data.get("timestamp", str(time.time())),
-        )
-
-
-class ActionType(Enum):
-    """
-    Enum for action type.
-    """
-
-    AI = "AI"
-    TELEOPS = "TELEOPS"
-    CONTROLLER = "CONTROLLER"
-
-
-@dataclass
-class ActionStatus:
-    """
-    Data class to represent the action status of a robot action system.
-    """
-
-    action: ActionType
-    timestamp: float
-
-    def to_dict(self) -> dict:
-        """
-        Convert the Action object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the Action object.
-        """
-        return {
-            "action": self.action.value,
-            "timestamp": self.timestamp,
-        }
-
-    @classmethod
-    def from_dict(cls, data: dict) -> "ActionStatus":
-        """
-        Populate the ActionStatus object from a dictionary.
-
-        Parameters
-        ----------
-        data : dict
-            Dictionary containing action status information.
-        """
-        return cls(
-            action=ActionType(data.get("action", ActionType.AI.value)),
-            timestamp=data.get("timestamp", time.time()),
-        )
-
-
-@dataclass
-class TeleopsStatus:
-    """
-    Data class to represent the status of the teleops system.
-    """
-
-    update_time: str
-    battery_status: BatteryStatus
-    action_status: ActionStatus = field(default_factory=lambda: ActionStatus(ActionType.AI, time.time()))
-    machine_name: str = "unknown"
-    video_connected: bool = False
-    om1_heartbeat: str = ""
-
-    def to_dict(self) -> dict:
-        """
-        Convert the TeleopsStatus object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the TeleopsStatus object.
-        """
-        return {
-            "machine_name": self.machine_name,
-            "update_time": self.update_time,
-            "om1_heartbeat": self.om1_heartbeat,
-            "battery_status": self.battery_status.to_dict(),
-            "action_status": self.action_status.to_dict(),
-            "video_connected": self.video_connected,
-        }
-
-    @classmethod
-    def from_dict(cls, data: dict) -> "TeleopsStatus":
-        """
-        Populate the TeleopsStatus object from a dictionary.
-
-        Parameters
-        ----------
-        data : dict
-            Dictionary containing teleops status information.
-        """
-        return cls(
-            update_time=data.get("update_time", str(time.time())),
-            battery_status=BatteryStatus.from_dict(data.get("battery_status", {})),
-            action_status=ActionStatus.from_dict(data.get("action_status", {})),
-            machine_name=data.get("machine_name", "unknown"),
-            video_connected=data.get("video_connected", False),
-            om1_heartbeat=data.get("om1_heartbeat", ""),
-        )
-
-
-@singleton
-class TeleopsStatusProvider:
-    """
-    Teleops Status provider reports the status of the machine.
-    """
-
-    def __init__(
-        self,
-        api_key: Optional[str] = None,
-        base_url: str = "https://api.openmind.com/api/core/teleops/status",
-    ):
-        """
-        Initialize the TeleopsStatusProvider.
-
-        Sets up the teleops status provider with API authentication and base URL.
-        Initializes a thread pool executor for asynchronous status sharing operations.
-
-        Parameters
-        ----------
-        api_key : Optional[str]
-            API key for authentication. Default is None.
-        base_url : str
-            Base URL for the teleops status API. Default is
-            "https://api.openmind.com/api/core/teleops/status".
-        """
-        self.api_key = api_key
-        self.base_url = base_url
-        self.executor = ThreadPoolExecutor(max_workers=1)
-
-    def get_status(self) -> dict:
-        """
-        Get the status of the machine.
-        """
-        if self.api_key is None or self.api_key == "":
-            logging.error("API key is missing. Cannot get status.")
-            return {}
-
-        try:
-            api_key_id = self.api_key[9:25] if len(self.api_key) > 25 else self.api_key
-            request = requests.get(
-                f"{self.base_url}/{api_key_id}",
-                headers={"Authorization": f"Bearer {self.api_key}"},
-                timeout=10,
-            )
-            if request.status_code == 200:
-                return request.json()
-            else:
-                logging.error(f"Failed to get status: {request.status_code} - {request.text}")
-        except requests.exceptions.RequestException as e:
-            logging.error(f"TeleopsStatusProvider: Error getting status: {e}")
-
-        return {}
-
-    def _share_status_worker(self, status: TeleopsStatus):
-        """
-        Worker function to share the status of the machine.
-        This function runs in a separate thread to avoid blocking the main thread.
-
-        Parameters
-        ----------
-        status : TeleopsStatus
-            The status of the machine to be shared.
-        """
-        if self.api_key is None or self.api_key == "":
-            logging.error("API key is missing. Cannot share status.")
-            return
-
-        try:
-            request = requests.post(
-                self.base_url,
-                headers={"Authorization": f"Bearer {self.api_key}"},
-                json=status.to_dict(),
-                timeout=10,
-            )
-
-            if request.status_code == 200:
-                logging.debug(f"Status shared successfully: {request.json()}")
-            else:
-                logging.error(f"Failed to share status: {request.status_code} - {request.text}")
-        except Exception as e:
-            logging.error(f"Error sharing status: {str(e)}")
-
-    def share_status(self, status: TeleopsStatus):
-        """
-        Share the status of the machine.
-        This function submits the status sharing task to a thread pool executor
-        to run in a separate thread.
-
-        Parameters
-        ----------
-        status : TeleopsStatus
-            The status of the machine to be shared.
-        """
-        self.executor.submit(self._share_status_worker, status)
-
-    def stop(self):
-        """
-        Stop the TeleopsStatusProvider and clean up resources.
-        """
-        self.executor.shutdown(wait=True)
diff --git a/src/providers/tracer.py b/src/providers/tracer.py
deleted file mode 100644
index 0999992693..0000000000
--- a/src/providers/tracer.py
+++ /dev/null
@@ -1,126 +0,0 @@
-import atexit
-import json
-import logging
-import os
-from datetime import datetime, timezone
-from typing import Any, Optional
-
-from providers.singleton import singleton
-
-
-@singleton
-class Tracer:
-    """
-    Tracer for LLM interactions. Writes one JSONL line per record, with a daily rotation.
-    """
-
-    def __init__(self, output_dir: str = "traces") -> None:
-        """
-        Initialize the Tracer.
-
-        Parameters
-        ----------
-        output_dir : str
-            Directory where traces will be saved (default: "traces").
-        """
-        self.output_dir = output_dir
-        self._enabled = False
-        self._current_date: Optional[str] = None
-        self._file: Any = None
-        self.generation: int = 0
-
-        if self._enabled:
-            os.makedirs(self.output_dir, exist_ok=True)
-
-        atexit.register(self.stop)
-
-    def enable(self) -> None:
-        """
-        Enable tracing and ensure the output directory exists.
-        """
-        self._enabled = True
-        os.makedirs(self.output_dir, exist_ok=True)
-
-    def disable(self) -> None:
-        """
-        Disable tracing and close any open file handle.
-        """
-        self._enabled = False
-        self.stop()
-
-    @property
-    def enabled(self) -> bool:
-        """
-        Return whether tracing is currently enabled.
-        """
-        return self._enabled
-
-    def gauge(self, llm_input: str, llm_output: list[dict[str, Any]]) -> None:
-        """
-        Record an LLM interaction with the given input and output.
-
-        Parameters
-        ----------
-        llm_input : str
-            The input prompt sent to the LLM.
-
-        llm_output : list[dict[str, Any]]
-            The output from the LLM, typically a list of message dictionaries.
-        """
-        if not self._enabled:
-            return
-
-        try:
-            data = {
-                "ts": datetime.now(timezone.utc).isoformat(),
-                "generation": self.generation,
-                "llm_input": llm_input,
-                "llm_output": llm_output,
-            }
-            self._write(json.dumps(data, ensure_ascii=False))
-        except Exception:
-            logging.exception("tracer: failed to write record")
-
-    def stop(self) -> None:
-        """
-        Close the current file handle.
-        """
-        if self._file:
-            try:
-                self._file.close()
-            except Exception:
-                pass
-
-            self._file = None
-            self._current_date = None
-
-    def _write(self, line: str) -> None:
-        """
-        Write a line to the current day's JSONL file, rotating if the date has changed.
-
-        Parameters
-        ----------
-        line : str
-            The JSON string to write as a line in the file.
-        """
-        now = datetime.now(timezone.utc).strftime("%Y-%m-%d")
-
-        if now != self._current_date:
-            self.stop()
-            filepath = os.path.join(self.output_dir, f"{now}.jsonl")
-            self._file = open(filepath, "a", encoding="utf-8")
-            self._current_date = now
-
-        self._file.write(line + "\n")
-        self._file.flush()
-
-    def set_generation(self, generation: int) -> None:
-        """
-        Set the current generation number for tracing.
-
-        Parameters
-        ----------
-        generation : int
-            The generation number to set.
-        """
-        self.generation = generation
diff --git a/src/providers/tron_odom_provider.py b/src/providers/tron_odom_provider.py
deleted file mode 100644
index 6bad01c1c6..0000000000
--- a/src/providers/tron_odom_provider.py
+++ /dev/null
@@ -1,148 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-import time
-from typing import Optional
-
-import zenoh
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-from zenoh_msgs import (
-    Odometry,
-    PoseWithCovarianceStamped,
-    nav_msgs,
-    open_zenoh_session,
-)
-
-from .odom_provider_base import OdomProviderBase, RobotState
-from .singleton import singleton
-
-
-def tron_odom_processor(
-    topic: str,
-    data_queue: mp.Queue,
-    logging_config: Optional[LoggingConfig] = None,
-) -> None:
-    """
-    Process function for the Tron Odom Provider.
-    This function runs in a separate process to periodically retrieve the odometry
-    data from the robot via Zenoh and put it into a multiprocessing queue.
-
-    Parameters
-    ----------
-    topic : str
-        The Zenoh topic to subscribe to for odometry data.
-    data_queue : mp.Queue
-        Queue for sending the retrieved odometry and pose data.
-    logging_config : LoggingConfig, optional
-        Optional logging configuration. If provided, it will override the default logging settings.
-    """
-    setup_logging("tron_odom_processor", logging_config=logging_config)
-
-    def zenoh_odom_handler(data: zenoh.Sample):
-        """
-        Zenoh handler for odometry data.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample containing the odometry data.
-        """
-        odom: Odometry = nav_msgs.Odometry.deserialize(data.payload.to_bytes())
-        logging.debug(f"Tron Zenoh odom handler: {odom}")
-
-        data_queue.put(PoseWithCovarianceStamped(header=odom.header, pose=odom.pose))  # type: ignore
-
-    try:
-        session = open_zenoh_session()
-        logging.info(f"Tron Zenoh odom provider opened session: {session}")
-        logging.info(f"Tron odom listener subscribing to topic: {topic}")
-        session.declare_subscriber(topic, zenoh_odom_handler)
-    except Exception as e:
-        logging.error(f"Error opening Zenoh client for Tron odom: {e}")
-        return None
-
-    while True:
-        time.sleep(0.1)
-
-
-@singleton
-class TronOdomProvider(OdomProviderBase):
-    """
-    Tron Odom Provider.
-
-    This class implements odometry management for Tron robots using Zenoh
-    for communication.
-
-    Parameters
-    ----------
-    topic : str
-        The Zenoh topic to subscribe to for odometry data.
-        Defaults to "odom".
-    """
-
-    def __init__(self, topic: str = "odom"):
-        """
-        Initialize the Tron Odom Provider with Zenoh configuration.
-
-        Parameters
-        ----------
-        topic : str
-            The Zenoh topic to subscribe to for odometry data.
-            Defaults to "odom".
-        """
-        super().__init__()
-        self.topic = topic
-        self.start()
-
-    def start(self) -> None:
-        """
-        Start the Tron Odom Provider.
-        """
-        if self._odom_reader_thread and self._odom_reader_thread.is_alive():
-            logging.warning("Tron Odom Provider is already running.")
-            return
-
-        if not self.topic:
-            logging.error("Topic must be specified to start the Tron Odom Provider.")
-            return
-
-        logging.info(f"Starting Tron Odom Provider on Zenoh topic: {self.topic}")
-
-        self._odom_reader_thread = mp.Process(
-            target=tron_odom_processor,
-            args=(
-                self.topic,
-                self.data_queue,
-                get_logging_config(),
-            ),
-            daemon=True,
-        )
-        self._odom_reader_thread.start()
-
-        if self._odom_processor_thread and self._odom_processor_thread.is_alive():
-            logging.warning("Tron Odom processor thread is already running.")
-            return
-        else:
-            logging.info("Starting Tron Odom processor thread")
-            self._odom_processor_thread = threading.Thread(target=self.process_odom, daemon=True)
-            self._odom_processor_thread.start()
-
-    def _update_body_state(self, pose):
-        """
-        Update body height and attitude based on pose data for Tron robot.
-
-        Parameters
-        ----------
-        pose : Pose
-            The pose data containing position and orientation.
-        """
-        # Body height detection for Tron robot
-        # Based on observed data:
-        # - Sitting: z ≈ 0.55m (55cm)
-        # - Standing: z ≈ 0.71m (71cm)
-        self.body_height_cm = round(pose.position.z * 100.0)
-        if self.body_height_cm > 60:
-            self.body_attitude = RobotState.STANDING
-        elif self.body_height_cm > 3:
-            self.body_attitude = RobotState.SITTING
diff --git a/src/providers/turtlebot4_camera_vlm_provider.py b/src/providers/turtlebot4_camera_vlm_provider.py
deleted file mode 100644
index bf8baccc7f..0000000000
--- a/src/providers/turtlebot4_camera_vlm_provider.py
+++ /dev/null
@@ -1,243 +0,0 @@
-import base64
-import logging
-import threading
-import time
-from typing import Callable, List, Optional, Tuple
-
-import cv2
-import numpy as np
-import zenoh
-from om1_utils import ws
-from om1_vlm import VideoStream
-
-from zenoh_msgs import open_zenoh_session
-
-from .singleton import singleton
-
-
-class TurtleBot4CameraVideoStream(VideoStream):
-    """
-    Video Stream class for TurtleBot4 camera.
-
-    This class extends the VideoStream class to handle TurtleBot camera-specific
-    video streaming and processing.
-
-    NOTE - this uses the default preview image size of 250x250.
-    If you want to stream high resolution data, you will need to change
-    configurations inside the TurtleBot4.
-
-    Please see here for instructions:
-    https://github.com/turtlebot/turtlebot4/issues/335#issuecomment-1900339747
-    """
-
-    def __init__(
-        self,
-        frame_callback: Optional[Callable[[str], None]] = None,
-        frame_callbacks: Optional[List[Callable[[str], None]]] = None,
-        fps: Optional[int] = 30,
-        resolution: Optional[Tuple[int, int]] = (640, 480),
-        jpeg_quality: int = 70,
-        URID: str = "default",
-        debug: bool = False,
-    ):
-        """
-        Initialize the TurtleBot4 Camera Video Stream.
-
-        Parameters
-        ----------
-        frame_callback : callable, optional
-            A callback function to process video frames.
-        frame_callbacks : list of callables, optional
-            A list of callback functions to process video frames.
-        fps : int, optional
-            Frames per second for the video stream. Default is 30.
-        resolution : tuple of int, optional
-            The resolution for the video stream. Default is (640, 480).
-        jpeg_quality : int, optional
-            The JPEG quality for the video stream. Default is 70.
-        URID : str, optional
-            The URID for the Zenoh session. Default is "default".
-        debug : bool, optional
-            Enable debug mode for writing images to local files. Default is False.
-        """
-        super().__init__(
-            frame_callback=frame_callback,
-            frame_callbacks=frame_callbacks,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-        )
-        self.session = None
-
-        try:
-            self.session = open_zenoh_session()
-            topic = f"{URID}/pi/oakd/rgb/preview/image_raw"
-            logging.info(f"TurtleBot4 Camera listener starting with URID: {URID} and topic: {topic}")
-            self.camera = self.session.declare_subscriber(topic, self.camera_listener)
-            logging.info("Zenoh TurtleBot4 Camera subscriber created")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh TurtleBot4 Camera client: {e}")
-
-        self.lock = threading.Lock()
-        self.image = None
-        self.debug = debug
-
-    def camera_listener(self, sample: zenoh.Sample):
-        """
-        Zenoh listener for incoming camera samples.
-
-        Parameters
-        ----------
-        sample : zenoh.Sample
-            The incoming sample from the Zenoh session.
-        """
-        bytesI = sample.payload.to_bytes()
-        logging.debug(f"TurtleBot4 listener received {len(sample.payload)}")
-        if bytesI and len(bytesI) == 187576:
-            X = np.frombuffer(bytesI, dtype=np.uint8)
-            # The first 76 numbers are some sort of metadata header?
-            Xc = X[76:187576]
-            rgb = np.reshape(Xc, (250, 250, 3))
-            with self.lock:
-                self.image = rgb
-            if self.debug:
-                cv2.imwrite("turtlebot.jpg", rgb)
-
-    def on_video(self):
-        """
-        Main video capture and processing loop for TurtleBot cameras.
-
-        Captures frames from the camera, encodes them to base64,
-        and sends them through the callback if registered.
-        """
-        logging.info("TurtleBot Camera Video Stream")
-
-        frame_time = 1.0 / (self.fps or 30)
-        last_frame_time = time.perf_counter()
-
-        while self.running:
-            try:
-                with self.lock:
-                    image = self.image
-
-                if image is not None:
-                    resized_image = cv2.resize(image, self.resolution, interpolation=cv2.INTER_AREA)
-                    _, buffer = cv2.imencode(".jpg", resized_image, self.encode_quality)
-                    frame_data = base64.b64encode(buffer.tobytes()).decode("utf-8")
-
-                    if self.frame_callbacks:
-                        for frame_callback in self.frame_callbacks:
-                            frame_callback(frame_data)
-
-                    with self.lock:
-                        self.image = None
-
-                elapsed_time = time.perf_counter() - last_frame_time
-                if elapsed_time < frame_time:
-                    time.sleep(frame_time - elapsed_time)
-                last_frame_time = time.perf_counter()
-
-            except Exception as e:
-                logging.error(f"Error in video processing loop: {e}")
-                continue
-
-        logging.info("Stopping Camera Video Stream")
-
-
-@singleton
-class TurtleBot4CameraVLMProvider:
-    """
-    VLM Provider that handles audio streaming and websocket communication.
-
-    This class implements a singleton pattern to manage camera input streaming
-    and websocket communication for vlm services. It runs in a separate thread
-    to handle continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        fps: int = 15,
-        resolution: Optional[Tuple[int, int]] = (480, 480),
-        jpeg_quality: int = 70,
-        URID: str = "default",
-        stream_url: Optional[str] = None,
-        debug: bool = False,
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The websocket URL for the VLM service connection.
-        fps : int, optional
-            The fps for the VLM service connection. Default is 15.
-        resolution : tuple of int, optional
-            The resolution for the video stream. Default is (480, 480).
-        jpeg_quality : int, optional
-            The JPEG quality for the video stream. Default is 70.
-        URID : str, optional
-            The URID for the Zenoh session. Default is "default".
-        stream_url : str, optional
-            The URL for the video stream. If not provided, defaults to None.
-        debug : bool, optional
-            Enable debug mode for writing images to local files. Default is False.
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=ws_url)
-        self.stream_ws_client: Optional[ws.Client] = ws.Client(url=stream_url) if stream_url else None
-        self.video_stream: VideoStream = TurtleBot4CameraVideoStream(
-            self.ws_client.send_message,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-            URID=URID,
-            debug=debug,
-        )
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process VLM results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-
-    def start(self):
-        """
-        Start the VLM provider.
-
-        Initializes and starts the websocket client, video stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("TurtleBot4 Camera VLM provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.video_stream.start()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.start()
-            self.video_stream.register_frame_callback(self.stream_ws_client.send_message)
-
-        logging.info("TurtleBot4 Camera VLM provider started")
-
-    def stop(self):
-        """
-        Stop the VLM provider.
-
-        Stops the websocket client, video stream, and processing thread.
-        """
-        self.running = False
-        self.video_stream.stop()
-        self.ws_client.stop()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.stop()
diff --git a/src/providers/turtlebot4_odom_provider.py b/src/providers/turtlebot4_odom_provider.py
deleted file mode 100644
index ae89e39dcf..0000000000
--- a/src/providers/turtlebot4_odom_provider.py
+++ /dev/null
@@ -1,124 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-import time
-from typing import Optional
-
-import zenoh
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-from zenoh_msgs import (
-    Odometry,
-    PoseWithCovarianceStamped,
-    nav_msgs,
-    open_zenoh_session,
-)
-
-from .odom_provider_base import OdomProviderBase
-from .singleton import singleton
-
-
-def turtlebot4_odom_processor(
-    data_queue: mp.Queue,
-    URID: str,
-    logging_config: Optional[LoggingConfig] = None,
-) -> None:
-    """
-    Process function for the TurtleBot4 Odom Provider.
-    This function runs in a separate process to periodically retrieve the odometry
-    and pose data from the robot via Zenoh and put it into a multiprocessing queue.
-
-    Parameters
-    ----------
-    data_queue : mp.Queue
-        Queue for sending the retrieved odometry and pose data.
-    URID : str
-        The URID needed to connect to the Zenoh publisher in the local network.
-    logging_config : LoggingConfig, optional
-        Optional logging configuration. If provided, it will override the default logging settings.
-    """
-    setup_logging("turtlebot4_odom_processor", logging_config=logging_config)
-
-    def zenoh_odom_handler(data: zenoh.Sample):
-        """
-        Zenoh handler for odometry data.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample containing the odometry data.
-        """
-        odom: Odometry = nav_msgs.Odometry.deserialize(data.payload.to_bytes())
-        logging.debug(f"Zenoh odom handler: {odom}")
-
-        data_queue.put(PoseWithCovarianceStamped(header=odom.header, pose=odom.pose.pose))  # type: ignore
-
-    if URID is None:
-        logging.warning("Aborting TurtleBot4 Navigation system, no URID provided")
-        return None
-    else:
-        logging.info(f"TurtleBot4 Navigation system is using URID: {URID}")
-
-    try:
-        session = open_zenoh_session()
-        logging.info(f"Zenoh navigation provider opened {session}")
-        logging.info(f"TurtleBot4 navigation listeners starting with URID: {URID}")
-        session.declare_subscriber(f"{URID}/c3/odom", zenoh_odom_handler)
-    except Exception as e:
-        logging.error(f"Error opening Zenoh client: {e}")
-        return None
-
-    while True:
-        time.sleep(0.1)
-
-
-@singleton
-class TurtleBot4OdomProvider(OdomProviderBase):
-    """
-    TurtleBot4 Odometry Provider.
-
-    This class implements odometry management for TurtleBot4 robots using Zenoh
-    for communication.
-    """
-
-    def __init__(self, URID: Optional[str] = None):
-        """
-        Initialize the TurtleBot4 Odom Provider.
-
-        Parameters
-        ----------
-        URID : str, optional
-            The URID needed to connect to the Zenoh publisher in the local network. If not provided, the provider will log a warning and not start the Zenoh subscriber.
-        """
-        super().__init__()
-        self.URID = URID
-        self.start()
-
-    def start(self) -> None:
-        """
-        Start the TurtleBot4 Odom Provider.
-        """
-        if self._odom_reader_thread and self._odom_reader_thread.is_alive():
-            logging.warning("TurtleBot4 Odom Provider is already running.")
-            return
-
-        logging.info(f"Starting TurtleBot4 Odom Provider with URID: {self.URID}")
-
-        self._odom_reader_thread = mp.Process(
-            target=turtlebot4_odom_processor,
-            args=(
-                self.data_queue,
-                self.URID,
-                get_logging_config(),
-            ),
-            daemon=True,
-        )
-        self._odom_reader_thread.start()
-
-        if self._odom_processor_thread and self._odom_processor_thread.is_alive():
-            logging.warning("Odom processor thread is already running.")
-            return
-        else:
-            logging.info("Starting Odom processor thread")
-            self._odom_processor_thread = threading.Thread(target=self.process_odom, daemon=True)
-            self._odom_processor_thread.start()
diff --git a/src/providers/turtlebot4_rplidar_provider.py b/src/providers/turtlebot4_rplidar_provider.py
deleted file mode 100644
index 6a991e9ff7..0000000000
--- a/src/providers/turtlebot4_rplidar_provider.py
+++ /dev/null
@@ -1,597 +0,0 @@
-import json
-import logging
-import math
-import os
-import time
-from dataclasses import dataclass
-from typing import Dict, List, Optional, Union
-
-import numpy as np
-import zenoh
-from numpy.typing import NDArray
-
-from zenoh_msgs import LaserScan, open_zenoh_session, sensor_msgs
-
-from .d435_provider import D435Provider
-from .singleton import singleton
-
-
-@dataclass
-class RPLidarConfig:
-    """
-    Configuration for RPLidar.
-
-    Parameters
-    ----------
-    max_buf_meas: int
-        Maximum number of buffered measurements.
-    min_len: int
-        Minimum length of the scan.
-    max_distance_mm: int
-        Maximum distance in millimeters for valid measurements.
-    """
-
-    max_buf_meas: int = 0
-    min_len: int = 5
-    max_distance_mm: int = 10000
-
-
-@singleton
-class TurtleBot4RPLidarProvider:
-    """
-    TurtleBot4 RPLidar Provider using Zenoh communication.
-
-    This class implements a singleton pattern to manage RPLidar data streaming via Zenoh.
-    """
-
-    # Constants
-    DEFAULT_HALF_WIDTH_ROBOT = 0.20
-    DEFAULT_RELEVANT_DISTANCE_MAX = 1.1
-    DEFAULT_RELEVANT_DISTANCE_MIN = 0.08
-    DEFAULT_SENSOR_MOUNTING_ANGLE = 180.0
-    NUM_BEZIER_POINTS = 10
-    DEGREES_TO_RADIANS = math.pi / 180.0
-    RADIANS_TO_DEGREES = 180.0 / math.pi
-
-    def __init__(
-        self,
-        half_width_robot: float = DEFAULT_HALF_WIDTH_ROBOT,
-        angles_blanked: Optional[list] = None,
-        relevant_distance_max: float = DEFAULT_RELEVANT_DISTANCE_MAX,
-        relevant_distance_min: float = DEFAULT_RELEVANT_DISTANCE_MIN,
-        sensor_mounting_angle: float = DEFAULT_SENSOR_MOUNTING_ANGLE,
-        URID: str = "",
-        rplidar_config: RPLidarConfig = RPLidarConfig(),
-        log_file: bool = False,
-    ):
-        """
-        Initialize the TurtleBot4 RPLidar Provider with robot and sensor configuration.
-
-        Parameters
-        ----------
-        half_width_robot: float = 0.20
-            The half width of the robot in m
-        angles_blanked: list = []
-            Regions of the scan to disregard, runs from -180 to +180 deg
-        relevant_distance_max: float = 1.1
-            Only consider barriers within this range, in m
-        relevant_distance_min: float = 0.08
-            Only consider barriers above this range, in m
-        sensor_mounting_angle: float = 180.0
-            The angle of the sensor zero relative to the way in which it's mounted
-        URID: str = ""
-            The URID of the robot, used for Zenoh communication
-        rplidar_config: RPLidarConfig = RPLidarConfig()
-            Configuration for the RPLidar sensor
-        log_file: bool = False
-            Whether to log data to a local file
-        """
-        logging.info("Booting TurtleBot4 RPLidar (Zenoh)")
-
-        self.half_width_robot = half_width_robot
-        self.angles_blanked = angles_blanked if angles_blanked is not None else []
-        self.relevant_distance_max = relevant_distance_max
-        self.relevant_distance_min = relevant_distance_min
-        self.sensor_mounting_angle = sensor_mounting_angle
-        self.URID = URID
-        self.rplidar_config = rplidar_config
-        self.log_file = log_file
-
-        self.running: bool = False
-        self.zen = None
-        self.scans = None
-
-        self._raw_scan: Optional[NDArray] = None
-        self._valid_paths: Optional[list] = None
-        self._lidar_string: Optional[str] = None
-
-        self.angles = None
-        self.angles_final = None
-
-        self.write_to_local_file = False
-        if log_file:
-            self.write_to_local_file = log_file
-
-        self.filename_current = None
-        self.max_file_size_bytes = 1024 * 1024
-
-        # Create timestamped log filename
-        if self.write_to_local_file:
-            self.filename_current = self.update_filename()
-            logging.info(f"RPSCAN Logging to {self.filename_current}")
-
-        # Initialize paths for path planning
-        # Define 9 straight line paths separated by 15 degrees
-        # Center path is 0° (straight forward), then ±15°, ±30°, ±45°, ±60°, 180° (backwards)
-        self.path_angles = [-60, -45, -30, -15, 0, 15, 30, 45, 60, 180]
-        self.paths = self._initialize_paths()
-
-        self.pp = []
-        for path in self.paths:
-            pairs = list(zip(path[0], path[1]))
-            self.pp.append(pairs)
-
-        self.turn_left: List[int] = []
-        self.turn_right: List[int] = []
-        self.advance: List[int] = []
-        self.retreat: bool = False
-
-        # Initialize Zenoh
-        logging.info("Connecting to the RPLIDAR via Zenoh")
-        try:
-            self.zen = open_zenoh_session()
-            logging.info(f"Zenoh move client opened {self.zen}")
-
-            logging.info(f"TurtleBot4 RPLIDAR listener starting with URID: {self.URID}")
-            self.zen.declare_subscriber(f"{self.URID}/pi/scan", self.listen_scan)
-
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-
-        # D435 Provider
-        self.d435_provider = D435Provider()
-
-    def update_filename(self):
-        """
-        Update the filename for logging RPLidar data.
-        """
-        unix_ts = time.time()
-        logging.info(f"RPSCAN time: {unix_ts}")
-        unix_ts = str(unix_ts).replace(".", "_")
-        filename = f"dump/lidar_{unix_ts}Z.jsonl"
-        return filename
-
-    def write_str_to_file(self, json_line: str):
-        """
-        Writes a dictionary to a file in JSON lines format. If the file exceeds max_file_size_bytes,
-        creates a new file with a timestamp.
-
-        Parameters
-        ----------
-        json_line : str
-            The JSON string to write to the file.
-        """
-        if not isinstance(json_line, str):
-            raise ValueError("Provided json_line must be a json string.")
-
-        if (
-            self.filename_current is not None
-            and os.path.exists(self.filename_current)
-            and os.path.getsize(self.filename_current) > self.max_file_size_bytes
-        ):
-            self.filename_current = self.update_filename()
-            logging.info(f"New rpscan file name: {self.filename_current}")
-
-        if self.filename_current is not None:
-            with open(self.filename_current, "a", encoding="utf-8") as f:
-                f.write(json_line + "\n")
-                f.flush()
-
-    def listen_scan(self, data: zenoh.Sample):
-        """
-        Zenoh scan handler.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample containing the scan data.
-        """
-        self.scans = sensor_msgs.LaserScan.deserialize(data.payload.to_bytes())
-        logging.debug(f"Zenoh Laserscan data: {self.scans}")
-
-        self._zenoh_processor(self.scans)
-
-    def start(self):
-        """
-        Start the TurtleBot4 RPLidar provider.
-        For Zenoh-based providers, this just sets the running flag.
-        """
-        self.running = True
-        logging.info("TurtleBot4 RPLidar using Zenoh, provider started")
-
-    def _zenoh_processor(self, scan: Optional[LaserScan]):
-        """
-        Preprocess Zenoh LaserScan data.
-
-        Parameters
-        ----------
-        scan : Optional[LaserScan]
-            The Zenoh LaserScan data to preprocess.
-            If None, it indicates no data is available.
-        """
-        if scan is None:
-            logging.info("Waiting for Zenoh Laserscan data...")
-            self._raw_scan = None
-            self._lidar_string = (
-                "You might be surrounded by objects and cannot safely move in any direction. DO NOT MOVE."
-            )
-            self._valid_paths = []
-        else:
-            # logging.debug(f"_preprocess_zenoh: {scan}")
-            # angle_min=-3.1241390705108643, angle_max=3.1415927410125732
-
-            if not self.angles:
-                self.angles = list(
-                    map(
-                        lambda x: 360.0 * (x + math.pi) / (2 * math.pi),
-                        np.arange(scan.angle_min, scan.angle_max, scan.angle_increment),
-                    )
-                )
-                self.angles_final = np.flip(np.array(self.angles))
-
-            # angles now run from 360.0 to 0 degrees
-            if self.angles_final is not None:
-                data = list(zip(self.angles_final, scan.ranges))
-            else:
-                data = []
-            array_ready = np.array(data)
-            self._path_processor(array_ready)
-
-    def _path_processor(self, data: NDArray):
-        """
-        Process the RPLidar data.
-        This method processes the raw data from the RPLidar,
-        filtering out irrelevant distances and angles,
-        and converting the data into a format suitable for path planning.
-
-        Parameters
-        ----------
-        data : NDArray
-            The raw data from the RPLidar, expected to be a 2D array
-            with angles and distances.
-        """
-        complexes = []
-        raw = []
-
-        for angle, distance in data:
-
-            d_m = distance
-
-            # first, correctly orient the sensor zero to the robot zero
-            adjusted_angle = angle + self.sensor_mounting_angle
-            if adjusted_angle >= 360.0:
-                adjusted_angle = adjusted_angle - 360.0
-            elif adjusted_angle < 0.0:
-                adjusted_angle = 360.0 + adjusted_angle
-
-            raw.append([round(adjusted_angle, 2), d_m])
-
-            # don't worry about distant objects
-            if d_m > self.relevant_distance_max:
-                continue
-
-            # don't worry about too close objects
-            if d_m < self.relevant_distance_min:
-                continue
-
-            # convert the angle from [0 to 360] to [-180 to +180] range
-            adjusted_angle = adjusted_angle - 180.0
-
-            for b in self.angles_blanked:
-                if adjusted_angle >= b[0] and adjusted_angle <= b[1]:
-                    # this is a permanent robot reflection
-                    # disregard
-                    continue
-
-            # Convert angle to radians for trigonometric calculations
-            # Note: angle is adjusted back to [0, 360] range
-            a_rad = (adjusted_angle + 180.0) * self.DEGREES_TO_RADIANS
-
-            v1 = d_m * math.cos(a_rad)
-            v2 = d_m * math.sin(a_rad)
-
-            # convert to x and y
-            # x runs backwards to forwards, y runs left to right
-            x = -1 * v2
-            y = -1 * v1
-
-            # the final data ready to use for path planning
-            complexes.append([x, y, angle, d_m])
-
-        # Append the D435 provider's obstacle data if available
-        if self.d435_provider.running and len(self.d435_provider.obstacle) > 50:
-            logging.debug("Appending D435 provider obstacle data to RPLidar data")
-            for obstacle in self.d435_provider.obstacle:
-                complexes.append(
-                    [
-                        obstacle["x"],
-                        obstacle["y"],
-                        obstacle["angle"],
-                        obstacle["distance"],
-                    ]
-                )
-
-        array = np.array(complexes)
-        raw_array = np.array(raw)
-
-        # save_timestamp = time.time()
-        if self.write_to_local_file:
-            try:
-                json_line = json.dumps(
-                    {
-                        "frame": raw_array.tolist(),
-                    }
-                )
-                self.write_str_to_file(json_line)
-                logging.debug(f"rplidar wrote to: {self.filename_current}")
-            except Exception as e:
-                logging.error(f"Error saving rplidar to file: {str(e)}")
-
-        # sort data into strictly increasing angles to deal with sensor issues
-        # the sensor sometimes reports part of the previous scan and part of the next scan
-        # so you end up with multiple slightly different values for some angles at the
-        # junction
-
-        """
-        Determine set of possible paths
-        """
-        possible_paths = np.array([4])
-
-        if array.ndim > 1:
-            # we have valid LIDAR returns
-
-            sorted_indices = array[:, 2].argsort()
-            array = array[sorted_indices]
-
-            X = array[:, 0]
-            Y = array[:, 1]
-            # A = array[:, 2]
-            D = array[:, 3]
-
-            # all the possible conflicting points
-            for x, y, _d in list(zip(X, Y, D)):
-                for apath in possible_paths:
-                    path_points = self.paths[apath]
-                    start_x, start_y = (
-                        path_points[0][0],
-                        path_points[1][0],
-                    )
-                    end_x, end_y = path_points[0][-1], path_points[1][-1]
-
-                    if apath == 9:
-                        # For going back, only consider obstacles that are:
-                        # 1. Behind the robot (negative y in robot frame)
-                        # 2. Within a certain distance threshold
-
-                        # Assuming robot faces positive y direction
-                        # Only check obstacles behind the robot
-                        if y >= 0:  # Skip obstacles in front of or beside the robot
-                            continue
-
-                    dist_to_line = self.distance_point_to_line_segment(x, y, start_x, start_y, end_x, end_y)
-
-                    if dist_to_line < self.half_width_robot:
-                        # too close - this path will not work
-                        # logging.info(f"removing path: {apath}")
-                        path_to_remove = np.array([apath])
-                        possible_paths = np.setdiff1d(possible_paths, path_to_remove)
-                        logging.debug(f"remaining paths: {possible_paths}")
-                        break  # no need to check other paths
-
-        logging.info(f"possible_paths TurtleBot4 RP Lidar: {possible_paths}")
-
-        self.turn_left = []
-        self.turn_right = []
-        self.advance = []
-        self.retreat = False
-
-        # convert to simple list
-        ppl = possible_paths.tolist()
-
-        for p in ppl:
-            if p < 3:
-                self.turn_left.append(p)
-            elif p >= 3 and p <= 5:
-                self.advance.append(p)
-            elif p < 9:
-                self.turn_right.append(p)
-            elif p == 9:
-                self.retreat = True
-
-        return_string = self._generate_movement_string(ppl)
-
-        self._raw_scan = array
-        self._lidar_string = return_string
-        self._valid_paths = ppl
-
-        logging.debug(f"TurtleBot4 RPLidar Provider string: {self._lidar_string}\nValid paths: {self._valid_paths}")
-
-    def stop(self):
-        """
-        Stop the TurtleBot4 RPLidar provider.
-        """
-        self.running = False
-        logging.info("TurtleBot4 RPLidar provider stopped")
-
-    @property
-    def valid_paths(self) -> Optional[list]:
-        """
-        Get the currently valid paths.
-
-        Returns
-        -------
-        Optional[list]
-            The currently valid paths as a list, or None if not
-            available. The list contains 0 to 10 entries,
-            corresponding to possible paths - for example: [0,3,4,5]
-        """
-        return self._valid_paths
-
-    @property
-    def raw_scan(self) -> Optional[NDArray]:
-        """
-        Get the latest raw scan data.
-
-        Returns
-        -------
-        Optional[NDArray]
-            The latest raw scan result as a NumPy array, or None if not
-            available.
-        """
-        return self._raw_scan
-
-    @property
-    def lidar_string(self) -> Optional[str]:
-        """
-        Get the latest natural language assessment of possible paths.
-
-        Returns
-        -------
-        Optional[str]
-            A natural language summary of possible motion paths
-        """
-        return self._lidar_string
-
-    @property
-    def movement_options(self) -> Dict[str, Union[List[int], bool]]:
-        """
-        Get the movement options based on the current valid paths.
-
-        Returns
-        -------
-        Dict[str, List[int]]
-            A dictionary containing lists of valid movement options:
-            - 'turn_left': Indices for turning left
-            - 'advance': Indices for moving forward
-            - 'turn_right': Indices for turning right
-            - 'retreat': Indices for moving backward
-        """
-        return {
-            "turn_left": self.turn_left,
-            "advance": self.advance,
-            "turn_right": self.turn_right,
-            "retreat": self.retreat,
-        }
-
-    def _create_straight_path_from_angle(
-        self, angle_degrees: float, length: float = 1.0, num_points: int = 30
-    ) -> np.ndarray:
-        """
-        Create a straight path from a given angle.
-
-        Parameters
-        ----------
-        angle_degrees : float
-            The angle in degrees from which to create the path.
-        length : float, optional
-            The length of the path, by default 1.0.
-        num_points : int, optional
-            The number of points in the path, by default 30.
-
-        Returns
-        -------
-        np.ndarray
-            A NumPy array containing the x and y coordinates of the path points.
-        """
-        angle_rad = math.radians(angle_degrees)
-        end_x = length * math.sin(angle_rad)
-        end_y = length * math.cos(angle_rad)
-
-        x_vals = np.linspace(0.0, end_x, num_points)
-        y_vals = np.linspace(0.0, end_y, num_points)
-        return np.array([x_vals, y_vals])
-
-    def _initialize_paths(self) -> List[np.ndarray]:
-        """
-        Initialize paths for path planning.
-
-        Returns
-        -------
-        List[np.ndarray]
-            A list of NumPy arrays representing the paths.
-        """
-        return [self._create_straight_path_from_angle(angle, length=1.0) for angle in self.path_angles]
-
-    def distance_point_to_line_segment(self, px: float, py: float, x1: float, y1: float, x2: float, y2: float) -> float:
-        """
-        Calculate the distance from a point to a line segment.
-        This method computes the shortest distance from a point (px, py) to a line segment defined by two endpoints (x1, y1) and (x2, y2).
-        If the line segment has zero length, it returns the distance from the point to one of the endpoints.
-
-        Parameters
-        ----------
-        px : float
-            The x-coordinate of the point.
-        py : float
-            The y-coordinate of the point.
-        x1 : float
-            The x-coordinate of the first endpoint of the line segment.
-        y1 : float
-            The y-coordinate of the first endpoint of the line segment.
-        x2 : float
-            The x-coordinate of the second endpoint of the line segment.
-        y2 : float
-            The y-coordinate of the second endpoint of the line segment.
-
-        Returns
-        -------
-        float
-            The shortest distance from the point to the line segment.
-            If the line segment has zero length, it returns the distance to the closest endpoint.
-        """
-        dx = x2 - x1
-        dy = y2 - y1
-
-        # If the line segment has zero length, return distance to point
-        if dx == 0 and dy == 0:
-            return math.sqrt((px - x1) ** 2 + (py - y1) ** 2)
-
-        # Calculate the parameter t that represents the projection of the point onto the line
-        t = ((px - x1) * dx + (py - y1) * dy) / (dx * dx + dy * dy)
-
-        # Clamp t to [0, 1] to stay within the line segment
-        t = max(0, min(1, t))
-
-        # Find the closest point on the line segment
-        closest_x = x1 + t * dx
-        closest_y = y1 + t * dy
-
-        return math.sqrt((px - closest_x) ** 2 + (py - closest_y) ** 2)
-
-    def _generate_movement_string(self, valid_paths: list) -> str:
-        """
-        Generate movement direction string based on valid paths.
-
-        Parameters
-        ----------
-        valid_paths : list
-            A list of valid paths represented as integers.
-            Each integer corresponds to a specific movement direction.
-
-        Returns
-        -------
-        str
-            A string describing the safe movement directions based on the valid paths.
-        """
-        if not valid_paths:
-            return "You are surrounded by objects and cannot safely move in any direction. DO NOT MOVE."
-
-        parts = ["The safe movement directions are: {"]
-
-        # TurtleBot4 can always turn in place
-        parts.append("'turn left', 'turn right', ")
-        if self.advance:
-            parts.append("'move forwards', ")
-
-        parts.append("'stand still'}. ")
-        return "".join(parts)
diff --git a/src/providers/ub_tts_provider.py b/src/providers/ub_tts_provider.py
deleted file mode 100644
index b4a8a6d0e8..0000000000
--- a/src/providers/ub_tts_provider.py
+++ /dev/null
@@ -1,108 +0,0 @@
-import json
-import logging
-from concurrent.futures import ThreadPoolExecutor
-
-import requests
-
-
-class UbTtsProvider:
-    """
-    Provider for the Ubtech Text-to-Speech (TTS) service.
-
-    Parameters
-    ----------
-    tts_url : str
-        The URL of the Ubtech TTS service.
-    executor : ThreadPoolExecutor
-        Executor for async TTS processing.
-    headers : dict
-        HTTP headers for requests.
-    """
-
-    def __init__(self, url: str):
-        """
-        Initialize the Ubtech TTS Provider.
-
-        Parameters
-        ----------
-        url : str
-            The URL of the Ubtech TTS service.
-        """
-        self.tts_url = url
-        self.executor = ThreadPoolExecutor(max_workers=1)
-        self.headers = {"Content-Type": "application/json"}
-
-        logging.info(f"Ubtech TTS Provider initialized for URL: {self.tts_url}")
-
-    def start(self):
-        """Placeholder start method for compatibility."""
-        logging.info("Ubtech TTS Provider started.")
-
-    def adding_pending_message(self, message: str, interrupt: bool = True, timestamp: int = 0):
-        """
-        Add a pending TTS message to be processed asynchronously.
-
-        Parameters
-        ----------
-        message : str
-            The text message to be converted to speech.
-        interrupt : bool
-            Whether to interrupt current TTS playback.
-        timestamp : int
-            A timestamp to identify the TTS request.
-        """
-        self.executor.submit(self._speak_worker, message, interrupt, timestamp)
-
-    def stop(self):
-        """
-        Stop the TeleopsStatusProvider and clean up resources.
-        """
-        self.executor.shutdown(wait=True)
-
-    def _speak_worker(self, message: str, interrupt: bool = True, timestamp: int = 0) -> bool:
-        """
-        Worker function to send TTS command to Ubtech TTS service.
-
-        Parameters
-        ----------
-        message : str
-            The text to be converted to speech.
-        interrupt : bool
-            Whether to interrupt current TTS playback.
-        timestamp : int
-            A timestamp to identify the TTS request.
-
-        Returns
-        -------
-        bool
-            True if the TTS command was successfully sent, False otherwise.
-        """
-        payload = {"tts": message, "interrupt": interrupt, "timestamp": timestamp}
-        try:
-            response = requests.put(
-                url=self.tts_url,
-                data=json.dumps(payload),
-                headers=self.headers,
-                timeout=5,
-            )
-            response.raise_for_status()
-            res = response.json()
-            return res.get("code") == 0
-        except requests.exceptions.RequestException as e:
-            logging.error(f"Failed to send TTS command: {e}")
-            return False
-
-    def get_tts_status(self, timestamp: int) -> str:
-        """
-        Gets the status of a specific TTS task.
-        Possible statuses: 'build', 'wait', 'run', 'idle'.
-        """
-        try:
-            params = {"timestamp": timestamp}
-            response = requests.get(url=self.tts_url, headers=self.headers, params=params, timeout=2)
-            res = response.json()
-            if res.get("code") == 0:
-                return res.get("status", "error")
-            return "error"
-        except requests.exceptions.RequestException:
-            return "error"
diff --git a/src/providers/ubtech_asr_provider.py b/src/providers/ubtech_asr_provider.py
deleted file mode 100644
index ddb61739fc..0000000000
--- a/src/providers/ubtech_asr_provider.py
+++ /dev/null
@@ -1,309 +0,0 @@
-import json
-import logging
-import threading
-import time
-from typing import Callable, Dict, Optional
-
-import requests
-
-from .singleton import singleton
-
-
-@singleton
-class UbtechASRProvider:
-    """
-    Singleton class to handle ASR (Automatic Speech Recognition) for Ubtech robots.
-    """
-
-    _instance = None
-
-    @staticmethod
-    def get_instance():
-        """Returns the singleton instance of the provider."""
-        return UbtechASRProvider._instance
-
-    def __init__(self, robot_ip: str, language_code: str = "en"):
-        """
-        Initialize the Ubtech ASR Provider.
-
-        Parameters
-        ----------
-        robot_ip : str
-            The IP address of the robot.
-        language_code : str
-            The language code for ASR. Defaults to "en".
-        """
-        UbtechASRProvider._instance = self
-
-        self.robot_ip = robot_ip
-        self.language = language_code
-
-        self.basic_url = f"http://{self.robot_ip}:9090/v1/"
-        self.headers = {"Content-Type": "application/json"}
-        self.session = requests.Session()
-        self.session.headers.update(self.headers)
-
-        self.running = False
-        self.paused = False
-        self.just_resumed = False
-        self._thread: Optional[threading.Thread] = None
-        self._message_callback: Optional[Callable] = None
-        self._set_robot_language(language_code)
-
-    def register_message_callback(self, cb: Optional[Callable]):
-        """
-        Register a callback to process recognized ASR messages.
-
-        Parameters
-        ----------
-        cb : Optional[callable]
-            The callback function to process recognized ASR messages.
-        """
-        self._message_callback = cb
-
-    def start(self):
-        """Start the ASR provider and its background thread."""
-        if self.running:
-            return
-
-        logging.info("Starting UbtechASRProvider background thread...")
-        self.running = True
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-
-    def stop(self):
-        """Stop the ASR provider and its background thread."""
-        if not self.running:
-            return
-
-        logging.info("Stopping UbtechASRProvider background thread...")
-        self.running = False
-        self._stop_voice_iat()
-
-        if self._thread:
-            self._thread.join(timeout=3)
-
-        logging.info("UbtechASRProvider stopped.")
-
-    def pause(self):
-        """Pause the ASR provider to stop listening for new utterances."""
-        logging.debug("Pausing UbtechASRProvider")
-        self.paused = True
-
-    def resume(self):
-        """Resume the ASR provider after being paused."""
-        logging.debug("Resuming UbtechASRProvider")
-        self.paused = False
-        self.just_resumed = True
-
-    def _run(self):
-        while self.running:
-            if self.just_resumed:
-                logging.debug("UbtechASRProvider: Just resumed, adding a 1.0s delay before listening.")
-                time.sleep(1.0)
-                self.just_resumed = False
-
-            if self.paused:
-                time.sleep(0.1)
-                continue
-
-            text = None
-            try:
-                logging.debug("UbtechASRProvider: _run loop iteration, attempting to get utterance.")
-                text = self._get_single_utterance()
-
-                if text:
-                    logging.debug(f"UbtechASRProvider: Successfully got utterance: '{text}'")
-                    if self._message_callback:
-                        logging.debug(f"UbtechASRProvider: Calling message callback with: '{text}'")
-                        self._message_callback(text)
-
-            except requests.RequestException as e:
-                logging.error(f"UbtechASRProvider: RequestException during _get_single_utterance: {e}")
-            except Exception as e:
-                logging.error(
-                    f"UbtechASRProvider: Unexpected error in _run's try block: {e}",
-                    exc_info=True,
-                )
-            finally:
-                logging.debug("UbtechASRProvider: Reached finally block in _run, ensuring ASR is paused.")
-                self.pause()
-
-                if text:
-                    logging.info(
-                        f"ASR got text: '{text}'. Pausing. Provider now sleeping for 2.0s to allow system processing."
-                    )
-                    time.sleep(2.0)
-                else:
-                    logging.debug(
-                        "UbtechASRProvider: No text obtained or error occurred, sleeping briefly before allowing resume."
-                    )
-                    time.sleep(0.5)
-
-    def _get_single_utterance(self) -> Optional[str]:
-        ts = int(time.time())
-        logging.debug(f"UbtechASRProvider: _get_single_utterance called, timestamp: {ts}")
-
-        try:
-            # PREEMPTIVE STOP: Ensure any previous session is cleared before starting a new one.
-            logging.info("UbtechASRProvider: Preemptively stopping any existing ASR session.")
-            self._stop_voice_iat()
-            time.sleep(0.1)
-
-            if not self._start_voice_iat(ts):
-                logging.warning(
-                    "UbtechASRProvider: _start_voice_iat failed or returned False. ASR session not started."
-                )
-                return None
-
-            logging.debug("UbtechASRProvider: ASR session started, pausing for 0.2s before polling.")
-            time.sleep(0.2)
-
-            for i in range(100):
-                if not self.running:
-                    logging.debug("UbtechASRProvider: Not running, exiting _get_single_utterance loop.")
-                    return None
-                res = self._get_voice_iat()
-                logging.debug(f"UbtechASRProvider: _get_voice_iat (attempt {i+1}) returned: {res}")
-                if res.get("status") == "idle" and res.get("timestamp") == ts:
-                    if not res.get("data") or res.get("code") != 0:
-                        logging.debug("UbtechASRProvider: Idle status but no data or error code.")
-                        return None
-                    words = res.get("data", {}).get("text", {}).get("ws", [])
-                    processed_text = "".join(w["cw"][0]["w"] for w in words).strip().lower() if words else None
-                    logging.debug(f"UbtechASRProvider: Processed text from idle status: '{processed_text}'")
-                    return processed_text
-                time.sleep(0.1)
-            logging.debug("UbtechASRProvider: _get_single_utterance loop finished without idle status (timeout).")
-            return None
-        finally:
-            logging.debug("UbtechASRProvider: Ensuring current voice iat session is stopped (post-attempt).")
-            self._stop_voice_iat()
-
-    def _set_robot_language(self, lang_code: str):
-        try:
-            logging.info(f"Setting robot language to: {lang_code}")
-            self.session.put(
-                f"{self.basic_url}system/language",
-                data=json.dumps({"language": lang_code}),
-                timeout=3,
-            )
-        except requests.RequestException as e:
-            logging.error(f"UbtechASRProvider: Failed to set robot language: {e}")
-
-    def _start_voice_iat(self, ts: int) -> bool:
-        if not self.robot_ip:
-            logging.error("Robot IP not set, cannot start ASR session.")
-            return False
-        try:
-            data = {"text": "", "timestamp": ts, "lang": self.language}
-            logging.debug(f"Starting ASR session with timestamp {ts} and language {self.language}. Payload: {data}")
-            res = self.session.put(f"{self.basic_url}voice/iat", json=data, timeout=3)
-            res.raise_for_status()
-            response_json = res.json()
-            logging.debug(f"UbtechASRProvider: _start_voice_iat response: {response_json}")
-            return response_json.get("code") == 0
-        except requests.RequestException as e:
-            logging.error(f"UbtechASRProvider: _start_voice_iat request failed: {e}")
-            return False
-
-    def _stop_voice_iat(self):
-        max_retries = 3
-        retry_delay = 0.5
-        for attempt in range(max_retries):
-            try:
-                logging.debug(f"UbtechASRProvider: Attempting to stop voice iat (attempt {attempt + 1}/{max_retries}).")
-                response = self.session.delete(f"{self.basic_url}voice/iat", timeout=2)
-                response.raise_for_status()
-                logging.debug("UbtechASRProvider: _stop_voice_iat request successful.")
-                return
-            except requests.exceptions.HTTPError as e:
-                if e.response.status_code >= 500 and attempt < max_retries - 1:
-                    logging.warning(
-                        f"UbtechASRProvider: _stop_voice_iat failed with {e.response.status_code} (attempt {attempt + 1}), retrying in {retry_delay}s..."
-                    )
-                    time.sleep(retry_delay)
-                    continue
-                else:
-                    logging.error(
-                        f"UbtechASRProvider: _stop_voice_iat failed with HTTPError (attempt {attempt + 1}): {e}"
-                    )
-                    return
-            except requests.RequestException as e:
-                logging.error(f"UbtechASRProvider: _stop_voice_iat request failed (attempt {attempt + 1}): {e}")
-                if attempt < max_retries - 1:
-                    time.sleep(retry_delay)
-                    continue
-                return
-        logging.error(f"UbtechASRProvider: _stop_voice_iat failed after {max_retries} retries.")
-
-    def _get_voice_iat(self) -> Dict:
-        max_retries = 3
-        retry_delay = 0.5
-        for attempt in range(max_retries):
-            try:
-                logging.debug(f"UbtechASRProvider: Attempting to get voice iat (attempt {attempt + 1}/{max_retries}).")
-                res = self.session.get(f"{self.basic_url}voice/iat", timeout=3)
-                res.raise_for_status()
-                response_json = res.json()
-                logging.debug(f"UbtechASRProvider: _get_voice_iat raw response: {response_json}")
-
-                if (
-                    response_json.get("data")
-                    and isinstance(response_json["data"], str)
-                    and response_json.get("code") == 0
-                ):
-                    cleaned_data_str = response_json["data"].strip().rstrip("\x00")
-                    logging.debug(f"UbtechASRProvider: _get_voice_iat cleaned data string: '{cleaned_data_str}'")
-                    if cleaned_data_str:
-                        try:
-                            response_json["data"] = json.loads(cleaned_data_str)
-                        except json.JSONDecodeError:
-                            logging.error(
-                                f"UbtechASRProvider: Failed to decode JSON from data string: '{cleaned_data_str}'"
-                            )
-                return response_json
-            except requests.exceptions.HTTPError as e:
-                if e.response.status_code >= 500 and attempt < max_retries - 1:
-                    logging.warning(
-                        f"UbtechASRProvider: _get_voice_iat failed with {e.response.status_code} (attempt {attempt + 1}), retrying in {retry_delay}s..."
-                    )
-                    time.sleep(retry_delay)
-                    continue
-                else:
-                    logging.error(
-                        f"UbtechASRProvider: _get_voice_iat failed with HTTPError (attempt {attempt + 1}): {e}"
-                    )
-                    return {
-                        "code": -1,
-                        "message": str(e),
-                        "data": None,
-                        "status": "error",
-                    }
-            except requests.RequestException as e:
-                logging.error(f"UbtechASRProvider: _get_voice_iat request failed (attempt {attempt + 1}): {e}")
-                if attempt < max_retries - 1:
-                    time.sleep(retry_delay)
-                    continue
-                return {"code": -1, "message": str(e), "data": None, "status": "error"}
-            except json.JSONDecodeError as e:
-                logging.error(
-                    f"UbtechASRProvider: _get_voice_iat failed to decode main JSON response (attempt {attempt + 1}): {e}"
-                )
-                if attempt < max_retries - 1:
-                    time.sleep(retry_delay)
-                    continue
-                return {
-                    "code": -1,
-                    "message": f"JSONDecodeError: {e}",
-                    "data": None,
-                    "status": "error",
-                }
-
-        logging.error(f"UbtechASRProvider: _get_voice_iat failed after {max_retries} retries.")
-        return {
-            "code": -1,
-            "message": "Max retries exceeded",
-            "data": None,
-            "status": "error",
-        }
diff --git a/src/providers/ubtech_video_stream.py b/src/providers/ubtech_video_stream.py
deleted file mode 100644
index 9d388cee28..0000000000
--- a/src/providers/ubtech_video_stream.py
+++ /dev/null
@@ -1,122 +0,0 @@
-import base64
-import logging
-import time
-from typing import Callable, List, Optional, Tuple
-
-import cv2
-import numpy as np
-from mjpeg.client import MJPEGClient
-from om1_vlm import VideoStream
-
-from ubtech.ubtechapi import YanAPI
-
-
-class UbtechCameraVideoStream(VideoStream):
-    """
-    Video stream handler for Ubtech robots using YanAPI and MJPEGClient.
-    """
-
-    def __init__(
-        self,
-        robot_ip: str,
-        frame_callback: Optional[Callable[[str], None]] = None,
-        frame_callbacks: Optional[List[Callable[[str], None]]] = None,
-        fps: Optional[int] = 30,
-        resolution: Optional[Tuple[int, int]] = (640, 480),
-        jpeg_quality: int = 70,
-    ):
-        """
-        Initialize the Ubtech camera video stream.
-
-        Parameters
-        ----------
-        robot_ip : str
-            The IP address of the Ubtech robot. Must be a non-empty string.
-        frame_callback : callable, optional
-            A single callback function to process video frames. The function should
-            accept a base64-encoded JPEG string as input.
-        frame_callbacks : list of callables, optional
-            A list of callback functions to process video frames. Each function should
-            accept a base64-encoded JPEG string as input.
-        fps : int, optional
-            Target frames per second for the video stream. Must be greater than 0.
-            Defaults to 30 if not specified.
-        resolution : tuple of int, optional
-            Target resolution for the video stream as (width, height). Both values
-            must be positive integers. Defaults to (640, 480) if not specified.
-        jpeg_quality : int, optional
-            JPEG compression quality (0-100). Higher values mean better quality but
-            larger file size. Defaults to 70.
-        """
-        super().__init__(
-            frame_callback=frame_callback,
-            frame_callbacks=frame_callbacks,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-        )
-
-        self.robot_ip = robot_ip
-        self.url = f"http://{self.robot_ip}:8000/stream.mjpg"
-        self.stream_client: Optional[MJPEGClient] = None
-
-        YanAPI.yan_api_init(self.robot_ip)
-
-    def on_video(self):
-        """
-        Main loop to handle video streaming from the Ubtech robot.
-        """
-        logging.info("Starting Ubtech MJPEG video stream")
-
-        try:
-            self.resolution = self.resolution or (640, 480)
-            YanAPI.open_vision_stream(resolution=f"{self.resolution[0]}x{self.resolution[1]}")
-            time.sleep(2)
-
-            self.stream_client = MJPEGClient(self.url)
-            bufs = self.stream_client.request_buffers(65536, 50)
-            for b in bufs:
-                self.stream_client.enqueue_buffer(b)
-            self.stream_client.start()
-
-            frame_time = 1.0 / (self.fps or 30)
-            last_time = time.perf_counter()
-
-            while self.running:
-                try:
-                    buf = self.stream_client.dequeue_buffer()
-                    frame_bytes = np.frombuffer(buf.data, dtype=np.uint8)
-                    frame = cv2.imdecode(frame_bytes, cv2.IMREAD_COLOR)
-                    self.stream_client.enqueue_buffer(buf)
-
-                    if frame is not None:
-                        height, width = frame.shape[:2]
-                        ratio = width / height
-                        new_width, new_height = (
-                            (self.resolution[0], int(self.resolution[0] / ratio))
-                            if width > height
-                            else (int(self.resolution[1] * ratio), self.resolution[1])
-                        )
-                        resized = cv2.resize(frame, (new_width, new_height), interpolation=cv2.INTER_AREA)
-                        _, buffer = cv2.imencode(".jpg", resized, self.encode_quality)
-                        frame_data = base64.b64encode(buffer.tobytes()).decode("utf-8")
-
-                        for cb in self.frame_callbacks:
-                            cb(frame_data)
-                    else:
-                        logging.warning("Received empty frame")
-
-                    elapsed = time.perf_counter() - last_time
-                    if elapsed < frame_time:
-                        time.sleep(frame_time - elapsed)
-                    last_time = time.perf_counter()
-
-                except Exception as e:
-                    logging.error(f"Video processing error: {e}")
-        finally:
-            if self.stream_client:
-                self.stream_client.stop()
-                logging.info("Stopped MJPEG stream client")
-
-            YanAPI.close_vision_stream()
-            logging.info("Closed vision stream on robot")
diff --git a/src/providers/ubtech_vlm_provider.py b/src/providers/ubtech_vlm_provider.py
deleted file mode 100644
index f29224c509..0000000000
--- a/src/providers/ubtech_vlm_provider.py
+++ /dev/null
@@ -1,97 +0,0 @@
-import logging
-from typing import Callable, Optional, Tuple
-
-from om1_utils import ws
-
-from .singleton import singleton
-from .ubtech_video_stream import UbtechCameraVideoStream
-
-
-@singleton
-class UbtechVLMProvider:
-    """
-    Singleton class to handle Ubtech video input and WebSocket communication for VLM.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        robot_ip: str,
-        fps: int = 30,
-        resolution: Tuple[int, int] = (640, 480),
-        jpeg_quality: int = 70,
-        stream_url: Optional[str] = None,
-    ):
-        """
-        Initialize the Ubtech VLM Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The websocket URL for the VLM service connection.
-        robot_ip : str
-            The IP address of the Ubtech robot.
-        fps : int, optional
-            The frames per second for the VLM service connection (default is 30).
-        resolution : tuple of int, optional
-            The resolution for the video stream (default is (640, 480)).
-        jpeg_quality : int, optional
-            The JPEG quality for the video stream (default is 70).
-        stream_url : str, optional
-            The URL for the video stream. If not provided, defaults to None.
-        """
-        self.robot_ip = robot_ip
-        self.running = False
-        self.ws_client = ws.Client(url=ws_url)
-        self.stream_ws_client = ws.Client(url=stream_url) if stream_url else None
-
-        self.video_stream = UbtechCameraVideoStream(
-            frame_callback=self.ws_client.send_message,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-            robot_ip=robot_ip,
-        )
-
-    def register_message_callback(self, callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        callback : Optional[callable]
-            The callback function to process VLM results.
-        """
-        if callback is not None:
-            self.ws_client.register_message_callback(callback)
-
-    def start(self):
-        """
-        Start the Ubtech VLM provider.
-        """
-        if self.running:
-            logging.warning("Ubtech VLM provider already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.video_stream.start()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.start()
-            self.video_stream.register_frame_callback(self.stream_ws_client.send_message)
-
-        logging.info("Ubtech VLM provider started")
-
-    def stop(self):
-        """
-        Stop the Ubtech VLM provider.
-        """
-        self.running = False
-        self.video_stream.stop()
-        self.ws_client.stop()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.stop()
-
-        logging.info("Ubtech VLM provider stopped")
diff --git a/src/providers/unitree_camera_vlm_provider.py b/src/providers/unitree_camera_vlm_provider.py
deleted file mode 100644
index 7f5abc00cc..0000000000
--- a/src/providers/unitree_camera_vlm_provider.py
+++ /dev/null
@@ -1,209 +0,0 @@
-import base64
-import logging
-import time
-from typing import Callable, List, Optional, Tuple
-
-import cv2
-import numpy as np
-from om1_utils import ws
-from om1_vlm import VideoStream
-
-from .singleton import singleton
-
-try:
-    from unitree.unitree_sdk2py.go2.video.video_client import VideoClient
-except ImportError:
-    logging.warning("Unitree SDK not found. Please install the Unitree SDK to use this plugin.")
-
-
-class UnitreeCameraVideoStream(VideoStream):
-    """
-    Video Stream class for Unitree Cameras.
-
-    This class extends the VideoStream class to handle Unitree camera-specific
-    video streaming and processing.
-    """
-
-    def __init__(
-        self,
-        frame_callback: Optional[Callable[[str], None]] = None,
-        frame_callbacks: Optional[List[Callable[[str], None]]] = None,
-        fps: Optional[int] = 30,
-        resolution: Optional[Tuple[int, int]] = (640, 480),
-        jpeg_quality: int = 70,
-    ):
-        """
-        Initialize the Unitree Camera Video Stream.
-
-        Parameters
-        ----------
-        frame_callback : callable, optional
-            A callback function to process video frames.
-        frame_callbacks : list of callables, optional
-            A list of callback functions to process video frames.
-        fps : int, optional
-            Frames per second for the video stream.
-        resolution : tuple of int, optional
-            The resolution for the video stream.
-        jpeg_quality : int, optional
-            The JPEG quality for the video stream.
-        """
-        super().__init__(
-            frame_callback=frame_callback,
-            frame_callbacks=frame_callbacks,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-        )
-
-        self.video_client = VideoClient()  # type: ignore
-        self.video_client.Init()
-
-    def on_video(self):
-        """
-        Main video capture and processing loop for Unitree cameras.
-
-        Captures frames from the camera, encodes them to base64,
-        and sends them through the callback if registered.
-        """
-        logging.info("Starting Unitree Camera Video Stream")
-
-        frame_time = 1.0 / (self.fps or 30)
-        last_frame_time = time.perf_counter()
-
-        while self.running:
-            try:
-                code, data = self.video_client.GetImageSample()
-                if code == 0 and data is not None:
-                    # Convert to numpy image
-                    image_data = np.frombuffer(bytes(data), dtype=np.uint8)
-                    image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
-
-                    if image is not None:
-                        # Calculate new dimensions maintaining aspect ratio
-                        height, width = image.shape[:2]
-                        ratio = width / height
-
-                        target_resolution = self.resolution or (640, 480)
-
-                        if width > height:
-                            new_width = target_resolution[0]
-                            new_height = int(target_resolution[0] / ratio)
-                        else:
-                            new_height = target_resolution[1]
-                            new_width = int(target_resolution[1] * ratio)
-
-                        # Resize image
-                        resized_image = cv2.resize(image, (new_width, new_height), interpolation=cv2.INTER_AREA)
-                        _, buffer = cv2.imencode(".jpg", resized_image, self.encode_quality)
-                        frame_data = base64.b64encode(buffer.tobytes()).decode("utf-8")
-
-                        if self.frame_callbacks:
-                            for frame_callback in self.frame_callbacks:
-                                frame_callback(frame_data)
-                    else:
-                        logging.warning("Failed to decode image")
-                else:
-                    logging.error(f"Failed to get image sample, code: {code}")
-
-                elapsed_time = time.perf_counter() - last_frame_time
-                if elapsed_time < frame_time:
-                    time.sleep(frame_time - elapsed_time)
-                last_frame_time = time.perf_counter()
-
-            except Exception as e:
-                logging.error(f"Error in video processing loop: {e}")
-                continue
-
-        logging.info("Stopping Camera Video Stream")
-
-
-@singleton
-class UnitreeCameraVLMProvider:
-    """
-    VLM Provider that handles audio streaming and websocket communication.
-
-    This class implements a singleton pattern to manage camera input streaming and websocket
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        base_url: str,
-        fps: int = 60,
-        resolution: Optional[Tuple[int, int]] = (640, 480),
-        jpeg_quality: int = 70,
-        stream_url: Optional[str] = None,
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        base_url : str
-            The base URL for the VLM service connection.
-        fps : int, optional
-            The frames per second for the VLM service connection. Defaults to 60.
-        resolution : tuple of int, optional
-            The resolution for the video stream. Defaults to (640, 480).
-        jpeg_quality : int, optional
-            The JPEG quality for the video stream. Defaults to 70.
-        stream_url : str, optional
-            The URL for the video stream. If not provided, defaults to None.
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=base_url)
-        self.stream_ws_client: Optional[ws.Client] = ws.Client(url=stream_url) if stream_url else None
-        self.video_stream: VideoStream = UnitreeCameraVideoStream(
-            self.ws_client.send_message,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-        )
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process VLM results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-
-    def start(self):
-        """
-        Start the VLM provider.
-
-        Initializes and starts the websocket client, video stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("Unitree Camera VLM provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.video_stream.start()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.start()
-            self.video_stream.register_frame_callback(self.stream_ws_client.send_message)
-
-        logging.info("Unitree Camera VLM provider started")
-
-    def stop(self):
-        """
-        Stop the VLM provider.
-
-        Stops the websocket client, video stream, and processing thread.
-        """
-        self.running = False
-        self.video_stream.stop()
-        self.ws_client.stop()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.stop()
diff --git a/src/providers/unitree_g1_locations_provider.py b/src/providers/unitree_g1_locations_provider.py
deleted file mode 100644
index 390ccd4492..0000000000
--- a/src/providers/unitree_g1_locations_provider.py
+++ /dev/null
@@ -1,164 +0,0 @@
-import json
-import logging
-import threading
-from typing import Dict, List, Optional, Union
-
-import requests
-
-from .io_provider import IOProvider
-from .singleton import singleton
-
-
-@singleton
-class UnitreeG1LocationsProvider:
-    """
-    Provider that fetches locations from HTTP API in a background thread for Unitree G1.
-
-    This class implements a singleton pattern to manage:
-        * Periodic background fetching of location data from an HTTP API
-        * Thread-safe access to the location dictionary
-    """
-
-    def __init__(
-        self,
-        base_url: str = "http://localhost:5000/maps/locations/list",
-        timeout: int = 5,
-        refresh_interval: int = 30,
-    ):
-        """
-        Initialize the Unitree G1 Locations Provider with a specific API endpoint and refresh interval.
-
-        Parameters
-        ----------
-        base_url : str, optional
-            The HTTP endpoint to fetch locations from. Default is "http://localhost:5000/maps/locations/list".
-        timeout : int, optional
-            Timeout for HTTP requests in seconds. Default is 5.
-        refresh_interval : int, optional
-            How often to refresh locations in seconds. Default is 30.
-        """
-        self.base_url = base_url
-        self.timeout = timeout
-        self.refresh_interval = refresh_interval
-        self._locations: Dict[str, Dict] = {}
-        self._thread: Optional[threading.Thread] = None
-        self._stop_event = threading.Event()
-        self._lock = threading.Lock()
-        self.io_provider = IOProvider()
-
-    def start(self) -> None:
-        """
-        Start the background fetch thread.
-        """
-        if self._thread and self._thread.is_alive():
-            logging.warning("UnitreeG1LocationsProvider already running")
-            return
-        self._stop_event.clear()
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-        logging.info("UnitreeG1LocationsProvider background thread started")
-
-    def stop(self) -> None:
-        """
-        Stop the background fetch thread.
-        """
-        self._stop_event.set()
-        if self._thread:
-            self._thread.join(timeout=5)
-
-    def _run(self) -> None:
-        """
-        Background thread that periodically fetches locations.
-        """
-        while not self._stop_event.is_set():
-            try:
-                self._fetch()
-            except Exception:
-                logging.exception("Error fetching locations")
-            self._stop_event.wait(timeout=self.refresh_interval)
-
-    def _fetch(self) -> None:
-        """
-        Fetch locations from the API and update cache.
-        """
-        if not self.base_url:
-            return
-        try:
-            resp = requests.get(self.base_url, timeout=self.timeout)
-            if resp.status_code < 200 or resp.status_code >= 300:
-                logging.error(f"Location list API returned {resp.status_code}: {resp.text}")
-                return
-            data = resp.json()
-            raw_message = data.get("message") if isinstance(data, dict) else None
-            if raw_message and isinstance(raw_message, str):
-                try:
-                    locations = json.loads(raw_message)
-                except Exception:
-                    logging.error("Failed to parse nested message JSON from location list")
-                    return
-            elif isinstance(data, dict) and "message" not in data:
-                locations = data
-            else:
-                logging.error("Unexpected format from location list API")
-                return
-            self._update_locations(locations)
-        except Exception:
-            logging.exception("Error fetching locations")
-
-    def _update_locations(self, locations_raw: Union[Dict, List]) -> None:
-        """
-        Parse and store locations.
-
-        Parameters
-        ----------
-        locations_raw : Dict or List
-            Raw locations data from the API.
-        """
-        parsed = {}
-        if isinstance(locations_raw, dict):
-            for k, v in locations_raw.items():
-                entry = v if isinstance(v, dict) else {"name": k, "pose": {}}
-                entry.setdefault("name", k)
-                parsed[k.strip().lower()] = entry
-        elif isinstance(locations_raw, list):
-            for item in locations_raw:
-                if not isinstance(item, dict):
-                    continue
-                name = (item.get("name") or item.get("label") or "").strip()
-                if not name:
-                    continue
-                parsed[name.lower()] = item
-        with self._lock:
-            self._locations = parsed
-
-    def get_all_locations(self) -> Dict[str, Dict]:
-        """
-        Get all cached locations.
-
-        Returns
-        -------
-        Dict
-            A dictionary of all locations keyed by their labels.
-        """
-        with self._lock:
-            return dict(self._locations)
-
-    def get_location(self, label: str) -> Optional[Dict]:
-        """
-        Get a specific location by label.
-
-        Parameters
-        ----------
-        label : str
-            The label of the location to retrieve.
-
-        Returns
-        -------
-        Dict or None
-            The location data if found, otherwise None.
-        """
-        if not label:
-            return None
-        key = label.strip().lower()
-        with self._lock:
-            return self._locations.get(key)
diff --git a/src/providers/unitree_g1_navigation_provider.py b/src/providers/unitree_g1_navigation_provider.py
deleted file mode 100644
index d23e50dbf9..0000000000
--- a/src/providers/unitree_g1_navigation_provider.py
+++ /dev/null
@@ -1,255 +0,0 @@
-import logging
-from typing import Optional
-from uuid import uuid4
-
-from zenoh import ZBytes
-
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from zenoh_msgs import (
-    AIStatusRequest,
-    String,
-    ZenohSampleType,
-    ZenohSessionType,
-    geometry_msgs,
-    nav_msgs,
-    open_zenoh_session,
-    prepare_header,
-)
-
-from .singleton import singleton
-
-status_map = {
-    0: "UNKNOWN",
-    1: "ACCEPTED",
-    2: "EXECUTING",
-    3: "CANCELING",
-    4: "SUCCEEDED",
-    5: "CANCELED",
-    6: "ABORTED",
-}
-
-
-@singleton
-class UnitreeG1NavigationProvider:
-    """
-    Navigation Provider for Unitree G1 robot.
-
-    This class implements a singleton pattern to manage:
-        * Navigation goal publishing to ROS2 Nav2 stack
-        * Navigation status monitoring from ROS2 action server
-        * Automatic AI mode control based on navigation state
-
-    The provider automatically manages AI mode control during navigation:
-    - Disables AI mode when navigation starts (ACCEPTED/EXECUTING status)
-    - Re-enables AI mode only on successful navigation completion (SUCCEEDED status)
-    - Keeps AI mode disabled on navigation failure/cancellation (CANCELED/ABORTED status)
-    """
-
-    def __init__(
-        self,
-        navigation_status_topic: str = "navigate_to_pose/_action/status",
-        goal_pose_topic: str = "goal_pose",
-        cancel_goal_topic: str = "navigate_to_pose/_action/cancel_goal",
-    ):
-        """
-        Initialize the Unitree G1 Navigation Provider with a specific topic.
-
-        Parameters
-        ----------
-        navigation_status_topic : str, optional
-            The ROS2 topic to subscribe for navigation status messages.
-            Default: "navigate_to_pose/_action/status"
-            Alternative: "navigate_to_pose/_action/feedback" for more detailed updates
-        goal_pose_topic : str, optional
-            The topic on which to publish goal poses (default is "goal_pose").
-        cancel_goal_topic : str, optional
-            The topic on which to publish goal cancellations (default is "navigate_to_pose/_action/cancel_goal").
-        """
-        self.session: Optional[ZenohSessionType] = None
-        try:
-            self.session = open_zenoh_session()
-            logging.info("Zenoh client opened for G1 navigation provider")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-        self.navigation_status_topic = navigation_status_topic
-        self.navigation_status = "UNKNOWN"
-        self.goal_pose_topic = goal_pose_topic
-        self.cancel_goal_topic = cancel_goal_topic
-        self.running: bool = False
-        self._nav_in_progress: bool = False
-        self._current_destination: Optional[str] = None
-        self.tts_provider = ElevenLabsTTSProvider()
-        self.ai_status_topic = "om/ai/request"
-        self.ai_status_pub = None
-        if self.session:
-            try:
-                self.ai_status_pub = self.session.declare_publisher(self.ai_status_topic)
-            except Exception as e:
-                logging.error(f"Error declaring AI status publisher: {e}")
-
-    def start(self):
-        """
-        Start the navigation provider by registering the message callback and starting the listener.
-        """
-        if self.session is None:
-            logging.error("Cannot start navigation provider; Zenoh session is not available.")
-            return
-        if not self.running:
-            self.session.declare_subscriber(self.navigation_status_topic, self.navigation_status_message_callback)
-            logging.info(
-                "Subscribed to navigation status topic: %s",
-                self.navigation_status_topic,
-            )
-            self.running = True
-            logging.info("G1 Navigation Provider started and listening for messages")
-            return
-        logging.warning("G1 Navigation Provider is already running")
-
-    def navigation_status_message_callback(self, data: ZenohSampleType):
-        """
-        Process an incoming navigation status message.
-
-        Parameters
-        ----------
-        data : ZenohSampleType
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if data.payload:
-            message: nav_msgs.Nav2Status = nav_msgs.Nav2Status.deserialize(data.payload.to_bytes())
-            logging.debug("Received Navigation Status message: %s", message)
-            status_list = message.status_list
-            if status_list:
-                latest_status = status_list[-1]  # type: ignore
-                status_code = latest_status.status
-                self.navigation_status = status_map.get(status_code, "UNKNOWN")
-                logging.info(
-                    "Received navigation status from ROS2 topic '/navigate_to_pose/_action/status': %s (code=%d)",
-                    self.navigation_status,
-                    status_code,
-                )
-                if status_code in (1, 2):
-                    if not self._nav_in_progress:
-                        self._nav_in_progress = True
-                        self._publish_ai_status(False)
-                        logging.info("Navigation started - AI mode disabled")
-                elif status_code == 4:
-                    if self._nav_in_progress:
-                        self._nav_in_progress = False
-                        self._publish_ai_status(True)
-                        logging.info("Navigation succeeded - AI mode re-enabled")
-                        if self._current_destination:
-                            self.tts_provider.add_pending_message(
-                                f"I have reached the {self._current_destination}. Yaaaay!!"
-                            )
-                elif status_code in (5, 6):
-                    if self._nav_in_progress:
-                        self._nav_in_progress = False
-                        logging.warning(
-                            "Navigation %s (code=%d) - AI mode remains disabled",
-                            self.navigation_status,
-                            status_code,
-                        )
-        else:
-            logging.warning("Received empty navigation status message")
-
-    def _publish_ai_status(self, enabled: bool):
-        """
-        Publish AI status to enable or disable AI mode during navigation.
-
-        Parameters
-        ----------
-        enabled : bool
-            True to enable AI mode, False to disable.
-        """
-        if self.ai_status_pub is None:
-            logging.warning("AI status publisher not available")
-            return
-        try:
-            header = prepare_header("map")
-            status_msg = AIStatusRequest(
-                header=header,
-                request_id=String(str(uuid4())),
-                code=1 if enabled else 0,
-            )
-            self.ai_status_pub.put(status_msg.serialize())
-            logging.info("AI mode %s during navigation", "enabled" if enabled else "disabled")
-        except Exception as e:
-            logging.error(f"Error publishing AI status: {e}")
-
-    def publish_goal_pose(self, pose: geometry_msgs.PoseStamped, destination_name: Optional[str] = None):
-        """
-        Publish a goal pose to the navigation topic.
-
-        Parameters
-        ----------
-        pose : geometry_msgs.PoseStamped
-            The goal pose to be published.
-        destination_name : Optional[str]
-            Name of the destination for speech feedback
-        """
-        if self.session is None:
-            logging.error("Cannot publish goal pose; Zenoh session is not available.")
-            return
-        try:
-            payload = pose.serialize()
-            self.session.put(self.goal_pose_topic, ZBytes(payload))
-            self._current_destination = destination_name
-            logging.info(f"Published goal pose for destination: {destination_name}")
-        except Exception as e:
-            logging.error(f"Error publishing goal pose: {e}")
-
-    def clear_goal_pose(self):
-        """
-        Clear/cancel all active navigation goals.
-        Publishes to the cancel_goal topic to stop navigation.
-        """
-        if self.session is None:
-            logging.error("Cannot cancel goal; Zenoh session is not available.")
-            return
-        try:
-            cancel_payload = ZBytes(b"")
-            self.session.put(self.cancel_goal_topic, cancel_payload)
-            logging.info("Sent cancel all goals request to: %s", self.cancel_goal_topic)
-            self._nav_in_progress = False
-        except Exception:
-            logging.exception("Failed to cancel navigation goals")
-
-    def stop(self):
-        """
-        Stop the navigation provider and clean up resources.
-        """
-        self.running = False
-
-        if self.ai_status_pub:
-            self.ai_status_pub.undeclare()
-            self.ai_status_pub = None
-
-        if self.session:
-            self.session.close()
-            self.session = None
-
-        logging.info("G1 Navigation Provider stopped")
-
-    @property
-    def navigation_state(self) -> str:
-        """
-        Get the current navigation state.
-
-        Returns
-        -------
-        str
-            The current navigation state as a string.
-        """
-        return self.navigation_status
-
-    @property
-    def is_navigating(self) -> bool:
-        """
-        Check if navigation is currently in progress.
-
-        Returns
-        -------
-        bool
-            True if navigation is in progress, False otherwise.
-        """
-        return self._nav_in_progress
diff --git a/src/providers/unitree_g1_odom_provider.py b/src/providers/unitree_g1_odom_provider.py
deleted file mode 100644
index 25f5ab4540..0000000000
--- a/src/providers/unitree_g1_odom_provider.py
+++ /dev/null
@@ -1,203 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-import time
-from typing import Optional
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-
-try:
-    from unitree.unitree_sdk2py.core.channel import (
-        ChannelFactoryInitialize,
-        ChannelSubscriber,
-    )
-    from unitree.unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
-except ImportError:
-    logging.warning(
-        "Unitree SDK or CycloneDDS not found. You do not need this unless you are connecting to a Unitree robot."
-    )
-
-from .odom_provider_base import OdomProviderBase, RobotState
-from .singleton import singleton
-
-
-def g1_odom_processor(
-    channel: str,
-    data_queue: mp.Queue,
-    logging_config: Optional[LoggingConfig] = None,
-) -> None:
-    """
-    Process function for the Unitree G1 Odom Provider.
-    This function runs in a separate process to periodically retrieve the odometry
-    and pose data from the robot via CycloneDDS and put it into a multiprocessing queue.
-
-    Parameters
-    ----------
-    channel : str
-        The channel to connect to the robot.
-    data_queue : mp.Queue
-        Queue for sending the retrieved odometry and pose data.
-    logging_config : LoggingConfig, optional
-        Optional logging configuration. If provided, it will override the default logging settings.
-    """
-    setup_logging("g1_odom_processor", logging_config=logging_config)
-
-    def sport_mode_handler(data: SportModeState_):  # type: ignore
-        """
-        Handler for SportModeState messages from CycloneDDS.
-
-        Parameters
-        ----------
-        data : SportModeState_
-            The SportModeState message containing odometry and IMU data.
-        """
-        logging.debug(f"SportModeState handler: {data}")  # type: ignore
-        data_queue.put(data)  # type: ignore
-
-    try:
-        ChannelFactoryInitialize(0, channel)  # type: ignore
-    except Exception as e:
-        logging.error(f"Error initializing Unitree G1 odom channel: {e}")
-        return
-
-    try:
-        sport_mode_subscriber = ChannelSubscriber("rt/odommodestate", SportModeState_)  # type: ignore
-        sport_mode_subscriber.Init(sport_mode_handler, 10)
-        logging.info("CycloneDDS SportModeState subscriber initialized successfully")
-    except Exception as e:
-        logging.error(f"Error opening CycloneDDS client: {e}")
-        return None
-
-    while True:
-        time.sleep(0.1)
-
-
-@singleton
-class UnitreeG1OdomProvider(OdomProviderBase):
-    """
-    Unitree G1 Odometry Provider.
-
-    This class implements odometry management for Unitree G1 robots using CycloneDDS
-    for communication.
-
-    Parameters
-    ----------
-    channel : str
-        The channel to connect to the robot, used for CycloneDDS.
-    """
-
-    def __init__(self, channel: Optional[str] = None):
-        """
-        Initialize the Unitree G1 Odom Provider.
-
-        Parameters
-        ----------
-        channel : str
-            The channel to connect to the robot, used for CycloneDDS.
-        """
-        super().__init__()
-        self.channel = channel
-        self.start()
-
-    def start(self) -> None:
-        """
-        Start the Unitree G1 Odom Provider.
-        """
-        if self._odom_reader_thread and self._odom_reader_thread.is_alive():
-            logging.warning("G1 Odom Provider is already running.")
-            return
-
-        if not self.channel:
-            logging.error("Channel must be specified to start the G1 Odom Provider.")
-            return
-
-        logging.info(f"Starting Unitree G1 Odom Provider on channel: {self.channel}")
-
-        self._odom_reader_thread = mp.Process(
-            target=g1_odom_processor,
-            args=(
-                self.channel,
-                self.data_queue,
-                get_logging_config(),
-            ),
-            daemon=True,
-        )
-        self._odom_reader_thread.start()
-
-        if self._odom_processor_thread and self._odom_processor_thread.is_alive():
-            logging.warning("Odom processor thread is already running.")
-            return
-        else:
-            logging.info("Starting Odom processor thread")
-            self._odom_processor_thread = threading.Thread(target=self.process_odom, daemon=True)
-            self._odom_processor_thread.start()
-
-    def process_odom(self):
-        """
-        Process the G1 SportModeState data and update the internal state.
-        This overrides the base class method to handle G1-specific message format.
-        """
-        import math
-
-        from .odom_provider_base import rad_to_deg
-
-        while not self._stop_event.is_set():
-            try:
-                sport_data = self.data_queue.get(timeout=1)
-            except Exception:
-                continue
-
-            # Extract timestamp
-            self.odom_rockchip_ts = sport_data.stamp.sec + sport_data.stamp.nanosec * 1e-9
-            self.odom_subscriber_ts = time.time()
-
-            # Extract position from the array [x, y, z]
-            x_pos = sport_data.position[0]
-            y_pos = sport_data.position[1]
-            z_pos = sport_data.position[2]
-
-            # Calculate movement delta
-            dx = (x_pos - self.previous_x) ** 2
-            dy = (y_pos - self.previous_y) ** 2
-            dz = (z_pos - self.previous_z) ** 2
-
-            self.previous_x = x_pos
-            self.previous_y = y_pos
-            self.previous_z = z_pos
-
-            delta = math.sqrt(dx + dy + dz)
-
-            # Update moving status with decay kernel
-            self.move_history = 0.7 * delta + 0.3 * self.move_history
-
-            if delta > 0.01 or self.move_history > 0.01:
-                self.moving = True
-                logging.info(f"delta moving (m): {round(delta, 3)} {round(self.move_history, 3)}")
-            else:
-                self.moving = False
-
-            # Extract yaw directly from IMU RPY (roll, pitch, yaw)
-            # rpy[2] is yaw in radians
-            yaw_rad = sport_data.imu_state.rpy[2]
-
-            # Convert to degrees (standard robot convention: yaw increases CCW)
-            self.odom_yaw_m180_p180 = round(yaw_rad * rad_to_deg, 4)
-
-            # Convert to 0-360 range (yaw increases CW)
-            flip = -1.0 * self.odom_yaw_m180_p180
-            if flip < 0.0:
-                flip = flip + 360.0
-
-            self.odom_yaw_0_360 = round(flip, 4)
-
-            # Update current position
-            self.x = round(x_pos, 4)
-            self.y = round(y_pos, 4)
-            self.z = round(z_pos, 4)
-
-            # We assume that the robot is always standing
-            self.body_attitude = RobotState.STANDING
-
-            logging.debug(
-                f"G1 odom: X:{self.x} Y:{self.y} Z:{self.z} W:{self.odom_yaw_m180_p180} H:{self.odom_yaw_0_360} T:{self.odom_rockchip_ts}"
-            )
diff --git a/src/providers/unitree_go2_amcl_provider.py b/src/providers/unitree_go2_amcl_provider.py
deleted file mode 100644
index 0f8dc19901..0000000000
--- a/src/providers/unitree_go2_amcl_provider.py
+++ /dev/null
@@ -1,112 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-import numpy as np
-import zenoh
-
-from zenoh_msgs import Pose, nav_msgs
-
-from .singleton import singleton
-from .zenoh_listener_provider import ZenohListenerProvider
-
-
-@singleton
-class UnitreeGo2AMCLProvider(ZenohListenerProvider):
-    """
-    AMCL Provider for Unitree Go2 robot.
-    """
-
-    def __init__(
-        self,
-        topic: str = "amcl_pose",
-        pose_tolerance: float = 0.4,
-        yaw_tolerance: float = 0.2,
-    ):
-        """
-        Initialize the AMCL Provider with a specific topic.
-
-        Parameters
-        ----------
-        topic : str, optional
-            The topic on which to subscribe for AMCL messages (default is "amcl").
-        pose_tolerance : float, optional
-            The tolerance for pose covariance (default is 0.4).
-        yaw_tolerance : float, optional
-            The tolerance for yaw covariance (default is 0.2).
-        """
-        super().__init__(topic)
-        logging.info("AMCL Provider initialized with topic: %s", topic)
-
-        self.localization_pose: Optional[Pose] = None
-        self.localization_status = False
-        self.pose_tolerance = pose_tolerance
-        self.yaw_tolerance = yaw_tolerance
-
-    def amcl_message_callback(self, data: zenoh.Sample):
-        """
-        Process an incoming AMCL message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if data.payload:
-            message: nav_msgs.AMCLPose = nav_msgs.AMCLPose.deserialize(data.payload.to_bytes())
-            logging.debug("Received AMCL message: %s", message)
-            covariance = np.array(message.covariance)
-
-            pos_uncertainty = np.sqrt(covariance[0] + covariance[7])
-            yaw_uncertainty = np.sqrt(covariance[35])
-
-            self.localization_status = pos_uncertainty < self.pose_tolerance and yaw_uncertainty < self.yaw_tolerance
-            self.localization_pose = message.pose
-            logging.info(
-                "Localization Status: %s, Pose: %s",
-                self.localization_status,
-                self.localization_pose,
-            )
-
-        else:
-            logging.warning("Received empty AMCL message")
-
-    def start(self, message_callback: Optional[Callable] = None):
-        """
-        Start the AMCL Provider by registering the message callback.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            Optional callback function for message processing. Not used directly
-            but kept for interface compatibility.
-        """
-        if not self.running:
-            self.register_message_callback(self.amcl_message_callback)
-            self.running = True
-            logging.info("AMCL Provider started and listening for messages")
-        else:
-            logging.warning("AMCL Provider is already running")
-
-    @property
-    def is_localized(self) -> bool:
-        """
-        Check if the robot is localized based on the AMCL data.
-
-        Returns
-        -------
-        bool
-            True if the robot is localized, False otherwise.
-        """
-        return self.localization_status
-
-    @property
-    def pose(self) -> Optional[Pose]:
-        """
-        Get the current localization pose.
-
-        Returns
-        -------
-        Optional[Pose]
-            The current pose if available, None otherwise.
-        """
-        return self.localization_pose
diff --git a/src/providers/unitree_go2_charging_provider.py b/src/providers/unitree_go2_charging_provider.py
deleted file mode 100644
index 380176bdeb..0000000000
--- a/src/providers/unitree_go2_charging_provider.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-import zenoh
-
-from zenoh_msgs import ChargingStatus
-
-from .singleton import singleton
-from .zenoh_listener_provider import ZenohListenerProvider
-
-
-@singleton
-class UnitreeGo2ChargingProvider(ZenohListenerProvider):
-    """
-    Charging Status Provider for Unitree Go2 robot.
-    Subscribes to om/go2/charging_status and exposes latest status.
-    """
-
-    def __init__(self, topic: str = "om/go2/charging_status"):
-        """
-        Initialize the Charging Provider with a specific topic.
-
-        Parameters
-        ----------
-        topic : str, optional
-            The topic on which to subscribe for charging status messages
-            (default is "om/go2/charging_status").
-        """
-        super().__init__(topic)
-        logging.info("Charging Provider initialized with topic: %s", topic)
-
-        self.latest_status: Optional[int] = None
-        self.status_history: list = []
-
-    def charging_message_callback(self, data: zenoh.Sample):
-        """
-        Process an incoming ChargingStatus message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if data.payload:
-            try:
-                message: ChargingStatus = ChargingStatus.deserialize(data.payload.to_bytes())
-                self.latest_status = message.code
-                self.status_history.append(message.code)
-                logging.info("Received charging status: %s", message.code)
-            except Exception as e:
-                logging.error("Failed to parse ChargingStatus: %s", e)
-        else:
-            logging.warning("Received empty ChargingStatus message")
-
-    def start(self, message_callback: Optional[Callable] = None):
-        """
-        Start the Charging Provider by registering the message callback.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable], optional
-        """
-        if not self.running:
-            self.register_message_callback(self.charging_message_callback)
-            self.running = True
-            logging.info("Charging Provider started and listening for messages")
-        else:
-            logging.warning("Charging Provider is already running")
-
-    @property
-    def charging_status(self) -> Optional[int]:
-        """
-        Get the current charging status.
-
-        Returns
-        -------
-        Optional[int]
-            The current charging status if available, None otherwise.
-        """
-        return self.latest_status
-
-    def get_charging_status(self) -> Optional[int]:
-        """
-        Get the current charging status (method form for compatibility).
-
-        Returns
-        -------
-        Optional[int]
-            The current charging status if available, None otherwise.
-        """
-        return self.latest_status
-
-    def get_status_history(self) -> list:
-        """
-        Get the history of charging statuses.
-
-        Returns
-        -------
-        list
-            List of all charging statuses received.
-        """
-        return self.status_history
diff --git a/src/providers/unitree_go2_frontier_exploration.py b/src/providers/unitree_go2_frontier_exploration.py
deleted file mode 100644
index 64ca150872..0000000000
--- a/src/providers/unitree_go2_frontier_exploration.py
+++ /dev/null
@@ -1,112 +0,0 @@
-import json
-import logging
-from typing import Callable, Dict, Optional
-
-import zenoh
-
-from zenoh_msgs import String
-
-from .context_provider import ContextProvider
-from .singleton import singleton
-from .zenoh_listener_provider import ZenohListenerProvider
-
-
-@singleton
-class UnitreeGo2FrontierExplorationProvider(ZenohListenerProvider):
-    """
-    Frontier Exploration provider for Unitree Go2 robot.
-    """
-
-    def __init__(
-        self,
-        topic: str = "explore/status",
-        context_aware_text: Optional[Dict] = None,
-    ):
-        """
-        Initialize the Frontier Exploration Provider with a specific topic.
-
-        Parameters
-        ----------
-        topic : str, optional
-            The topic on which to subscribe for frontier exploration messages (default is "explore/status").
-        context_aware_text : Dict, optional
-            The context text to be sent when exploration is complete. Defaults to {"exploration_done": True}.
-        """
-        super().__init__(topic)
-        logging.info("Frontier Exploration Provider initialized with topic: %s", topic)
-
-        self.exploration_info: Optional[str] = None
-        self.exploration_complete = False
-
-        # Start Context Provider to update context when exploration is done
-        self.context_provider = ContextProvider()
-        if context_aware_text is None:
-            context_aware_text = {"exploration_done": True}
-        self.context_aware_text = context_aware_text
-
-    def frontier_exploration_message_callback(self, data: zenoh.Sample):
-        """
-        Process an incoming frontier exploration message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if data.payload:
-            message: str = String.deserialize(data.payload.to_bytes()).data
-
-            try:
-                exploration_data = json.loads(message)
-                self.exploration_complete = exploration_data.get("complete", False)
-                self.exploration_info = exploration_data.get("info", "")
-
-                if self.exploration_complete:
-                    logging.info("Exploration Status: Completed, Info: %s", self.exploration_info)
-
-                    # Trigger the context to stop SLAM
-                    self.context_provider.update_context(self.context_aware_text)
-
-            except json.JSONDecodeError as e:
-                logging.error(f"Error decoding exploration message JSON: {e}")
-
-    def start(self, message_callback: Optional[Callable] = None):
-        """
-        Start the frontier exploration provider by registering the message callback.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            Optional callback function for message processing. Not used directly
-            but kept for interface compatibility.
-        """
-        if not self.running:
-            self.register_message_callback(self.frontier_exploration_message_callback)
-            self.running = True
-            logging.info("Frontier Exploration Provider started")
-        else:
-            logging.warning("Frontier Exploration Provider is already running")
-
-    @property
-    def status(self) -> bool:
-        """
-        Get the current exploration status.
-
-        Returns
-        -------
-        bool
-            The current exploration status.
-        """
-        return self.exploration_complete
-
-    @property
-    def info(self) -> Optional[str]:
-        """
-        Get the current exploration info.
-
-        Returns
-        -------
-        Optional[str]
-            The current exploration info.
-        """
-        return self.exploration_info
diff --git a/src/providers/unitree_go2_lidar_localization_provider.py b/src/providers/unitree_go2_lidar_localization_provider.py
deleted file mode 100644
index 9aae3f547f..0000000000
--- a/src/providers/unitree_go2_lidar_localization_provider.py
+++ /dev/null
@@ -1,105 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-import zenoh
-
-from zenoh_msgs import Pose, nav_msgs
-
-from .singleton import singleton
-from .zenoh_listener_provider import ZenohListenerProvider
-
-
-@singleton
-class UnitreeGo2LidarLocalizationProvider(ZenohListenerProvider):
-    """
-    Lidar Localization provider for Unitree Go2 robot.
-    """
-
-    def __init__(
-        self,
-        topic: str = "om/localization_pose",
-        quality_tolerance: float = 0.7,
-    ):
-        """
-        Initialize the Lidar Localization Provider with a specific topic.
-
-        Parameters
-        ----------
-        topic : str, optional
-            The topic on which to subscribe for lidar localization messages (default is "om/localization_pose").
-        quality_tolerance : float, optional
-            The tolerance for localization quality percent (default is 0.7).
-        """
-        super().__init__(topic)
-        logging.info("Lidar Localization Provider initialized with topic: %s", topic)
-
-        self.localization_pose: Optional[Pose] = None
-        self.localization_status = False
-        self.quality_tolerance = quality_tolerance
-
-    def lidar_localization_message_callback(self, data: zenoh.Sample):
-        """
-        Process an incoming lidar localization message.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if data.payload:
-            message: nav_msgs.LidarLocalization = nav_msgs.LidarLocalization.deserialize(data.payload.to_bytes())
-            logging.debug("Received Lidar Localization message: %s", message)
-
-            quality_percent = message.quality_percent
-            self.localization_status = quality_percent >= self.quality_tolerance
-            self.localization_pose = message.pose
-
-            logging.debug(
-                "Localization Status: %s, Pose: %s",
-                self.localization_status,
-                self.localization_pose,
-            )
-
-        else:
-            logging.warning("Received empty lidar localization message")
-
-    def start(self, message_callback: Optional[Callable] = None):
-        """
-        Start the Lidar Localization Provider by registering the message callback.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            Optional callback function for message processing. Not used directly
-            but kept for interface compatibility.
-        """
-        if not self.running:
-            self.register_message_callback(self.lidar_localization_message_callback)
-            self.running = True
-            logging.info("Lidar Localization Provider started and listening for messages")
-        else:
-            logging.warning("Lidar Localization Provider is already running")
-
-    @property
-    def is_localized(self) -> bool:
-        """
-        Check if the robot is localized based on the Lidar Localization data.
-
-        Returns
-        -------
-        bool
-            True if the robot is localized, False otherwise.
-        """
-        return self.localization_status
-
-    @property
-    def pose(self) -> Optional[Pose]:
-        """
-        Get the current localization pose.
-
-        Returns
-        -------
-        Optional[Pose]
-            The current pose if available, None otherwise.
-        """
-        return self.localization_pose
diff --git a/src/providers/unitree_go2_locations_provider.py b/src/providers/unitree_go2_locations_provider.py
deleted file mode 100644
index a9e4a62d25..0000000000
--- a/src/providers/unitree_go2_locations_provider.py
+++ /dev/null
@@ -1,174 +0,0 @@
-import json
-import logging
-import threading
-from typing import Dict, List, Optional, Union
-
-import requests
-
-from .io_provider import IOProvider
-from .singleton import singleton
-
-
-@singleton
-class UnitreeGo2LocationsProvider:
-    """
-    Provider that fetches locations from HTTP API in a background thread.
-    """
-
-    def __init__(
-        self,
-        base_url: str = "http://localhost:5000/maps/locations/list",
-        api_key: str = "",
-        timeout: int = 5,
-        refresh_interval: int = 30,
-    ):
-        """
-        Initialize the provider.
-
-        Parameters
-        ----------
-        base_url : str
-            The HTTP endpoint to fetch locations from. Default is "http://localhost:5000/maps/locations/list".
-        timeout : int
-            Timeout for HTTP requests in seconds.
-        refresh_interval : int
-            How often to refresh locations in seconds.
-        """
-        self.base_url = base_url
-        self.api_key = api_key
-        self.timeout = timeout
-        self.refresh_interval = refresh_interval
-        self._locations: Dict[str, Dict] = {}
-        self._thread: Optional[threading.Thread] = None
-        self._stop_event = threading.Event()
-        self._lock = threading.Lock()
-
-        self.io_provider = IOProvider()
-
-    def start(self) -> None:
-        """
-        Start the background fetch thread.
-        """
-        if self._thread and self._thread.is_alive():
-            logging.warning("UnitreeGo2LocationsProvider already running")
-            return
-
-        self._stop_event.clear()
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-        logging.info("UnitreeGo2LocationsProvider background thread started")
-
-    def stop(self) -> None:
-        """
-        Stop the background fetch thread.
-        """
-        self._stop_event.set()
-        if self._thread:
-            self._thread.join(timeout=5)
-
-    def _run(self) -> None:
-        """
-        Background thread that periodically fetches locations.
-        """
-        while not self._stop_event.is_set():
-            try:
-                self._fetch()
-            except Exception:
-                logging.exception("Error fetching locations")
-
-            self._stop_event.wait(timeout=self.refresh_interval)
-
-    def _fetch(self) -> None:
-        """
-        Fetch locations from the API and update cache.
-        """
-        if not self.base_url:
-            return
-
-        try:
-            resp = requests.get(self.base_url, headers={"x-api-key": self.api_key}, timeout=self.timeout)
-
-            if resp.status_code < 200 or resp.status_code >= 300:
-                logging.error(f"Location list API returned {resp.status_code}: {resp.text}")
-                return
-
-            data = resp.json()
-
-            raw_message = data.get("message") if isinstance(data, dict) else None
-            if raw_message and isinstance(raw_message, str):
-                try:
-                    locations = json.loads(raw_message)
-                except Exception:
-                    logging.error("Failed to parse nested message JSON from location list")
-                    return
-            elif isinstance(data, dict) and "message" not in data:
-                locations = data
-            else:
-                logging.error("Unexpected format from location list API")
-                return
-
-            self._update_locations(locations)
-
-        except Exception:
-            logging.exception("Error fetching locations")
-
-    def _update_locations(self, locations_raw: Union[Dict, List]) -> None:
-        """
-        Parse and store locations.
-
-        Parameters
-        ----------
-        locations_raw : Dict or List
-            Raw locations data from the API.
-        """
-        parsed = {}
-
-        if isinstance(locations_raw, dict):
-            for k, v in locations_raw.items():
-                entry = v if isinstance(v, dict) else {"name": k, "pose": {}}
-                entry.setdefault("name", k)
-                parsed[k.strip().lower()] = entry
-
-        elif isinstance(locations_raw, list):
-            for item in locations_raw:
-                if not isinstance(item, dict):
-                    continue
-                name = (item.get("name") or item.get("label") or "").strip()
-                if not name:
-                    continue
-                parsed[name.lower()] = item
-
-        with self._lock:
-            self._locations = parsed
-
-    def get_all_locations(self) -> Dict[str, Dict]:
-        """
-        Get all cached locations.
-
-        Returns
-        -------
-        Dict
-            A dictionary of all locations keyed by their labels.
-        """
-        with self._lock:
-            return dict(self._locations)
-
-    def get_location(self, label: str) -> Optional[Dict]:
-        """
-        Get a specific location by label.
-
-        Parameters
-        ----------
-        label : str
-            The label of the location to retrieve.
-
-        Returns
-        -------
-        Dict or None
-            The location data if found, otherwise None.
-        """
-        if not label:
-            return None
-        key = label.strip().lower()
-        with self._lock:
-            return self._locations.get(key)
diff --git a/src/providers/unitree_go2_navigation_provider.py b/src/providers/unitree_go2_navigation_provider.py
deleted file mode 100644
index 6ee62dd5f4..0000000000
--- a/src/providers/unitree_go2_navigation_provider.py
+++ /dev/null
@@ -1,286 +0,0 @@
-import logging
-from typing import Optional
-from uuid import uuid4
-
-from zenoh import ZBytes
-
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from zenoh_msgs import (
-    AIStatusRequest,
-    String,
-    ZenohSampleType,
-    ZenohSessionType,
-    geometry_msgs,
-    nav_msgs,
-    open_zenoh_session,
-    prepare_header,
-)
-
-from .singleton import singleton
-
-# Nav2 Action Status Codes
-status_map = {
-    0: "UNKNOWN",
-    1: "ACCEPTED",
-    2: "EXECUTING",
-    3: "CANCELING",
-    4: "SUCCEEDED",  # Only this status re-enables AI mode
-    5: "CANCELED",
-    6: "ABORTED",
-}
-
-
-@singleton
-class UnitreeGo2NavigationProvider:
-    """
-    Navigation Provider for Unitree Go2 robot.
-
-    This class implements a singleton pattern to manage:
-        * Navigation goal publishing to ROS2 Nav2 stack
-        * Navigation status monitoring from ROS2 action server
-        * Automatic AI mode control based on navigation state
-
-    The provider automatically manages AI mode control during navigation:
-    - Disables AI mode when navigation starts (ACCEPTED/EXECUTING status)
-    - Re-enables AI mode only on successful navigation completion (SUCCEEDED status)
-    - Keeps AI mode disabled on navigation failure/cancellation (CANCELED/ABORTED status)
-    """
-
-    def __init__(
-        self,
-        navigation_status_topic: str = "navigate_to_pose/_action/status",
-        goal_pose_topic: str = "goal_pose",
-        cancel_goal_topic: str = "navigate_to_pose/_action/cancel_goal",
-    ):
-        """
-        Initialize the Unitree Go2 Navigation Provider with a specific topic.
-
-        Parameters
-        ----------
-        navigation_status_topic : str, optional
-            The ROS2 topic to subscribe for navigation status messages.
-            Default: "navigate_to_pose/_action/status"
-            Alternative: "navigate_to_pose/_action/feedback" for more detailed updates
-        goal_pose_topic : str, optional
-            The topic on which to publish goal poses (default is "goal_pose").
-        cancel_goal_topic : str, optional
-            The topic on which to publish goal cancellations (default is "navigate_to_pose/_action/cancel_goal").
-        """
-        self.session: Optional[ZenohSessionType] = None
-
-        try:
-            self.session = open_zenoh_session()
-            logging.info("Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-
-        self.navigation_status_topic = navigation_status_topic
-        self.navigation_status = "UNKNOWN"
-
-        self.goal_pose_topic = goal_pose_topic
-        self.cancel_goal_topic = cancel_goal_topic
-
-        self.running: bool = False
-        self._nav_in_progress: bool = False
-        self._current_destination: Optional[str] = None  # Track destination name
-
-        # TTS provider for speech feedback
-        self.tts_provider = ElevenLabsTTSProvider()
-
-        # AI status control
-        self.ai_status_topic = "om/ai/request"
-        self.ai_status_pub = None
-        if self.session:
-            try:
-                self.ai_status_pub = self.session.declare_publisher(self.ai_status_topic)
-                logging.info("AI status publisher initialized on topic: %s", self.ai_status_topic)
-            except Exception as e:
-                logging.error(f"Error creating AI status publisher: {e}")
-
-    def navigation_status_message_callback(self, data: ZenohSampleType):
-        """
-        Process an incoming navigation status message.
-
-        Parameters
-        ----------
-        data : ZenohSampleType
-            The Zenoh sample received, which should have a 'payload' attribute.
-        """
-        if data.payload:
-            message: nav_msgs.Nav2Status = nav_msgs.Nav2Status.deserialize(data.payload.to_bytes())
-            logging.debug("Received Navigation Status message: %s", message)
-            status_list = message.status_list
-            if status_list:
-                latest_status = status_list[-1]  # type: ignore
-                status_code = latest_status.status
-                self.navigation_status = status_map.get(status_code, "UNKNOWN")
-                logging.info(
-                    "Received navigation status from ROS2 topic '/navigate_to_pose/_action/status': %s (code=%d)",
-                    self.navigation_status,
-                    status_code,
-                )
-
-                # Track navigation state and AI mode control
-                # AI mode is ONLY re-enabled on STATUS_SUCCEEDED (4)
-                if status_code in (1, 2):  # ACCEPTED or EXECUTING
-                    if not self._nav_in_progress:
-                        self._nav_in_progress = True
-                        self._publish_ai_status(enabled=False)  # Disable AI during navigation
-                        logging.info("Navigation started - AI mode disabled")
-                elif status_code == 4:  # STATUS_SUCCEEDED - Navigation completed successfully
-                    if self._nav_in_progress:
-                        self._nav_in_progress = False
-                        self._publish_ai_status(enabled=True)  # Re-enable AI ONLY on success
-                        logging.info("Navigation succeeded - AI mode re-enabled")
-
-                        # Add speech feedback for successful navigation
-                        if self._current_destination:
-                            self.tts_provider.add_pending_message(
-                                f"Yaaay! I have reached the {self._current_destination}. Woof! Woof!"
-                            )
-                        else:
-                            self.tts_provider.add_pending_message("Yaaay! I have reached my destination. Woof! Woof!")
-                elif status_code in (5, 6):  # CANCELED or ABORTED
-                    if self._nav_in_progress:
-                        self._nav_in_progress = False
-                        # Do NOT re-enable AI mode on failure/cancellation
-                        logging.warning(
-                            "Navigation %s (code=%d) - AI mode remains disabled",
-                            self.navigation_status,
-                            status_code,
-                        )
-        else:
-            logging.warning("Received empty navigation status message")
-
-    def _publish_ai_status(self, enabled: bool):
-        """
-        Publish AI status to enable or disable AI mode during navigation.
-
-        Parameters
-        ----------
-        enabled : bool
-            True to enable AI mode, False to disable.
-        """
-        if self.ai_status_pub is None:
-            logging.warning("AI status publisher not available")
-            return
-
-        try:
-            header = prepare_header("map")
-            status_msg = AIStatusRequest(
-                header=header,
-                request_id=String(str(uuid4())),
-                code=1 if enabled else 0,
-            )
-            self.ai_status_pub.put(status_msg.serialize())
-            logging.info("AI mode %s during navigation", "enabled" if enabled else "disabled")
-        except Exception as e:
-            logging.error(f"Error publishing AI status: {e}")
-
-    def start(self):
-        """
-        Start the navigation provider by registering the message callback and starting the listener.
-        """
-        if self.session is None:
-            logging.error("Cannot start navigation provider; Zenoh session is not available.")
-            return
-
-        if not self.running:
-            self.session.declare_subscriber(self.navigation_status_topic, self.navigation_status_message_callback)
-            logging.info(
-                "Subscribed to navigation status topic: %s",
-                self.navigation_status_topic,
-            )
-
-            self.running = True
-            logging.info("Navigation Provider started and listening for messages")
-            return
-
-        logging.warning("Navigation Provider is already running")
-
-    def publish_goal_pose(self, pose: geometry_msgs.PoseStamped, destination_name: Optional[str] = None):
-        """
-        Publish a goal pose to the navigation topic.
-
-        Parameters
-        ----------
-        pose : geometry_msgs.PoseStamped
-            The goal pose to be published.
-        destination_name : Optional[str]
-            Name of the destination for speech feedback
-        """
-        if self.session is None:
-            logging.error("Cannot publish goal pose; Zenoh session is not available.")
-            return
-
-        # Store destination name for speech feedback
-        self._current_destination = destination_name
-
-        # Disable AI mode immediately when navigation goal is published
-        if not self._nav_in_progress:
-            self._publish_ai_status(enabled=False)
-            logging.info("Navigation goal published - AI mode disabled immediately")
-
-        self._nav_in_progress = True
-        payload = ZBytes(pose.serialize())
-        self.session.put(self.goal_pose_topic, payload)
-        logging.info("Published goal pose to topic: %s", self.goal_pose_topic)
-
-    def clear_goal_pose(self):
-        """
-        Clear/cancel all active navigation goals.
-        Publishes to the cancel_goal topic to stop navigation.
-        """
-        if self.session is None:
-            logging.error("Cannot cancel goal; Zenoh session is not available.")
-            return
-
-        try:
-            # Send cancel request to Nav2
-            # Empty payload should cancel all active goals
-            cancel_payload = ZBytes(b"")
-            self.session.put(self.cancel_goal_topic, cancel_payload)
-            logging.info("Sent cancel all goals request to: %s", self.cancel_goal_topic)
-            self._nav_in_progress = False
-        except Exception:
-            logging.exception("Failed to cancel navigation goals")
-
-    def stop(self):
-        """
-        Stop the navigation provider by unsubscribing from topics and cleaning up resources.
-        """
-        self.running = False
-
-        if self.ai_status_pub:
-            self.ai_status_pub.undeclare()
-            logging.info("AI status publisher closed")
-
-        if self.session:
-            self.session.close()
-            logging.info("Zenoh session closed")
-
-        logging.warning("Navigation Provider is not running")
-
-    @property
-    def navigation_state(self) -> str:
-        """
-        Get the current navigation state.
-
-        Returns
-        -------
-        str
-            The current navigation state as a string.
-        """
-        return self.navigation_status
-
-    @property
-    def is_navigating(self) -> bool:
-        """
-        Check if navigation is currently in progress.
-
-        Returns
-        -------
-        bool
-            True if navigation is in progress, False otherwise.
-        """
-        return self._nav_in_progress
diff --git a/src/providers/unitree_go2_odom_provider.py b/src/providers/unitree_go2_odom_provider.py
deleted file mode 100644
index e91f7e205e..0000000000
--- a/src/providers/unitree_go2_odom_provider.py
+++ /dev/null
@@ -1,148 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-import time
-from typing import Optional
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-
-try:
-    from unitree.unitree_sdk2py.core.channel import (
-        ChannelFactoryInitialize,
-        ChannelSubscriber,
-    )
-    from unitree.unitree_sdk2py.idl.geometry_msgs.msg.dds_ import PoseStamped_
-except ImportError:
-    logging.warning(
-        "Unitree SDK or CycloneDDS not found. You do not need this unless you are connecting to a Unitree robot."
-    )
-
-from .odom_provider_base import OdomProviderBase, RobotState
-from .singleton import singleton
-
-
-def go2_odom_processor(
-    channel: str,
-    data_queue: mp.Queue,
-    logging_config: Optional[LoggingConfig] = None,
-) -> None:
-    """
-    Process function for the Unitree Go2 Odom Provider.
-    This function runs in a separate process to periodically retrieve the odometry
-    and pose data from the robot via CycloneDDS and put it into a multiprocessing queue.
-
-    Parameters
-    ----------
-    channel : str
-        The channel to connect to the robot.
-    data_queue : mp.Queue
-        Queue for sending the retrieved odometry and pose data.
-    logging_config : LoggingConfig, optional
-        Optional logging configuration. If provided, it will override the default logging settings.
-    """
-    setup_logging("go2_odom_processor", logging_config=logging_config)
-
-    def pose_message_handler(data: PoseStamped_):  # type: ignore
-        """
-        Handler for pose messages from CycloneDDS.
-
-        Parameters
-        ----------
-        data : PoseStamped_
-            The PoseStamped message containing the pose data.
-        """
-        logging.debug(f"Pose message handler: {data}")  # type: ignore
-        data_queue.put(data)  # type: ignore
-
-    try:
-        ChannelFactoryInitialize(0, channel)  # type: ignore
-    except Exception as e:
-        logging.error(f"Error initializing Unitree Go2 odom channel: {e}")
-        return
-
-    try:
-        pose_subscriber = ChannelSubscriber("rt/utlidar/robot_pose", PoseStamped_)  # type: ignore
-        pose_subscriber.Init(pose_message_handler, 10)
-        logging.info("CycloneDDS pose subscriber initialized successfully")
-    except Exception as e:
-        logging.error(f"Error opening CycloneDDS client: {e}")
-        return None
-
-    while True:
-        time.sleep(0.1)
-
-
-@singleton
-class UnitreeGo2OdomProvider(OdomProviderBase):
-    """
-    Unitree Go2 Odometry Provider.
-
-    This class implements odometry management for Unitree Go2 robots using CycloneDDS
-    for communication.
-
-    Parameters
-    ----------
-    channel : str
-        The channel to connect to the robot, used for CycloneDDS.
-    """
-
-    def __init__(self, channel: Optional[str] = None):
-        """
-        Initialize the Unitree Go2 Odom Provider.
-
-        Parameters
-        ----------
-        channel : str
-            The channel to connect to the robot, used for CycloneDDS.
-        """
-        super().__init__()
-        self.channel = channel
-        self.start()
-
-    def start(self) -> None:
-        """
-        Start the Unitree Go2 Odom Provider.
-        """
-        if self._odom_reader_thread and self._odom_reader_thread.is_alive():
-            logging.warning("Go2 Odom Provider is already running.")
-            return
-
-        if not self.channel:
-            logging.error("Channel must be specified to start the Go2 Odom Provider.")
-            return
-
-        logging.info(f"Starting Unitree Go2 Odom Provider on channel: {self.channel}")
-
-        self._odom_reader_thread = mp.Process(
-            target=go2_odom_processor,
-            args=(
-                self.channel,
-                self.data_queue,
-                get_logging_config(),
-            ),
-            daemon=True,
-        )
-        self._odom_reader_thread.start()
-
-        if self._odom_processor_thread and self._odom_processor_thread.is_alive():
-            logging.warning("Odom processor thread is already running.")
-            return
-        else:
-            logging.info("Starting Odom processor thread")
-            self._odom_processor_thread = threading.Thread(target=self.process_odom, daemon=True)
-            self._odom_processor_thread.start()
-
-    def _update_body_state(self, pose):
-        """
-        Update body height and attitude based on pose data for Unitree Go2.
-
-        Parameters
-        ----------
-        pose : Pose
-            The pose data containing position and orientation.
-        """
-        self.body_height_cm = round(pose.position.z * 100.0)
-        if self.body_height_cm > 24:
-            self.body_attitude = RobotState.STANDING
-        elif self.body_height_cm > 3:
-            self.body_attitude = RobotState.SITTING
diff --git a/src/providers/unitree_go2_odom_zenoh_provider.py b/src/providers/unitree_go2_odom_zenoh_provider.py
deleted file mode 100644
index 9b0584f19e..0000000000
--- a/src/providers/unitree_go2_odom_zenoh_provider.py
+++ /dev/null
@@ -1,128 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-from typing import Optional
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-from zenoh_msgs import ZenohSampleType, load_session_config, open_zenoh_session
-from zenoh_msgs.idl.geometry_msgs import PoseStamped
-
-from .odom_provider_base import OdomProviderBase, RobotState
-from .singleton import singleton
-
-
-def _go2_odom_zenoh_processor(
-    api_key: Optional[str],
-    topic: str,
-    use_sim: bool,
-    data_queue: mp.Queue,
-    logging_config: LoggingConfig | None = None,
-) -> None:
-    """
-    Go2 odometry processor that runs in a separate process.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API key for authentication with the Zenoh broker, if required.
-    topic : str
-        The Zenoh topic to subscribe to for odometry data.
-    use_sim : bool
-        Whether to use the simulation Zenoh endpoint instead of a local one.
-    data_queue : mp.Queue
-        The multiprocessing queue to send decoded odometry data back to the main process.
-    logging_config : LoggingConfig, optional
-        The logging configuration to use for this process. If None, default logging is used.
-    """
-    setup_logging("go2_odom_zenoh_processor", logging_config=logging_config)
-
-    def on_sample(sample: ZenohSampleType) -> None:
-        try:
-            msg = PoseStamped.deserialize(sample.payload.to_bytes())
-        except Exception:
-            logging.exception(f"failed to decode PoseStamped on {topic}")
-            return
-        data_queue.put(msg)
-
-    try:
-        load_session_config(api_key, use_sim)
-        session = open_zenoh_session()
-    except Exception:
-        logging.exception("failed to open Zenoh session for go2 odom")
-        return
-
-    session.declare_subscriber(topic, on_sample)
-    logging.info(f"Subscribed to Go2 odometry topic: {topic}")
-
-    threading.Event().wait()
-
-
-@singleton
-class UnitreeGo2OdomZenohProvider(OdomProviderBase):
-    """
-    Zenoh-based odometry provider for Unitree Go2.
-    """
-
-    def __init__(
-        self,
-        api_key: Optional[str] = None,
-        topic: str = "utlidar/robot_pose",
-        use_sim: bool = False,
-    ) -> None:
-        """
-        Init the provider and start the background odometry subscriber process.
-
-        Parameters
-        ----------
-        api_key : Optional[str]
-            API key for authentication with the Zenoh broker, if required.
-        topic : str
-            The Zenoh topic to subscribe to for odometry data.
-        schema : str
-            The message schema for the odometry data, e.g. "geometry_msgs/msg/PoseStamped".
-        use_sim : bool
-            Whether to use the simulation Zenoh endpoint instead of a local one.
-        """
-        super().__init__()
-
-        self.api_key = api_key
-        self.topic = topic
-        self.use_sim = use_sim
-
-        self.start()
-
-    def start(self) -> None:
-        """
-        Start the background odom subscriber thread.
-        """
-        if self._odom_reader_thread and self._odom_reader_thread.is_alive():
-            logging.warning("Go2 Zenoh Odom Provider is already running.")
-            return
-
-        self._odom_reader_thread = mp.Process(
-            target=_go2_odom_zenoh_processor,
-            args=(self.api_key, self.topic, self.use_sim, self.data_queue, get_logging_config()),
-            daemon=True,
-        )
-        self._odom_reader_thread.start()
-
-        if self._odom_processor_thread and self._odom_processor_thread.is_alive():
-            return
-
-        self._odom_processor_thread = threading.Thread(target=self.process_odom, daemon=True)
-        self._odom_processor_thread.start()
-
-    def _update_body_state(self, pose) -> None:  # type: ignore[no-untyped-def]
-        """
-        Update the robot's body state (standing/sitting) based on the z position.
-
-        Parameters
-        ----------
-        pose : geometry_msgs/msg/PoseStamped
-            The pose message containing the robot's position.
-        """
-        self.body_height_cm = round(pose.position.z * 100.0)
-        if self.body_height_cm > 24:
-            self.body_attitude = RobotState.STANDING
-        elif self.body_height_cm > 3:
-            self.body_attitude = RobotState.SITTING
diff --git a/src/providers/unitree_go2_patrol_provider.py b/src/providers/unitree_go2_patrol_provider.py
deleted file mode 100644
index 659db460a0..0000000000
--- a/src/providers/unitree_go2_patrol_provider.py
+++ /dev/null
@@ -1,209 +0,0 @@
-import base64
-import io
-import logging
-
-import aiohttp
-
-from .singleton import singleton
-
-
-@singleton
-class UnitreeGo2PatrolProvider:
-    """
-    Provider for controlling Unitree Go2 patrol behavior via HTTP API.
-
-    This class implements a singleton pattern to manage patrol operations
-    including start, stop, pause, and resume functionality.
-    """
-
-    def __init__(
-        self,
-        api_key: str = "",
-        patrol_base_url: str = "http://localhost:5000",
-        face_presence_base_url: str = "http://localhost:6793",
-        patrol_image_report_base_url: str = "https://api.openmind.com",
-    ):
-        """
-        Initialize the Patrol Provider.
-
-        Parameters
-        ----------
-        api_key : str, optional
-            API key for OpenMind patrol upload endpoint (default is "").
-        patrol_base_url : str, optional
-            Base URL for the patrol control API (default is "http://localhost:5000").
-        face_presence_base_url : str, optional
-            Base URL for the patrol report API (default is "http://localhost:6793").
-        patrol_image_report_base_url : str, optional
-            URL for reporting patrol images to OpenMind API (default is "https://api.openmind.com").
-        """
-        self.patrol_base_url = patrol_base_url
-        self.face_presence_base_url = face_presence_base_url
-        self.patrol_image_report_base_url = patrol_image_report_base_url
-        self.api_key = api_key
-        logging.info(
-            f"Initialized Patrol Provider with patrol base URL: {patrol_base_url}, "
-            f"face presence URL: {face_presence_base_url}"
-        )
-
-    async def start_patrol(self) -> None:
-        """
-        Start the patrol behavior.
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the HTTP request fails.
-        """
-        logging.info("Starting patrol")
-        url = f"{self.patrol_base_url}/patrol/start"
-        try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(url) as response:
-                    response.raise_for_status()
-                    logging.info(f"Patrol started successfully: {response.status}")
-        except aiohttp.ClientError as e:
-            logging.error(f"Failed to start patrol: {e}")
-            raise
-
-    async def stop_patrol(self) -> None:
-        """
-        Stop the patrol behavior.
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the HTTP request fails.
-        """
-        logging.info("Stopping patrol")
-        url = f"{self.patrol_base_url}/patrol/stop"
-        try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(url) as response:
-                    response.raise_for_status()
-                    logging.info(f"Patrol stopped successfully: {response.status}")
-        except aiohttp.ClientError as e:
-            logging.error(f"Failed to stop patrol: {e}")
-            raise
-
-    async def pause_patrol(self) -> None:
-        """
-        Pause the patrol behavior.
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the HTTP request fails.
-        """
-        logging.info("Pausing patrol")
-        url = f"{self.patrol_base_url}/patrol/pause"
-        try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(url) as response:
-                    response.raise_for_status()
-                    logging.info(f"Patrol paused successfully: {response.status}")
-        except aiohttp.ClientError as e:
-            logging.error(f"Failed to pause patrol: {e}")
-            raise
-
-    async def resume_patrol(self) -> None:
-        """
-        Resume the patrol behavior.
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the HTTP request fails.
-        """
-        logging.info("Resuming patrol")
-        url = f"{self.patrol_base_url}/patrol/resume"
-        try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(url) as response:
-                    response.raise_for_status()
-                    logging.info(f"Patrol resumed successfully: {response.status}")
-        except aiohttp.ClientError as e:
-            logging.error(f"Failed to resume patrol: {e}")
-            raise
-
-    async def get_report(self, recent_sec: int = 3) -> dict:
-        """
-        Get the current patrol report.
-
-        Parameters
-        ----------
-        recent_sec : int, optional
-            Time window in seconds for recent face presence data (default is 3 seconds).
-
-        Returns
-        -------
-        dict
-            The patrol report data.
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the HTTP request fails.
-        """
-        url = f"{self.face_presence_base_url}/who"
-        try:
-            async with aiohttp.ClientSession() as session:
-                headers = {"Content-Type": "application/json"}
-                async with session.post(url, json={"recent_sec": recent_sec}, headers=headers) as response:
-                    response.raise_for_status()
-                    report_data = await response.json()
-                    return report_data
-        except aiohttp.ClientError as e:
-            logging.error(f"Failed to get patrol report: {e}")
-            raise
-
-    async def upload_patrol_image(self, image_base64: str, description: str = "") -> dict:
-        """
-        Upload patrol image to OpenMind API.
-
-        Parameters
-        ----------
-        image_base64 : str
-            Base64 encoded image data.
-        description : str, optional
-            Description of the patrol image (default is "").
-
-        Returns
-        -------
-        dict
-            The response data from the upload endpoint.
-
-        Raises
-        ------
-        aiohttp.ClientError
-            If the HTTP request fails.
-        """
-        if not self.api_key:
-            logging.warning("No API key provided, skipping patrol image upload")
-            return {}
-
-        logging.info("Uploading patrol image")
-        url = self.patrol_image_report_base_url
-
-        try:
-            image_data = base64.b64decode(image_base64)
-            image_file = io.BytesIO(image_data)
-
-            form_data = aiohttp.FormData()
-            form_data.add_field("image", image_file, filename="patrol_image.jpg", content_type="image/jpeg")
-            form_data.add_field("description", description)
-
-            headers = {"Authorization": f"Bearer {self.api_key}"}
-
-            async with aiohttp.ClientSession() as session:
-                async with session.post(f"{url}/api/core/patrol/upload", data=form_data, headers=headers) as response:
-                    response.raise_for_status()
-                    result_data = await response.json()
-                    logging.info(f"Patrol image uploaded successfully: {response.status}")
-                    return result_data
-        except aiohttp.ClientError as e:
-            logging.error(f"Failed to upload patrol image: {e}")
-            raise
-        except Exception as e:
-            logging.error(f"Error processing patrol image upload: {e}")
-            raise
diff --git a/src/providers/unitree_go2_rplidar_provider.py b/src/providers/unitree_go2_rplidar_provider.py
deleted file mode 100644
index ceba173132..0000000000
--- a/src/providers/unitree_go2_rplidar_provider.py
+++ /dev/null
@@ -1,715 +0,0 @@
-import json
-import logging
-import math
-import multiprocessing as mp
-import os
-import threading
-import time
-from dataclasses import dataclass
-from queue import Empty, Full
-from typing import Dict, List, Optional, Union
-
-import numpy as np
-from numpy.typing import NDArray
-
-from providers.unitree_go2_odom_provider import UnitreeGo2OdomProvider
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-
-from .d435_provider import D435Provider
-from .rplidar_driver import RPDriver
-from .singleton import singleton
-
-
-@dataclass
-class RPLidarConfig:
-    """
-    Configuration for RPLidar.
-
-    Parameters
-    ----------
-    max_buf_meas: int
-        Maximum number of buffered measurements.
-    min_len: int
-        Minimum length of the scan.
-    max_distance_mm: int
-        Maximum distance in millimeters for valid measurements.
-    """
-
-    max_buf_meas: int = 0
-    min_len: int = 5
-    max_distance_mm: int = 10000
-
-
-def rplidar_processor(
-    data_queue: mp.Queue,
-    control_queue: mp.Queue,
-    serial_port: str,
-    rplidar_config: RPLidarConfig,
-    logging_config: Optional[LoggingConfig] = None,
-):
-    """
-    Dedicated RPLidar processor function for multiprocessing.
-    This function runs in a separate process to handle RPLidar data processing.
-
-    Parameters
-    ----------
-    data_queue : mp.Queue
-        Queue for receiving RPLidar data.
-    control_queue : mp.Queue
-        Queue for sending control commands.
-    serial_port : str
-        The name of the serial port in use by the RPLidar sensor.
-    rplidar_config : RPLidarConfig
-        Configuration for the RPLidar sensor.
-    logging_config : Optional[LoggingConfig]
-        Optional logging configuration. If provided, it will override the default logging settings.
-    """
-    setup_logging("rplidar_processor", logging_config=logging_config)
-
-    running = True
-
-    while running:
-        lidar = None
-        try:
-            lidar = RPDriver(serial_port)
-
-            info = lidar.get_info()
-            logging.info(f"RPLidar Info: {info}")
-
-            health = lidar.get_health()
-            logging.info(f"RPLidar Health: {health[0]}")
-
-            if health[0] != "Good":
-                logging.error(f"There is a problem with the LIDAR: {health[0]}")
-                time.sleep(0.5)
-                continue
-
-            lidar.reset()
-            time.sleep(0.5)
-
-            scan = lidar.iter_scans_local(
-                scan_type="express",
-                max_buf_meas=rplidar_config.max_buf_meas,
-                min_len=rplidar_config.min_len,
-                max_distance_mm=rplidar_config.max_distance_mm,
-            )
-
-            for scan_data in scan:
-                try:
-                    cmd = control_queue.get_nowait()
-                    if cmd == "STOP":
-                        running = False
-                        break
-                except Empty:
-                    pass
-
-                try:
-                    data_queue.put_nowait(scan_data)
-                except Full:
-                    try:
-                        data_queue.get_nowait()
-                        data_queue.put_nowait(scan_data)
-                    except (Empty, Full):
-                        pass
-
-        except Exception as e:
-            logging.error(f"Error in RPLidar processor: {e}")
-            if lidar:
-                try:
-                    lidar.reset()
-                except Exception as reset_err:
-                    logging.warning(f"Failed to reset RPLidar after error: {reset_err}")
-            time.sleep(0.5)
-
-
-@singleton
-class UnitreeGo2RPLidarProvider:
-    """
-    Unitree Go2 RPLidar Provider using serial communication.
-
-    This class implements a singleton pattern to manage RPLidar data streaming via serial port.
-    """
-
-    # Constants
-    DEFAULT_SERIAL_PORT = "/dev/cu.usbserial-0001"
-    DEFAULT_HALF_WIDTH_ROBOT = 0.20
-    DEFAULT_RELEVANT_DISTANCE_MAX = 1.1
-    DEFAULT_RELEVANT_DISTANCE_MIN = 0.08
-    DEFAULT_SENSOR_MOUNTING_ANGLE = 180.0
-    NUM_BEZIER_POINTS = 10
-    DEGREES_TO_RADIANS = math.pi / 180.0
-    RADIANS_TO_DEGREES = 180.0 / math.pi
-
-    def __init__(
-        self,
-        serial_port: str = DEFAULT_SERIAL_PORT,
-        half_width_robot: float = DEFAULT_HALF_WIDTH_ROBOT,
-        angles_blanked: Optional[list] = None,
-        relevant_distance_max: float = DEFAULT_RELEVANT_DISTANCE_MAX,
-        relevant_distance_min: float = DEFAULT_RELEVANT_DISTANCE_MIN,
-        sensor_mounting_angle: float = DEFAULT_SENSOR_MOUNTING_ANGLE,
-        rplidar_config: RPLidarConfig = RPLidarConfig(),
-        log_file: bool = False,
-    ):
-        """
-        Initialize the Unitree Go2 RPLidar Provider with robot and sensor configuration.
-
-        Parameters
-        ----------
-        serial_port: str = "/dev/cu.usbserial-0001"
-            The name of the serial port in use by the RPLidar sensor.
-        half_width_robot: float = 0.20
-            The half width of the robot in m
-        angles_blanked: list = []
-            Regions of the scan to disregard, runs from -180 to +180 deg
-        relevant_distance_max: float = 1.1
-            Only consider barriers within this range, in m
-        relevant_distance_min: float = 0.08
-            Only consider barriers above this range, in m
-        sensor_mounting_angle: float = 180.0
-            The angle of the sensor zero relative to the way in which it's mounted
-        rplidar_config: RPLidarConfig = RPLidarConfig()
-            Configuration for the RPLidar sensor
-        log_file: bool = False
-            Whether to log data to a local file
-        """
-        logging.info("Booting Unitree Go2 RPLidar (Serial)")
-
-        self.serial_port = serial_port
-        self.half_width_robot = half_width_robot
-        self.angles_blanked = angles_blanked if angles_blanked is not None else []
-        self.relevant_distance_max = relevant_distance_max
-        self.relevant_distance_min = relevant_distance_min
-        self.sensor_mounting_angle = sensor_mounting_angle
-        self.rplidar_config = rplidar_config
-        self.log_file = log_file
-
-        self.running: bool = False
-        self.lidar = None
-
-        self._raw_scan: Optional[NDArray] = None
-        self._valid_paths: Optional[list] = None
-        self._lidar_string: Optional[str] = None
-
-        self.angles = None
-        self.angles_final = None
-
-        self.odom_rockchip_ts = 0.0
-        self.odom_subscriber_ts = 0.0
-        self.odom_x = 0.0
-        self.odom_y = 0.0
-        self.odom_yaw_m180_p180 = 0.0
-        self.odom_yaw_0_360 = 0.0
-        self.odom = UnitreeGo2OdomProvider()
-        logging.info(f"Mapper Odom Provider: {self.odom}")
-
-        self.write_to_local_file = False
-        if log_file:
-            self.write_to_local_file = log_file
-
-        self.filename_current = None
-        self.max_file_size_bytes = 1024 * 1024
-
-        # Create timestamped log filename
-        if self.write_to_local_file:
-            self.filename_current = self.update_filename()
-            logging.info(f"RPSCAN Logging to {self.filename_current}")
-
-        # Initialize paths for path planning
-        # Define 9 straight line paths separated by 15 degrees
-        # Center path is 0° (straight forward), then ±15°, ±30°, ±45°, ±60°, 180° (backwards)
-        self.path_angles = [-60, -45, -30, -15, 0, 15, 30, 45, 60, 180]
-        self.paths = self._initialize_paths()
-
-        self.pp = []
-        for path in self.paths:
-            pairs = list(zip(path[0], path[1]))
-            self.pp.append(pairs)
-
-        self.turn_left: List[int] = []
-        self.turn_right: List[int] = []
-        self.advance: List[int] = []
-        self.retreat: bool = False
-
-        self.data_queue = mp.Queue(maxsize=5)
-        self.control_queue = mp.Queue()
-        self._rplidar_processor_thread: Optional[mp.Process] = None
-
-        self._serial_processor_thread: Optional[threading.Thread] = None
-
-        # D435 Provider
-        self.d435_provider = D435Provider()
-
-    def update_filename(self):
-        """
-        Update the filename for logging RPLidar data.
-        """
-        unix_ts = time.time()
-        logging.info(f"RPSCAN time: {unix_ts}")
-        unix_ts = str(unix_ts).replace(".", "_")
-        filename = f"dump/lidar_{unix_ts}Z.jsonl"
-        return filename
-
-    def write_str_to_file(self, json_line: str):
-        """
-        Writes a dictionary to a file in JSON lines format. If the file exceeds max_file_size_bytes,
-        creates a new file with a timestamp.
-
-        Parameters
-        ----------
-        json_line : str
-            The JSON string to write to the file.
-        """
-        if not isinstance(json_line, str):
-            raise ValueError("Provided json_line must be a json string.")
-
-        if (
-            self.filename_current is not None
-            and os.path.exists(self.filename_current)
-            and os.path.getsize(self.filename_current) > self.max_file_size_bytes
-        ):
-            self.filename_current = self.update_filename()
-            logging.info(f"New rpscan file name: {self.filename_current}")
-
-        if self.filename_current is not None:
-            with open(self.filename_current, "a", encoding="utf-8") as f:
-                f.write(json_line + "\n")
-                f.flush()
-
-    def start(self):
-        """
-        Start the RPLidar provider.
-        This method initializes the RPLidar processing thread and the serial data processing thread.
-        """
-        self.running = True
-
-        if not self._rplidar_processor_thread or not self._rplidar_processor_thread.is_alive():
-            self._rplidar_processor_thread = mp.Process(
-                target=rplidar_processor,
-                args=(
-                    self.data_queue,
-                    self.control_queue,
-                    self.serial_port,
-                    self.rplidar_config,
-                    get_logging_config(),
-                ),
-                daemon=True,
-            )
-            self._rplidar_processor_thread.start()
-
-        if not self._serial_processor_thread or not self._serial_processor_thread.is_alive():
-            self._serial_processor_thread = threading.Thread(target=self._serial_processor, daemon=True)
-            self._serial_processor_thread.start()
-            logging.info("RPLidar processing thread started")
-
-    def _path_processor(self, data: NDArray):
-        """
-        Process the RPLidar data.
-        This method processes the raw data from the RPLidar,
-        filtering out irrelevant distances and angles,
-        and converting the data into a format suitable for path planning.
-
-        Parameters
-        ----------
-        data : NDArray
-            The raw data from the RPLidar, expected to be a 2D array
-            with angles and distances.
-        """
-        complexes = []
-        raw = []
-
-        for angle, distance in data:
-            d_m = distance
-
-            # first, correctly orient the sensor zero to the robot zero
-            adjusted_angle = angle + self.sensor_mounting_angle
-            if adjusted_angle >= 360.0:
-                adjusted_angle = adjusted_angle - 360.0
-            elif adjusted_angle < 0.0:
-                adjusted_angle = 360.0 + adjusted_angle
-
-            raw.append([round(adjusted_angle, 2), d_m])
-
-            # don't worry about distant objects
-            if d_m > self.relevant_distance_max:
-                continue
-
-            # don't worry about too close objects
-            if d_m < self.relevant_distance_min:
-                continue
-
-            # convert the angle from [0 to 360] to [-180 to +180] range
-            adjusted_angle = adjusted_angle - 180.0
-
-            if any(b[0] <= adjusted_angle <= b[1] for b in self.angles_blanked):
-                # this is a permanent robot reflection - disregard
-                continue
-
-            # Convert angle to radians for trigonometric calculations
-            # Note: angle is adjusted back to [0, 360] range
-            a_rad = (adjusted_angle + 180.0) * self.DEGREES_TO_RADIANS
-
-            v1 = d_m * math.cos(a_rad)
-            v2 = d_m * math.sin(a_rad)
-
-            # convert to x and y
-            # x runs backwards to forwards, y runs left to right
-            x = -1 * v2
-            y = -1 * v1
-
-            # the final data ready to use for path planning
-            complexes.append([x, y, angle, d_m])
-
-        # Append the D435 provider's obstacle data if available
-        if self.d435_provider.running and len(self.d435_provider.obstacle) > 50:
-            logging.debug("Appending D435 provider obstacle data to RPLidar data")
-            for obstacle in self.d435_provider.obstacle:
-                complexes.append(
-                    [
-                        obstacle["x"],
-                        obstacle["y"],
-                        obstacle["angle"],
-                        obstacle["distance"],
-                    ]
-                )
-
-        array = np.array(complexes)
-        raw_array = np.array(raw)
-
-        # save_timestamp = time.time()
-        if self.write_to_local_file:
-            try:
-                json_line = json.dumps(
-                    {
-                        "odom_rockchip_ts": self.odom_rockchip_ts,
-                        "odom_subscriber_ts": self.odom_subscriber_ts,
-                        "odom_x": self.odom_x,
-                        "odom_y": self.odom_y,
-                        "odom_yaw_m180_p180": self.odom_yaw_m180_p180,
-                        "odom_yaw_0_360": self.odom_yaw_0_360,
-                        "frame": raw_array.tolist(),
-                    }
-                )
-                self.write_str_to_file(json_line)
-                logging.debug(f"rplidar wrote to: {self.filename_current}")
-            except Exception as e:
-                logging.error(f"Error saving rplidar to file: {str(e)}")
-
-        # sort data into strictly increasing angles to deal with sensor issues
-        # the sensor sometimes reports part of the previous scan and part of the next scan
-        # so you end up with multiple slightly different values for some angles at the
-        # junction
-
-        """
-        Determine set of possible paths
-        """
-        possible_paths = np.array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
-
-        if array.ndim > 1:
-            # we have valid LIDAR returns
-
-            sorted_indices = array[:, 2].argsort()
-            array = array[sorted_indices]
-
-            # logging.debug(f"_process array: {array}")
-
-            X = array[:, 0]
-            Y = array[:, 1]
-            # A = array[:, 2]
-            D = array[:, 3]
-
-            # all the possible conflicting points
-            for x, y, _d in list(zip(X, Y, D)):
-                for apath in possible_paths:
-                    path_points = self.paths[apath]
-                    start_x, start_y = (
-                        path_points[0][0],
-                        path_points[1][0],
-                    )
-                    end_x, end_y = path_points[0][-1], path_points[1][-1]
-
-                    if apath == 9:
-                        # For going back, only consider obstacles that are:
-                        # 1. Behind the robot (negative y in robot frame)
-                        # 2. Within a certain distance threshold
-
-                        # Assuming robot faces positive y direction
-                        # Only check obstacles behind the robot
-                        if y >= 0:  # Skip obstacles in front of or beside the robot
-                            continue
-
-                    dist_to_line = self.distance_point_to_line_segment(x, y, start_x, start_y, end_x, end_y)
-
-                    if dist_to_line < self.half_width_robot:
-                        # too close - this path will not work
-                        # logging.info(f"removing path: {apath}")
-                        path_to_remove = np.array([apath])
-                        possible_paths = np.setdiff1d(possible_paths, path_to_remove)
-                        logging.debug(f"remaining paths: {possible_paths}")
-                        break  # no need to check other paths
-
-        logging.info(f"possible_paths RP Lidar: {possible_paths}")
-
-        self.turn_left = []
-        self.turn_right = []
-        self.advance = []
-        self.retreat = False
-
-        # convert to simple list
-        ppl = possible_paths.tolist()
-
-        for p in ppl:
-            if p < 3:
-                self.turn_left.append(p)
-            elif p >= 3 and p <= 5:
-                self.advance.append(p)
-            elif p < 9:
-                self.turn_right.append(p)
-            elif p == 9:
-                self.retreat = True
-
-        return_string = self._generate_movement_string(ppl)
-
-        self._raw_scan = array
-        self._lidar_string = return_string
-        self._valid_paths = ppl
-
-        logging.debug(f"RPLidar Provider string: {self._lidar_string}\nValid paths: {self._valid_paths}")
-
-    def _serial_processor(self):
-        """
-        Serial data processing worker.
-
-        This method works for the serial RPLidar driver without Zenoh.
-        """
-        while self.running:
-            try:
-                scan = self.data_queue.get_nowait()
-                scan_array = np.array(scan)
-                logging.debug(f"_serial_processor: {scan_array.ndim}")
-
-                # the driver sends angles in degrees between from 0 to 360
-                # warning - the driver may send two or more readings per angle,
-                # this can be confusing for the code
-                angles = scan_array[:, 0]
-
-                logging.debug(f"_serial_processor: {angles}")
-
-                # distances are in millimeters
-                distances_m = scan_array[:, 1] / 1000
-
-                data = list(zip(angles, distances_m))
-
-                logging.debug(f"_serial_processor: {data}")
-                array_ready = np.array(data)
-                self._path_processor(array_ready)
-
-                try:
-                    o = self.odom.position
-                    logging.debug(f"Odom data: {o}")
-                    if o:
-                        self.odom_x = o["odom_x"]
-                        self.odom_y = o["odom_y"]
-                        self.odom_rockchip_ts = o["odom_rockchip_ts"]
-                        self.odom_subscriber_ts = o["odom_subscriber_ts"]
-                        self.odom_yaw_m180_p180 = o["odom_yaw_m180_p180"]
-                        self.odom_yaw_0_360 = o["odom_yaw_0_360"]
-                except Exception as e:
-                    logging.error(f"Error parsing Odom: {e}")
-
-            except Empty:
-                time.sleep(0.1)
-                continue
-
-    def stop(self):
-        """
-        Stop the RPLidar provider.
-        """
-        self.running = False
-
-        if self._rplidar_processor_thread:
-            logging.info("Stopping RPLidar processor thread")
-            self.control_queue.put("STOP")
-            time.sleep(0.5)
-            self._rplidar_processor_thread.join(timeout=5)
-
-        if self._serial_processor_thread:
-            logging.info("Stopping RPLidar serial processor thread")
-            self._serial_processor_thread.join(timeout=5)
-
-    @property
-    def valid_paths(self) -> Optional[list]:
-        """
-        Get the currently valid paths.
-
-        Returns
-        -------
-        Optional[list]
-            The currently valid paths as a list, or None if not
-            available. The list contains 0 to 10 entries,
-            corresponding to possible paths - for example: [0,3,4,5]
-        """
-        return self._valid_paths
-
-    @property
-    def raw_scan(self) -> Optional[NDArray]:
-        """
-        Get the latest raw scan data.
-
-        Returns
-        -------
-        Optional[NDArray]
-            The latest raw scan result as a NumPy array, or None if not
-            available.
-        """
-        return self._raw_scan
-
-    @property
-    def lidar_string(self) -> Optional[str]:
-        """
-        Get the latest natural language assessment of possible paths.
-
-        Returns
-        -------
-        Optional[str]
-            A natural language summary of possible motion paths
-        """
-        return self._lidar_string
-
-    @property
-    def movement_options(self) -> Dict[str, Union[List[int], bool]]:
-        """
-        Get the movement options based on the current valid paths.
-
-        Returns
-        -------
-        Dict[str, List[int]]
-            A dictionary containing lists of valid movement options:
-            - 'turn_left': Indices for turning left
-            - 'advance': Indices for moving forward
-            - 'turn_right': Indices for turning right
-            - 'retreat': Indices for moving backward
-        """
-        return {
-            "turn_left": self.turn_left,
-            "advance": self.advance,
-            "turn_right": self.turn_right,
-            "retreat": self.retreat,
-        }
-
-    def _create_straight_path_from_angle(
-        self, angle_degrees: float, length: float = 1.0, num_points: int = 30
-    ) -> np.ndarray:
-        """
-        Create a straight path from a given angle.
-
-        Parameters
-        ----------
-        angle_degrees : float
-            The angle in degrees from which to create the path.
-        length : float, optional
-            The length of the path, by default 1.0.
-        num_points : int, optional
-            The number of points in the path, by default 30.
-
-        Returns
-        -------
-        np.ndarray
-            A NumPy array containing the x and y coordinates of the path points.
-        """
-        angle_rad = math.radians(angle_degrees)
-        end_x = length * math.sin(angle_rad)
-        end_y = length * math.cos(angle_rad)
-
-        x_vals = np.linspace(0.0, end_x, num_points)
-        y_vals = np.linspace(0.0, end_y, num_points)
-        return np.array([x_vals, y_vals])
-
-    def _initialize_paths(self) -> List[np.ndarray]:
-        """
-        Initialize paths for path planning.
-
-        Returns
-        -------
-        List[np.ndarray]
-            A list of NumPy arrays representing the paths.
-        """
-        return [self._create_straight_path_from_angle(angle, length=1.0) for angle in self.path_angles]
-
-    def distance_point_to_line_segment(self, px: float, py: float, x1: float, y1: float, x2: float, y2: float) -> float:
-        """
-        Calculate the distance from a point to a line segment.
-        This method computes the shortest distance from a point (px, py) to a line segment defined by two endpoints (x1, y1) and (x2, y2).
-        If the line segment has zero length, it returns the distance from the point to one of the endpoints.
-
-        Parameters
-        ----------
-        px : float
-            The x-coordinate of the point.
-        py : float
-            The y-coordinate of the point.
-        x1 : float
-            The x-coordinate of the first endpoint of the line segment.
-        y1 : float
-            The y-coordinate of the first endpoint of the line segment.
-        x2 : float
-            The x-coordinate of the second endpoint of the line segment.
-        y2 : float
-            The y-coordinate of the second endpoint of the line segment.
-
-        Returns
-        -------
-        float
-            The shortest distance from the point to the line segment.
-            If the line segment has zero length, it returns the distance to the closest endpoint.
-        """
-        dx = x2 - x1
-        dy = y2 - y1
-
-        # If the line segment has zero length, return distance to point
-        if dx == 0 and dy == 0:
-            return math.sqrt((px - x1) ** 2 + (py - y1) ** 2)
-
-        # Calculate the parameter t that represents the projection of the point onto the line
-        t = ((px - x1) * dx + (py - y1) * dy) / (dx * dx + dy * dy)
-
-        # Clamp t to [0, 1] to stay within the line segment
-        t = max(0, min(1, t))
-
-        # Find the closest point on the line segment
-        closest_x = x1 + t * dx
-        closest_y = y1 + t * dy
-
-        return math.sqrt((px - closest_x) ** 2 + (py - closest_y) ** 2)
-
-    def _generate_movement_string(self, valid_paths: list) -> str:
-        """
-        Generate movement direction string based on valid paths.
-
-        Parameters
-        ----------
-        valid_paths : list
-            A list of valid paths represented as integers.
-            Each integer corresponds to a specific movement direction.
-
-        Returns
-        -------
-        str
-            A string describing the safe movement directions based on the valid paths.
-        """
-        if not valid_paths:
-            return "You are surrounded by objects and cannot safely move in any direction. DO NOT MOVE."
-
-        parts = ["The safe movement directions are: {"]
-
-        if self.turn_left:
-            parts.append("'turn left', ")
-        if self.advance:
-            parts.append("'move forwards', ")
-        if self.turn_right:
-            parts.append("'turn right', ")
-        if self.retreat:
-            parts.append("'move back', ")
-
-        parts.append("'stand still'}. ")
-        return "".join(parts)
diff --git a/src/providers/unitree_go2_state_provider.py b/src/providers/unitree_go2_state_provider.py
deleted file mode 100644
index 4c07223beb..0000000000
--- a/src/providers/unitree_go2_state_provider.py
+++ /dev/null
@@ -1,268 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-import time
-from queue import Empty, Full
-from typing import Optional
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-
-try:
-    from unitree.unitree_sdk2py.core.channel import (
-        ChannelFactoryInitialize,
-        ChannelSubscriber,
-    )
-    from unitree.unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
-except ImportError:
-    logging.error("Unitree SDK or CycloneDDS not found. Please install the unitree_sdk2py package or CycloneDDS.")
-
-from .singleton import singleton
-
-state_machine_codes = {
-    100: "Agile",
-    1001: "Damping",
-    1002: "Standing Lock",
-    1004: "Crouch",  # Also maps to 2006
-    1006: "Greeting/Stretching/Dancing/Bowing/Heart Shape/Happy",
-    1007: "Sit",
-    1008: "Front Jump",
-    1009: "Lunge",
-    1013: "Balance Standing",
-    1015: "Regular Walking",
-    1016: "Regular Running",
-    1017: "Regular Endurance",
-    1091: "Strike a Pose",
-    2006: "Crouch",  # Duplicate of 1004
-    2007: "Dodge",
-    2008: "Bound Run",
-    2009: "Jump Run",
-    2010: "Classic",
-    2011: "Handstand",
-    2012: "Front Flip",
-    2013: "Back Flip",
-    2014: "Left Flip",
-    2016: "Cross Step",
-    2017: "Upright",
-    2019: "Towing",
-}
-
-
-def go2_state_processor(
-    channel: str,
-    data_queue: mp.Queue,
-    control_queue: mp.Queue,
-    logging_config: Optional[LoggingConfig] = None,
-):
-    """
-    Process Unitree Go2 state data from the CycloneDDS session.
-
-    Parameters
-    ----------
-    channel : str
-        CycloneDDS channel to subscribe to for Unitree Go2 state data.
-    data_queue : mp.Queue
-        Queue for receiving state data.
-    control_queue : mp.Queue
-        Queue for sending control commands.
-    logging_config : Optional[LoggingConfig]
-        Logging configuration.
-    """
-    setup_logging("unitree_go2_state_processor", logging_config=logging_config)
-
-    def get_state_from_code(code: int) -> Optional[str]:
-        """
-        Get the state name from the state code.
-
-        Parameters
-        ----------
-        code : int
-            The state code.
-
-        Returns
-        -------
-        str
-            The state name corresponding to the code, or "unknown" if not found.
-        """
-        return state_machine_codes.get(code, "unknown")
-
-    def state_callback(msg: SportModeState_):  # type: ignore
-        """
-        Callback for receiving sport mode state messages.
-
-        Parameters
-        ----------
-        msg: SportModeState_
-        """
-        go2_sport_mode_state_msg = msg  # type: ignore
-        go2_state_code = msg.error_code  # type: ignore
-        go2_state = get_state_from_code(msg.error_code)  # type: ignore
-        go2_action_progress = msg.progress  # type: ignore
-
-        data = {
-            "go2_sport_mode_state_msg": go2_sport_mode_state_msg,
-            "go2_state_code": go2_state_code,
-            "go2_state": go2_state,
-            "go2_action_progress": go2_action_progress,
-        }
-
-        try:
-            data_queue.put_nowait(data)
-        except Full:
-            try:
-                data_queue.get_nowait()
-                data_queue.put_nowait(data)
-            except Empty:
-                pass
-
-    try:
-        ChannelFactoryInitialize(0, channel)  # type: ignore
-    except Exception as e:
-        logging.error(f"Error initializing Unitree Go2 odom channel: {e}")
-        return
-
-    try:
-        subscriber = ChannelSubscriber(channel, SportModeState_)  # type: ignore
-        subscriber.Init(state_callback, 10)
-        logging.info(f"Subscribed to {channel} for Unitree Go2 state data")
-    except Exception as e:
-        logging.error(f"Error subscribing to Unitree Go2 state channel: {e}")
-        return
-
-    running = True
-
-    while running:
-        try:
-            cmd = control_queue.get_nowait()
-            if cmd == "STOP":
-                running = False
-                break
-        except Empty:
-            pass
-
-        time.sleep(0.1)
-
-    logging.info("Unitree Go2 state processor stopped.")
-    subscriber.Close()
-
-
-@singleton
-class UnitreeGo2StateProvider:
-    """
-    Unitree Go2 State Provider.
-    """
-
-    def __init__(self, channel: str = ""):
-        """
-        Initialize the Unitree Go2 State Provider.
-
-        Parameters
-        ----------
-        channel : str, optional
-            CycloneDDS channel to subscribe to for Unitree Go2 state data. Defaults to "".
-        """
-        self.channel = channel
-
-        self.data_queue = mp.Queue(maxsize=5)
-        self.control_queue = mp.Queue()
-
-        self._go2_state_reader_thread = None
-        self._go2_state_processor_thread = None
-        self._stop_event = threading.Event()
-
-        self.go2_sport_mode_state_msg = None
-        self.go2_state = None
-        self.go2_state_code = None
-        self.go2_action_progress = 0
-
-    def start(self):
-        """
-        Start the Unitree Go2 state provider.
-        """
-        if not self._go2_state_processor_thread or not self._go2_state_processor_thread.is_alive():
-            self._go2_state_reader_thread = mp.Process(
-                target=go2_state_processor,
-                args=(
-                    self.channel,
-                    self.data_queue,
-                    self.control_queue,
-                    get_logging_config(),
-                ),
-            )
-            self._go2_state_reader_thread.start()
-            logging.info("Unitree Go2 state reader started.")
-
-        if not self._go2_state_processor_thread or not self._go2_state_processor_thread.is_alive():
-            self._go2_state_processor_thread = threading.Thread(
-                target=self._go2_state_processor,
-                daemon=True,
-            )
-            self._go2_state_processor_thread.start()
-            logging.info("Unitree Go2 state processor started.")
-
-    def stop(self):
-        """
-        Stop the Unitree Go2 state provider.
-        """
-        self._stop_event.set()
-
-        if self._go2_state_reader_thread:
-            self.control_queue.put("STOP")
-            self._go2_state_reader_thread.join()
-            logging.info("Unitree Go2 state reader stopped.")
-
-        if self._go2_state_processor_thread:
-            self._go2_state_processor_thread.join()
-            logging.info("Unitree Go2 state processor stopped.")
-
-    def _go2_state_processor(self):
-        """
-        Process the Unitree Go2 state data from the data queue.
-        """
-        while not self._stop_event.is_set():
-            try:
-                data = self.data_queue.get_nowait()
-
-                self.go2_sport_mode_state_msg = data.get("go2_sport_mode_state_msg")
-                self.go2_state = data.get("go2_state")
-                self.go2_state_code = data.get("go2_state_code")
-                self.go2_action_progress = data.get("go2_action_progress")
-
-            except Empty:
-                time.sleep(0.1)
-                continue
-
-    @property
-    def state(self) -> Optional[str]:
-        """
-        Get the current state of the Unitree Go2 robot.
-
-        Returns
-        -------
-        Optional[str]
-            The current state of the robot, or None if not available.
-        """
-        return self.go2_state
-
-    @property
-    def state_code(self) -> Optional[int]:
-        """
-        Get the current state code of the Unitree Go2 robot.
-
-        Returns
-        -------
-        Optional[int]
-            The current state code of the robot, or None if not available.
-        """
-        return self.go2_state_code
-
-    @property
-    def action_progress(self) -> int:
-        """
-        Get the current action progress of the Unitree Go2 robot.
-
-        Returns
-        -------
-        int
-            The current action progress of the robot, or 0 if not in the action mode.
-        """
-        return self.go2_action_progress
diff --git a/src/providers/unitree_go2_state_zenoh_provider.py b/src/providers/unitree_go2_state_zenoh_provider.py
deleted file mode 100644
index 285758e371..0000000000
--- a/src/providers/unitree_go2_state_zenoh_provider.py
+++ /dev/null
@@ -1,222 +0,0 @@
-import logging
-import multiprocessing as mp
-import threading
-import time
-from queue import Empty, Full
-from typing import Optional
-
-from runtime.logging import LoggingConfig, get_logging_config, setup_logging
-from zenoh_msgs import load_session_config, open_zenoh_session
-from zenoh_msgs.idl.unitree_go import SportModeState
-
-from .singleton import singleton
-
-state_machine_codes = {
-    100: "Agile",
-    1001: "Damping",
-    1002: "Standing Lock",
-    1004: "Crouch",  # Also maps to 2006
-    1006: "Greeting/Stretching/Dancing/Bowing/Heart Shape/Happy",
-    1007: "Sit",
-    1008: "Front Jump",
-    1009: "Lunge",
-    1013: "Balance Standing",
-    1015: "Regular Walking",
-    1016: "Regular Running",
-    1017: "Regular Endurance",
-    1091: "Strike a Pose",
-    2006: "Crouch",  # Duplicate of 1004
-    2007: "Dodge",
-    2008: "Bound Run",
-    2009: "Jump Run",
-    2010: "Classic",
-    2011: "Handstand",
-    2012: "Front Flip",
-    2013: "Back Flip",
-    2014: "Left Flip",
-    2016: "Cross Step",
-    2017: "Upright",
-    2019: "Towing",
-}
-
-
-def _state_zenoh_processor(
-    api_key: Optional[str],
-    use_sim: bool,
-    data_queue: mp.Queue,
-    control_queue: mp.Queue,
-    logging_config: Optional[LoggingConfig] = None,
-) -> None:
-    """
-    Process function for the Unitree Go2 state provider using Zenoh.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        API key for authentication with the Zenoh broker, if required.
-    use_sim : bool
-        Whether to use the simulation Zenoh endpoint instead of a local one.
-    data_queue : mp.Queue
-        The multiprocessing queue to send decoded state data back to the main process.
-    control_queue : mp.Queue
-        The multiprocessing queue to receive control commands (e.g. to stop the processor).
-    logging_config : LoggingConfig, optional
-        The logging configuration to use for this processor. If None, default logging is used.
-    """
-    setup_logging("unitree_go2_state_zenoh_processor", logging_config=logging_config)
-
-    def on_sample(sample) -> None:
-        try:
-            msg = SportModeState.deserialize(sample.payload.to_bytes())
-        except Exception:
-            logging.exception("failed to decode SportModeState on sportmodestate")
-            return
-        data = {
-            "go2_sport_mode_state_msg": msg,
-            "go2_state_code": msg.error_code,
-            "go2_state": state_machine_codes.get(msg.error_code, "unknown"),
-            "go2_action_progress": msg.progress,
-        }
-        try:
-            data_queue.put_nowait(data)
-        except Full:
-            try:
-                data_queue.get_nowait()
-                data_queue.put_nowait(data)
-            except Empty:
-                pass
-
-    try:
-        load_session_config(api_key, use_sim)
-        session = open_zenoh_session()
-
-        session.declare_subscriber("sportmodestate", on_sample)
-        logging.info("Subscribed to Unitree Go2 state topic: sportmodestate")
-    except Exception:
-        logging.exception("failed to open Zenoh session for sportmodestate")
-        return
-
-    while True:
-        try:
-            if control_queue.get_nowait() == "STOP":
-                break
-        except Empty:
-            pass
-        time.sleep(0.1)
-
-
-@singleton
-class UnitreeGo2StateZenohProvider:
-    """
-    Unitree Go2 State Provider.
-    """
-
-    def __init__(self, api_key: Optional[str] = None, use_sim: bool = False):
-        """
-        Initialize the Unitree Go2 State Provider, setting up the Zenoh subscription and internal state management.
-
-        Parameters
-        ----------
-        api_key : Optional[str]
-            API key for authentication with the Zenoh broker, if required.
-        use_sim : bool
-            Whether to use the simulation Zenoh endpoint instead of a local one.
-        """
-        self.api_key = api_key
-        self.use_sim = use_sim
-
-        self.data_queue: mp.Queue = mp.Queue(maxsize=5)
-        self.control_queue: mp.Queue = mp.Queue()
-
-        self._reader_proc: Optional[mp.Process] = None
-        self._processor_thread: Optional[threading.Thread] = None
-        self._stop_event = threading.Event()
-
-        self.go2_sport_mode_state_msg = None
-        self.go2_state: Optional[str] = None
-        self.go2_state_code: Optional[int] = None
-        self.go2_action_progress: int = 0
-
-        self.start()
-
-    def start(self) -> None:
-        """
-        Start the reader process and processor thread (idempotent).
-        """
-        if not self._reader_proc or not self._reader_proc.is_alive():
-            self._reader_proc = mp.Process(
-                target=_state_zenoh_processor,
-                args=(self.api_key, self.use_sim, self.data_queue, self.control_queue, get_logging_config()),
-                daemon=True,
-            )
-            self._reader_proc.start()
-            logging.info("Unitree Go2 Zenoh state reader started.")
-
-        if not self._processor_thread or not self._processor_thread.is_alive():
-            self._processor_thread = threading.Thread(target=self._processor_loop, daemon=True)
-            self._processor_thread.start()
-            logging.info("Unitree Go2 Zenoh state processor started.")
-
-    def stop(self) -> None:
-        """
-        Stop the reader process and processor thread.
-        """
-        self._stop_event.set()
-        if self._reader_proc:
-            self.control_queue.put("STOP")
-            self._reader_proc.terminate()
-            self._reader_proc.join(timeout=2)
-
-        if self._processor_thread:
-            self._processor_thread.join(timeout=2)
-
-    def _processor_loop(self) -> None:
-        """
-        Process the Unitree Go2 state data from the data queue.
-        """
-        while not self._stop_event.is_set():
-            try:
-                data = self.data_queue.get(timeout=0.5)
-            except Empty:
-                continue
-
-            self.go2_sport_mode_state_msg = data.get("go2_sport_mode_state_msg")
-            self.go2_state = data.get("go2_state")
-            self.go2_state_code = data.get("go2_state_code")
-            self.go2_action_progress = data.get("go2_action_progress")
-
-    @property
-    def state(self) -> Optional[str]:
-        """
-        Get the current state of the Unitree Go2 robot.
-
-        Returns
-        -------
-        Optional[str]
-            The current state of the robot, or None if not available.
-        """
-        return self.go2_state
-
-    @property
-    def state_code(self) -> Optional[int]:
-        """
-        Get the current state code of the Unitree Go2 robot.
-
-        Returns
-        -------
-        Optional[int]
-            The current state code of the robot, or None if not available.
-        """
-        return self.go2_state_code
-
-    @property
-    def action_progress(self) -> int:
-        """
-        Get the current action progress of the Unitree Go2 robot.
-
-        Returns
-        -------
-        int
-            The current action progress of the robot, or 0 if not in the action mode.
-        """
-        return self.go2_action_progress
diff --git a/src/providers/unitree_realsense_dev_vlm_provider.py b/src/providers/unitree_realsense_dev_vlm_provider.py
deleted file mode 100644
index ec2d08928a..0000000000
--- a/src/providers/unitree_realsense_dev_vlm_provider.py
+++ /dev/null
@@ -1,326 +0,0 @@
-import base64
-import glob
-import logging
-import subprocess
-import time
-from typing import Callable, List, Optional, Tuple
-
-import cv2
-from om1_utils import ws
-from om1_vlm import VideoStream
-
-from .singleton import singleton
-
-root_package_name = __name__.split(".")[0] if "." in __name__ else __name__
-logger = logging.getLogger(root_package_name)
-
-
-class UnitreeRealSenseDevVideoStream(VideoStream):
-    """
-    Manages video capture and streaming from a camera device.
-
-    Captures frames from a camera, encodes them to base64, and sends them
-    through the callback. Currently supports Linux devices.
-    """
-
-    def __init__(
-        self,
-        frame_callback: Optional[Callable[[str], None]] = None,
-        frame_callbacks: Optional[List[Callable[[str], None]]] = None,
-        fps: Optional[int] = 30,
-        resolution: Optional[Tuple[int, int]] = (640, 480),
-        jpeg_quality: int = 70,
-    ):
-        """
-        Initialize the video stream.
-
-        Parameters
-        ----------
-        frame_callback : callable, optional
-            A single callback function to process video frames. The callback
-            receives a base64-encoded frame string as its argument.
-        frame_callbacks : list of callables, optional
-            A list of callback functions to process video frames. Each callback
-            receives a base64-encoded frame string as its argument.
-        fps : int, optional
-            Frames per second for the video stream. Default is 30.
-        resolution : tuple of int, optional
-            The resolution for the video stream as (width, height). Default is (640, 480).
-        jpeg_quality : int, optional
-            The JPEG quality for frame encoding, ranging from 0 to 100. Default is 70.
-        """
-        super().__init__(
-            frame_callback=frame_callback,
-            frame_callbacks=frame_callbacks,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-        )
-
-    def on_video(self):
-        """
-        Main video capture and processing loop.
-
-        Continuously captures frames from the camera, encodes them to base64,
-        and sends them through the callback. If too many consecutive frame read
-        errors occur, it will attempt to switch to another camera device.
-
-        This method catches all exceptions so that failures do not affect other
-        threads or processes.
-        """
-        tried_devices = set()
-        try:
-            # Find and open the initial camera device.
-            current_cam = self._find_rgb_device(skip_devices=tried_devices)
-            if current_cam is None:
-                logger.error("No viable RGB camera found.")
-                return
-            tried_devices.add(current_cam)
-
-            self._cap = self._open_camera(current_cam)
-            while self._cap is None:
-                # If opening the current camera failed, try the next one.
-                current_cam = self._find_rgb_device(skip_devices=tried_devices)
-                if current_cam is None:
-                    logger.error("No viable camera devices found.")
-                    return
-                tried_devices.add(current_cam)
-                self._cap = self._open_camera(current_cam)
-
-            failure_count = 0
-            max_retries = 30  # Maximum allowed consecutive read failures. This is after approximately 3 seconds.
-
-            while self.running:
-                if self._cap is None or not self._cap.isOpened():
-                    logger.error("Video capture device is not opened.")
-                    break
-
-                ret, frame = self._cap.read()
-                if not ret:
-                    failure_count += 1
-                    logger.error(
-                        "Error reading frame from video stream (failure %d/%d)",
-                        failure_count,
-                        max_retries,
-                    )
-                    time.sleep(0.1)
-
-                    if failure_count >= max_retries:
-                        logger.error("Too many frame read errors. Trying another camera device.")
-                        self._cap.release()
-                        new_cam = self._find_rgb_device(skip_devices=tried_devices)
-                        if new_cam is None:
-                            logger.error("No viable camera devices found. Exiting video capture loop.")
-                            break
-                        tried_devices.add(new_cam)
-                        self._cap = self._open_camera(new_cam)
-
-                        # If the new device also fails to open, continue trying.
-                        while self._cap is None:
-                            new_cam = self._find_rgb_device(skip_devices=tried_devices)
-                            if new_cam is None:
-                                logger.error("No viable camera devices found. Exiting video capture loop.")
-                                break
-                            tried_devices.add(new_cam)
-                            self._cap = self._open_camera(new_cam)
-                        failure_count = 0  # Reset failure counter after switching devices
-                    continue  # Skip processing for this iteration
-
-                failure_count = 0  # Reset on a successful read
-
-                # Convert frame to base64, and catch any encoding errors.
-                try:
-                    _, buffer = cv2.imencode(".jpg", frame, self.encode_quality)
-                    frame_data = base64.b64encode(buffer.tobytes()).decode("utf-8")
-                except Exception as e:
-                    logger.exception("Error encoding frame: %s", e)
-                    continue
-
-                if self.frame_callbacks:
-                    for frame_callback in self.frame_callbacks:
-                        frame_callback(frame_data)
-
-                time.sleep(self.frame_delay)
-        except Exception as e:
-            logger.exception("Unhandled error in video stream: %s", e)
-        finally:
-            if self._cap:
-                self._cap.release()
-                logger.info("Released video capture device")
-
-    def _open_camera(self, cam):
-        """
-        Attempt to open the camera device and set desired properties.
-
-        Parameters
-        ----------
-        cam : str
-            The device path (e.g., '/dev/video0')
-
-        Returns
-        -------
-        cv2.VideoCapture or None
-            The opened capture device, or None if it could not be opened.
-        """
-        cap = cv2.VideoCapture(cam)
-        if not cap.isOpened():
-            logger.error("Error opening video stream from %s", cam)
-            return None
-        try:
-            if self.fps is not None:
-                cap.set(cv2.CAP_PROP_FPS, self.fps)
-            if self.resolution is not None:
-                cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.resolution[0])
-                cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.resolution[1])
-        except Exception as e:
-            logger.exception("Error setting camera properties for device %s: %s", cam, e)
-        try:
-            cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
-        except Exception:
-            pass
-        try:
-            cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"MJPG"))  # type: ignore
-        except Exception:
-            pass
-        return cap
-
-    def _find_rgb_device(self, skip_devices=None):
-        """
-        Find the first viable RGB camera device supporting common RGB formats.
-        Optionally skips devices listed in skip_devices.
-
-        Parameters
-        ----------
-        skip_devices : set, optional
-            A set of device paths to ignore.
-
-        Returns
-        -------
-        str or None
-            The first viable RGB device, or None if none is found.
-        """
-        if skip_devices is None:
-            skip_devices = set()
-
-        try:
-            video_devices = sorted(glob.glob("/dev/video*"))
-        except Exception as e:
-            logger.exception("Failed to list video devices: %s", e)
-            return None
-
-        for device in video_devices:
-            if device in skip_devices:
-                continue
-
-            try:
-                result = subprocess.run(
-                    ["v4l2-ctl", f"--device={device}", "--list-formats"],
-                    capture_output=True,
-                    text=True,
-                    shell=False,
-                )
-                formats = result.stdout
-            except Exception as e:
-                logger.exception("Failed to run v4l2-ctl for device '%s': %s", device, e)
-                continue
-
-            try:
-                if "MJPG" in formats or "YUYV" in formats:
-                    logger.info("Found RGB device at %s with formats: %s", device, formats)
-                    return device
-            except Exception as e:
-                logger.exception("Error processing formats for device %s: %s", device, e)
-
-        logger.warning("No RGB device found")
-        return None
-
-
-@singleton
-class UnitreeRealSenseDevVLMProvider:
-    """
-    VLM Provider that handles audio streaming and websocket communication.
-
-    This class implements a singleton pattern to manage audio input streaming and websocket
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        fps: int = 15,
-        resolution: Optional[Tuple[int, int]] = (640, 480),
-        jpeg_quality: int = 70,
-        stream_url: Optional[str] = None,
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The websocket URL for the VLM service connection.
-        fps : int, optional
-            The fps for the VLM service connection. Default is 15.
-        resolution : tuple of int, optional
-            The resolution for the video stream. Default is (640, 480).
-        jpeg_quality : int, optional
-            The JPEG quality for the video stream. Default is 70.
-        stream_url : str, optional
-            The URL for the video stream. If not provided, defaults to None.
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=ws_url)
-        self.stream_ws_client: Optional[ws.Client] = ws.Client(url=stream_url) if stream_url else None
-        self.video_stream: VideoStream = UnitreeRealSenseDevVideoStream(
-            self.ws_client.send_message,
-            fps=fps,
-            resolution=resolution,
-            jpeg_quality=jpeg_quality,
-        )
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process VLM results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-
-    def start(self):
-        """
-        Start the VLM provider.
-
-        Initializes and starts the websocket client, video stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("Unitree RealSenseDev VLM provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.video_stream.start()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.start()
-            self.video_stream.register_frame_callback(self.stream_ws_client.send_message)
-
-        logging.info("Unitree RealSenseDev VLM provider started")
-
-    def stop(self):
-        """
-        Stop the VLM provider.
-
-        Stops the websocket client, video stream, and processing thread.
-        """
-        self.running = False
-        self.video_stream.stop()
-        self.ws_client.stop()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.stop()
diff --git a/src/providers/vlm_gemini_provider.py b/src/providers/vlm_gemini_provider.py
deleted file mode 100644
index 00cb4e0750..0000000000
--- a/src/providers/vlm_gemini_provider.py
+++ /dev/null
@@ -1,168 +0,0 @@
-import json
-import logging
-import time
-from typing import Callable, Optional
-
-from om1_utils import ws
-from om1_vlm import VideoStream
-from openai import AsyncOpenAI
-
-from .singleton import singleton
-
-
-@singleton
-class VLMGeminiProvider:
-    """
-    VLM Provider that handles video streaming and Gemini API communication.
-
-    This class implements a singleton pattern to manage video input streaming and API
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        base_url: str,
-        api_key: str,
-        fps: int = 10,
-        stream_url: Optional[str] = None,
-        camera_index: int = 0,
-        model: str = "gemini-2.5-flash",
-        max_tokens: int = 1024,
-        prompt: str = (
-            "In one concise sentence, describe what you see in this image. "
-            "Just the description — no explanation of your reasoning."
-        ),
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        base_url : str
-            The base URL for the OM Gemini proxy.
-        api_key : str
-            The API key.
-        fps : int
-            The frames per second for the video stream.
-        stream_url : str, optional
-            The URL for the teleops video stream.
-        camera_index : int
-            The camera index for the video stream device. Defaults to 0.
-        model : str
-            Gemini model id (e.g. "gemini-2.5-flash", "gemini-3.1-pro-preview").
-        """
-        self.running: bool = False
-        self.api_client: AsyncOpenAI = AsyncOpenAI(api_key=api_key, base_url=base_url)
-        self.model: str = model
-        self.max_tokens: int = max_tokens
-        self.prompt: str = prompt
-        self.stream_ws_client: Optional[ws.Client] = ws.Client(url=stream_url) if stream_url else None
-        self.video_stream: VideoStream = VideoStream(
-            frame_callback=self._process_frame, fps=fps, device_index=camera_index  # type: ignore
-        )
-        self.message_callback: Optional[Callable] = None
-
-    async def _process_frame(self, frame: str):
-        """
-        Process a video frame via the OM Gemini proxy.
-
-        Parameters
-        ----------
-        frame : str
-            JSON string emitted by `om1_vlm.VideoStream`, shape:
-            `{"timestamp": <float>, "frame": "<base64-jpeg>"}`.
-        """
-        try:
-            envelope = json.loads(frame)
-            base64_image = envelope["frame"]
-        except (json.JSONDecodeError, KeyError, TypeError):
-            base64_image = frame
-
-        processing_start = time.perf_counter()
-        try:
-            raw = await self.api_client.chat.completions.with_raw_response.create(
-                model=self.model,
-                messages=[
-                    {
-                        "role": "user",
-                        "content": [
-                            {"type": "text", "text": self.prompt},
-                            {
-                                "type": "image_url",
-                                "image_url": {"url": f"data:image/jpeg;base64,{base64_image}", "detail": "low"},
-                            },
-                        ],
-                    }
-                ],
-                max_tokens=self.max_tokens,
-            )
-
-            data = json.loads(raw.text)
-            content = data["choices"][0]["message"]["content"]
-            processing_latency = time.perf_counter() - processing_start
-
-            logging.debug(f"Processing latency: {processing_latency:.3f} seconds")
-            logging.debug(f"Gemini VLM content: {content[:200]!r}")
-
-            if self.message_callback and content is not None:
-                self.message_callback(content)
-
-        except Exception as e:
-            body = None
-            resp = getattr(e, "response", None)
-            if resp is not None:
-                try:
-                    body = resp.text
-                except Exception:
-                    pass
-            logging.error("Error processing frame: %s | body=%s", e, body)
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing Gemini results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process Gemini results.
-        """
-        self.message_callback = message_callback
-
-    def deregister_message_callback(self):
-        """
-        Deregister the message callback.
-        """
-        self.message_callback = None
-
-    def start(self):
-        """
-        Start the Gemini provider.
-
-        Initializes and starts the video stream and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("Gemini VLM provider is already running")
-            return
-
-        self.running = True
-        self.video_stream.start()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.start()
-            self.video_stream.register_frame_callback(self.stream_ws_client.send_message)
-
-        logging.info("Gemini VLM provider started")
-
-    def stop(self):
-        """
-        Stop the Gemini provider.
-
-        Stops the video stream and processing thread.
-        """
-        self.running = False
-        self.video_stream.stop()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.stop()
diff --git a/src/providers/vlm_gemini_zenoh_provider.py b/src/providers/vlm_gemini_zenoh_provider.py
deleted file mode 100644
index 01e8b8fd8c..0000000000
--- a/src/providers/vlm_gemini_zenoh_provider.py
+++ /dev/null
@@ -1,193 +0,0 @@
-import asyncio
-import json
-import logging
-import threading
-import time
-from typing import Callable, Optional
-
-from om1_vlm import VideoZenohStream
-from openai import AsyncOpenAI
-
-from .singleton import singleton
-
-
-@singleton
-class VLMGeminiZenohProvider:
-    """
-    Gemini VLM provider that ingests frames from a Zenoh topic instead of
-    a local camera. Mirrors VLMGeminiProvider's HTTP behavior; the only
-    difference is the frame source.
-
-    Use this for cloud_sim, where the camera lives on the GPU EC2 / robot
-    and is bridged to Zenoh by zenoh-bridge-ros2dds.
-    """
-
-    def __init__(
-        self,
-        base_url: str,
-        api_key: str,
-        topic: str = "rgb_image",
-        decode_format: str = "RAW",
-        model: str = "gemini-2.5-flash",
-        max_tokens: int = 1024,
-        prompt: str = (
-            "In one concise sentence, describe what you see in this image. "
-            "Just the description — no explanation of your reasoning."
-        ),
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        base_url : str
-            The base URL for the OM Gemini proxy.
-        api_key : str
-            The API key.
-        topic : str
-            The Zenoh topic to subscribe to for incoming frames.
-        decode_format : str
-            A hint for the incoming frame format; currently unused.
-        model : str
-            Gemini model id (e.g. "gemini-2.5-flash", "gemini-3.1-pro-preview").
-        max_tokens : int
-            The token budget for each VLM call.
-        prompt : str
-            The prompt to send with each frame to the Gemini model.
-        """
-        self.running: bool = False
-
-        self.api_client: AsyncOpenAI = AsyncOpenAI(api_key=api_key, base_url=base_url)
-        self.model: str = model
-        self.max_tokens: int = max_tokens
-        self.prompt: str = prompt
-        self.message_callback: Optional[Callable] = None
-        self._inflight: int = 0
-        self._max_inflight: int = 2  # back-pressure: at most N concurrent VLM calls
-
-        self._loop: asyncio.AbstractEventLoop = asyncio.new_event_loop()
-        self._loop_thread: threading.Thread = threading.Thread(
-            target=self._run_loop, daemon=True, name="VLMGeminiZenohLoop"
-        )
-        self._loop_thread.start()
-
-        self.video_stream: VideoZenohStream = VideoZenohStream(
-            topic=topic,
-            decode_format=decode_format,
-            frame_callback=self._dispatch_frame,
-        )
-
-    def _run_loop(self):
-        """
-        Run the internal asyncio event loop in a dedicated thread.
-        """
-        asyncio.set_event_loop(self._loop)
-        self._loop.run_forever()
-
-    def _dispatch_frame(self, frame: str):
-        """
-        Dispatch a new frame from the Zenoh topic to the asyncio processing method.
-
-        Parameters
-        ----------
-        frame : str
-            The incoming frame data as a string, expected to be a JSON-encoded object containing a base64-encoded image.
-        """
-        if self._inflight >= self._max_inflight:
-            return
-
-        self._inflight += 1
-        asyncio.run_coroutine_threadsafe(self._process_frame(frame), self._loop)
-
-    async def _process_frame(self, frame: str):
-        """
-        Process a video frame via the OM Gemini proxy.
-
-        Parameters
-        ----------
-        frame : str
-            JSON string emitted by `om1_vlm.VideoZenohStream`, shape:
-            `{"timestamp": <float>, "frame": "<base64-jpeg>"}`.
-        """
-        try:
-            envelope = json.loads(frame)
-            b64 = envelope["frame"]
-        except (json.JSONDecodeError, KeyError, TypeError):
-            b64 = frame
-
-        processing_start = time.perf_counter()
-        try:
-            raw = await self.api_client.chat.completions.with_raw_response.create(
-                model=self.model,
-                messages=[
-                    {
-                        "role": "user",
-                        "content": [
-                            {"type": "text", "text": self.prompt},
-                            {
-                                "type": "image_url",
-                                "image_url": {"url": f"data:image/jpeg;base64,{b64}", "detail": "low"},
-                            },
-                        ],
-                    }
-                ],
-                max_tokens=self.max_tokens,
-            )
-            data = json.loads(raw.text)
-            content = data["choices"][0]["message"]["content"]
-
-            logging.debug(
-                "Gemini VLM Zenoh latency=%.3fs content=%r",
-                time.perf_counter() - processing_start,
-                content[:200] if content else None,
-            )
-
-            if self.message_callback and content is not None:
-                self.message_callback(content)
-        except Exception as e:
-            logging.error("Error processing frame: %s", e)
-        finally:
-            self._inflight = max(0, self._inflight - 1)
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing Gemini results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process Gemini results.
-        """
-        self.message_callback = message_callback
-
-    def deregister_message_callback(self):
-        """
-        Deregister the message callback.
-        """
-        self.message_callback = None
-
-    def start(self):
-        """
-        Start the Gemini provider.
-
-        Initializes and starts the video stream and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("Gemini VLM Zenoh provider is already running")
-            return
-
-        self.running = True
-        self.video_stream.start()
-
-        logging.info("Gemini VLM Zenoh provider started")
-
-    def stop(self):
-        """
-        Stop the Gemini provider.
-
-        Stops the video stream and processing thread.
-        """
-        self.running = False
-        self.video_stream.stop()
-        self._loop.call_soon_threadsafe(self._loop.stop)
diff --git a/src/providers/vlm_openai_provider.py b/src/providers/vlm_openai_provider.py
deleted file mode 100644
index ffd267c1cd..0000000000
--- a/src/providers/vlm_openai_provider.py
+++ /dev/null
@@ -1,135 +0,0 @@
-import logging
-import time
-from typing import Callable, Optional
-
-from om1_utils import ws
-from om1_vlm import VideoStream
-from openai import AsyncOpenAI
-
-from .singleton import singleton
-
-
-@singleton
-class VLMOpenAIProvider:
-    """
-    VLM Provider that handles video streaming and OpenAI API communication.
-
-    This class implements a singleton pattern to manage video input streaming and API
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        base_url: str,
-        api_key: str,
-        fps: int = 10,
-        stream_url: Optional[str] = None,
-        camera_index: int = 0,
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        base_url : str
-            The base URL for the OM API.
-        api_key : str
-            The API key for the OM API.
-        fps : int
-            The frames per second for the video stream.
-        stream_url : str, optional
-            The URL for the video stream. If not provided, defaults to None.
-        camera_index : int
-            The camera index for the video stream device. Defaults to 0.
-        """
-        self.running: bool = False
-        self.api_client: AsyncOpenAI = AsyncOpenAI(api_key=api_key, base_url=base_url)
-        self.stream_ws_client: Optional[ws.Client] = ws.Client(url=stream_url) if stream_url else None
-        self.video_stream: VideoStream = VideoStream(
-            frame_callback=self._process_frame, fps=fps, device_index=camera_index  # type: ignore
-        )
-        self.message_callback: Optional[Callable] = None
-
-    async def _process_frame(self, frame: str):
-        """
-        Process a video frame using the LLM API.
-
-        Parameters
-        ----------
-        frame : str
-            The base64 encoded video frame to process.
-        """
-        processing_start = time.perf_counter()
-        try:
-            response = await self.api_client.chat.completions.create(
-                model="gpt-4o-mini",
-                messages=[
-                    {
-                        "role": "user",
-                        "content": [
-                            {
-                                "type": "text",
-                                "text": "What is the most interesting aspect in this series of images?",
-                            },
-                            {
-                                "type": "image_url",
-                                "image_url": {
-                                    "url": f"data:image/jpeg;base64,{frame}",
-                                    "detail": "low",
-                                },
-                            },
-                        ],
-                    }
-                ],
-                max_tokens=300,
-            )
-            processing_latency = time.perf_counter() - processing_start
-            logging.debug(f"Processing latency: {processing_latency:.3f} seconds")
-            logging.debug(f"OpenAI LLM VLM Response: {response}")
-            if self.message_callback:
-                self.message_callback(response)
-        except Exception as e:
-            logging.error(f"Error processing frame: {e}")
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process VLM results.
-        """
-        self.message_callback = message_callback
-
-    def start(self):
-        """
-        Start the VLM provider.
-
-        Initializes the video stream and starts the processing thread.
-        """
-        if self.running:
-            logging.warning("VLM provider is already running")
-            return
-
-        self.running = True
-        self.video_stream.start()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.start()
-            self.video_stream.register_frame_callback(self.stream_ws_client.send_message)
-
-        logging.info("OpenAI VLM provider started")
-
-    def stop(self):
-        """
-        Stop the VLM provider.
-
-        Stops the video stream and processing thread.
-        """
-        self.running = False
-        self.video_stream.stop()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.stop()
diff --git a/src/providers/vlm_openai_rtsp_provider.py b/src/providers/vlm_openai_rtsp_provider.py
deleted file mode 100644
index 558fe9b89f..0000000000
--- a/src/providers/vlm_openai_rtsp_provider.py
+++ /dev/null
@@ -1,199 +0,0 @@
-import asyncio
-import json
-import logging
-import time
-from collections import deque
-from typing import Any, Callable, Dict, List, Optional
-
-from om1_vlm import VideoRTSPStream
-from openai import AsyncOpenAI
-
-from .singleton import singleton
-
-
-@singleton
-class VLMOpenAIRTSPProvider:
-    """
-    VLM Provider that handles video streaming and websocket communication.
-
-    This class implements a singleton pattern to manage video stream from RTSP and websocket
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        base_url: str,
-        api_key: str,
-        rtsp_url: str = "rtsp://localhost:8554/top_camera",
-        decode_format: str = "H264",
-        prompt: str = "What is the most interesting aspect in this series of images?",
-        fps: int = 30,
-        batch_size: int = 5,
-        batch_interval: float = 0.5,
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        base_url : str
-            The base URL for the OM API.
-        api_key : str
-            The API key for the OM API.
-        rtsp_url : str
-            The RTSP URL for the video stream. Defaults to "rtsp://localhost:8554/top_camera".
-        decode_format : str
-            The decode format for the video stream. Defaults to "H264".
-        prompt : str
-            The prompt for the VLM analysis. Defaults to "What is the most interesting aspect in this series of images?".
-        fps : int
-            The fps for the VLM service connection.
-        batch_size : int
-            Number of frames to collect before sending to OpenAI. Defaults to 5.
-        batch_interval : float
-            Time interval in seconds between batch processing. Defaults to 0.5.
-        """
-        self.running: bool = False
-        self.api_client: AsyncOpenAI = AsyncOpenAI(api_key=api_key, base_url=base_url)
-        self.video_stream: VideoRTSPStream = VideoRTSPStream(
-            rtsp_url,
-            decode_format,
-            frame_callback=self._queue_frame,  # type: ignore
-            fps=fps,
-        )
-        self.message_callback: Optional[Callable] = None
-        self.prompt = prompt
-        self.batch_size = batch_size
-        self.batch_interval = batch_interval
-        self.frame_queue: deque = deque(maxlen=batch_size)
-        self.batch_task: Optional[asyncio.Task] = None
-
-    def _queue_frame(self, frame_data: str):
-        """
-        Queue a video frame for batch processing.
-
-        Parameters
-        ----------
-        frame_data : str
-            A JSON string containing base64 encoded frame data.
-        """
-        try:
-            frame = json.loads(frame_data)["frame"]
-            self.frame_queue.append(frame)
-            logging.debug(f"Queued frame, queue size: {len(self.frame_queue)}")
-        except Exception as e:
-            logging.error(f"Error queuing frame: {e}")
-
-    async def _process_batch(self):
-        """
-        Process batches of frames at regular intervals.
-        """
-        while self.running:
-            await asyncio.sleep(self.batch_interval)
-
-            if len(self.frame_queue) > 0:
-                frames_to_process = list(self.frame_queue)
-                self.frame_queue.clear()
-
-                await self._send_batch_to_openai(frames_to_process)
-
-    async def _send_batch_to_openai(self, frames: List[str]):
-        """
-        Send a batch of frames to OpenAI API.
-
-        Parameters
-        ----------
-        frames : List[str]
-            List of base64 encoded frame data.
-        """
-        processing_start = time.perf_counter()
-        try:
-            content: List[Dict[str, Any]] = [
-                {
-                    "type": "text",
-                    "text": f"{self.prompt} (Analyzing {len(frames)} frames)",
-                }
-            ]
-
-            for _i, frame in enumerate(frames):
-                content.append(
-                    {
-                        "type": "image_url",
-                        "image_url": {
-                            "url": f"data:image/jpeg;base64,{frame}",
-                            "detail": "low",
-                        },
-                    }
-                )
-
-            response = await self.api_client.chat.completions.create(
-                model="gpt-4o-mini",
-                messages=[
-                    {
-                        "role": "user",
-                        "content": content,  # type: ignore
-                    }
-                ],
-                max_tokens=300,
-            )
-
-            processing_latency = time.perf_counter() - processing_start
-            logging.debug(f"Batch processing latency: {processing_latency:.3f} seconds")
-            logging.debug(f"Processed {len(frames)} frames")
-            logging.debug(f"OpenAI LLM VLM Response: {response}")
-
-            if self.message_callback:
-                self.message_callback(response)
-
-        except Exception as e:
-            logging.error(f"Error processing batch: {e}")
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback: Optional[Callable]
-            The callback function to process VLM results.
-        """
-        self.message_callback = message_callback
-
-    def start(self):
-        """
-        Start the VLM RTSP provider.
-
-        Initializes and starts the websocket client, video stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("VLM RTSP provider is already running")
-            return
-
-        self.running = True
-        self.video_stream.start()
-
-        # Start the batch processing task
-        self.batch_task = asyncio.create_task(self._process_batch())
-
-        logging.info("OpenAI VLM RTSP provider started with batch processing")
-
-    def stop(self):
-        """
-        Stop the VLM RTSP provider.
-
-        Stops the websocket client, video stream, and processing thread.
-        """
-        self.running = False
-
-        self.video_stream.stop()
-
-        # Cancel the batch processing task
-        if self.batch_task and not self.batch_task.done():
-            self.batch_task.cancel()
-
-        # Clear any remaining frames
-        self.frame_queue.clear()
-
-        logging.info("OpenAI VLM RTSP provider stopped")
diff --git a/src/providers/vlm_vila_provider.py b/src/providers/vlm_vila_provider.py
deleted file mode 100644
index 15f8fbdac1..0000000000
--- a/src/providers/vlm_vila_provider.py
+++ /dev/null
@@ -1,103 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-from om1_utils import ws
-from om1_vlm import VideoStream
-
-from .singleton import singleton
-
-
-@singleton
-class VLMVilaProvider:
-    """
-    VLM Provider that handles audio streaming and websocket communication.
-
-    This class implements a singleton pattern to manage audio input streaming and websocket
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        fps: int = 30,
-        stream_url: Optional[str] = None,
-        camera_index: int = 0,
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The websocket URL for the VLM service connection.
-        fps : int
-            The fps for the VLM service connection.
-        stream_url : str, optional
-            The URL for the video stream. If not provided, defaults to None.
-        camera_index : int
-            The camera index for the video stream device. Defaults to 0.
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=ws_url)
-        self.stream_ws_client: Optional[ws.Client] = ws.Client(url=stream_url) if stream_url else None
-        self.video_stream: VideoStream = VideoStream(self.ws_client.send_message, fps=fps, device_index=camera_index)
-
-    def register_frame_callback(self, video_callback: Optional[Callable]):
-        """
-        Register a callback for processing video frames.
-
-        Parameters
-        ----------
-        video_callback : Optional[Callable]
-            The callback function to process video frames.
-        """
-        if video_callback is not None:
-            self.video_stream.register_frame_callback(video_callback)
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process VLM results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-
-    def start(self):
-        """
-        Start the VLM provider.
-
-        Initializes and starts the websocket client, video stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("VLM provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.video_stream.start()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.start()
-            self.video_stream.register_frame_callback(self.stream_ws_client.send_message)
-
-        logging.info("Vila VLM provider started")
-
-    def stop(self):
-        """
-        Stop the VLM provider.
-
-        Stops the websocket client, video stream, and processing thread.
-        """
-        self.running = False
-
-        self.video_stream.stop()
-        self.ws_client.stop()
-
-        if self.stream_ws_client:
-            self.stream_ws_client.stop()
diff --git a/src/providers/vlm_vila_rtsp_provider.py b/src/providers/vlm_vila_rtsp_provider.py
deleted file mode 100644
index c5684495c3..0000000000
--- a/src/providers/vlm_vila_rtsp_provider.py
+++ /dev/null
@@ -1,100 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-from om1_utils import ws
-from om1_vlm import VideoRTSPStream
-
-from .singleton import singleton
-
-
-@singleton
-class VLMVilaRTSPProvider:
-    """
-    VLM Provider that handles audio streaming and websocket communication.
-
-    This class implements a singleton pattern to manage video stream from RTSP and websocket
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        rtsp_url: str = "rtsp://localhost:8554/top_camera",
-        decode_format: str = "H264",
-        fps: int = 30,
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The websocket URL for the VLM service connection.
-        rtsp_url : str
-            The RTSP URL for the video stream. Defaults to "rtsp://localhost:8554/top_camera".
-        decode_format : str
-            The decode format for the video stream. Defaults to "H264".
-        fps : int
-            The fps for the VLM service connection.
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=ws_url)
-        self.video_stream: VideoRTSPStream = VideoRTSPStream(
-            rtsp_url,
-            decode_format,
-            frame_callback=self.ws_client.send_message,
-            fps=fps,
-        )
-
-    def register_frame_callback(self, video_callback: Optional[Callable]):
-        """
-        Register a callback for processing video frames.
-
-        Parameters
-        ----------
-        video_callback : Optional[Callable]
-            The callback function to process video frames.
-        """
-        if video_callback is not None:
-            self.video_stream.register_frame_callback(video_callback)
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process VLM results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-
-    def start(self):
-        """
-        Start the VLM RTSP provider.
-
-        Initializes and starts the websocket client, video stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("VLM RTSP provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.video_stream.start()
-
-        logging.info("Vila VLM RTSP provider started")
-
-    def stop(self):
-        """
-        Stop the VLM RTSP provider.
-
-        Stops the websocket client, video stream, and processing thread.
-        """
-        self.running = False
-
-        self.video_stream.stop()
-        self.ws_client.stop()
diff --git a/src/providers/vlm_vila_zenoh_provider.py b/src/providers/vlm_vila_zenoh_provider.py
deleted file mode 100644
index 134aa74a3b..0000000000
--- a/src/providers/vlm_vila_zenoh_provider.py
+++ /dev/null
@@ -1,96 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-from om1_utils import ws
-from om1_vlm import VideoZenohStream
-
-from .singleton import singleton
-
-
-@singleton
-class VLMVilaZenohProvider:
-    """
-    VLM Provider that handles video zenoh communication.
-
-    This class implements a singleton pattern to manage video stream from zenoh
-    communication for vlm services. It runs in a separate thread to handle
-    continuous vlm processing.
-    """
-
-    def __init__(
-        self,
-        ws_url: str,
-        topic: str = "rgb_image",
-        decode_format: str = "H264",
-    ):
-        """
-        Initialize the VLM Provider.
-
-        Parameters
-        ----------
-        ws_url : str
-            The WebSocket URL for the VLM service.
-        topic : str
-            The zenoh topic for the video stream. Defaults to "rgb_image".
-        decode_format : str
-            The decode format for the video stream. Defaults to "H264".
-        """
-        self.running: bool = False
-        self.ws_client: ws.Client = ws.Client(url=ws_url)
-        self.video_stream: VideoZenohStream = VideoZenohStream(
-            topic,
-            decode_format,
-            frame_callback=self.ws_client.send_message,
-        )
-
-    def register_frame_callback(self, video_callback: Optional[Callable]):
-        """
-        Register a callback for processing video frames.
-
-        Parameters
-        ----------
-        video_callback : Optional[Callable]
-            The callback function to process video frames.
-        """
-        if video_callback is not None:
-            self.video_stream.register_frame_callback(video_callback)
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback for processing VLM results.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The callback function to process VLM results.
-        """
-        if message_callback is not None:
-            self.ws_client.register_message_callback(message_callback)
-
-    def start(self):
-        """
-        Start the VLM Zenoh provider.
-
-        Initializes and starts the websocket client, video stream, and processing thread
-        if not already running.
-        """
-        if self.running:
-            logging.warning("VLM Zenoh provider is already running")
-            return
-
-        self.running = True
-        self.ws_client.start()
-        self.video_stream.start()
-
-        logging.info("Vila VLM Zenoh provider started")
-
-    def stop(self):
-        """
-        Stop the VLM Zenoh provider.
-
-        Stops the websocket client, video stream, and processing thread.
-        """
-        self.running = False
-
-        self.video_stream.stop()
-        self.ws_client.stop()
diff --git a/src/providers/zenoh_listener_provider.py b/src/providers/zenoh_listener_provider.py
deleted file mode 100644
index 1c607d6170..0000000000
--- a/src/providers/zenoh_listener_provider.py
+++ /dev/null
@@ -1,84 +0,0 @@
-import logging
-from typing import Callable, Optional
-
-from zenoh_msgs import ZenohSessionType, open_zenoh_session
-
-
-class ZenohListenerProvider:
-    """
-    Listener provider for subscribing messages using a Zenoh session.
-
-    This class manages a Zenoh session, a message queue, and a worker thread that
-    continuously listens to messages to a specified topic.
-    """
-
-    def __init__(self, topic: str = "speech"):
-        """
-        Initialize the Zenoh Listener provider and create a Zenoh session.
-
-        Parameters
-        ----------
-        topic : str, optional
-            The topic on which to subscribe messages (default is "speech").
-        """
-        self.session: Optional[ZenohSessionType] = None
-
-        try:
-            self.session = open_zenoh_session()
-            logging.info("Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-
-        self.sub_topic = topic
-
-        self.running: bool = False
-
-    def register_message_callback(self, message_callback: Optional[Callable]):
-        """
-        Register a callback function for processing incoming messages.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            The function that will be called with each incoming Zenoh sample.
-        """
-        if self.session is not None:
-            self.session.declare_subscriber(self.sub_topic, message_callback)
-        else:
-            logging.error("Cannot register callback; Zenoh session is not available.")
-
-    def start(self, message_callback: Optional[Callable] = None):
-        """
-        Start the listener provider by launching the background thread.
-
-        Parameters
-        ----------
-        message_callback : Optional[Callable]
-            Optional callback function that will be called with each incoming Zenoh sample.
-        """
-        if self.running:
-            logging.warning("Zenoh Listener Provider is already running")
-            return
-
-        if message_callback is not None:
-            self.register_message_callback(message_callback)
-
-        self.running = True
-        logging.info("Zenoh Listener Provider started")
-
-    def stop(self):
-        """
-        Stop the listener provider and clean up resources.
-
-        Closes the Zenoh session safely with error handling.
-        """
-        self.running = False
-
-        if self.session is not None:
-            try:
-                self.session.close()
-                logging.info("Zenoh Listener Provider stopped")
-            except Exception as e:
-                logging.error(f"Error closing Zenoh session: {e}")
-            finally:
-                self.session = None
diff --git a/src/providers/zenoh_publisher_provider.py b/src/providers/zenoh_publisher_provider.py
deleted file mode 100644
index 964144bddc..0000000000
--- a/src/providers/zenoh_publisher_provider.py
+++ /dev/null
@@ -1,113 +0,0 @@
-import json
-import logging
-import threading
-import time
-from queue import Empty, Queue
-from typing import Optional
-
-from zenoh import ZBytes
-
-from zenoh_msgs import ZenohSessionType, open_zenoh_session
-
-
-class ZenohPublisherProvider:
-    """
-    Publisher provider for sending messages using a Zenoh session.
-
-    This class manages a Zenoh session, a message queue, and a worker thread that
-    continuously publishes queued messages to a specified topic.
-    """
-
-    def __init__(self, topic: str = "speech"):
-        """
-        Initialize the Zenoh publisher provider and create a Zenoh session.
-
-        Parameters
-        ----------
-        topic : str, optional
-            The topic on which to publish messages (default is "speech").
-        """
-        self.session: Optional[ZenohSessionType] = None
-
-        try:
-            self.session = open_zenoh_session()
-            logging.info("Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-            self.session = None
-
-        self.pub_topic = topic
-
-        # Pending message queue and threading constructs
-        self._pending_messages = Queue()
-        self._lock = threading.Lock()
-        self.running: bool = False
-        self._thread: Optional[threading.Thread] = None
-
-    def add_pending_message(self, text: str):
-        """
-        Create a speech data message from the provided text and add it to the queue.
-
-        Parameters
-        ----------
-        text : str
-            The textual content to be published as a message.
-        """
-        msg = {"time_stamp": time.time(), "message": text}
-        logging.info(f"Queueing message: {msg}")
-        self._pending_messages.put(msg)
-
-    def _publish_message(self, msg: dict):
-        """
-        Publish a single message using the Zenoh session.
-
-        Parameters
-        ----------
-        msg : dict
-            The message to be published.
-        """
-        # Attempt to write the message with a timeout of 0.5 seconds
-
-        if self.session is None:
-            logging.info("No open Zenoh session, returning")
-            return
-        logging.info(f"Publishing message: {msg} ")
-        payload = ZBytes(json.dumps(msg))
-        self.session.put(self.pub_topic, payload)
-
-    def start(self):
-        """
-        Start the publisher provider by launching the processing thread.
-        """
-        if self.running:
-            return
-
-        self.running = True
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-        logging.info("Zenoh Publisher Provider started")
-
-    def _run(self):
-        """
-        Process and publish pending messages in an internal loop.
-        """
-        while self.running:
-            try:
-                # Wait up to 0.5 seconds for a message.
-                msg = self._pending_messages.get(timeout=0.5)
-                self._publish_message(msg)
-            except Empty:
-                continue
-            except Exception as e:
-                logging.exception("Exception in publisher thread: %s", e)
-
-    def stop(self):
-        """
-        Stop the publisher provider and clean up resources.
-        """
-        self.running = False
-        if self._thread:
-            self._thread.join(timeout=5)
-        if self.session is not None:
-            self.session.close()
-        logging.info("Zenoh Publisher Provider stopped")
diff --git a/src/run.py b/src/run.py
deleted file mode 100644
index 25a4021571..0000000000
--- a/src/run.py
+++ /dev/null
@@ -1,115 +0,0 @@
-import asyncio
-import logging
-import multiprocessing as mp
-import os
-import shutil
-from typing import Optional, Tuple
-
-import dotenv
-import typer
-
-from runtime.config import load_mode_config
-from runtime.cortex import ModeCortexRuntime
-from runtime.logging import setup_logging
-
-app = typer.Typer()
-
-
-def setup_config_file(config_name: Optional[str]) -> Tuple[str, str]:
-    """
-    Set up the configuration file.
-
-    Parameters
-    ----------
-    config_name : str, optional
-        The name of the configuration file (without extension) located in the config directory.
-        If not provided, uses .runtime.json5 from memory folder.
-    """
-    # If no config_name is provided, use the default .runtime.json5 from memory
-    if config_name is None:
-        runtime_config_path = os.path.join(os.path.dirname(__file__), "../config/memory", ".runtime.json5")
-
-        if not os.path.exists(runtime_config_path):
-            logging.error(f"Default runtime configuration file not found: {runtime_config_path}")
-            logging.error("Please provide a config_name or ensure .runtime.json5 exists in config/memory/")
-            raise typer.Exit(1)
-
-        config_name = ".runtime"
-        config_path = os.path.join(os.path.dirname(__file__), "../config", config_name + ".json5")
-
-        shutil.copy2(runtime_config_path, config_path)
-        logging.info("Using default runtime configuration from memory folder")
-        logging.info(f"Copied config/memory/.runtime.json5 to config/{config_name}.json5 for system compatibility")
-    else:
-        config_path = os.path.join(os.path.dirname(__file__), "../config", config_name + ".json5")
-
-    return config_name, config_path
-
-
-@app.command()
-def start(
-    config_name: Optional[str] = typer.Argument(
-        None,
-        help="The name of the configuration file (without extension) located in the config directory. If not provided, uses .runtime.json5 from memory folder.",
-    ),
-    hot_reload: bool = typer.Option(True, help="Enable hot-reload of configuration files."),
-    check_interval: int = typer.Option(
-        60,
-        help="Interval in seconds between config file checks when hot_reload is enabled.",
-    ),
-    log_level: str = typer.Option("INFO", help="The logging level to use."),
-    log_to_file: bool = typer.Option(False, help="Whether to log output to a file."),
-) -> None:
-    """
-    Start the OM1 agent with a specific configuration.
-
-    Parameters
-    ----------
-    config_name : str, optional
-        The name of the configuration file (without extension) located in the config directory.
-        If not provided, uses .runtime.json5 from memory folder as default.
-    hot_reload : bool, optional
-        Enable hot-reload of configuration files (default is True).
-    check_interval : int, optional
-        Interval in seconds between config file checks when hot_reload is enabled (default is 60).
-    log_level : str, optional
-        The logging level to use (default is "INFO").
-    log_to_file : bool, optional
-        Whether to log output to a file (default is False).
-    """
-    config_name, config_path = setup_config_file(config_name)
-    setup_logging(config_name, log_level, log_to_file)
-
-    try:
-        mode_config = load_mode_config(config_name)
-        runtime = ModeCortexRuntime(
-            mode_config,
-            config_name,
-            hot_reload=hot_reload,
-            check_interval=check_interval,
-        )
-        logging.info(f"Starting OM1 with configuration: {config_name}")
-        logging.info(f"Available modes: {list(mode_config.modes.keys())}")
-        logging.info(f"Default mode: {mode_config.default_mode}")
-
-        if hot_reload:
-            logging.info(f"Hot-reload enabled (check interval: {check_interval} seconds)")
-
-        asyncio.run(runtime.run())
-
-    except FileNotFoundError:
-        logging.error(f"Configuration file not found: {config_path}")
-        raise typer.Exit(1)
-    except Exception as e:
-        logging.error(f"Error loading configuration: {e}")
-        raise typer.Exit(1)
-
-
-if __name__ == "__main__":
-
-    # Fix for Linux multiprocessing
-    if mp.get_start_method(allow_none=True) != "spawn":
-        mp.set_start_method("spawn")
-
-    dotenv.load_dotenv()
-    app()
diff --git a/src/runtime/__init__.py b/src/runtime/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/runtime/config.py b/src/runtime/config.py
deleted file mode 100644
index 28b3969ea4..0000000000
--- a/src/runtime/config.py
+++ /dev/null
@@ -1,813 +0,0 @@
-import json
-import logging
-import os
-from dataclasses import dataclass, field
-from enum import Enum
-from pathlib import Path
-from typing import Any, Dict, List, Optional
-
-import json5
-from jsonschema import ValidationError, validate
-
-from actions import load_action
-from actions.base import AgentAction
-from backgrounds import load_background
-from backgrounds.base import Background
-from inputs import load_input
-from inputs.base import Sensor
-from llm import LLM, load_llm
-from mcp_servers import load_mcp
-from runtime.converter import convert_to_multi_mode
-from runtime.env import load_env_vars
-from runtime.hook import (
-    LifecycleHook,
-    LifecycleHookType,
-    execute_lifecycle_hooks,
-    parse_lifecycle_hooks,
-)
-from runtime.robotics import load_unitree
-from runtime.version import verify_runtime_version
-from zenoh_msgs.session import load_session_config
-
-
-def _load_schema(schema_file: str) -> dict:
-    """
-    Load and cache schema files.
-
-    Parameters
-    ----------
-    schema_file : str
-        Name of the schema file to load.
-
-    Returns
-    -------
-    dict
-        The loaded schema dictionary.
-
-    Raises
-    ------
-    FileNotFoundError
-        If the schema file does not exist.
-    """
-    schema_path = Path(__file__).parent / "../../config/schema" / schema_file
-
-    if not schema_path.exists():
-        raise FileNotFoundError(f"Schema file not found: {schema_path}. Cannot validate configuration.")
-
-    with open(schema_path, "r") as f:
-        return json.load(f)
-
-
-def validate_config_schema(raw_config: dict) -> None:
-    """
-    Validate the configuration against the appropriate schema.
-
-    Parameters
-    ----------
-    raw_config : dict
-        The raw configuration dictionary to validate.
-    """
-    schema_file = (
-        "multi_mode_schema.json"
-        if "modes" in raw_config and "default_mode" in raw_config
-        else "single_mode_schema.json"
-    )
-
-    try:
-        schema = _load_schema(schema_file)
-        validate(instance=raw_config, schema=schema)
-
-    except FileNotFoundError as e:
-        logging.error(str(e))
-        raise
-    except ValidationError as e:
-        field_path = ".".join(str(p) for p in e.path) if e.path else "root"
-        logging.error(f"Schema validation failed at field '{field_path}': {e.message}")
-        raise
-
-
-@dataclass
-class RuntimeConfig:
-    """
-    Runtime configuration for the agent.
-
-    Parameters
-    ----------
-    version : str
-        Configuration version.
-    hertz : float
-        Execution frequency.
-    name : str
-        Config name.
-    system_prompt_base : str
-        Base system prompt.
-    system_governance : str
-        Governance rules for the system.
-    system_prompt_examples : str
-        Example prompts for the system.
-    agent_inputs : List[Sensor]
-        List of agent input sensors.
-    cortex_llm : LLM
-        The main LLM for the agent.
-    agent_actions : List[AgentAction]
-        List of agent actions.
-    backgrounds : List[Background]
-        List of background processes.
-    mode : Optional[str]
-        Optional mode setting.
-    api_key : Optional[str]
-        Optional API key.
-    robot_ip : Optional[str]
-        Optional robot IP address.
-    URID : Optional[str]
-        Optional unique robot identifier.
-    unitree_ethernet : Optional[str]
-        Optional Unitree ethernet port.
-    action_execution_mode : Optional[str]
-        Optional action execution mode (e.g., "concurrent", "sequential", "dependencies"). Defaults to "concurrent".
-    action_dependencies : Optional[Dict[str, List[str]]]
-        Optional mapping of action dependencies.
-    knowledge_base : Optional[Dict[str, Any]]
-        Optional knowledge base configuration for document retrieval.
-    """
-
-    version: str
-    hertz: float
-    name: str
-    system_prompt_base: str
-    system_governance: str
-    system_prompt_examples: str
-
-    agent_inputs: List[Sensor]
-    cortex_llm: LLM
-    agent_actions: List[AgentAction]
-    backgrounds: List[Background]
-
-    mode: Optional[str] = None
-    api_key: Optional[str] = None
-    robot_ip: Optional[str] = None
-    URID: Optional[str] = None
-    unitree_ethernet: Optional[str] = None
-    action_execution_mode: Optional[str] = None
-    action_dependencies: Optional[Dict[str, List[str]]] = None
-    knowledge_base: Optional[Dict[str, Any]] = None
-    mcp_servers: Optional[Any] = None
-
-
-def add_meta(
-    config: Dict,
-    g_api_key: Optional[str],
-    g_ut_eth: Optional[str],
-    g_URID: Optional[str],
-    g_robot_ip: Optional[str],
-    g_mode: Optional[str] = None,
-    g_use_sim: Optional[bool] = None,
-) -> dict[str, str]:
-    """
-    Add an API key and Robot configuration to a runtime configuration.
-
-    Parameters
-    ----------
-    config : dict
-        The runtime configuration to update.
-    g_api_key : str
-        The API key to add.
-    g_ut_eth : str
-        The Robot ethernet port to add.
-    g_URID : str
-        The Robot URID to use.
-    g_robot_ip : Optional[str]
-        The Robot IP address.
-    g_mode : Optional[str]
-        The mode of operation.
-    g_use_sim : Optional[bool]
-        Whether simulation mode is enabled.
-
-    Returns
-    -------
-    dict
-        The updated runtime configuration.
-    """
-    if "api_key" not in config and g_api_key is not None:
-        config["api_key"] = g_api_key
-    if "unitree_ethernet" not in config and g_ut_eth is not None:
-        config["unitree_ethernet"] = g_ut_eth
-    if "URID" not in config and g_URID is not None:
-        config["URID"] = g_URID
-    if "robot_ip" not in config and g_robot_ip is not None:
-        config["robot_ip"] = g_robot_ip
-    if "mode" not in config and g_mode is not None:
-        config["mode"] = g_mode
-    if "use_sim" not in config and g_use_sim is not None:
-        config["use_sim"] = g_use_sim
-    return config
-
-
-class TransitionType(Enum):
-    """
-    Types of mode transitions.
-
-    - INPUT_TRIGGERED: Switch based on specific input keywords or phrases.
-    - TIME_BASED: Switch after a certain time period or at specific times.
-    - CONTEXT_AWARE: Switch based on contextual cues or environment
-    - MANUAL: Switch only when manually triggered by the user.
-    """
-
-    INPUT_TRIGGERED = "input_triggered"
-    TIME_BASED = "time_based"
-    CONTEXT_AWARE = "context_aware"
-    MANUAL = "manual"
-
-
-@dataclass
-class TransitionRule:
-    """
-    Defines a rule for transitioning between modes.
-
-    Parameters
-    ----------
-    from_mode : str
-        Name of the mode to transition from.
-    to_mode : str
-        Name of the mode to transition to.
-    transition_type : TransitionType
-        The type of transition (e.g., input-triggered, time-based).
-    trigger_keywords : List[str], optional
-        Keywords or phrases that can trigger the transition (for input-triggered).
-    priority : int, optional
-        Priority of the rule when multiple rules could apply. Higher numbers = higher priority. Defaults to 1.
-    cooldown_seconds : float, optional
-        Minimum time in seconds before this rule can trigger again. Defaults to 0.0.
-    timeout_seconds : Optional[float], optional
-        For time-based transitions, the time in seconds after which to switch modes. Defaults to None.
-    context_conditions : Dict, optional
-        Conditions based on context that must be met for the transition. Defaults to empty dict.
-    """
-
-    from_mode: str
-    to_mode: str
-    transition_type: TransitionType
-    trigger_keywords: List[str] = field(default_factory=list)
-    priority: int = 1
-    cooldown_seconds: float = 0.0
-    timeout_seconds: Optional[float] = None
-    context_conditions: Dict = field(default_factory=dict)
-
-
-@dataclass
-class ModeConfig:
-    """
-    Configuration for a specific mode.
-
-    Parameters
-    ----------
-    version : str
-        Version of the mode configuration.
-    name : str
-        Unique name of the mode.
-    display_name : str
-        Human-readable name of the mode.
-    description : str
-        Description of the mode's purpose and behavior.
-    system_prompt_base : str
-        Base system prompt to use for the mode.
-    hertz : float, optional
-        Frequency in Hz at which the mode operates. Defaults to 1.0.
-    timeout_seconds : Optional[float], optional
-        Optional timeout in seconds for mode operations. Defaults to None.
-    remember_locations : bool, optional
-        Whether the mode should remember locations. Defaults to False.
-    save_interactions : bool, optional
-        Whether to save interactions in this mode. Defaults to False.
-    lifecycle_hooks : List[LifecycleHook], optional
-        List of lifecycle hooks associated with this mode. Defaults to empty list.
-    agent_inputs : List[Sensor], optional
-        List of input sensors for the mode. Defaults to empty list.
-    cortex_llm : Optional[LLM], optional
-        The LLM used for the mode. Defaults to None.
-    agent_actions : List[AgentAction], optional
-        List of actions available to the agent in this mode. Defaults to empty list.
-    backgrounds : List[Background], optional
-        List of background processes for the mode. Defaults to empty list.
-    action_execution_mode : Optional[str], optional
-        Execution mode for actions (e.g., "concurrent", "sequential", "dependencies"). Defaults to concurrent.
-    action_dependencies : Optional[Dict[str, List[str]]], optional
-        Dependencies between actions for execution order. Defaults to None.
-    _raw_inputs : List[Dict], optional
-        Raw input configurations before loading. Defaults to empty list.
-    _raw_llm : Optional[Dict], optional
-        Raw LLM configuration before loading. Defaults to None.
-    _raw_actions : List[Dict], optional
-        Raw action configurations before loading. Defaults to empty list.
-    _raw_backgrounds : List[Dict], optional
-        Raw background configurations before loading. Defaults to empty list.
-    """
-
-    version: str
-
-    name: str
-    display_name: str
-    description: str
-    system_prompt_base: str
-    hertz: float = 1.0
-
-    timeout_seconds: Optional[float] = None
-    remember_locations: bool = False
-    save_interactions: bool = False
-
-    lifecycle_hooks: List[LifecycleHook] = field(default_factory=list)
-    _raw_lifecycle_hooks: List[Dict] = field(default_factory=list)
-
-    agent_inputs: List[Sensor] = field(default_factory=list)
-    cortex_llm: Optional[LLM] = None
-    agent_actions: List[AgentAction] = field(default_factory=list)
-    backgrounds: List[Background] = field(default_factory=list)
-
-    action_execution_mode: Optional[str] = None
-    action_dependencies: Optional[Dict[str, List[str]]] = None
-    mcp_servers: Optional[Any] = None
-
-    _raw_inputs: List[Dict] = field(default_factory=list)
-    _raw_llm: Optional[Dict] = None
-    _raw_actions: List[Dict] = field(default_factory=list)
-    _raw_backgrounds: List[Dict] = field(default_factory=list)
-    _raw_mcp_servers: List[Dict] = field(default_factory=list)
-
-    def to_runtime_config(self, global_config: "ModeSystemConfig") -> RuntimeConfig:
-        """
-        Convert this mode config to a RuntimeConfig for the cortex.
-
-        Parameters
-        ----------
-        global_config : ModeSystemConfig
-            The global system configuration containing shared settings
-
-        Returns
-        -------
-        RuntimeConfig
-            The runtime configuration for this mode
-        """
-        if self.cortex_llm is None:
-            raise ValueError(f"No LLM configured for mode {self.name}")
-
-        return RuntimeConfig(
-            version=self.version,
-            hertz=self.hertz,
-            mode=self.name,
-            name=f"{global_config.name}_{self.name}",
-            system_prompt_base=self.system_prompt_base,
-            system_governance=global_config.system_governance,
-            system_prompt_examples=global_config.system_prompt_examples,
-            agent_inputs=self.agent_inputs,
-            cortex_llm=self.cortex_llm,
-            agent_actions=self.agent_actions,
-            backgrounds=self.backgrounds,
-            robot_ip=global_config.robot_ip,
-            api_key=global_config.api_key,
-            URID=global_config.URID,
-            unitree_ethernet=global_config.unitree_ethernet,
-            action_execution_mode=self.action_execution_mode,
-            action_dependencies=self.action_dependencies,
-            knowledge_base=global_config.knowledge_base,
-            mcp_servers=self.mcp_servers,
-        )
-
-    def load_components(self, system_config: "ModeSystemConfig"):
-        """
-        Load the actual component instances for this mode.
-
-        This method should be called when the mode is activated to ensure
-        fresh instances and avoid singleton conflicts between modes.
-
-        Parameters
-        ----------
-        system_config : ModeSystemConfig
-            The global system configuration containing shared settings
-        """
-        logging.info(f"Loading components for mode: {self.name}")
-        _load_mode_components(self, system_config)
-        logging.info(f"Components loaded successfully for mode: {self.name}")
-
-    async def execute_lifecycle_hooks(
-        self, hook_type: LifecycleHookType, context: Optional[Dict[str, Any]] = None
-    ) -> bool:
-        """
-        Execute all lifecycle hooks of the specified type for this mode.
-
-        Parameters
-        ----------
-        hook_type : LifecycleHookType
-            The type of lifecycle hooks to execute
-        context : Optional[Dict[str, Any]]
-            Context information to pass to the hooks
-
-        Returns
-        -------
-        bool
-            True if all hooks executed successfully, False if any failed
-        """
-        if context is None:
-            context = {}
-
-        context.update(
-            {
-                "mode_name": self.name,
-                "mode_display_name": self.display_name,
-                "mode_description": self.description,
-            }
-        )
-
-        return await execute_lifecycle_hooks(self.lifecycle_hooks, hook_type, context)
-
-
-@dataclass
-class ModeSystemConfig:
-    """
-    Complete configuration for a mode-aware system.
-
-    Parameters
-    ----------
-    version : str
-        Version of the mode system configuration.
-    name : str
-        Name of the mode system.
-    default_mode : str
-        The default mode to start in.
-    config_name : str
-        Name of the configuration file.
-    allow_manual_switching : bool
-        Whether manual mode switching is allowed. Defaults to True.
-    mode_memory_enabled : bool
-        Whether mode memory is enabled. Defaults to True.
-    api_key : Optional[str]
-        Global API key for services.
-    robot_ip : Optional[str]
-        Global robot IP address.
-    URID : Optional[str]
-        Global URID robot identifier.
-    unitree_ethernet : Optional[str]
-        Global Unitree ethernet port.
-    system_governance : str
-        Global system governance prompt.
-    system_prompt_examples : str
-        Global system prompt examples.
-    knowledge_base : Optional[Dict[str, Any]]
-        Optional knowledge base configuration for document retrieval.
-    global_cortex_llm : Optional[Dict]
-        Global default LLM configuration if mode doesn't override.
-    global_lifecycle_hooks : List[LifecycleHook], optional
-        List of global lifecycle hooks executed for all modes. Defaults to empty list.
-    modes : Dict[str, ModeConfig], optional
-        Mapping of mode names to their configurations. Defaults to empty dict.
-    transition_rules : List[TransitionRule], optional
-        List of rules for transitioning between modes. Defaults to empty list.
-    use_sim: bool
-        Whether the system is running in simulation mode. Defaults to False.
-    use_tracer: bool
-        Whether to enable tracing of interactions and decisions for debugging purposes. Defaults to False.
-    """
-
-    # Global settings
-    version: str
-    name: str
-    default_mode: str
-    config_name: str = ""
-    allow_manual_switching: bool = True
-    mode_memory_enabled: bool = True
-
-    # Global parameters
-    api_key: Optional[str] = None
-    robot_ip: Optional[str] = None
-    URID: Optional[str] = None
-    unitree_ethernet: Optional[str] = None
-    system_governance: str = ""
-    system_prompt_examples: str = ""
-
-    # Knowledge base configuration
-    knowledge_base: Optional[Dict[str, Any]] = None
-
-    # Default LLM settings if mode doesn't override
-    global_cortex_llm: Optional[Dict] = None
-
-    # Global lifecycle hooks (executed for all modes)
-    global_lifecycle_hooks: List[LifecycleHook] = field(default_factory=list)
-    _raw_global_lifecycle_hooks: List[Dict] = field(default_factory=list)
-
-    # Modes and transition rules
-    modes: Dict[str, ModeConfig] = field(default_factory=dict)
-    transition_rules: List[TransitionRule] = field(default_factory=list)
-
-    # Simulation
-    use_sim: bool = False
-
-    # Tracing
-    use_tracer: bool = False
-
-    async def execute_global_lifecycle_hooks(
-        self, hook_type: LifecycleHookType, context: Optional[Dict[str, Any]] = None
-    ) -> bool:
-        """
-        Execute all global lifecycle hooks of the specified type.
-
-        Parameters
-        ----------
-        hook_type : LifecycleHookType
-            The type of lifecycle hooks to execute
-        context : Optional[Dict[str, Any]]
-            Context information to pass to the hooks
-
-        Returns
-        -------
-        bool
-            True if all hooks executed successfully, False if any failed
-        """
-        if context is None:
-            context = {}
-
-        context.update({"system_name": self.name, "is_global_hook": True})
-
-        return await execute_lifecycle_hooks(self.global_lifecycle_hooks, hook_type, context)
-
-
-def load_mode_config(config_name: str, mode_source_path: Optional[str] = None) -> ModeSystemConfig:
-    """
-    Load a mode-aware configuration from a JSON5 file.
-
-    Parameters
-    ----------
-    config_name : str
-        Name of the configuration file (without .json5 extension)
-    mode_source_path : Optional[str]
-        Optional path to the configuration file. If None, defaults to the config directory.
-        The path is relative to the ../../../config directory.
-
-    Returns
-    -------
-    ModeSystemConfig
-        Parsed mode system configuration
-    """
-    config_path = (
-        os.path.join(os.path.dirname(__file__), "../../config", config_name + ".json5")
-        if mode_source_path is None
-        else mode_source_path
-    )
-
-    with open(config_path, "r") as f:
-        try:
-            raw_config = json5.load(f)
-        except Exception as e:
-            raise ValueError(f"Failed to parse configuration file '{config_path}': {e}") from e
-
-    config_version = raw_config.get("version")
-    verify_runtime_version(config_version, config_name)
-
-    raw_config = load_env_vars(raw_config)
-
-    validate_config_schema(raw_config)
-    raw_config = convert_to_multi_mode(raw_config)
-
-    g_robot_ip = raw_config.get("robot_ip")
-    g_api_key = raw_config.get("api_key")
-    g_URID = raw_config.get("URID")
-    g_ut_eth = raw_config.get("unitree_ethernet")
-    g_use_sim = raw_config.get("use_sim", False)
-    g_use_tracer = raw_config.get("use_tracer", False)
-
-    load_unitree(g_ut_eth)
-    load_session_config(g_api_key, g_use_sim)
-
-    mode_system_config = ModeSystemConfig(
-        version=config_version,
-        name=raw_config.get("name", "mode_system"),
-        default_mode=raw_config["default_mode"],
-        config_name=config_name,
-        allow_manual_switching=raw_config.get("allow_manual_switching", True),
-        mode_memory_enabled=raw_config.get("mode_memory_enabled", True),
-        api_key=g_api_key,
-        robot_ip=g_robot_ip,
-        URID=g_URID,
-        unitree_ethernet=g_ut_eth,
-        use_sim=g_use_sim,
-        use_tracer=g_use_tracer,
-        system_governance=raw_config.get("system_governance", ""),
-        system_prompt_examples=raw_config.get("system_prompt_examples", ""),
-        knowledge_base=raw_config.get("knowledge_base"),
-        global_cortex_llm=raw_config.get("cortex_llm"),
-        global_lifecycle_hooks=parse_lifecycle_hooks(
-            raw_config.get("global_lifecycle_hooks", []), api_key=g_api_key, use_sim=g_use_sim
-        ),
-        _raw_global_lifecycle_hooks=raw_config.get("global_lifecycle_hooks", []),
-    )
-
-    for mode_name, mode_data in raw_config.get("modes", {}).items():
-        mode_config = ModeConfig(
-            version=mode_data.get("version", "1.0.1"),
-            name=mode_name,
-            display_name=mode_data.get("display_name", mode_name),
-            description=mode_data.get("description", ""),
-            system_prompt_base=mode_data["system_prompt_base"],
-            hertz=mode_data.get("hertz", 1.0),
-            lifecycle_hooks=parse_lifecycle_hooks(
-                mode_data.get("lifecycle_hooks", []), api_key=g_api_key, use_sim=g_use_sim
-            ),
-            timeout_seconds=mode_data.get("timeout_seconds"),
-            remember_locations=mode_data.get("remember_locations", False),
-            save_interactions=mode_data.get("save_interactions", False),
-            action_execution_mode=mode_data.get("action_execution_mode"),
-            action_dependencies=mode_data.get("action_dependencies"),
-            _raw_inputs=mode_data.get("agent_inputs", []),
-            _raw_llm=mode_data.get("cortex_llm"),
-            _raw_actions=mode_data.get("agent_actions", []),
-            _raw_backgrounds=mode_data.get("backgrounds", []),
-            _raw_lifecycle_hooks=mode_data.get("lifecycle_hooks", []),
-            _raw_mcp_servers=mode_data.get("mcp_servers", []),
-        )
-
-        mode_system_config.modes[mode_name] = mode_config
-
-    for rule_data in raw_config.get("transition_rules", []):
-        rule = TransitionRule(
-            from_mode=rule_data["from_mode"],
-            to_mode=rule_data["to_mode"],
-            transition_type=TransitionType(rule_data["transition_type"]),
-            trigger_keywords=rule_data.get("trigger_keywords", []),
-            priority=rule_data.get("priority", 1),
-            cooldown_seconds=rule_data.get("cooldown_seconds", 0.0),
-            timeout_seconds=rule_data.get("timeout_seconds"),
-            context_conditions=rule_data.get("context_conditions", {}),
-        )
-        mode_system_config.transition_rules.append(rule)
-
-    return mode_system_config
-
-
-def _load_mode_components(mode_config: ModeConfig, system_config: ModeSystemConfig):
-    """
-    Load the actual component instances for a mode.
-
-    Parameters
-    ----------
-    mode_config : ModeConfig
-        The mode configuration to load components for.
-    system_config : ModeSystemConfig
-        The global system configuration containing shared settings
-    """
-    g_api_key = system_config.api_key
-    g_ut_eth = system_config.unitree_ethernet
-    g_URID = system_config.URID
-    g_robot_ip = system_config.robot_ip
-    g_mode = mode_config.name
-    g_use_sim = system_config.use_sim
-
-    # Load inputs
-    mode_config.agent_inputs = [
-        load_input(
-            {
-                **inp,
-                "config": add_meta(
-                    inp.get("config", {}),
-                    g_api_key,
-                    g_ut_eth,
-                    g_URID,
-                    g_robot_ip,
-                    g_mode,
-                    g_use_sim,
-                ),
-            }
-        )
-        for inp in mode_config._raw_inputs
-    ]
-
-    # Load actions
-    mode_config.agent_actions = [
-        load_action(
-            {
-                **action,
-                "config": add_meta(
-                    action.get("config", {}),
-                    g_api_key,
-                    g_ut_eth,
-                    g_URID,
-                    g_robot_ip,
-                    g_mode,
-                    g_use_sim,
-                ),
-            }
-        )
-        for action in mode_config._raw_actions
-    ]
-
-    # Load backgrounds
-    mode_config.backgrounds = [
-        load_background(
-            {
-                **bg,
-                "config": add_meta(
-                    bg.get("config", {}),
-                    g_api_key,
-                    g_ut_eth,
-                    g_URID,
-                    g_robot_ip,
-                    g_mode,
-                    g_use_sim,
-                ),
-            }
-        )
-        for bg in mode_config._raw_backgrounds
-    ]
-
-    # Load LLM
-    llm_config = mode_config._raw_llm or system_config.global_cortex_llm
-    if llm_config:
-        mode_config.cortex_llm = load_llm(
-            {
-                **llm_config,
-                "config": add_meta(
-                    llm_config.get("config", {}),
-                    g_api_key,
-                    g_ut_eth,
-                    g_URID,
-                    g_robot_ip,
-                    g_mode,
-                    g_use_sim,
-                ),
-            },
-            available_actions=mode_config.agent_actions,
-        )
-    else:
-        raise ValueError(f"No LLM configuration found for mode {mode_config.name}")
-
-    # Load MCP servers
-    mode_config.mcp_servers = load_mcp(mode_config._raw_mcp_servers) if mode_config._raw_mcp_servers else None
-
-
-def mode_config_to_dict(config: ModeSystemConfig) -> Dict[str, Any]:
-    """
-    Convert a ModeSystemConfig back to a dictionary for serialization.
-
-    Parameters
-    ----------
-    config : ModeSystemConfig
-        The mode system configuration to convert.
-
-    Returns
-    -------
-    Dict[str, Any]
-        The dictionary representation of the mode system configuration.
-    """
-    try:
-        modes_dict = {}
-        for mode_name, mode_config in config.modes.items():
-            modes_dict[mode_name] = {
-                "name": mode_config.name,
-                "display_name": mode_config.display_name,
-                "description": mode_config.description,
-                "system_prompt_base": mode_config.system_prompt_base,
-                "hertz": mode_config.hertz,
-                "timeout_seconds": mode_config.timeout_seconds,
-                "remember_locations": mode_config.remember_locations,
-                "save_interactions": mode_config.save_interactions,
-                "agent_inputs": mode_config._raw_inputs,
-                "cortex_llm": mode_config._raw_llm,
-                "agent_actions": mode_config._raw_actions,
-                "backgrounds": mode_config._raw_backgrounds,
-                "lifecycle_hooks": mode_config._raw_lifecycle_hooks,
-            }
-
-        transition_rules = []
-        for rule in config.transition_rules:
-            transition_rules.append(
-                {
-                    "from_mode": rule.from_mode,
-                    "to_mode": rule.to_mode,
-                    "transition_type": rule.transition_type.value,
-                    "trigger_keywords": rule.trigger_keywords,
-                    "priority": rule.priority,
-                    "cooldown_seconds": rule.cooldown_seconds,
-                    "timeout_seconds": rule.timeout_seconds,
-                    "context_conditions": rule.context_conditions,
-                }
-            )
-
-        return {
-            "version": config.version,
-            "name": config.name,
-            "default_mode": config.default_mode,
-            "allow_manual_switching": config.allow_manual_switching,
-            "mode_memory_enabled": config.mode_memory_enabled,
-            "api_key": config.api_key,
-            "robot_ip": config.robot_ip,
-            "URID": config.URID,
-            "unitree_ethernet": config.unitree_ethernet,
-            "system_governance": config.system_governance,
-            "system_prompt_examples": config.system_prompt_examples,
-            "knowledge_base": config.knowledge_base,
-            "cortex_llm": config.global_cortex_llm,
-            "global_lifecycle_hooks": config._raw_global_lifecycle_hooks,
-            "modes": modes_dict,
-            "transition_rules": transition_rules,
-        }
-
-    except Exception as e:
-        logging.error(f"Error converting config to dict: {e}")
-        return {}
diff --git a/src/runtime/converter.py b/src/runtime/converter.py
deleted file mode 100644
index 3c720260fa..0000000000
--- a/src/runtime/converter.py
+++ /dev/null
@@ -1,150 +0,0 @@
-import logging
-from typing import Dict
-
-
-class ConfigConverter:
-    """Convert single-mode configurations to multi-mode format."""
-
-    @staticmethod
-    def is_single_mode(raw_config: dict) -> bool:
-        """Detect whether the configuration is in single-mode format.
-
-        Parameters
-        ----------
-        raw_config : dict
-            The raw configuration dictionary to check.
-
-        Returns
-        -------
-        bool
-            True if the config is single-mode (missing 'modes' or 'default_mode').
-        """
-        return "modes" not in raw_config or "default_mode" not in raw_config
-
-    @staticmethod
-    def convert_to_multi_mode(raw_config: dict) -> dict:
-        """Convert a single-mode config to multi-mode format.
-
-        If the config is already multi-mode, return it unchanged.
-
-        Parameters
-        ----------
-        raw_config : dict
-            The raw configuration dictionary to convert.
-
-        Returns
-        -------
-        dict
-            A multi-mode formatted configuration dictionary.
-        """
-        if not ConfigConverter.is_single_mode(raw_config):
-            return raw_config
-
-        mode_name = raw_config.get("name", "default")
-        logging.info(f"Converting single-mode config '{mode_name}'")
-
-        converted_config = ConfigConverter._build_global_section(raw_config, mode_name)
-        converted_config["modes"] = {mode_name: ConfigConverter._build_mode_section(raw_config)}
-        converted_config["transition_rules"] = []
-
-        ConfigConverter._validate(converted_config, mode_name)
-
-        return converted_config
-
-    @staticmethod
-    def _build_global_section(raw_config: dict, mode_name: str) -> Dict:
-        """Build the global fields of a multi-mode config.
-
-        Parameters
-        ----------
-        raw_config : dict
-            The original single-mode configuration.
-        mode_name : str
-            Name of the mode to use as default.
-
-        Returns
-        -------
-        dict
-            Global-level fields for the multi-mode config.
-        """
-        return {
-            "version": raw_config.get("version"),
-            "name": mode_name,
-            "default_mode": mode_name,
-            "allow_manual_switching": False,
-            "mode_memory_enabled": False,
-            "api_key": raw_config.get("api_key", ""),
-            "robot_ip": raw_config.get("robot_ip", ""),
-            "URID": raw_config.get("URID", "default"),
-            "unitree_ethernet": raw_config.get("unitree_ethernet", ""),
-            "system_governance": raw_config.get("system_governance", ""),
-            "system_prompt_examples": raw_config.get("system_prompt_examples", ""),
-            "knowledge_base": raw_config.get("knowledge_base"),
-            "cortex_llm": raw_config.get("cortex_llm"),
-            "use_sim": raw_config.get("use_sim", False),
-            "use_tracer": raw_config.get("use_tracer", False),
-        }
-
-    @staticmethod
-    def _build_mode_section(raw_config: dict) -> Dict:
-        """Build the mode-specific fields from a single-mode config.
-
-        Parameters
-        ----------
-        raw_config : dict
-            The original single-mode configuration.
-
-        Returns
-        -------
-        dict
-            Mode-level fields extracted from the single-mode config.
-        """
-        mode_name = raw_config.get("name", "default")
-        return {
-            "display_name": mode_name,
-            "description": f"Converted from single-mode config '{mode_name}'",
-            "hertz": raw_config.get("hertz", 1.0),
-            "system_prompt_base": raw_config.get("system_prompt_base", ""),
-            "agent_inputs": raw_config.get("agent_inputs", []),
-            "agent_actions": raw_config.get("agent_actions", []),
-            "backgrounds": raw_config.get("backgrounds", []),
-            "simulators": raw_config.get("simulators", []),
-            "cortex_llm": raw_config.get("cortex_llm"),
-            "action_execution_mode": raw_config.get("action_execution_mode", "concurrent"),
-            "action_dependencies": raw_config.get("action_dependencies", {}),
-            "mcp_servers": raw_config.get("mcp_servers", []),
-        }
-
-    @staticmethod
-    def _validate(converted_config: dict, mode_name: str) -> None:
-        """Validate that conversion produced the required multi-mode structure.
-
-        Parameters
-        ----------
-        converted_config : dict
-            The converted multi-mode configuration to validate.
-        mode_name : str
-            The expected default mode name.
-
-        Raises
-        ------
-        ValueError
-            If required structural fields are missing.
-        """
-        global_required = ["default_mode", "modes"]
-        for key in global_required:
-            if key not in converted_config or converted_config[key] is None:
-                raise ValueError(f"Conversion failed: missing global required field '{key}'")
-        if mode_name not in converted_config["modes"]:
-            raise ValueError(f"Conversion failed: default_mode '{mode_name}' not in modes")
-
-        mode_required = ["display_name", "description"]
-        mode = converted_config["modes"][mode_name]
-        for key in mode_required:
-            if key not in mode or mode[key] is None:
-                raise ValueError(f"Conversion failed: missing required field '{key}' in mode '{mode_name}'")
-
-        logging.info(f"Conversion validated: config '{mode_name}'")
-
-
-convert_to_multi_mode = ConfigConverter.convert_to_multi_mode
diff --git a/src/runtime/cortex.py b/src/runtime/cortex.py
deleted file mode 100644
index 09d0a06a5d..0000000000
--- a/src/runtime/cortex.py
+++ /dev/null
@@ -1,778 +0,0 @@
-import asyncio
-import logging
-import os
-import time
-from typing import List, Optional, Union
-
-from actions.orchestrator import ActionOrchestrator
-from backgrounds.orchestrator import BackgroundOrchestrator
-from fuser import Fuser
-from inputs.orchestrator import InputOrchestrator
-from mcp_servers.orchestrator import MCPOrchestrator
-from providers.config_provider import ConfigProvider
-from providers.io_provider import IOProvider
-from providers.sleep_ticker_provider import SleepTickerProvider
-from providers.tracer import Tracer
-from runtime.config import (
-    LifecycleHookType,
-    ModeSystemConfig,
-    RuntimeConfig,
-    load_mode_config,
-)
-from runtime.manager import ModeManager
-
-
-class ModeCortexRuntime:
-    """
-    Mode-aware cortex runtime that can dynamically switch between different
-    operational modes, each with their own configuration, inputs, and actions.
-    """
-
-    mode_config: ModeSystemConfig
-    mode_config_name: str
-    mode_manager: ModeManager
-    io_provider: IOProvider
-    sleep_ticker_provider: SleepTickerProvider
-    config_provider: ConfigProvider
-
-    current_config: Optional[RuntimeConfig]
-    fuser: Optional[Fuser]
-    action_orchestrator: Optional[ActionOrchestrator]
-    background_orchestrator: Optional[BackgroundOrchestrator]
-    input_orchestrator: Optional[InputOrchestrator]
-
-    def __init__(
-        self,
-        mode_config: ModeSystemConfig,
-        mode_config_name: str,
-        hot_reload: bool = True,
-        check_interval: float = 60,
-    ):
-        """
-        Initialize the mode-aware cortex runtime.
-
-        Parameters
-        ----------
-        mode_config : ModeSystemConfig
-            The complete mode system configuration
-        mode_config_name : str
-            The name of the configuration file (used for logging purposes)
-        hot_reload : bool, optional
-            Enable hot-reload of configuration files (default: True)
-        check_interval : float, optional
-            Interval in seconds to check for config file changes (default: 60)
-        """
-        self.mode_config = mode_config
-        self.mode_config_name = mode_config_name
-        self.mode_manager = ModeManager(mode_config)
-        self.io_provider = IOProvider()
-        self.tracer = Tracer()
-        self.sleep_ticker_provider = SleepTickerProvider()
-        self.config_provider = ConfigProvider()
-
-        # Hot-reload configuration
-        self.hot_reload = hot_reload
-        self.check_interval = check_interval
-        self.config_watcher_task: Optional[asyncio.Task] = None
-        self.last_modified: Optional[float] = None
-
-        # Initialize hot-reload if enabled
-        if self.hot_reload:
-            self.config_path = self.mode_manager._get_runtime_config_path()
-            self.last_modified = self._get_file_mtime()
-            logging.info(
-                f"Hot-reload enabled for runtime config: {self.config_path} (check interval: {check_interval}s)"
-            )
-
-        # Current runtime components
-        self.current_config: Optional[RuntimeConfig] = None
-        self.fuser: Optional[Fuser] = None
-        self.action_orchestrator: Optional[ActionOrchestrator] = None
-        self.background_orchestrator: Optional[BackgroundOrchestrator] = None
-        self.input_orchestrator: Optional[InputOrchestrator] = None
-        self.mcp_orchestrator: Optional[MCPOrchestrator] = None
-
-        # Tasks for orchestrators
-        self.input_listener_task: Optional[asyncio.Task] = None
-        self.action_task: Optional[asyncio.Future] = None
-        self.background_task: Optional[asyncio.Future] = None
-        self.cortex_loop_task: Optional[asyncio.Task] = None
-        self.mode_transition_task: Optional[asyncio.Task] = None
-
-        # Setup transition callback
-        self.mode_manager.add_transition_callback(self._on_mode_transition)
-
-        # Flag to track if mode is initialized
-        self._mode_initialized = False
-
-        # Flag to track if a reload is in progress
-        self._is_reloading = False
-
-        # Unique ID for cortex loop generations to manage cancellations during transitions
-        self._cortex_loop_generation = 0
-
-        # Event for handling mode transitions
-        self._mode_transition_event = asyncio.Event()
-        self._pending_mode_transition: Optional[str] = None
-        self._pending_transition_reason: Optional[str] = None
-
-        # Trace logging
-        if self.mode_config.use_tracer:
-            self.tracer.enable()
-
-    async def _initialize_mode(self, mode_name: str):
-        """
-        Initialize the runtime with a specific mode.
-
-        Parameters
-        ----------
-        mode_name : str
-            The name of the mode to initialize
-        """
-        mode_config = self.mode_config.modes[mode_name]
-
-        mode_config.load_components(self.mode_config)
-
-        self.current_config = mode_config.to_runtime_config(self.mode_config)
-
-        logging.info(f"Initializing mode: {mode_config.display_name}")
-
-        self.mode_manager.state.user_context.clear()
-
-        logging.info("Setting up cortex components for mode")
-
-        self.fuser = Fuser(self.current_config)
-        self.action_orchestrator = ActionOrchestrator(self.current_config)
-
-        if self.current_config.backgrounds:
-            self.background_orchestrator = BackgroundOrchestrator(self.current_config)
-
-        if self.current_config.mcp_servers:
-            self.mcp_orchestrator = MCPOrchestrator(self.current_config)
-
-        logging.info(f"Mode '{mode_name}' initialized successfully")
-
-    async def _handle_mode_transitions(self):
-        """
-        Handle mode transitions asynchronously, separate from the cortex loop.
-
-        This prevents the cortex loop from cancelling itself during transitions.
-        """
-        while True:
-            try:
-                await self._mode_transition_event.wait()
-
-                if self._pending_mode_transition:
-                    target_mode = self._pending_mode_transition
-                    transition_reason = self._pending_transition_reason or "input_triggered"
-                    self._pending_mode_transition = None
-                    self._pending_transition_reason = None
-
-                    logging.info(f"Processing mode transition to: {target_mode} (reason: {transition_reason})")
-
-                    success = await self.mode_manager._execute_transition(target_mode, transition_reason)
-                    if success:
-                        logging.info(f"Mode transition completed successfully: {target_mode}")
-                    else:
-                        logging.error(f"Mode transition failed: {target_mode}")
-
-                self._mode_transition_event.clear()
-
-            except asyncio.CancelledError:
-                logging.debug("Mode transition handler cancelled")
-                break
-            except Exception as e:
-                logging.error(f"Error in mode transition handler: {e}")
-                await asyncio.sleep(1.0)
-
-    async def _on_mode_transition(self, from_mode: str, to_mode: str):
-        """
-        Handle mode transitions by gracefully stopping current components and starting new ones for the target mode.
-
-        Parameters
-        ----------
-        from_mode : str
-            The name of the mode being transitioned from
-        to_mode : str
-            The name of the mode being transitioned to
-        """
-        logging.info(f"Handling mode transition: {from_mode} -> {to_mode}")
-
-        try:
-            # Set reloading flag
-            self._is_reloading = True
-
-            # Stop current orchestrators
-            await self._stop_current_orchestrators()
-
-            # Load new mode configuration
-            await self._initialize_mode(to_mode)
-
-            # Start new orchestrators
-            await self._start_orchestrators()
-
-            logging.info(f"Successfully transitioned to mode: {to_mode}")
-
-        except Exception as e:
-            logging.error(f"Error during mode transition {from_mode} -> {to_mode}: {e}")
-            # TODO: Implement fallback/recovery mechanism
-            raise
-        finally:
-            self._is_reloading = False
-
-    async def _stop_current_orchestrators(self) -> None:
-        """
-        Stop all current orchestrator tasks gracefully.
-        """
-        logging.debug("Stopping current orchestrators...")
-
-        self._cortex_loop_generation += 1
-
-        self.sleep_ticker_provider.skip_sleep = True
-
-        if self.background_orchestrator:
-            self.background_orchestrator.stop()
-
-        if self.action_orchestrator:
-            logging.debug("Stopping action orchestrator")
-            self.action_orchestrator.stop()
-
-        if self.mcp_orchestrator:
-            logging.debug("Closing MCP connections")
-            await self.mcp_orchestrator.stop()
-            self.mcp_orchestrator = None
-
-        if self.input_orchestrator:
-            logging.debug("Stopping input orchestrator")
-            self.input_orchestrator.stop()
-
-        tasks_to_cancel = {}
-
-        if self.cortex_loop_task and not self.cortex_loop_task.done():
-            logging.debug("Cancelling cortex loop task")
-            tasks_to_cancel["cortex_loop"] = self.cortex_loop_task
-
-        if self.input_listener_task and not self.input_listener_task.done():
-            logging.debug("Cancelling input listener task")
-            tasks_to_cancel["input_listener"] = self.input_listener_task
-
-        if self.action_task and not self.action_task.done():
-            logging.debug("Cancelling action task")
-            tasks_to_cancel["action"] = self.action_task
-
-        if self.background_task and not self.background_task.done():
-            logging.debug("Cancelling background task")
-            tasks_to_cancel["background"] = self.background_task
-
-        # Cancel all tasks
-        for name, task in tasks_to_cancel.items():
-            task.cancel()
-            logging.debug(f"Cancelled task: {name}")
-
-        # Wait for cancellations to complete with timeout
-        if tasks_to_cancel:
-            try:
-                done, pending = await asyncio.wait(
-                    tasks_to_cancel.values(),
-                    timeout=15.0,
-                    return_when=asyncio.ALL_COMPLETED,
-                )
-                if pending:
-                    pending_names = [name for name, task in tasks_to_cancel.items() if task in pending]
-                    completed_names = [name for name, task in tasks_to_cancel.items() if task in done]
-
-                    logging.warning(f"Abandoning {len(pending)} unresponsive tasks: {pending_names}")
-                    logging.info(f"Successfully cancelled {len(done)} tasks: {completed_names}")
-                    logging.info("Continuing with reload without waiting for unresponsive tasks")
-                else:
-                    logging.info(f"All {len(done)} tasks cancelled successfully!")
-                    for name, task in tasks_to_cancel.items():
-                        try:
-                            task.result()
-                            logging.info(f"  {name}: Completed normally")
-                        except asyncio.CancelledError:
-                            logging.info(f"  {name}: Successfully cancelled")
-                        except Exception as e:
-                            logging.warning(f"  {name}: Exception - {type(e).__name__}: {e}")
-
-            except Exception as e:
-                logging.warning(f"Error during task cancellation: {e}")
-                logging.info("Continuing with reload despite cancellation errors")
-
-        self.cortex_loop_task = None
-        self.input_listener_task = None
-        self.action_task = None
-        self.background_task = None
-
-        self.background_orchestrator = None
-        self.mcp_orchestrator = None
-
-    def _is_generation_valid(self, cortex_generation: int, context: str = "operation") -> bool:
-        """Check if the cortex generation is still valid.
-
-        Parameters
-        ----------
-        cortex_generation : int
-            The generation to check against current generation
-        context : str
-            Context description for logging (default: "operation")
-
-        Returns
-        -------
-        bool
-            True if valid (continue execution), False if invalid (should return early)
-        """
-        if cortex_generation != self._cortex_loop_generation:
-            logging.warning(
-                f"Invalidating current {context}. Cortex generation mismatch: {cortex_generation} vs current {self._cortex_loop_generation}."
-            )
-            return False
-        return True
-
-    async def _start_orchestrators(self):
-        """
-        Start orchestrators for the current mode.
-        """
-        if not self.current_config:
-            raise RuntimeError("No current config available")
-
-        # Re-enable sleep operations
-        self.sleep_ticker_provider.skip_sleep = False
-
-        # Start input listener
-        self.input_orchestrator = InputOrchestrator(self.current_config.agent_inputs)
-        self.input_listener_task = asyncio.create_task(self.input_orchestrator.listen())
-
-        # Start other orchestrators
-        if self.action_orchestrator:
-            self.action_task = self.action_orchestrator.start()
-        if self.background_orchestrator:
-            self.background_task = self.background_orchestrator.start()
-
-        # Start MCP orchestrator
-        if self.mcp_orchestrator:
-            await self.mcp_orchestrator.start()
-
-        # Start cortex task
-        self.cortex_loop_task = asyncio.create_task(self._run_cortex_loop())
-
-        # Start mode transition task
-        if not self.mode_transition_task or self.mode_transition_task.done():
-            self.mode_transition_task = asyncio.create_task(self._handle_mode_transitions())
-
-        logging.debug("Orchestrators started successfully")
-
-    async def _cleanup_tasks(self):
-        """
-        Cleanup all running tasks gracefully.
-        """
-        tasks_to_cancel = []
-
-        if self.config_watcher_task and not self.config_watcher_task.done():
-            tasks_to_cancel.append(self.config_watcher_task)
-        if self.cortex_loop_task and not self.cortex_loop_task.done():
-            tasks_to_cancel.append(self.cortex_loop_task)
-        if self.mode_transition_task and not self.mode_transition_task.done():
-            tasks_to_cancel.append(self.mode_transition_task)
-        if self.input_listener_task and not self.input_listener_task.done():
-            tasks_to_cancel.append(self.input_listener_task)
-        if self.action_task and not self.action_task.done():
-            tasks_to_cancel.append(self.action_task)
-        if self.background_task and not self.background_task.done():
-            tasks_to_cancel.append(self.background_task)
-
-        # Cancel all tasks
-        for task in tasks_to_cancel:
-            task.cancel()
-
-        # Wait for cancellations to complete
-        if tasks_to_cancel:
-            try:
-                await asyncio.gather(*tasks_to_cancel, return_exceptions=True)
-            except Exception as e:
-                logging.warning(f"Error during final cleanup: {e}")
-
-        # Stop ConfigProvider
-        self.config_provider.stop()
-
-        logging.debug("Tasks cleaned up successfully")
-
-    async def run(self) -> None:
-        """
-        Start the mode-aware runtime's main execution loop.
-        """
-        try:
-            self.mode_manager.set_event_loop(asyncio.get_event_loop())
-
-            if not self._mode_initialized:
-                # Execute global startup hooks
-                startup_context = {
-                    "system_name": self.mode_config.name,
-                    "initial_mode": self.mode_manager.current_mode_name,
-                    "timestamp": asyncio.get_event_loop().time(),
-                }
-
-                startup_success = await self.mode_config.execute_global_lifecycle_hooks(
-                    LifecycleHookType.ON_STARTUP, startup_context
-                )
-                if not startup_success:
-                    logging.warning("Some global startup hooks failed")
-
-                await self._initialize_mode(self.mode_manager.current_mode_name)
-                self._mode_initialized = True
-
-                # Execute initial mode startup hooks
-                initial_mode_config = self.mode_config.modes[self.mode_manager.current_mode_name]
-                await initial_mode_config.execute_lifecycle_hooks(LifecycleHookType.ON_STARTUP, startup_context)
-
-            await self._start_orchestrators()
-
-            if self.hot_reload and self.config_path:
-                self.config_watcher_task = asyncio.create_task(self._check_config_changes())
-
-            while True:
-                try:
-                    awaitables: List[Union[asyncio.Task, asyncio.Future]] = []
-                    if self.cortex_loop_task and not self.cortex_loop_task.done():
-                        awaitables.append(self.cortex_loop_task)
-                    if self.mode_transition_task and not self.mode_transition_task.done():
-                        awaitables.append(self.mode_transition_task)
-                    if self.config_watcher_task and not self.config_watcher_task.done():
-                        awaitables.append(self.config_watcher_task)
-                    if self.input_listener_task and not self.input_listener_task.done():
-                        awaitables.append(self.input_listener_task)
-                    if self.action_task and not self.action_task.done():
-                        awaitables.append(self.action_task)
-                    if self.background_task and not self.background_task.done():
-                        awaitables.append(self.background_task)
-
-                    await asyncio.gather(*awaitables)
-
-                except asyncio.CancelledError:
-                    logging.debug("Tasks cancelled during mode transition, continuing...")
-
-                    await asyncio.sleep(0.1)
-
-                except Exception as e:
-                    logging.error(f"Error in orchestrator tasks: {e}")
-                    await asyncio.sleep(1.0)
-
-        except Exception as e:
-            logging.error(f"Error in mode-aware cortex runtime: {e}")
-            raise
-        finally:
-            # Execute shutdown hooks before cleanup
-            shutdown_context = {
-                "system_name": self.mode_config.name,
-                "final_mode": self.mode_manager.current_mode_name,
-                "timestamp": asyncio.get_event_loop().time(),
-            }
-
-            # Execute current mode shutdown hooks
-            current_config = self.mode_config.modes.get(self.mode_manager.current_mode_name)
-            if current_config:
-                await current_config.execute_lifecycle_hooks(LifecycleHookType.ON_SHUTDOWN, shutdown_context)
-
-            # Execute global shutdown hooks
-            await self.mode_config.execute_global_lifecycle_hooks(LifecycleHookType.ON_SHUTDOWN, shutdown_context)
-
-            await self._cleanup_tasks()
-
-    async def _run_cortex_loop(self) -> None:
-        """
-        Execute the main cortex processing loop with mode awareness.
-        """
-        current_mode = self.mode_manager.current_mode_name
-        cortex_generation = self._cortex_loop_generation
-        logging.info(f"Starting cortex loop for mode: {current_mode} (generation {cortex_generation})")
-
-        try:
-            while True:
-                if not self._is_generation_valid(cortex_generation, "cortex loop"):
-                    return
-
-                skip_status = self.sleep_ticker_provider.skip_sleep
-                sleep_duration = 1 / self.current_config.hertz if self.current_config else 1
-                if not skip_status and self.current_config:
-                    await self.sleep_ticker_provider.sleep(sleep_duration)
-
-                # Helper to yield control to event loop
-                await asyncio.sleep(0)
-
-                await self._tick(cortex_generation)
-                self.sleep_ticker_provider.skip_sleep = False
-        except asyncio.CancelledError:
-            logging.info(f"Cortex loop for mode '{current_mode}' cancelled, exiting gracefully")
-            raise
-        except Exception as e:
-            logging.error(f"Unexpected error in cortex loop for mode '{current_mode}': {e}")
-            raise
-
-    async def _tick(self, cortex_generation: int) -> None:
-        """
-        Execute a single tick of the mode-aware cortex processing cycle.
-
-        Parameters
-        ----------
-        cortex_generation : int
-            The generation number of the cortex loop calling this tick
-        """
-        if not self.current_config or not self.fuser or not self.action_orchestrator:
-            logging.warning("Cortex not properly initialized, skipping tick")
-            return
-
-        if self._is_reloading:
-            logging.debug("Skipping tick during config reload")
-            return
-
-        if not self._is_generation_valid(cortex_generation, "tick"):
-            return
-
-        tick_num = self.io_provider.increment_tick()
-        self.tracer.set_generation(cortex_generation)
-
-        logging.debug(f"Processing tick #{tick_num}")
-
-        finished_promises, _ = await self.action_orchestrator.flush_promises()
-
-        prompt = await self.fuser.fuse(self.current_config.agent_inputs, finished_promises)
-        if prompt is None:
-            logging.debug("No prompt to fuse")
-            return
-
-        with self.io_provider.mode_transition_input():
-            last_input = self.io_provider.get_mode_transition_input()
-
-        transition_result = await self.mode_manager.process_tick(last_input)
-        if transition_result:
-            new_mode, transition_reason = transition_result
-
-            # Schedule the transition asynchronously
-            self._pending_mode_transition = new_mode
-            self._pending_transition_reason = transition_reason
-            self._mode_transition_event.set()
-            logging.info(f"Scheduled mode transition to: {new_mode} (reason: {transition_reason})")
-            return
-
-        if self._is_reloading or self._pending_mode_transition:
-            logging.debug("Skipping LLM call during mode transition")
-            return
-
-        output = None
-
-        try:
-            async for output in self.current_config.cortex_llm.ask_stream(prompt):
-                if not self._is_generation_valid(cortex_generation, "LLM streaming"):
-                    return
-
-                if output is None:
-                    logging.info("Received empty output from LLM, skipping")
-                    return
-
-                if self._is_reloading or not self._is_generation_valid(cortex_generation, "LLM streaming"):
-                    logging.info(f"Cortex loop generation {cortex_generation} invalidated during streaming, stopping")
-                    return
-
-                if self.mcp_orchestrator:
-                    succeeded_calls = set()
-                    original_prompt = prompt
-
-                    for round_idx in range(self.mcp_orchestrator.max_rounds):
-                        om1_actions = self.mcp_orchestrator.extract_om1_actions(output.actions)
-
-                        results, mcp_actions = await self.mcp_orchestrator.execute_mcp_actions(
-                            output.actions, succeeded_calls
-                        )
-
-                        if results is None:
-                            break
-
-                        if not self._is_generation_valid(cortex_generation, "MCP execution"):
-                            return
-
-                        if om1_actions:
-                            await self.action_orchestrator.promise(om1_actions)
-
-                        logging.info(
-                            f"MCP round {round_idx + 1}/{self.mcp_orchestrator.max_rounds}: "
-                            f"executing {len(mcp_actions)} tool(s)"
-                        )
-
-                        recall_prompt = self.mcp_orchestrator.build_result_prompt(original_prompt, results)
-
-                        if not self._is_generation_valid(cortex_generation, "MCP recall prompt"):
-                            return
-
-                        try:
-                            streamed_output = None
-                            async for stream_output in self.current_config.cortex_llm.ask_stream(recall_prompt):
-                                if not self._is_generation_valid(cortex_generation, "MCP recall streaming"):
-                                    return
-
-                                if stream_output is None:
-                                    logging.info("Received empty output from LLM, skipping")
-                                    continue
-
-                                if streamed_output is None:
-                                    streamed_output = stream_output
-                                else:
-                                    streamed_output.actions.extend(stream_output.actions)
-
-                            output = streamed_output
-                        except asyncio.CancelledError:
-                            logging.info("LLM call cancelled during mode transition")
-                            raise
-
-                        if output is None:
-                            break
-
-                    if output is not None:
-                        output.actions = self.mcp_orchestrator.extract_om1_actions(output.actions)
-
-                if output is None:
-                    logging.debug("No output from LLM after MCP processing")
-                    return
-
-                if self._is_reloading or not self._is_generation_valid(cortex_generation, "action execution"):
-                    logging.debug("Skipping action execution due to mode transition")
-                    return
-
-                await self.action_orchestrator.promise(output.actions)
-
-        except asyncio.CancelledError:
-            logging.info("LLM call cancelled during mode transition")
-            raise
-
-        if not self._is_generation_valid(cortex_generation, "LLM call"):
-            return
-
-        if output is None:
-            logging.debug("No output from LLM")
-            return
-
-    def get_mode_info(self) -> dict:
-        """
-        Get information about the current mode and available transitions.
-        """
-        return self.mode_manager.get_mode_info()
-
-    async def request_mode_change(self, target_mode: str) -> bool:
-        """
-        Request a manual mode change.
-
-        Parameters
-        ----------
-        target_mode : str
-            The name of the target mode
-
-        Returns
-        -------
-        bool
-            True if the transition was successful, False otherwise
-        """
-        return await self.mode_manager.request_transition(target_mode, "manual")
-
-    def get_available_modes(self) -> dict:
-        """
-        Get information about all available modes.
-
-        Returns
-        -------
-        dict
-            Dictionary mapping mode names to their display information
-        """
-        return {
-            name: {
-                "display_name": config.display_name,
-                "description": config.description,
-                "is_current": name == self.mode_manager.current_mode_name,
-            }
-            for name, config in self.mode_config.modes.items()
-        }
-
-    def _get_file_mtime(self) -> float:
-        """
-        Get the modification time of the config file.
-
-        Returns
-        -------
-        float
-            The modification time as a timestamp
-        """
-        if self.config_path and os.path.exists(self.config_path):
-            return os.path.getmtime(self.config_path)
-        return 0.0
-
-    async def _check_config_changes(self) -> None:
-        """
-        Periodically check for config file changes and reload if necessary.
-        """
-        while True:
-            try:
-                await asyncio.sleep(self.check_interval)
-
-                if not self.config_path or not os.path.exists(self.config_path):
-                    continue
-
-                current_mtime = self._get_file_mtime()
-
-                if self.last_modified and current_mtime > self.last_modified:
-                    logging.info(f"Runtime config file changed, reloading: {self.config_path}")
-                    await self._reload_config()
-                    self.last_modified = current_mtime
-
-            except asyncio.CancelledError:
-                logging.debug("Config watcher cancelled")
-                break
-            except Exception as e:
-                logging.error(f"Error checking config changes: {e}")
-                await asyncio.sleep(10)  # Wait before retrying
-
-    async def _reload_config(self) -> None:
-        """
-        Reload the mode configuration when runtime config file changes.
-
-        The runtime config file serves as a trigger - when it changes, we reload
-        from the original configuration source and then regenerate the runtime config.
-        """
-        try:
-            logging.info(f"Runtime config file changed, triggering reload: {self.config_path}")
-
-            self._is_reloading = True
-
-            current_mode = self.mode_manager.current_mode_name
-
-            await self._stop_current_orchestrators()
-
-            logging.info("Loading configuration from the new runtime file")
-            new_mode_config = load_mode_config(
-                self.mode_config_name,
-                mode_source_path=self.mode_manager._get_runtime_config_path(),
-            )
-
-            self.mode_config = new_mode_config
-            self.mode_manager.config = new_mode_config
-
-            if current_mode not in new_mode_config.modes:
-                logging.warning(
-                    f"Current mode '{current_mode}' not found in reloaded config, switching to default mode '{new_mode_config.default_mode}'"
-                )
-                current_mode = new_mode_config.default_mode
-
-            self.mode_manager.state.current_mode = current_mode
-            self.mode_manager.state.mode_start_time = time.time()
-            self.mode_manager.state.last_transition_time = time.time()
-            self.mode_manager.state.transition_history.append(f"config_reload->{current_mode}:hot_reload")
-
-            await self._initialize_mode(current_mode)
-
-            await self._start_orchestrators()
-
-            logging.info(f"Mode configuration reloaded successfully, active mode: {current_mode}")
-
-        except Exception as e:
-            logging.error(f"Failed to reload mode configuration: {e}")
-            logging.error("Continuing with previous configuration")
-
-        finally:
-            self._is_reloading = False
diff --git a/src/runtime/env.py b/src/runtime/env.py
deleted file mode 100644
index f62ccbd3ea..0000000000
--- a/src/runtime/env.py
+++ /dev/null
@@ -1,95 +0,0 @@
-import logging
-import os
-import re
-from typing import Any, Union
-
-
-class EnvLoader:
-    """Load ${ENV_VAR} patterns in config."""
-
-    @staticmethod
-    def load_env_vars(config: dict) -> dict:
-        """
-        Load environment variables into the configuration.
-
-        Substitutes all ${ENV_VAR} and ${ENV_VAR:-default} patterns.
-
-        Parameters
-        ----------
-        config : dict
-            The raw configuration dictionary to process.
-
-        Returns
-        -------
-        dict
-            Configuration with environment variables loaded.
-        """
-        return EnvLoader._process_load_value(config)  # type: ignore[return-value]
-
-    @staticmethod
-    def _process_load_value(
-        config: Union[dict, list, str, Any],
-    ) -> Union[dict, list, str, Any]:
-        """
-        Recursively process a config value, loading env vars in strings.
-
-        Parameters
-        ----------
-        config : Union[dict, list, str, Any]
-            A config value to process.
-
-        Returns
-        -------
-        Union[dict, list, str, Any]
-            The config value with environment variables loaded.
-        """
-        if config is None:
-            return config
-
-        if isinstance(config, dict):
-            return {key: EnvLoader._process_load_value(value) for key, value in config.items()}
-
-        if isinstance(config, list):
-            return [EnvLoader._process_load_value(item) for item in config]
-
-        if isinstance(config, str):
-            return EnvLoader.load_value(config)
-
-        return config
-
-    @staticmethod
-    def load_value(value: str) -> str:
-        """
-        Load environment variable values in a single string.
-
-        Parameters
-        ----------
-        value : str
-            String containing ${ENV_VAR} or ${ENV_VAR:-default} patterns.
-
-        Returns
-        -------
-        str
-            String with environment variables loaded.
-        """
-        pattern = r"\$\{([^}:]+)(?::-([^}]*))?\}"
-
-        def replace_match(match):
-            env_var = match.group(1)
-            default_value = match.group(2)
-
-            env_value = os.environ.get(env_var)
-
-            if env_value is not None:
-                return env_value
-            elif default_value is not None:
-                logging.info(f"Environment variable '{env_var}' not found, using default: '{default_value}'")
-                return default_value
-            else:
-                logging.warning(f"Environment variable '{env_var}' not found and no default was provided")
-                return match.group(0)
-
-        return re.sub(pattern, replace_match, value)
-
-
-load_env_vars = EnvLoader.load_env_vars
diff --git a/src/runtime/hook.py b/src/runtime/hook.py
deleted file mode 100644
index e0c7a685d3..0000000000
--- a/src/runtime/hook.py
+++ /dev/null
@@ -1,686 +0,0 @@
-import asyncio
-import importlib
-import logging
-import os
-import re
-from dataclasses import dataclass
-from enum import Enum
-from typing import Any, Dict, List, Optional
-
-from pydantic import BaseModel, ConfigDict, Field
-
-from providers.elevenlabs_tts_provider import ElevenLabsTTSProvider
-from providers.kokoro_tts_provider import KokoroTTSProvider
-from providers.riva_tts_provider import RivaTTSProvider
-
-
-class LifecycleHookType(Enum):
-    """
-    Types of lifecycle hooks.
-
-    - ON_ENTRY: Execute when entering the mode
-    - ON_EXIT: Execute when exiting the mode
-    - ON_STARTUP: Execute when the mode system first starts
-    - ON_SHUTDOWN: Execute when the mode system shuts down
-    - ON_TIMEOUT: Execute when the mode times out
-    """
-
-    ON_ENTRY = "on_entry"
-    ON_EXIT = "on_exit"
-    ON_STARTUP = "on_startup"
-    ON_SHUTDOWN = "on_shutdown"
-    ON_TIMEOUT = "on_timeout"
-
-
-@dataclass
-class LifecycleHook:
-    """
-    Configuration for a lifecycle hook.
-
-    Parameters
-    ----------
-    hook_type : LifecycleHookType
-        The type of lifecycle hook
-    handler_type : str
-        The type of handler ('action', 'function', 'message', 'command')
-    handler_config : Dict
-        Configuration for the handler
-    async_execution : bool
-        Whether to execute the hook asynchronously (default: True)
-    timeout_seconds : Optional[float]
-        Timeout for hook execution (default: 5.0 seconds)
-    on_failure : str
-        Action to take on failure ('ignore', 'abort') (default: 'ignore')
-    priority : int
-        Execution priority for multiple hooks of same type (higher = first) (default: 0)
-    """
-
-    hook_type: LifecycleHookType
-    handler_type: str
-    handler_config: Dict[str, Any]
-    async_execution: bool = True
-    timeout_seconds: Optional[float] = 5.0
-    on_failure: str = "ignore"
-    priority: int = 0
-
-
-class HookConfig(BaseModel):
-    """
-    Base configuration class for hook handlers.
-    """
-
-    model_config = ConfigDict(extra="allow")
-
-
-class MessageHookConfig(HookConfig):
-    """
-    Configuration for MessageHookHandler.
-
-    Parameters
-    ----------
-    message : str
-        The message to log or announce. Supports {variable} formatting.
-    tts_provider : str
-        The TTS provider to use ('elevenlabs', 'kokoro', 'riva'). Defaults to 'elevenlabs'.
-    base_url : Optional[str]
-        The URL endpoint for the TTS service. Provider-specific defaults apply.
-    api_key : Optional[str]
-        OpenMind API key for TTS service.
-    elevenlabs_api_key : Optional[str]
-        ElevenLabs API key (only for 'elevenlabs' provider).
-    voice_id : str
-        Voice ID for the TTS provider.
-    model_id : str
-        Model ID for the TTS provider.
-    output_format : str
-        Audio output format.
-    rate : Optional[int]
-        Audio sample rate in Hz.
-    enable_tts_interrupt : bool
-        Enable TTS interrupt capability.
-    """
-
-    message: str = Field(
-        default="",
-        description="The message to log or announce. Supports {variable} formatting.",
-    )
-    tts_provider: str = Field(
-        default="elevenlabs",
-        description="The TTS provider to use ('elevenlabs', 'kokoro', 'riva')",
-    )
-    base_url: Optional[str] = Field(
-        default=None,
-        description="The URL endpoint for the TTS service. Provider-specific defaults apply.",
-    )
-    api_key: Optional[str] = Field(
-        default=None,
-        description="OpenMind API key for TTS service",
-    )
-    elevenlabs_api_key: Optional[str] = Field(
-        default=None,
-        description="ElevenLabs API key (only for 'elevenlabs' provider)",
-    )
-    voice_id: Optional[str] = Field(
-        default=None,
-        description="Voice ID for the TTS provider",
-    )
-    model_id: Optional[str] = Field(
-        default=None,
-        description="Model ID for the TTS provider",
-    )
-    output_format: Optional[str] = Field(
-        default=None,
-        description="Audio output format",
-    )
-    rate: Optional[int] = Field(
-        default=None,
-        description="Audio sample rate in Hz",
-    )
-    enable_tts_interrupt: bool = Field(
-        default=False,
-        description="Enable TTS interrupt capability",
-    )
-
-
-class CommandHookConfig(HookConfig):
-    """
-    Configuration for CommandHookHandler.
-
-    Parameters
-    ----------
-    command : str
-        The shell command to execute. Supports {variable} formatting.
-    """
-
-    command: str = Field(
-        default="",
-        description="The shell command to execute. Supports {variable} formatting.",
-    )
-
-
-class FunctionHookConfig(HookConfig):
-    """
-    Configuration for FunctionHookHandler.
-
-    Parameters
-    ----------
-    module_name : str
-        Name of the module file (without .py extension) in the hooks directory.
-    function : str
-        Name of the function to call.
-    """
-
-    module_name: str = Field(
-        description="Name of the module file (without .py extension) in the hooks directory",
-    )
-    function: str = Field(
-        description="Name of the function to call",
-    )
-
-
-class ActionHookConfig(HookConfig):
-    """
-    Configuration for ActionHookHandler.
-
-    Parameters
-    ----------
-    action_type : str
-        The type/name of the action to execute.
-    action_config : Dict[str, Any]
-        Configuration dictionary for the action.
-    """
-
-    action_type: str = Field(
-        description="The type/name of the action to execute",
-    )
-    action_config: Dict[str, Any] = Field(
-        default_factory=dict,
-        description="Configuration dictionary for the action",
-    )
-
-
-class LifecycleHookHandler:
-    """
-    Base class for lifecycle hook handlers.
-    """
-
-    def __init__(self, config: HookConfig):
-        """
-        Initialize the LifecycleHookHandler with configuration.
-
-        Parameters
-        ----------
-        config : HookConfig
-            Configuration object for the hook handler.
-        """
-        self.config = config
-
-    async def execute(self, context: Dict[str, Any]) -> bool:
-        """
-        Execute the lifecycle hook.
-
-        Parameters
-        ----------
-        context : Dict[str, Any]
-            Context information for the hook execution
-
-        Returns
-        -------
-        bool
-            True if execution was successful, False otherwise
-        """
-        raise NotImplementedError
-
-
-class MessageHookHandler(LifecycleHookHandler):
-    """
-    Handler that logs or announces a message.
-    """
-
-    def __init__(self, config: MessageHookConfig):
-        super().__init__(config)
-        self.config: MessageHookConfig = config
-
-    async def execute(self, context: Dict[str, Any]) -> bool:
-        """
-        Execute the lifecycle message.
-
-        Parameters
-        ----------
-        context : Dict[str, Any]
-            Context information for the hook execution
-
-        Returns
-        -------
-        bool
-            True if execution was successful, False otherwise
-        """
-        if self.config.message:
-            try:
-                formatted_message = self.config.message.format(**context)
-                logging.info(f"Lifecycle hook message: {formatted_message}")
-
-                try:
-                    provider = self._create_tts_provider()
-                    provider.start()
-                    provider.add_pending_message(formatted_message)
-                except Exception as e:
-                    logging.error(f"Error adding TTS message: {e}")
-                    return False
-
-                return True
-            except Exception as e:
-                logging.error(f"Error formatting lifecycle message: {e}")
-                return False
-        return True
-
-    def _create_tts_provider(self):
-        """
-        Create the appropriate TTS provider based on configuration.
-
-        Returns
-        -------
-        Union[ElevenLabsTTSProvider, KokoroTTSProvider, RivaTTSProvider]
-            The configured TTS provider instance
-
-        Raises
-        ------
-        ValueError
-            If an unsupported TTS provider is specified
-        """
-        provider_type = self.config.tts_provider.lower()
-
-        if provider_type == "elevenlabs":
-            return ElevenLabsTTSProvider(
-                url=self.config.base_url or "https://api.openmind.com/api/core/elevenlabs/tts",
-                api_key=self.config.api_key,
-                elevenlabs_api_key=self.config.elevenlabs_api_key,
-                voice_id=self.config.voice_id or "JBFqnCBsd6RMkjVDRZzb",
-                model_id=self.config.model_id or "eleven_flash_v2_5",
-                output_format=self.config.output_format or "pcm_16000",
-                rate=self.config.rate or 16000,
-                enable_tts_interrupt=self.config.enable_tts_interrupt,
-            )
-        elif provider_type == "kokoro":
-            return KokoroTTSProvider(
-                url=self.config.base_url or "http://127.0.0.1:8880/v1",
-                api_key=self.config.api_key,
-                voice_id=self.config.voice_id or "af_bella",
-                model_id=self.config.model_id or "kokoro",
-                output_format=self.config.output_format or "pcm",
-                rate=self.config.rate or 24000,
-                enable_tts_interrupt=self.config.enable_tts_interrupt,
-            )
-        elif provider_type == "riva":
-            return RivaTTSProvider(
-                url=self.config.base_url or "http://127.0.0.1:50051",
-                api_key=self.config.api_key,
-            )
-        else:
-            raise ValueError(
-                f"Unsupported TTS provider: {provider_type}. " f"Supported providers are: elevenlabs, kokoro, riva"
-            )
-
-
-class CommandHookHandler(LifecycleHookHandler):
-    """
-    Handler that executes a shell command.
-    """
-
-    def __init__(self, config: CommandHookConfig):
-        super().__init__(config)
-        self.config: CommandHookConfig = config
-
-    async def execute(self, context: Dict[str, Any]) -> bool:
-        """
-        Execute the lifecycle command.
-
-        Parameters
-        ----------
-        context : Dict[str, Any]
-            Context information for the hook execution
-
-        Returns
-        -------
-        bool
-            True if execution was successful, False otherwise
-        """
-        if not self.config.command:
-            logging.warning("No command specified for command hook")
-            return False
-
-        try:
-            formatted_command = self.config.command.format(**context)
-
-            process = await asyncio.create_subprocess_shell(
-                formatted_command,
-                stdout=asyncio.subprocess.PIPE,
-                stderr=asyncio.subprocess.PIPE,
-            )
-
-            stdout, stderr = await process.communicate()
-
-            if process.returncode == 0:
-                if stdout:
-                    logging.info(f"Hook command output: {stdout.decode().strip()}")
-                return True
-            else:
-                logging.error(f"Hook command failed with code {process.returncode}: {stderr.decode().strip()}")
-                return False
-
-        except Exception as e:
-            logging.error(f"Error executing lifecycle command: {e}")
-            return False
-
-
-class FunctionHookHandler(LifecycleHookHandler):
-    """
-    Handler that calls a Python function from a specified module.
-    """
-
-    def __init__(self, config: FunctionHookConfig):
-        super().__init__(config)
-        self.config: FunctionHookConfig = config
-
-    async def execute(self, context: Dict[str, Any]) -> bool:
-        """
-        Execute the lifecycle function.
-
-        Parameters
-        ----------
-        context : Dict[str, Any]
-            Context information for the hook execution
-
-        Returns
-        -------
-        bool
-            True if execution was successful, False otherwise
-        """
-        try:
-            func = self._find_function_in_module(self.config.module_name, self.config.function)
-            if not func:
-                return False
-
-            merged_context = {**self.config.model_dump(), **context}
-
-            if asyncio.iscoroutinefunction(func):
-                result = await func(merged_context)
-            else:
-                result = func(merged_context)
-
-            return result is not False
-
-        except Exception as e:
-            logging.error(f"Error executing lifecycle function: {e}")
-            return False
-
-    def _find_function_in_module(self, module_name: str, function_name: str):
-        """
-        Search for a function in the specified module file using regex.
-
-        Parameters
-        ----------
-        module_name : str
-            Name of the module file (without .py extension)
-        function_name : str
-            Name of the function to find
-
-        Returns
-        -------
-        callable or None
-            The function if found, None otherwise
-        """
-        try:
-            current_dir = os.path.dirname(os.path.abspath(__file__))
-            hooks_dir = os.path.join(current_dir, "..", "hooks")
-            hooks_dir = os.path.abspath(hooks_dir)
-
-            if not os.path.exists(hooks_dir):
-                logging.error(f"Hooks directory not found at {hooks_dir}")
-                return None
-
-            module_file = os.path.join(hooks_dir, f"{module_name}.py")
-            if not os.path.exists(module_file):
-                logging.error(f"Module file {module_name}.py not found in hooks directory")
-                return None
-
-            try:
-                with open(module_file, "r", encoding="utf-8") as f:
-                    file_content = f.read()
-
-                function_pattern = re.compile(
-                    rf"^(?:async\s+)?def\s+{re.escape(function_name)}\s*\(",
-                    re.MULTILINE,
-                )
-
-                if not function_pattern.search(file_content):
-                    logging.error(f"Function {function_name} not found in {module_name}.py")
-                    return None
-
-                try:
-                    module = importlib.import_module(f"hooks.{module_name}")
-                    if hasattr(module, function_name):
-                        func = getattr(module, function_name)
-                        logging.debug(f"Successfully loaded function {function_name} from hooks.{module_name}")
-                        return func
-                    else:
-                        logging.error(
-                            f"Function {function_name} found in file but not importable from hooks.{module_name}"
-                        )
-                        return None
-
-                except ImportError as e:
-                    logging.error(f"Failed to import hooks.{module_name}: {e}")
-                    return None
-
-            except (IOError, OSError) as e:
-                logging.error(f"Failed to read {module_file}: {e}")
-                return None
-
-        except Exception as e:
-            logging.error(f"Error searching for function {function_name} in module {module_name}: {e}")
-            return None
-
-
-class ActionHookHandler(LifecycleHookHandler):
-    """
-    Handler that executes an agent action.
-    """
-
-    def __init__(self, config: ActionHookConfig):
-        super().__init__(config)
-        self.config: ActionHookConfig = config
-        self.action = None
-
-    async def execute(self, context: Dict[str, Any]) -> bool:
-        """
-        Execute the lifecycle action.
-
-        Parameters
-        ----------
-        context : Dict[str, Any]
-            Context information for the hook execution
-
-        Returns
-        -------
-        bool
-            True if execution was successful, False otherwise
-        """
-        if not self.action:
-            try:
-                from actions import load_action
-
-                self.action = load_action(
-                    {
-                        "type": self.config.action_type,
-                        "config": self.config.action_config,
-                    }
-                )
-            except Exception as e:
-                logging.error(f"Error loading action for lifecycle hook: {e}")
-                return False
-
-        try:
-            await self.action.connector.connect(context.get("input_data"))
-            return True
-        except Exception as e:
-            logging.error(f"Error executing lifecycle action: {e}")
-            return False
-
-
-def create_hook_handler(hook: LifecycleHook) -> Optional[LifecycleHookHandler]:
-    """
-    Create a hook handler instance based on the hook configuration.
-
-    Parameters
-    ----------
-    hook : LifecycleHook
-        The lifecycle hook configuration
-
-    Returns
-    -------
-    Optional[LifecycleHookHandler]
-        The created handler instance or None if creation failed
-    """
-    handler_type = hook.handler_type.lower()
-
-    try:
-        if handler_type == "message":
-            config = MessageHookConfig(**hook.handler_config)
-            return MessageHookHandler(config)
-        elif handler_type == "command":
-            config = CommandHookConfig(**hook.handler_config)
-            return CommandHookHandler(config)
-        elif handler_type == "function":
-            config = FunctionHookConfig(**hook.handler_config)
-            return FunctionHookHandler(config)
-        elif handler_type == "action":
-            config = ActionHookConfig(**hook.handler_config)
-            return ActionHookHandler(config)
-        else:
-            logging.error(f"Unknown hook handler type: {handler_type}")
-            return None
-    except Exception as e:
-        logging.error(f"Error creating hook handler config for {handler_type}: {e}")
-        return None
-
-
-def parse_lifecycle_hooks(
-    raw_hooks: List[Dict], api_key: Optional[str] = None, use_sim: Optional[bool] = None
-) -> List[LifecycleHook]:
-    """
-    Parse raw lifecycle hooks configuration into LifecycleHook objects.
-
-    Parameters
-    ----------
-    raw_hooks : List[Dict]
-        Raw hook configuration data
-    api_key : Optional[str]
-        Global API key to inject into message hooks if not specified
-    use_sim : Optional[bool]
-        Whether to run in simulation mode. Injected into handler config if not specified.
-
-    Returns
-    -------
-    List[LifecycleHook]
-        Parsed lifecycle hook objects
-    """
-    hooks = []
-    for hook_data in raw_hooks:
-        try:
-            handler_config = hook_data.get("handler_config", {}).copy()
-
-            if api_key is not None and "api_key" not in handler_config:
-                handler_config["api_key"] = api_key
-
-            if use_sim is not None and "use_sim" not in handler_config:
-                handler_config["use_sim"] = use_sim
-
-            hook = LifecycleHook(
-                hook_type=LifecycleHookType(hook_data["hook_type"]),
-                handler_type=hook_data["handler_type"],
-                handler_config=handler_config,
-                async_execution=hook_data.get("async_execution", True),
-                timeout_seconds=hook_data.get("timeout_seconds", 5.0),
-                on_failure=hook_data.get("on_failure", "ignore"),
-                priority=hook_data.get("priority", 0),
-            )
-            hooks.append(hook)
-        except (KeyError, ValueError) as e:
-            logging.error(f"Error parsing lifecycle hook: {e}")
-
-    return hooks
-
-
-async def execute_lifecycle_hooks(
-    hooks: List[LifecycleHook],
-    hook_type: LifecycleHookType,
-    context: Optional[Dict[str, Any]] = None,
-) -> bool:
-    """
-    Execute all lifecycle hooks of the specified type.
-
-    Parameters
-    ----------
-    hooks : List[LifecycleHook]
-        List of hooks to potentially execute
-    hook_type : LifecycleHookType
-        The type of lifecycle hooks to execute
-    context : Optional[Dict[str, Any]]
-        Context information to pass to the hooks
-
-    Returns
-    -------
-    bool
-        True if all hooks executed successfully, False if any failed
-    """
-    if context is None:
-        context = {}
-
-    context.update({"hook_type": hook_type.value})
-
-    relevant_hooks = [hook for hook in hooks if hook.hook_type == hook_type]
-    relevant_hooks.sort(key=lambda h: h.priority, reverse=True)
-
-    if not relevant_hooks:
-        return True
-
-    logging.info(f"Executing {len(relevant_hooks)} {hook_type.value} hooks")
-
-    all_successful = True
-
-    for hook in relevant_hooks:
-        try:
-            handler = create_hook_handler(hook)
-            if handler:
-                if hook.async_execution:
-                    if hook.timeout_seconds:
-                        success = await asyncio.wait_for(handler.execute(context), timeout=hook.timeout_seconds)
-                    else:
-                        success = await handler.execute(context)
-                else:
-                    success = await handler.execute(context)
-
-                if not success:
-                    all_successful = False
-                    if hook.on_failure == "abort":
-                        logging.error("Lifecycle hook failed with abort policy, stopping execution")
-                        return False
-                    if hook.on_failure == "ignore":
-                        pass
-            else:
-                logging.error(f"Failed to create handler for lifecycle hook: {hook.handler_type}")
-                all_successful = False
-
-        except asyncio.TimeoutError:
-            logging.error(f"Lifecycle hook timed out after {hook.timeout_seconds} seconds")
-            all_successful = False
-            if hook.on_failure == "abort":
-                return False
-        except Exception as e:
-            logging.error(f"Error executing lifecycle hook: {e}")
-            all_successful = False
-            if hook.on_failure == "abort":
-                return False
-
-    return all_successful
diff --git a/src/runtime/logging.py b/src/runtime/logging.py
deleted file mode 100644
index 6038f35daa..0000000000
--- a/src/runtime/logging.py
+++ /dev/null
@@ -1,97 +0,0 @@
-import logging
-import os
-import time
-from dataclasses import dataclass
-from typing import Optional
-
-
-@dataclass
-class LoggingConfig:
-    """
-    Logging configuration for the application.
-
-    This class holds the configuration for logging, including the log level and whether to log to a file.
-
-    Parameters
-    ----------
-    log_level : str
-        The logging level to set. Defaults to "INFO".
-        Can be "DEBUG", "INFO", "WARNING", "ERROR", or "CRITICAL".
-    log_to_file : bool
-        If True, log messages will also be written to a file. Defaults to False.
-    """
-
-    log_level: str = "INFO"
-    log_to_file: bool = False
-
-
-def setup_logging(
-    config_name: str,
-    log_level: str = "INFO",
-    log_to_file: bool = False,
-    logging_config: Optional[LoggingConfig] = None,
-) -> None:
-    """
-    Set up the logging configuration for the application.
-
-    Parameters
-    ----------
-    config_name : str
-        The name of the configuration file to use for logging.
-    log_level : str, optional
-        The logging level to set. Defaults to "INFO".
-        Can be "DEBUG", "INFO", "WARNING", "ERROR", or "CRITICAL".
-    log_to_file : bool, optional
-        If True, log messages will also be written to a file.
-        Defaults to False.
-    logging_config : LoggingConfig, optional
-        An optional LoggingConfig instance to use for logging configuration.
-        If provided, it will override the `log_level` and `log_to_file` parameters.
-    """
-    if logging_config:
-        log_level = logging_config.log_level
-        log_to_file = logging_config.log_to_file
-
-    level = getattr(logging, log_level.upper(), logging.INFO)
-
-    logging.getLogger().handlers.clear()
-
-    formatter = logging.Formatter(
-        fmt="%(asctime)s.%(msecs)03d - %(levelname)s - %(message)s",
-        datefmt="%Y-%m-%d %H:%M:%S",
-    )
-
-    console_handler = logging.StreamHandler()
-    console_handler.setLevel(level)
-    console_handler.setFormatter(formatter)
-
-    handlers: list[logging.Handler] = [console_handler]
-
-    if log_to_file:
-
-        os.makedirs("logs", exist_ok=True)
-
-        file_handler = logging.FileHandler(
-            f"logs/{config_name}_{time.strftime('%Y-%m-%d_%H-%M-%S')}.log",
-            mode="a",
-        )
-        file_handler.setLevel(level)
-        file_handler.setFormatter(formatter)
-        handlers.append(file_handler)
-
-    logging.basicConfig(level=level, handlers=handlers)
-
-
-def get_logging_config() -> LoggingConfig:
-    """
-    Get the current logging configuration.
-
-    Returns
-    -------
-    LoggingConfig
-        The current logging configuration.
-    """
-    return LoggingConfig(
-        log_level=logging.getLevelName(logging.getLogger().level),
-        log_to_file=any(isinstance(handler, logging.FileHandler) for handler in logging.getLogger().handlers),
-    )
diff --git a/src/runtime/manager.py b/src/runtime/manager.py
deleted file mode 100644
index f5a88202ae..0000000000
--- a/src/runtime/manager.py
+++ /dev/null
@@ -1,891 +0,0 @@
-import asyncio
-import json
-import logging
-import os
-import time
-from dataclasses import dataclass, field
-from typing import Callable, Dict, List, Optional
-
-import json5
-import zenoh
-
-from runtime.config import (
-    LifecycleHookType,
-    ModeConfig,
-    ModeSystemConfig,
-    TransitionRule,
-    TransitionType,
-    mode_config_to_dict,
-)
-from zenoh_msgs import (
-    ModeStatusRequest,
-    ModeStatusResponse,
-    String,
-    open_zenoh_session,
-    prepare_header,
-)
-
-
-@dataclass
-class ModeState:
-    """
-    Current state of the mode system.
-
-    Parameters
-    ----------
-    current_mode : str
-        The current active mode
-    previous_mode : Optional[str]
-        The previous mode before the current one
-    mode_start_time : float
-        Timestamp when the current mode was activated
-    transition_history : List[str]
-        History of mode transitions
-    last_transition_time : float
-        Timestamp of the last mode transition
-    user_context : Dict
-        Contextual information for context-aware transitions
-    """
-
-    current_mode: str
-    previous_mode: Optional[str] = None
-    mode_start_time: float = field(default_factory=time.time)
-    transition_history: List[str] = field(default_factory=list)
-    last_transition_time: float = 0.0
-    user_context: Dict = field(default_factory=dict)
-
-
-class ModeManager:
-    """
-    Manages mode transitions and state for the OM1 system.
-    """
-
-    def __init__(self, config: ModeSystemConfig):
-        """
-        Initialize the mode manager.
-
-        Parameters
-        ----------
-        config : ModeSystemConfig
-            The mode system configuration
-        """
-        self.config = config
-        self.state = ModeState(current_mode=config.default_mode)
-        self.transition_cooldowns: Dict[str, float] = {}
-        self.pending_transitions: List[TransitionRule] = []
-        self._transition_callbacks: List = []
-        self._main_event_loop: Optional[asyncio.AbstractEventLoop] = None
-        self._transition_lock = asyncio.Lock()
-        self._is_transitioning = False
-
-        # Validate configuration
-        if config.default_mode not in config.modes:
-            raise ValueError(f"Default mode '{config.default_mode}' not found in available modes")
-
-        # Load persisted state if enabled
-        if config.mode_memory_enabled:
-            self._load_mode_state()
-
-        # Start zenoh controller
-        self.mode_status_request = "om/mode/request"
-        self.mode_status_response = "om/mode/response"
-        self.context_update_topic = "om/mode/context"
-
-        try:
-            self.session = open_zenoh_session()
-            self.session.declare_subscriber(self.mode_status_request, self._zenoh_mode_status_request)
-            self.session.declare_subscriber(self.context_update_topic, self._zenoh_context_update)
-            self._zenoh_mode_status_response_pub = self.session.declare_publisher(self.mode_status_response)
-        except Exception:
-            logging.exception("Error opening Zenoh client")
-            self.session = None
-            self._zenoh_mode_status_response_pub = None
-
-        logging.info(f"Mode Manager initialized with current mode: {self.state.current_mode}")
-
-        self._create_runtime_config_file()
-
-    def _get_runtime_config_path(self) -> str:
-        """
-        Get the path to the runtime config file.
-
-        Returns
-        -------
-        str
-            The absolute path to the runtime config file
-        """
-        memory_folder_path = os.path.join(os.path.dirname(__file__), "../../config", "memory")
-        if not os.path.exists(memory_folder_path):
-            os.makedirs(memory_folder_path, mode=0o755, exist_ok=True)
-
-        return os.path.join(memory_folder_path, ".runtime.json5")
-
-    def _create_runtime_config_file(self):
-        """
-        Create/update the runtime config file with the current configuration.
-
-        This file is used for hot reload monitoring. When this file changes,
-        the system will reload the configuration.
-        """
-        runtime_config_path = self._get_runtime_config_path()
-
-        try:
-            runtime_config = mode_config_to_dict(self.config)
-
-            temp_file = runtime_config_path + ".tmp"
-            with open(temp_file, "w") as f:
-                json5.dump(runtime_config, f, indent=2)
-
-            os.rename(temp_file, runtime_config_path)
-            logging.debug(f"Runtime config file created/updated: {runtime_config_path}")
-
-        except Exception:
-            logging.exception("Error creating runtime config file")
-
-    def set_event_loop(self, loop: asyncio.AbstractEventLoop):
-        """
-        Set the main event loop reference for thread-safe task scheduling.
-
-        Parameters
-        ----------
-        loop : asyncio.AbstractEventLoop
-            The main event loop reference
-        """
-        self._main_event_loop = loop
-
-    @property
-    def current_mode_config(self) -> ModeConfig:
-        """
-        Get the configuration for the current mode.
-
-        Returns
-        -------
-        ModeConfig
-            The current mode configuration
-        """
-        return self.config.modes[self.state.current_mode]
-
-    @property
-    def current_mode_name(self) -> str:
-        """
-        Get the name of the current mode.
-
-        Returns
-        -------
-        str
-            The current mode name
-        """
-        return self.state.current_mode
-
-    def add_transition_callback(self, callback: Callable):
-        """
-        Add a callback to be called when mode transitions occur.
-
-        Parameters
-        ----------
-        callback : Callable
-            The callback function to add
-        """
-        self._transition_callbacks.append(callback)
-
-    def remove_transition_callback(self, callback: Callable):
-        """
-        Remove a transition callback.
-
-        Parameters
-        ----------
-        callback : Callable
-            The callback function to remove
-        """
-        if callback in self._transition_callbacks:
-            self._transition_callbacks.remove(callback)
-
-    async def _notify_transition_callbacks(self, from_mode: str, to_mode: str):
-        """
-        Notify all transition callbacks of a mode change.
-
-        Parameters
-        ----------
-        from_mode : str
-            The mode being transitioned from
-        to_mode : str
-            The mode being transitioned to
-        """
-        for callback in self._transition_callbacks:
-            try:
-                if asyncio.iscoroutinefunction(callback):
-                    await callback(from_mode, to_mode)
-                else:
-                    callback(from_mode, to_mode)
-            except Exception as e:
-                logging.error(f"Error in transition callback: {e}")
-
-    async def check_time_based_transitions(self) -> Optional[str]:
-        """
-        Check if any time-based transitions should be triggered.
-
-        Returns
-        -------
-        Optional[str]
-            The target mode if a transition should occur, None otherwise
-        """
-        current_time = time.time()
-        mode_duration = current_time - self.state.mode_start_time
-
-        # Check if current mode has a timeout
-        current_config = self.current_mode_config
-        if current_config.timeout_seconds and mode_duration >= current_config.timeout_seconds:
-            timeout_context = {
-                "mode_name": self.state.current_mode,
-                "timeout_seconds": current_config.timeout_seconds,
-                "actual_duration": mode_duration,
-                "timestamp": current_time,
-            }
-
-            try:
-                await current_config.execute_lifecycle_hooks(LifecycleHookType.ON_TIMEOUT, timeout_context)
-            except Exception as e:
-                logging.error(f"Error executing timeout lifecycle hooks: {e}")
-
-            for rule in self.config.transition_rules:
-                if (
-                    rule.from_mode == self.state.current_mode or rule.from_mode == "*"
-                ) and rule.transition_type == TransitionType.TIME_BASED:
-                    if self._can_transition(rule):
-                        logging.info(f"Time-based transition triggered: {self.state.current_mode} -> {rule.to_mode}")
-                        return rule.to_mode
-
-        return None
-
-    async def check_context_aware_transitions(self) -> Optional[str]:
-        """
-        Check if any context-aware transitions should be triggered based on current user context.
-
-        Returns
-        -------
-        Optional[str]
-            The target mode if a transition should occur, None otherwise
-        """
-        # Find matching transition rules sorted by priority (higher priority first)
-        matching_rules = []
-        for rule in self.config.transition_rules:
-            if (
-                rule.from_mode == self.state.current_mode or rule.from_mode == "*"
-            ) and rule.transition_type == TransitionType.CONTEXT_AWARE:
-
-                if self._can_transition(rule) and self._evaluate_context_conditions(rule):
-                    matching_rules.append(rule)
-
-        if matching_rules:
-            # Sort by priority (higher first) and select the best match
-            matching_rules.sort(key=lambda r: r.priority, reverse=True)
-            target_rule = matching_rules[0]
-            logging.info(
-                f"Context-aware transition triggered: {self.state.current_mode} -> {target_rule.to_mode} "
-                f"(priority: {target_rule.priority}, conditions: {target_rule.context_conditions})"
-            )
-            return target_rule.to_mode
-
-        return None
-
-    def check_input_triggered_transitions(self, input_text: str) -> Optional[str]:
-        """
-        Check if any input-triggered transitions should be activated.
-
-        Parameters
-        ----------
-        input_text : str
-            The input text to check for trigger keywords
-
-        Returns
-        -------
-        Optional[str]
-            The target mode if a transition should occur, None otherwise
-        """
-        if not input_text:
-            return None
-
-        input_lower = input_text.lower()
-
-        # Find matching transition rules sorted by priority (higher priority first)
-        matching_rules = []
-        for rule in self.config.transition_rules:
-            if (
-                rule.from_mode == self.state.current_mode or rule.from_mode == "*"
-            ) and rule.transition_type == TransitionType.INPUT_TRIGGERED:
-
-                # Check if any trigger keywords are present
-                for keyword in rule.trigger_keywords:
-                    if keyword.lower() in input_lower:
-                        if self._can_transition(rule):
-                            matching_rules.append(rule)
-                        break
-
-        if matching_rules:
-            # Sort by priority (higher first) and select the best match
-            matching_rules.sort(key=lambda r: r.priority, reverse=True)
-            best_rule = matching_rules[0]
-            logging.info(f"Input-triggered transition: {self.state.current_mode} -> {best_rule.to_mode}")
-            logging.info(f"Triggered by keywords: {best_rule.trigger_keywords}")
-            return best_rule.to_mode
-
-        return None
-
-    def _can_transition(self, rule: TransitionRule) -> bool:
-        """
-        Check if a transition rule can be executed based on cooldowns and other constraints.
-
-        Parameters
-        ----------
-        rule : TransitionRule
-            The transition rule to check
-
-        Returns
-        -------
-        bool
-            True if the transition can occur, False otherwise
-        """
-        current_time = time.time()
-
-        transition_key = f"{rule.from_mode}->{rule.to_mode}"
-        if transition_key in self.transition_cooldowns:
-            if current_time - self.transition_cooldowns[transition_key] < rule.cooldown_seconds:
-                logging.debug(f"Transition {transition_key} still in cooldown")
-                return False
-
-        if rule.to_mode not in self.config.modes:
-            logging.warning(f"Target mode '{rule.to_mode}' not found in configuration")
-            return False
-
-        return True
-
-    def _evaluate_context_conditions(self, rule: TransitionRule) -> bool:
-        """
-        Evaluate if the context conditions for a transition rule are met.
-
-        Parameters
-        ----------
-        rule : TransitionRule
-            The transition rule with context conditions to evaluate
-
-        Returns
-        -------
-        bool
-            True if all context conditions are satisfied, False otherwise
-        """
-        if not rule.context_conditions:
-            return True
-
-        user_context = self.state.user_context
-
-        for condition_key, condition_value in rule.context_conditions.items():
-            if not self._evaluate_single_condition(condition_key, condition_value, user_context):
-                logging.debug(
-                    f"Context condition failed: {condition_key}={condition_value}, "
-                    f"actual context: {user_context.get(condition_key)}"
-                )
-                return False
-
-        return True
-
-    def _evaluate_single_condition(self, key: str, expected_value, user_context: Dict) -> bool:
-        """
-        Evaluate a single context condition.
-
-        Parameters
-        ----------
-        key : str
-            The context key to check
-        expected_value : Any
-            The expected value for the condition
-        user_context : Dict
-            The current user context
-
-        Returns
-        -------
-        bool
-            True if the condition is satisfied, False otherwise
-        """
-        if key not in user_context:
-            return False
-
-        actual_value = user_context[key]
-
-        # Handle different condition types
-        if isinstance(expected_value, dict):
-            # Support for complex conditions like {"min": 5, "max": 10} or {"contains": "pattern"}
-            if "min" in expected_value or "max" in expected_value:
-                # Numeric range condition
-                if not isinstance(actual_value, (int, float)):
-                    return False
-                if "min" in expected_value and actual_value < expected_value["min"]:
-                    return False
-                if "max" in expected_value and actual_value > expected_value["max"]:
-                    return False
-                return True
-
-            elif "contains" in expected_value:
-                # String contains condition
-                if not isinstance(actual_value, str):
-                    return False
-                return expected_value["contains"].lower() in actual_value.lower()
-
-            elif "one_of" in expected_value:
-                # Value must be one of the specified options
-                return actual_value in expected_value["one_of"]
-
-            elif "not" in expected_value:
-                # Negation condition
-                return actual_value != expected_value["not"]
-
-        elif isinstance(expected_value, list):
-            # List membership condition
-            return actual_value in expected_value
-
-        else:
-            # Simple equality condition
-            return actual_value == expected_value
-
-        return False
-
-    async def request_transition(self, target_mode: str, reason: str = "manual") -> bool:
-        """
-        Request a manual transition to a specific mode.
-
-        Parameters
-        ----------
-        target_mode : str
-            The name of the target mode
-        reason : str
-            The reason for the transition
-
-        Returns
-        -------
-        bool
-            True if the transition was successful, False otherwise
-        """
-        if not self.config.allow_manual_switching and reason == "manual":
-            logging.warning("Manual mode switching is disabled")
-            return False
-
-        if target_mode not in self.config.modes:
-            logging.error(f"Target mode '{target_mode}' not found")
-            return False
-
-        if target_mode == self.state.current_mode:
-            logging.info(f"Already in mode '{target_mode}'")
-            return True
-
-        return await self._execute_transition(target_mode, reason)
-
-    async def _execute_transition(self, target_mode: str, reason: str) -> bool:
-        """
-        Execute a mode transition.
-
-        Parameters
-        ----------
-        target_mode : str
-            The name of the target mode
-        reason : str
-            The reason for the transition
-
-        Returns
-        -------
-        bool
-            True if the transition was successful, False otherwise
-        """
-        async with self._transition_lock:
-            if self._is_transitioning:
-                logging.debug(f"Transition already in progress, skipping transition to {target_mode}")
-                return True
-
-            self._is_transitioning = True
-            from_mode = self.state.current_mode
-
-            try:
-                if from_mode == target_mode:
-                    logging.debug(f"Already in target mode '{target_mode}', skipping transition")
-                    return True
-
-                transition_key = f"{from_mode}->{target_mode}"
-                self.transition_cooldowns[transition_key] = time.time()
-
-                from_config = self.config.modes.get(from_mode)
-                to_config = self.config.modes[target_mode]
-
-                transition_context = {
-                    "from_mode": from_mode,
-                    "to_mode": target_mode,
-                    "reason": reason,
-                    "timestamp": time.time(),
-                    "transition_key": transition_key,
-                }
-
-                # Execute exit hooks for the current mode
-                if from_config:
-                    logging.debug(f"Executing exit hooks for mode: {from_mode}")
-                    exit_success = await from_config.execute_lifecycle_hooks(
-                        LifecycleHookType.ON_EXIT, transition_context.copy()
-                    )
-                    if not exit_success:
-                        logging.warning(f"Some exit hooks failed for mode: {from_mode}")
-
-                # Execute global exit hooks
-                global_exit_success = await self.config.execute_global_lifecycle_hooks(
-                    LifecycleHookType.ON_EXIT, transition_context.copy()
-                )
-                if not global_exit_success:
-                    logging.warning("Some global exit hooks failed")
-
-                # Update state
-                self.state.previous_mode = from_mode
-                self.state.current_mode = target_mode
-                self.state.mode_start_time = time.time()
-                self.state.last_transition_time = time.time()
-                self.state.transition_history.append(f"{from_mode}->{target_mode}:{reason}")
-
-                if len(self.state.transition_history) > 50:
-                    self.state.transition_history = self.state.transition_history[-25:]
-
-                logging.info(f"Mode transition: {from_mode} -> {target_mode} (reason: {reason})")
-
-                # Execute entry hooks for the new mode
-                logging.debug(f"Executing entry hooks for mode: {target_mode}")
-                entry_success = await to_config.execute_lifecycle_hooks(
-                    LifecycleHookType.ON_ENTRY, transition_context.copy()
-                )
-                if not entry_success:
-                    logging.warning(f"Some entry hooks failed for mode: {target_mode}")
-
-                # Execute global entry hooks
-                global_entry_success = await self.config.execute_global_lifecycle_hooks(
-                    LifecycleHookType.ON_ENTRY, transition_context.copy()
-                )
-                if not global_entry_success:
-                    logging.warning("Some global entry hooks failed")
-
-                await self._notify_transition_callbacks(from_mode, target_mode)
-
-                self._save_mode_state()
-
-                return True
-
-            except Exception as e:
-                logging.error(f"Failed to execute transition {from_mode} -> {target_mode}: {e}")
-                return False
-            finally:
-                self._is_transitioning = False
-
-    def get_available_transitions(self) -> List[str]:
-        """
-        Get a list of modes that can be transitioned to from the current mode.
-
-        Returns
-        -------
-        List[str]
-            List of available target mode names
-        """
-        available = set()
-
-        for rule in self.config.transition_rules:
-            if rule.from_mode == self.state.current_mode or rule.from_mode == "*":
-                if self._can_transition(rule):
-                    available.add(rule.to_mode)
-
-        return list(available)
-
-    def get_mode_info(self) -> Dict:
-        """
-        Get information about the current mode and system state.
-
-        Returns
-        -------
-        Dict
-            Dictionary containing mode information
-        """
-        current_config = self.current_mode_config
-        current_time = time.time()
-        mode_duration = current_time - self.state.mode_start_time
-
-        return {
-            "current_mode": self.state.current_mode,
-            "display_name": current_config.display_name,
-            "description": current_config.description,
-            "mode_duration": mode_duration,
-            "previous_mode": self.state.previous_mode,
-            "available_transitions": self.get_available_transitions(),
-            "all_modes": list(self.config.modes.keys()),
-            "transition_history": self.state.transition_history[-5:],
-            "timeout_seconds": current_config.timeout_seconds,
-            "time_remaining": (
-                max(0, current_config.timeout_seconds - mode_duration) if current_config.timeout_seconds else None
-            ),
-        }
-
-    def update_user_context(self, context: Dict):
-        """
-        Update the user context for context-aware transitions.
-
-        Parameters
-        ----------
-        context : Dict
-            The context information to update
-        """
-        self.state.user_context.update(context)
-
-    def get_user_context(self) -> Dict:
-        """Get the current user context."""
-        return self.state.user_context.copy()
-
-    async def process_tick(self, input_text: Optional[str]) -> Optional[tuple[str, str]]:
-        """
-        Process a tick and check for any needed transitions.
-
-        Parameters
-        ----------
-        input_text : Optional[str]
-            Any input text to check for triggered transitions
-
-        Returns
-        -------
-        Optional[tuple[str, str]]
-            A tuple of (target_mode, reason) if a transition occurred, None otherwise
-        """
-        time_target = await self.check_time_based_transitions()
-        if time_target:
-            logging.info(f"Time-based transition to mode: {time_target}")
-            return (time_target, "time_based")
-
-        context_target = await self.check_context_aware_transitions()
-        if context_target:
-            logging.info(f"Context-aware transition to mode: {context_target}")
-            return (context_target, "context_aware")
-
-        if input_text:
-            target_mode = self.check_input_triggered_transitions(input_text)
-            if target_mode:
-                logging.info(f"Input-triggered transition to mode: {target_mode}")
-                return (target_mode, "input_triggered")
-
-        return None
-
-    def _zenoh_mode_status_request(self, data: zenoh.Sample):
-        """
-        Process incoming mode status requests via Zenoh.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The incoming Zenoh sample containing the request.
-        """
-        mode_status = ModeStatusRequest.deserialize(data.payload.to_bytes())
-        logging.debug(f"Received mode status request: {mode_status}")
-
-        code = mode_status.code
-        request_id = mode_status.request_id
-        target_mode = mode_status.mode
-
-        # Switch to specified mode
-        if code == 0 and target_mode:
-            try:
-                if self._main_event_loop and self._main_event_loop.is_running():
-                    self._main_event_loop.call_soon_threadsafe(
-                        lambda: asyncio.create_task(
-                            self._handle_mode_switch_request(
-                                mode_status.header.frame_id,
-                                request_id.data,
-                                target_mode.data,
-                            )
-                        )
-                    )
-                else:
-                    logging.error("Main event loop is not set or not running")
-            except Exception as e:
-                logging.error(f"Error scheduling mode switch request: {e}")
-            return
-
-        # Request current mode info
-        if code == 1:
-            mode_status_response = ModeStatusResponse(
-                header=prepare_header(mode_status.header.frame_id),
-                request_id=request_id,
-                code=ModeStatusResponse.Code.SUCCESS.value,
-                current_mode=String(self.state.current_mode),
-                message=String(json.dumps(self.get_mode_info())),
-            )
-            if self._zenoh_mode_status_response_pub is not None:
-                return self._zenoh_mode_status_response_pub.put(mode_status_response.serialize())
-
-    def _zenoh_context_update(self, data: zenoh.Sample):
-        """
-        Process incoming context update messages via Zenoh.
-
-        Parameters
-        ----------
-        data : zenoh.Sample
-            The incoming Zenoh sample containing the context update.
-        """
-        try:
-            context_data = json.loads(data.payload.to_string())
-            logging.debug(f"Received context update: {context_data}")
-
-            if isinstance(context_data, dict):
-                self.update_user_context(context_data)
-                logging.info(f"Updated user context with: {context_data}")
-
-                if self._main_event_loop and self._main_event_loop.is_running():
-                    self._main_event_loop.call_soon_threadsafe(
-                        lambda: asyncio.create_task(self._check_and_apply_context_transition())
-                    )
-            else:
-                logging.warning(f"Invalid context data format: {context_data}")
-
-        except (json.JSONDecodeError, Exception) as e:
-            logging.error(f"Error processing context update: {e}")
-
-    async def _check_and_apply_context_transition(self):
-        """
-        Check for context-aware transitions and apply them if conditions are met.
-
-        This method is called when the user context is updated to ensure
-        that context-aware transitions can occur even when the LLM is not triggered.
-        """
-        try:
-            context_target = await self.check_context_aware_transitions()
-            if context_target:
-                logging.info(
-                    f"Context-aware transition triggered by context update: "
-                    f"{self.state.current_mode} -> {context_target}"
-                )
-                await self._execute_transition(context_target, "context_aware")
-        except Exception as e:
-            logging.error(f"Error checking context-aware transitions: {e}")
-
-    async def _handle_mode_switch_request(self, frame_id: str, request_id: str, target_mode: str):
-        """
-        Handle mode switch request asynchronously and send appropriate response.
-
-        Parameters
-        ----------
-        frame_id : str
-            The frame ID for the response header
-        request_id : str
-            The request ID
-        target_mode : str
-            The target mode to switch to
-        """
-        success = await self.request_transition(target_mode, "manual")
-
-        if success:
-            mode_status_response = ModeStatusResponse(
-                header=prepare_header(frame_id),
-                request_id=String(request_id),
-                code=ModeStatusResponse.Code.SUCCESS.value,
-                current_mode=String(self.state.current_mode),
-                message=String(f"Successfully switched to mode {target_mode}"),
-            )
-        else:
-            mode_status_response = ModeStatusResponse(
-                header=prepare_header(frame_id),
-                request_id=String(request_id),
-                code=ModeStatusResponse.Code.FAILURE.value,
-                current_mode=String(self.state.current_mode),
-                message=String(f"Failed to switch to mode {target_mode}"),
-            )
-
-        if self._zenoh_mode_status_response_pub is not None:
-            self._zenoh_mode_status_response_pub.put(mode_status_response.serialize())
-
-    def _get_state_file_path(self) -> str:
-        """
-        Get the path to the mode state file.
-
-        Returns
-        -------
-        str
-            The absolute path to the state file
-        """
-        memory_folder_path = os.path.join(os.path.dirname(__file__), "../../config", "memory")
-        if not os.path.exists(memory_folder_path):
-            os.makedirs(memory_folder_path, mode=0o755, exist_ok=True)
-
-        config_name = getattr(self.config, "config_name", "default")
-        state_filename = (
-            f"{config_name}.memory.json5" if config_name.startswith(".") else f".{config_name}.memory.json5"
-        )
-
-        return os.path.join(memory_folder_path, state_filename)
-
-    def _load_mode_state(self):
-        """
-        Load the persisted mode state from file.
-
-        If the state file exists and contains a valid last active mode,
-        set it as the current mode. Otherwise, use the default mode.
-        """
-        state_file = self._get_state_file_path()
-
-        try:
-            with open(state_file, "r") as f:
-                state_data = json.load(f)
-
-            last_active_mode = state_data.get("last_active_mode")
-
-            if (
-                last_active_mode
-                and last_active_mode in self.config.modes
-                and last_active_mode != self.config.default_mode
-            ):
-
-                logging.info(f"Restoring last active mode: {last_active_mode}")
-                self.state.current_mode = last_active_mode
-                self.state.previous_mode = state_data.get("previous_mode")
-
-                saved_history = state_data.get("transition_history", [])
-                if saved_history:
-                    self.state.transition_history.extend(saved_history)
-                    if len(self.state.transition_history) > 50:
-                        self.state.transition_history = self.state.transition_history[-25:]
-
-                logging.info(f"Mode state restored from {state_file}")
-            else:
-                logging.info(f"Using default mode: {self.config.default_mode}")
-
-        except FileNotFoundError:
-            logging.debug(f"No state file found at {state_file}, using default mode")
-        except (json.JSONDecodeError, KeyError) as e:
-            logging.warning(f"Invalid state file format: {e}, using default mode")
-        except Exception as e:
-            logging.error(f"Error loading mode state: {e}, using default mode")
-
-    def _save_mode_state(self):
-        """
-        Save the current mode state to file.
-
-        This method is called after successful mode transitions to persist
-        the current state for restoration on next startup.
-        """
-        if not self.config.mode_memory_enabled:
-            return
-
-        state_file = self._get_state_file_path()
-
-        try:
-            os.makedirs(os.path.dirname(state_file), exist_ok=True)
-
-            state_data = {
-                "last_active_mode": self.state.current_mode,
-                "previous_mode": self.state.previous_mode,
-                "timestamp": time.time(),
-                "transition_history": self.state.transition_history[-10:],
-            }
-
-            temp_file = state_file + ".tmp"
-            with open(temp_file, "w") as f:
-                json.dump(state_data, f, indent=2)
-
-            os.rename(temp_file, state_file)
-            logging.debug(f"Mode state saved to {state_file}")
-
-        except Exception as e:
-            logging.error(f"Error saving mode state: {e}")
diff --git a/src/runtime/robotics.py b/src/runtime/robotics.py
deleted file mode 100644
index c868e94073..0000000000
--- a/src/runtime/robotics.py
+++ /dev/null
@@ -1,40 +0,0 @@
-import logging
-from typing import Optional
-
-
-def load_unitree(unitree_ethernet: Optional[str]):
-    """
-    Initialize the Unitree robot's network communication channel.
-
-    This function sets up the Ethernet connection for a Unitree robot based on
-    the provided configuration or environment variables. It can operate in either
-    real hardware or simulation mode.
-
-    Parameters
-    ----------
-    unitree_ethernet : str
-        Configuration object containing the Unitree Ethernet adapter string, such as "eth0"
-
-    Returns
-    -------
-    None
-
-    Raises
-    ------
-    Exception
-        If initialization of the Unitree Ethernet channel fails.
-
-    """
-    if unitree_ethernet:
-        logging.info(f"Using {unitree_ethernet} as the Unitree Network Ethernet Adapter")
-
-        from unitree.unitree_sdk2py.core.channel import ChannelFactoryInitialize
-
-        try:
-            ChannelFactoryInitialize(0, unitree_ethernet)
-        except Exception as e:
-            logging.error(f"Failed to initialize Unitree Ethernet channel: {e}")
-            # raise e
-        logging.info("Booting Unitree and CycloneDDS")
-    else:
-        logging.info("No robot hardware ethernet port provided.")
diff --git a/src/runtime/version.py b/src/runtime/version.py
deleted file mode 100644
index d0aa3c7fec..0000000000
--- a/src/runtime/version.py
+++ /dev/null
@@ -1,101 +0,0 @@
-import logging
-from typing import Optional
-
-latest_runtime_version = "v1.0.5"
-
-
-def get_runtime_version() -> str:
-    """
-    Get the current runtime version.
-
-    Returns
-    -------
-    str
-        The current runtime version string.
-    """
-    return latest_runtime_version
-
-
-def is_version_supported(version: Optional[str]) -> bool:
-    """
-    Check if the given version is supported.
-
-    Parameters
-    ----------
-    version : Optional[str]
-        The version string to check.
-
-    Returns
-    -------
-    bool
-        True if the version is supported, False otherwise.
-    """
-    if version is None:
-        raise ValueError("Version cannot be None")
-
-    supported_ver = latest_runtime_version.lstrip("v")
-    input_ver = version.lstrip("v")
-
-    try:
-        supported_parts = [int(x) for x in supported_ver.split(".")]
-        input_parts = [int(x) for x in input_ver.split(".")]
-
-        while len(supported_parts) < 3:
-            supported_parts.append(0)
-        while len(input_parts) < 3:
-            input_parts.append(0)
-
-        if supported_parts[0] != input_parts[0]:
-            raise ValueError(f"Major version mismatch: expected {supported_parts[0]}, " f"got {input_parts[0]}")
-
-        if supported_parts[1] != input_parts[1]:
-            logging.warning(
-                f"Version mismatch: expected minor version {supported_parts[1]}, "
-                f"got {input_parts[1]}. This may cause compatibility issues."
-            )
-
-        return True
-
-    except (ValueError, IndexError):
-        raise ValueError("Invalid version format")
-
-
-def verify_runtime_version(config_version: Optional[str], config_name: str = "configuration") -> bool:
-    """
-    Verify that the configuration version is compatible with the runtime version.
-
-    Parameters
-    ----------
-    config_version : Optional[str]
-        The version string from the configuration
-    config_name : str
-        Name of the configuration being loaded (for logging)
-
-    Returns
-    -------
-    bool
-        True if version is supported
-
-    Raises
-    ------
-    ValueError
-        If version is incompatible or invalid
-    """
-    runtime_version = get_runtime_version()
-
-    logging.info(f"Loading {config_name} with version: {config_version}")
-    logging.info(f"Runtime version: {runtime_version}")
-
-    try:
-        result = is_version_supported(config_version)
-        if result:
-            logging.info(f"{config_name} version is compatible with runtime")
-        return result
-    except ValueError as e:
-        logging.error(f"Version compatibility check failed for {config_name}: {e}")
-        raise ValueError(
-            f"Configuration version '{config_version}' is incompatible with runtime version '{runtime_version}': {e}"
-        )
-    except Exception as e:
-        logging.error(f"Unexpected error during version verification for {config_name}: {e}")
-        raise
diff --git a/src/ubtech b/src/ubtech
deleted file mode 160000
index 3a702108c3..0000000000
--- a/src/ubtech
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 3a702108c38a9f3da6fc0e4d1ff7391e73c3a48b
diff --git a/src/unitree b/src/unitree
deleted file mode 160000
index 4fbe72c9ff..0000000000
--- a/src/unitree
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 4fbe72c9ff6d65317093e4c209fe8b5f6a691c5f
diff --git a/src/zenoh_msgs/__init__.py b/src/zenoh_msgs/__init__.py
deleted file mode 100644
index 56f3b1ae51..0000000000
--- a/src/zenoh_msgs/__init__.py
+++ /dev/null
@@ -1,197 +0,0 @@
-from . import session
-from .idl import (
-    IMU,
-    Accel,
-    AccelWithCovariance,
-    AccelWithCovarianceStamped,
-    AIStatusRequest,
-    AIStatusResponse,
-    AMCLPose,
-    ASRText,
-    AudioStatus,
-    AvatarFaceRequest,
-    AvatarFaceResponse,
-    BatteryState,
-    BmsState,
-    BoosterApiReqMsg,
-    BoosterApiRespMsg,
-    CameraInfo,
-    CameraStatus,
-    ChargingStatus,
-    ColorRGBA,
-    ConfigRequest,
-    ConfigResponse,
-    Detection,
-    DockStatus,
-    Duration,
-    GeoPoint,
-    GeoPointStamped,
-    GoalID,
-    GoalInfo,
-    GoalStatus,
-    HazardDetection,
-    HazardDetectionVector,
-    Header,
-    Image,
-    IMUState,
-    LaserScan,
-    LowState,
-    ModeStatusRequest,
-    ModeStatusResponse,
-    MotorState,
-    Nav2Status,
-    NavSatFix,
-    NavSatStatus,
-    Odometer,
-    Odometry,
-    Paths,
-    PersonGreetingStatus,
-    Point,
-    Point32,
-    PointCloud,
-    PointCloud2,
-    PointField,
-    Pose,
-    PoseStamped,
-    PoseWithCovariance,
-    PoseWithCovarianceStamped,
-    Quaternion,
-    RegionOfInterest,
-    RemoteControllerState,
-    RpcServiceRequest,
-    RpcServiceResponse,
-    SportModeState,
-    String,
-    Time,
-    TimeSpec,
-    TTSStatusRequest,
-    TTSStatusResponse,
-    Twist,
-    TwistWithCovariance,
-    TwistWithCovarianceStamped,
-    UnitreeRequest,
-    UnitreeRequestHeader,
-    UnitreeRequestIdentity,
-    Vector3,
-    geographic_msgs,
-    geometry_msgs,
-    nav_msgs,
-    prepare_header,
-    sensor_msgs,
-    status_msgs,
-    std_msgs,
-)
-from .session import (
-    HybridZenohSession,
-    ZenohSampleType,
-    ZenohSessionType,
-    create_zenoh_config,
-    load_api_key,
-    load_session_config,
-    load_use_sim,
-    open_zenoh_session,
-)
-
-__all__ = [
-    # std_msgs
-    "Time",
-    "Duration",
-    "Header",
-    "ColorRGBA",
-    "String",
-    "prepare_header",
-    # booster_interface
-    "Odometer",
-    "RemoteControllerState",
-    "BoosterApiReqMsg",
-    "BoosterApiRespMsg",
-    "RpcServiceRequest",
-    "RpcServiceResponse",
-    # status_msgs
-    "AudioStatus",
-    "CameraStatus",
-    "AIStatusRequest",
-    "AIStatusResponse",
-    "ASRText",
-    "AvatarFaceRequest",
-    "AvatarFaceResponse",
-    "ConfigRequest",
-    "ConfigResponse",
-    "ModeStatusRequest",
-    "ModeStatusResponse",
-    "TTSStatusRequest",
-    "TTSStatusResponse",
-    "ChargingStatus",
-    "PersonGreetingStatus",
-    # geographic_msgs
-    "GeoPoint",
-    "GeoPointStamped",
-    # geometry_msgs
-    "Point",
-    "Point32",
-    "Quaternion",
-    "Pose",
-    "PoseStamped",
-    "PoseWithCovariance",
-    "PoseWithCovarianceStamped",
-    "Vector3",
-    "Twist",
-    "TwistWithCovariance",
-    "TwistWithCovarianceStamped",
-    "Accel",
-    "AccelWithCovariance",
-    "AccelWithCovarianceStamped",
-    # nav_msgs
-    "Odometry",
-    "AMCLPose",
-    "GoalID",
-    "GoalInfo",
-    "GoalStatus",
-    "Nav2Status",
-    # sensor_msgs
-    "RegionOfInterest",
-    "CameraInfo",
-    "Image",
-    "IMU",
-    "Detection",
-    "HazardDetection",
-    "HazardDetectionVector",
-    "NavSatStatus",
-    "NavSatFix",
-    "PointField",
-    "PointCloud",
-    "PointCloud2",
-    "BatteryState",
-    "LaserScan",
-    "DockStatus",
-    "Paths",
-    # unitree_api_msgs
-    "UnitreeRequest",
-    "UnitreeRequestHeader",
-    "UnitreeRequestIdentity",
-    # unitree_go
-    "TimeSpec",
-    "IMUState",
-    "MotorState",
-    "BmsState",
-    "LowState",
-    "SportModeState",
-    # session
-    "create_zenoh_config",
-    "open_zenoh_session",
-    "load_api_key",
-    "load_use_sim",
-    "load_session_config",
-    "HybridZenohSession",
-    "ZenohSessionType",
-    "ZenohSampleType",
-    # modules
-    "session",
-    # idl submodules
-    "std_msgs",
-    "status_msgs",
-    "geographic_msgs",
-    "geometry_msgs",
-    "nav_msgs",
-    "sensor_msgs",
-]
diff --git a/src/zenoh_msgs/cloud_session/__init__.py b/src/zenoh_msgs/cloud_session/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/zenoh_msgs/cloud_session/client.py b/src/zenoh_msgs/cloud_session/client.py
deleted file mode 100644
index 519ccccec0..0000000000
--- a/src/zenoh_msgs/cloud_session/client.py
+++ /dev/null
@@ -1,318 +0,0 @@
-import asyncio
-import json
-import logging
-import threading
-import uuid
-from typing import Callable, Optional, Union
-
-import websockets
-
-PayloadCallback = Callable[[dict], None]
-BinaryCallback = Callable[[bytes], None]
-
-
-class CloudZenohClient:
-    """
-    Websocket client for communicating with the cloud Zenoh broker.
-    """
-
-    def __init__(self, url: str, token: Optional[str] = None) -> None:
-        """
-        Initialize the CloudZenohClient.
-
-        Parameters
-        ----------
-        url : str
-            The URL of the cloud Zenoh broker to connect to.
-        token : str, optional
-            An optional authentication token to include in the connection URL.
-        """
-        self._url = self._with_token(url, token) if token else url
-        self._websocket = None
-        self._loop = asyncio.new_event_loop()
-        self._subscriptions: dict[str, PayloadCallback | BinaryCallback] = {}
-        self._subscription_is_binary: dict[str, bool] = {}
-
-        self._subscription_specs: dict[str, dict] = {}
-        self._connected = threading.Event()
-        self._stopped = threading.Event()
-        self._thread = threading.Thread(target=self._run, daemon=True)
-        self._thread.start()
-
-    @staticmethod
-    def _with_token(url: str, token: str) -> str:
-        """
-        Add the token as a query parameter to the URL, handling existing query parameters.
-
-        Parameters
-        ----------
-        url : str
-            The base URL to which the token should be added.
-        token : str
-            The token to be added as a query parameter.
-
-        Returns
-        -------
-        str
-            The URL with the token added as a query parameter.
-        """
-        sep = "&" if "?" in url else "?"
-        return f"{url}{sep}api_key={token}"
-
-    def declare_subscriber(
-        self,
-        topic: str,
-        callback: Union[PayloadCallback, BinaryCallback],
-        binary: bool = False,
-    ) -> str:
-        """
-        Subscribe to a topic with the given callback.
-
-        Parameters
-        ----------
-        topic : str
-            The topic to subscribe to.
-        callback : Callable
-            The callback function to be called when a message is received on the topic.
-        binary : bool, optional
-            Whether the subscription is for binary messages (CDR) instead of JSON payloads.
-
-        Returns
-        -------
-        str
-            A subscription ID that can be used to undeclare the subscriber.
-        """
-        sub_id = uuid.uuid4().hex[:12]
-        self._subscriptions[sub_id] = callback
-        self._subscription_is_binary[sub_id] = binary
-        self._subscription_specs[sub_id] = {"topic": topic, "binary": binary}
-        self._send(
-            {
-                "type": "subscribe",
-                "id": sub_id,
-                "topic": topic,
-                "binary": binary,
-            }
-        )
-        return sub_id
-
-    def undeclare_subscriber(self, sub_id: str) -> None:
-        """
-        Cancel the subscription identified by `sub_id`.
-
-        Parameters
-        ----------
-        sub_id : str
-            The subscription ID returned by `declare_subscriber` to be cancelled.
-        """
-        self._subscriptions.pop(sub_id, None)
-        self._subscription_is_binary.pop(sub_id, None)
-        self._subscription_specs.pop(sub_id, None)
-        self._send({"type": "unsubscribe", "id": sub_id})
-
-    def publish(self, topic: str, payload: dict) -> None:
-        """
-        Publish a JSON payload; the server encodes it to CDR.
-
-        Parameters
-        ----------
-        topic : str
-            The topic to publish to.
-        payload : dict
-            The JSON-serializable payload to be published.
-        """
-        self._send({"type": "publish", "topic": topic, "payload": payload})
-
-    def publish_binary(self, topic: str, encoded_message_bytes: bytes) -> None:
-        """
-        Publish pre-encoded CDR bytes via the binary frame format.
-
-        Frame: [0x20][2B topic len BE][topic UTF-8][CDR bytes]
-
-        Parameters
-        ----------
-        topic : str
-            The topic to publish to.
-        encoded_message_bytes : bytes
-            The CDR-encoded message bytes to be published.
-        """
-        topic_b = topic.encode("utf-8")
-        if len(topic_b) > 65535:
-            raise ValueError("topic too long")
-        frame = bytes([0x20]) + len(topic_b).to_bytes(2, "big") + topic_b + encoded_message_bytes
-        self._send_bytes(frame)
-
-    def close(self) -> None:
-        """
-        Stop the reconnect loop and close the underlying websocket.
-        """
-        self._stopped.set()
-        if self._websocket is not None:
-            asyncio.run_coroutine_threadsafe(self._websocket.close(), self._loop)
-        self._thread.join(timeout=5)
-
-    def _send(self, msg: dict) -> None:
-        """
-        Send a JSON message to the server, ensuring it's run in the event loop.
-
-        Parameters
-        ----------
-        msg : dict
-            The message to be sent to the server, which will be JSON-encoded.
-        """
-        if self._websocket is None:
-            return
-
-        coro = self._websocket.send(json.dumps(msg, separators=(",", ":")))
-        asyncio.run_coroutine_threadsafe(coro, self._loop)
-
-    def _send_bytes(self, data: bytes) -> None:
-        """
-        Send raw bytes to the server, ensuring it's run in the event loop.
-
-        Parameters
-        ----------
-        data : bytes
-            The raw bytes to be sent to the server.
-        """
-        # Wait for the connection to be established (with a reasonable timeout)
-        if not self._connected.wait(timeout=30.0):
-            raise RuntimeError("not connected: timeout waiting for connection")
-        if self._websocket is None:
-            raise RuntimeError("not connected")
-        coro = self._websocket.send(data)
-        asyncio.run_coroutine_threadsafe(coro, self._loop)
-
-    def _run(self) -> None:
-        """
-        Run the websocket client in a separate thread, managing reconnections and message dispatch.
-        """
-        asyncio.set_event_loop(self._loop)
-        try:
-            self._loop.run_until_complete(self._main())
-        finally:
-            self._loop.close()
-
-    async def _main(self) -> None:
-        """
-        Main loop for managing the websocket connection, including automatic reconnection with exponential backoff.
-        """
-        connect_kwargs: dict = {
-            # Camera frames can be multi-MB; default 1MB cap would drop them.
-            "max_size": 32
-            * 1024
-            * 1024,
-        }
-
-        backoff = 0.5
-        while not self._stopped.is_set():
-            try:
-                async with websockets.connect(self._url, **connect_kwargs) as websocket:
-                    self._websocket = websocket
-                    backoff = 0.5
-                    for sub_id, spec in list(self._subscription_specs.items()):
-                        await websocket.send(
-                            json.dumps(
-                                {
-                                    "type": "subscribe",
-                                    "id": sub_id,
-                                    "topic": spec["topic"],
-                                    "binary": spec["binary"],
-                                },
-                                separators=(",", ":"),
-                            )
-                        )
-                    self._connected.set()
-
-                    async for raw_message in websocket:
-                        if self._stopped.is_set():
-                            break
-
-                        if isinstance(raw_message, (bytes, bytearray)):
-                            self._dispatch_binary(bytes(raw_message))
-                            continue
-
-                        try:
-                            msg = json.loads(raw_message)
-                        except json.JSONDecodeError:
-                            logging.warning("server sent non-JSON text frame")
-                            continue
-
-                        self._dispatch_json(msg)
-
-            except Exception as e:
-                logging.warning("cloud WS dropped: %s — reconnecting in %.1fs", e, backoff)
-            finally:
-                self._websocket = None
-
-            if self._stopped.is_set():
-                break
-
-            await asyncio.sleep(backoff)
-            backoff = min(backoff * 2, 30.0)
-
-    def _dispatch_json(self, msg: dict) -> None:
-        """
-        Dispatch a JSON message from the server, routing it to the appropriate subscriber callback based on the message type.
-
-        Parameters
-        ----------
-        msg : dict
-            The JSON-decoded message received from the server, which should contain a "type" field indicating the message type and other relevant fields depending on the type.
-        """
-        message_type = msg.get("type")
-
-        if message_type == "sample":
-            sub_id = msg.get("subId")
-
-            if sub_id is not None:
-                callback = self._subscriptions.get(sub_id)
-            else:
-                callback = None
-
-            if callback is not None:
-                try:
-                    callback(msg.get("payload") or {})  # type: ignore
-                except Exception:
-                    logging.exception("subscriber callback raised")
-
-        elif message_type == "ack":
-            logging.debug("ack id=%s", msg.get("id"))
-        elif message_type == "error":
-            logging.warning("server error: %s", msg)
-        elif message_type == "pong":
-            pass
-        else:
-            logging.warning("unknown server message type: %s", message_type)
-
-    def _dispatch_binary(self, frame: bytes) -> None:
-        """
-        Dispatch a binary frame from the server, which is expected to be in the format.
-
-        Payload frame: [0x10][2B subId len BE][subId UTF-8][CDR bytes]
-
-        Parameters
-        ----------
-        frame : bytes
-            The raw binary frame received from the server, which should follow the specified format.
-        """
-        if len(frame) < 4 or frame[0] != 0x10:
-            logging.warning("server sent unknown binary frame type=%#x", frame[0] if frame else -1)
-            return
-
-        sub_id_length = int.from_bytes(frame[1:3], "big")
-        if 3 + sub_id_length > len(frame):
-            logging.warning("malformed binary sample frame")
-            return
-
-        sub_id = frame[3 : 3 + sub_id_length].decode("utf-8", errors="replace")
-        encoded_message_data = frame[3 + sub_id_length :]
-        callback = self._subscriptions.get(sub_id)
-
-        if callback is None:
-            return
-
-        try:
-            callback(encoded_message_data)  # type: ignore
-        except Exception:
-            logging.exception("binary subscriber callback raised")
diff --git a/src/zenoh_msgs/cloud_session/topic_schemas.py b/src/zenoh_msgs/cloud_session/topic_schemas.py
deleted file mode 100644
index 7307fa9551..0000000000
--- a/src/zenoh_msgs/cloud_session/topic_schemas.py
+++ /dev/null
@@ -1,48 +0,0 @@
-CLOUD_TOPICS: set[str] = {
-    # Navigation
-    "odom",
-    "cmd_vel",
-    "cmd_vel_human",
-    "scan",
-    "joint_states",
-    "imu/data",
-    "tf",
-    "tf_static",
-    "joy",
-    # Camera streams
-    "camera/go2/image_raw",
-    "camera/realsense2_camera_node/color/image_raw",
-    "camera/realsense2_camera_node/color/image_isaac_sim_raw",
-    "camera/realsense2_camera_node/color/camera_info",
-    "camera/realsense2_camera_node/depth/image_rect_raw",
-    "camera/realsense2_camera_node/depth/image_rect_isaac_sim_raw",
-    "camera/realsense2_camera_node/depth/camera_info",
-    "rgb_image",
-    # Navigation
-    "goal_pose",
-    "navigate_to_pose/_action/status",
-    "navigate_to_pose/_action/cancel_goal",
-    # Unitree
-    "lowstate",
-    "lf/lowstate",
-    "sportmodestate",
-    "lf/sportmodestate",
-    "utlidar/robot_pose",
-    "utlidar/cloud_deskewed",
-    "unitree_lidar/points",
-    # Unitree sport API
-    "api/sport/request",
-    "api/sport/response",
-    # OM system topics
-    "om/paths",
-    "om/paths/r50",
-    "om/paths/r100",
-    "om/paths/r200",
-    "om/ai/request",
-    "om/ai/response",
-    "om/asr/text",
-    "om/avatar/request",
-    "om/avatar/response",
-    "om/localization_pose",
-    "image",
-}
diff --git a/src/zenoh_msgs/cloud_session/zenoh_adapter.py b/src/zenoh_msgs/cloud_session/zenoh_adapter.py
deleted file mode 100644
index fb51fa1d67..0000000000
--- a/src/zenoh_msgs/cloud_session/zenoh_adapter.py
+++ /dev/null
@@ -1,250 +0,0 @@
-import logging
-from typing import Any, Callable, Optional, Union
-
-from zenoh import ZBytes
-
-from zenoh_msgs.cloud_session.client import CloudZenohClient
-
-
-class _Payload:
-    """
-    Wraps the raw bytes payload from the broker, mimicking the Zenoh Sample's
-    payload API.
-    """
-
-    def __init__(self, b: bytes) -> None:
-        """
-        Parameters
-        ----------
-        b : bytes
-            The raw bytes payload from the broker.
-        """
-        self._b = b
-
-    def to_bytes(self) -> bytes:
-        """
-        Return the raw bytes payload.
-
-        Returns
-        -------
-        bytes
-            The raw bytes payload.
-        """
-        return self._b
-
-
-class _Sample:
-    """
-    Wraps a message sample from the broker, mimicking the Zenoh Sample API.
-    """
-
-    def __init__(self, topic: str, cdr: bytes) -> None:
-        """
-        Initialize a sample with the topic and raw bytes payload.
-
-        Parameters
-        ----------
-        topic : str
-            The topic this sample was published to.
-        cdr : bytes
-            The raw bytes payload from the broker.
-        """
-        self.topic = topic
-        self.payload = _Payload(cdr)
-
-
-class _Subscriber:
-    """
-    Represents an active subscription to a broker topic, mimicking the Zenoh Subscriber API.
-    """
-
-    def __init__(self, session: "CloudSimZenohSession", topic: str, sub_id: str) -> None:
-        """
-        Initialize a subscriber with the session, topic, and subscription ID.
-
-        Parameters
-        ----------
-        session : CloudSimZenohSession
-            The Zenoh session this subscriber belongs to.
-        topic : str
-            The topic this subscriber is subscribed to.
-        sub_id : str
-            The unique subscription ID returned by the broker.
-        """
-        self._session = session
-        self._topic = topic
-        self._sub_id = sub_id
-
-    def undeclare(self) -> None:
-        """
-        Unsubscribe from the broker topic.
-        """
-        self._session._undeclare(self._sub_id)
-
-
-class _Publisher:
-    """
-    Provides a publish interface to a broker topic, mimicking the Zenoh Publisher API.
-    """
-
-    def __init__(self, session: "CloudSimZenohSession", topic: str) -> None:
-        """
-        Initialize a publisher with the session and topic.
-
-        Parameters
-        ----------
-        session : CloudSimZenohSession
-            The Zenoh session this publisher belongs to.
-        topic : str
-            The topic this publisher is associated with.
-        """
-        self._session = session
-        self._topic = topic
-
-    def put(self, payload: Union[bytes, "ZBytes"]) -> None:  # type: ignore
-        """
-        Publish a message payload to the broker topic.
-
-        Parameters
-        ----------
-        payload : bytes or ZBytes
-            The raw bytes payload to publish to the broker.
-        """
-        # Convert ZBytes to bytes if needed
-        if not isinstance(payload, bytes):
-            payload = payload.to_bytes()  # type: ignore
-        self._session._publish_binary(self._topic, payload)
-
-    def undeclare(self) -> None:
-        """
-        Undeclare (cleanup) this publisher.
-
-        Note: In CloudSimZenohSession, publishers don't require explicit cleanup
-        since they don't maintain persistent state. This method is provided for
-        API compatibility with zenoh.Publisher.
-        """
-        # No-op for cloud session publishers - they're stateless
-        logging.debug(f"Publisher undeclare called for topic {self._topic} (no-op for cloud session)")
-
-
-class CloudSimZenohSession:
-    """CloudSimZenohSession provides a Zenoh-like API for subscribing and publishing to the cloud broker."""
-
-    def __init__(
-        self,
-        url: str,
-        token: Optional[str] = None,
-    ) -> None:
-        """
-        Initialize the CloudSimZenohSession.
-
-        Parameters
-        ----------
-        url : str
-            The WebSocket URL for the cloud broker.
-        token : Optional[str]
-            Optional authentication token for the broker. If not provided, the session will attempt unauthenticated access.
-        """
-        self._client = CloudZenohClient(url, token)
-        self._subscription_topics: dict[str, str] = {}
-
-    def declare_subscriber(
-        self,
-        topic: str,
-        handler: Optional[Callable[[Any], None]],
-    ) -> Optional[_Subscriber]:
-        """
-        Subscribe a handler to messages on `topic` via the broker.
-
-        Parameters
-        ----------
-        topic : str
-            The topic to subscribe to, e.g. "odom" or "image".
-        handler : Callable[[Any], None]
-            A callback function that takes a sample object as input and processes incoming messages from the broker.
-
-        Returns
-        -------
-        Optional[_Subscriber]
-            A subscriber object, or None if the topic is not mapped.
-        """
-
-        def _on_cdr(cdr: bytes, _topic=topic) -> None:
-            if handler is None:
-                return
-            try:
-                handler(_Sample(_topic, cdr))
-            except Exception:
-                logging.exception(f"CloudSimZenohSession handler raised on {_topic}")
-
-        sub_id = self._client.declare_subscriber(
-            topic=topic,
-            callback=_on_cdr,
-            binary=True,
-        )
-        self._subscription_topics[sub_id] = topic
-
-        return _Subscriber(self, topic, sub_id)
-
-    def declare_publisher(self, topic: str) -> _Publisher:
-        """
-        Return a publisher object whose `.put(bytes)` forwards to the broker.
-
-        Parameters
-        ----------
-        topic : str
-            The OM1 topic to publish to, e.g. "cmd_vel" or "joint_states".
-
-        Returns
-        -------
-        _Publisher
-            A publisher object, or None if the topic is not mapped.
-        """
-        return _Publisher(self, topic)
-
-    def put(self, topic: str, payload: Union[bytes, ZBytes]) -> None:
-        """
-        Publish a message directly to a topic (zenoh.Session API compatibility).
-
-        This method provides compatibility with zenoh.Session.put(topic, payload).
-        It resolves the topic and publishes the payload directly.
-
-        Parameters
-        ----------
-        topic : str
-            The OM1 topic to publish to, e.g. "cmd_vel" or "joint_states".
-        payload : bytes or ZBytes
-            The raw bytes payload to publish.
-        """
-        if not isinstance(payload, bytes):
-            payload = payload.to_bytes()
-        self._publish_binary(topic, payload)
-
-    def close(self) -> None:
-        """Close the underlying broker connection."""
-        self._client.close()
-
-    def _undeclare(self, sub_id: str) -> None:
-        """
-        Unsubscribe from a broker topic by subscription ID.
-
-        Parameters
-        ----------
-        sub_id : str
-            The unique subscription ID returned by the broker when declaring the subscriber.
-        """
-        self._subscription_topics.pop(sub_id, None)
-        self._client.undeclare_subscriber(sub_id)
-
-    def _publish_binary(self, topic: str, cdr: bytes) -> None:
-        """
-        Publish a binary message to the broker topic.
-
-        Parameters
-        ----------
-        topic : str
-            The zenoh topic to publish to.
-        cdr : bytes
-            The raw bytes payload to publish.
-        """
-        self._client.publish_binary(topic, cdr)
diff --git a/src/zenoh_msgs/idl/__init__.py b/src/zenoh_msgs/idl/__init__.py
deleted file mode 100644
index ff73e31887..0000000000
--- a/src/zenoh_msgs/idl/__init__.py
+++ /dev/null
@@ -1,163 +0,0 @@
-from .booster_interface import (
-    BoosterApiReqMsg,
-    BoosterApiRespMsg,
-    Odometer,
-    RemoteControllerState,
-    RpcServiceRequest,
-    RpcServiceResponse,
-)
-from .geographic_msgs import GeoPoint, GeoPointStamped
-from .geometry_msgs import (
-    Accel,
-    AccelWithCovariance,
-    AccelWithCovarianceStamped,
-    Point,
-    Point32,
-    Pose,
-    PoseStamped,
-    PoseWithCovariance,
-    PoseWithCovarianceStamped,
-    Quaternion,
-    Twist,
-    TwistWithCovariance,
-    TwistWithCovarianceStamped,
-    Vector3,
-)
-from .nav_msgs import AMCLPose, GoalID, GoalInfo, GoalStatus, Nav2Status, Odometry
-from .sensor_msgs import (
-    IMU,
-    BatteryState,
-    CameraInfo,
-    Detection,
-    DockStatus,
-    HazardDetection,
-    HazardDetectionVector,
-    Image,
-    LaserScan,
-    NavSatFix,
-    NavSatStatus,
-    Paths,
-    PointCloud,
-    PointCloud2,
-    PointField,
-    RegionOfInterest,
-)
-from .status_msgs import (
-    AIStatusRequest,
-    AIStatusResponse,
-    ASRText,
-    AudioStatus,
-    AvatarFaceRequest,
-    AvatarFaceResponse,
-    CameraStatus,
-    ChargingStatus,
-    ConfigRequest,
-    ConfigResponse,
-    ModeStatusRequest,
-    ModeStatusResponse,
-    PersonGreetingStatus,
-    TTSStatusRequest,
-    TTSStatusResponse,
-)
-from .std_msgs import ColorRGBA, Duration, Header, String, Time, prepare_header
-from .unitree_api_msgs import Request as UnitreeRequest
-from .unitree_api_msgs import RequestHeader as UnitreeRequestHeader
-from .unitree_api_msgs import RequestIdentity as UnitreeRequestIdentity
-from .unitree_api_msgs import RequestLease as UnitreeRequestLease
-from .unitree_api_msgs import RequestPolicy as UnitreeRequestPolicy
-from .unitree_go import (
-    BmsState,
-    IMUState,
-    LowState,
-    MotorState,
-    SportModeState,
-    TimeSpec,
-)
-
-__all__ = [
-    # std_msgs
-    "Time",
-    "Duration",
-    "Header",
-    "ColorRGBA",
-    "String",
-    "prepare_header",
-    # booster_interface
-    "Odometer",
-    "RemoteControllerState",
-    "BoosterApiReqMsg",
-    "BoosterApiRespMsg",
-    "RpcServiceRequest",
-    "RpcServiceResponse",
-    # status_msgs
-    "AudioStatus",
-    "CameraStatus",
-    "AIStatusRequest",
-    "AIStatusResponse",
-    "ASRText",
-    "AvatarFaceRequest",
-    "AvatarFaceResponse",
-    "ConfigRequest",
-    "ConfigResponse",
-    "ModeStatusRequest",
-    "ModeStatusResponse",
-    "TTSStatusRequest",
-    "TTSStatusResponse",
-    "ChargingStatus",
-    "PersonGreetingStatus",
-    # geographic_msgs
-    "GeoPoint",
-    "GeoPointStamped",
-    # geometry_msgs
-    "Point",
-    "Point32",
-    "Quaternion",
-    "Pose",
-    "PoseStamped",
-    "PoseWithCovariance",
-    "PoseWithCovarianceStamped",
-    "Vector3",
-    "Twist",
-    "TwistWithCovariance",
-    "TwistWithCovarianceStamped",
-    "Accel",
-    "AccelWithCovariance",
-    "AccelWithCovarianceStamped",
-    # nav_msgs
-    "Odometry",
-    "AMCLPose",
-    "GoalID",
-    "GoalInfo",
-    "GoalStatus",
-    "Nav2Status",
-    # sensor_msgs
-    "RegionOfInterest",
-    "CameraInfo",
-    "Image",
-    "IMU",
-    "Detection",
-    "HazardDetection",
-    "HazardDetectionVector",
-    "NavSatStatus",
-    "NavSatFix",
-    "PointField",
-    "PointCloud",
-    "PointCloud2",
-    "BatteryState",
-    "LaserScan",
-    "DockStatus",
-    "Paths",
-    # unitree_api_msgs
-    "UnitreeRequest",
-    "UnitreeRequestHeader",
-    "UnitreeRequestIdentity",
-    "UnitreeRequestLease",
-    "UnitreeRequestPolicy",
-    # unitree_go
-    "TimeSpec",
-    "IMUState",
-    "MotorState",
-    "BmsState",
-    "LowState",
-    "SportModeState",
-]
diff --git a/src/zenoh_msgs/idl/booster_interface.py b/src/zenoh_msgs/idl/booster_interface.py
deleted file mode 100644
index 8a61b9136c..0000000000
--- a/src/zenoh_msgs/idl/booster_interface.py
+++ /dev/null
@@ -1,97 +0,0 @@
-from dataclasses import dataclass
-
-from pycdr2 import IdlStruct
-from pycdr2.types import float32, int16, int32, int64
-
-
-@dataclass
-class Odometer(IdlStruct, typename="Odometer"):
-    """
-    Odometer message for Booster robot odometry data.
-
-    Simple odometry message containing position and orientation.
-    """
-
-    x: float32 = 0.0
-    y: float32 = 0.0
-    theta: float32 = 0.0
-
-
-@dataclass
-class BoosterApiReqMsg(IdlStruct, typename="BoosterApiReqMsg"):
-    """
-    Booster API Request Message for RPC service.
-
-    Used in /booster_rpc_service to send commands to the robot.
-    """
-
-    api_id: int64 = 0
-    body: str = ""
-
-
-@dataclass
-class BoosterApiRespMsg(IdlStruct, typename="BoosterApiRespMsg"):
-    """
-    Booster API Response Message for RPC service.
-
-    Response from /booster_rpc_service after processing a request.
-    """
-
-    status: int64 = 0
-    body: str = ""
-
-
-@dataclass
-class RpcServiceRequest(IdlStruct, typename="RpcServiceRequest"):
-    """
-    Wrapper for RPC service request.
-    """
-
-    msg: BoosterApiReqMsg
-
-
-@dataclass
-class RpcServiceResponse(IdlStruct, typename="RpcServiceResponse"):
-    """
-    Wrapper for RPC service response.
-    """
-
-    msg: BoosterApiRespMsg
-
-
-@dataclass
-class RemoteControllerState(IdlStruct, typename="RemoteControllerState"):
-    """
-    RemoteControllerState message for Booster robot control.
-
-    This message represents the state of a remote controller used to control
-    the Booster robot's movement.
-    """
-
-    event: int32 = 1536
-    lx: float32 = 0.0
-    ly: float32 = 0.0
-    rx: float32 = 0.0
-    ry: float32 = 0.0
-    a: bool = False
-    b: bool = False
-    x: bool = False
-    y: bool = False
-    lb: bool = False
-    rb: bool = False
-    lt: bool = False
-    rt: bool = False
-    ls: bool = False
-    rs: bool = False
-    back: bool = False
-    start: bool = False
-    hat_c: bool = False
-    hat_u: bool = False
-    hat_d: bool = False
-    hat_l: bool = False
-    hat_r: bool = False
-    hat_lu: bool = False
-    hat_ld: bool = False
-    hat_ru: bool = False
-    hat_rd: bool = False
-    hat_pos: int16 = 0
diff --git a/src/zenoh_msgs/idl/geographic_msgs.py b/src/zenoh_msgs/idl/geographic_msgs.py
deleted file mode 100644
index b343314ec1..0000000000
--- a/src/zenoh_msgs/idl/geographic_msgs.py
+++ /dev/null
@@ -1,23 +0,0 @@
-from dataclasses import dataclass
-
-from pycdr2 import IdlStruct
-from pycdr2.types import float64
-
-from .std_msgs import Header
-
-
-@dataclass
-class GeoPoint(IdlStruct, typename="GeoPoint"):
-    """GeoPoint message."""
-
-    latitude: float64
-    longitude: float64
-    altitude: float64
-
-
-@dataclass
-class GeoPointStamped(IdlStruct, typename="GeoPointStamped"):
-    """GeoPointStamped message."""
-
-    header: Header
-    position: GeoPoint
diff --git a/src/zenoh_msgs/idl/geometry_msgs.py b/src/zenoh_msgs/idl/geometry_msgs.py
deleted file mode 100644
index 4efd730461..0000000000
--- a/src/zenoh_msgs/idl/geometry_msgs.py
+++ /dev/null
@@ -1,140 +0,0 @@
-from dataclasses import dataclass
-
-from pycdr2 import IdlStruct
-from pycdr2.types import array, float32, float64
-
-from .std_msgs import Header
-
-
-@dataclass
-class Point(IdlStruct, typename="Point"):
-    """Point message."""
-
-    x: float64
-    y: float64
-    z: float64
-
-
-@dataclass
-class Point32(IdlStruct, typename="Point32"):
-    """Point32 message."""
-
-    x: float32
-    y: float32
-    z: float32
-
-
-@dataclass
-class Quaternion(IdlStruct, typename="Quaternion"):
-    """Quaternion message."""
-
-    x: float64
-    y: float64
-    z: float64
-    w: float64
-
-
-@dataclass
-class Pose(IdlStruct, typename="Pose"):
-    """Pose message."""
-
-    position: Point
-    orientation: Quaternion
-
-
-@dataclass
-class PoseStamped(IdlStruct, typename="PoseStamped"):
-    """PoseStamped message."""
-
-    header: Header
-    pose: Pose
-
-
-@dataclass
-class PoseWithCovariance(IdlStruct, typename="PoseWithCovariance"):
-    """PoseWithCovariance message."""
-
-    pose: Pose
-    covariance: array[float64, 36]
-
-
-@dataclass
-class PoseWithCovarianceStamped(IdlStruct, typename="PoseWithCovarianceStamped"):
-    """PoseWithCovarianceStamped message."""
-
-    header: Header
-    pose: PoseWithCovariance
-
-
-@dataclass
-class Vector3(IdlStruct, typename="Vector3"):
-    """Vector3 message."""
-
-    x: float64
-    y: float64
-    z: float64
-
-
-@dataclass
-class Twist(IdlStruct, typename="Twist"):
-    """Twist message."""
-
-    linear: Vector3
-    angular: Vector3
-
-
-@dataclass
-class TwistWithCovariance(IdlStruct, typename="TwistWithCovariance"):
-    """TwistWithCovariance message."""
-
-    twist: Twist
-    covariance: array[float64, 36]
-
-
-@dataclass
-class TwistWithCovarianceStamped(IdlStruct, typename="TwistWithCovarianceStamped"):
-    """TwistWithCovarianceStamped message."""
-
-    header: Header
-    twist: TwistWithCovariance
-
-
-@dataclass
-class Accel(IdlStruct, typename="Accel"):
-    """Accel message."""
-
-    linear: Vector3
-    angular: Vector3
-
-
-@dataclass
-class AccelWithCovariance(IdlStruct, typename="AccelWithCovariance"):
-    """AccelWithCovariance message."""
-
-    accel: Accel
-    covariance: array[float64, 36]
-
-
-@dataclass
-class AccelWithCovarianceStamped(IdlStruct, typename="AccelWithCovarianceStamped"):
-    """AccelWithCovarianceStamped message."""
-
-    header: Header
-    accel: AccelWithCovariance
-
-
-@dataclass
-class Transform(IdlStruct, typename="Transform"):
-    """Transform message."""
-
-    translation: Vector3
-    rotation: Quaternion
-
-
-@dataclass
-class TransformStamped(IdlStruct, typename="TransformStamped"):
-    """TransformStamped message — used inside tf2_msgs/TFMessage."""
-
-    header: Header
-    child_frame_id: str
-    transform: Transform
diff --git a/src/zenoh_msgs/idl/nav_msgs.py b/src/zenoh_msgs/idl/nav_msgs.py
deleted file mode 100644
index 57b6fcae81..0000000000
--- a/src/zenoh_msgs/idl/nav_msgs.py
+++ /dev/null
@@ -1,75 +0,0 @@
-from dataclasses import dataclass
-
-from pycdr2 import IdlStruct
-from pycdr2.types import array, float32, float64, int32, sequence, uint8
-
-from .geometry_msgs import Pose, PoseWithCovariance, TwistWithCovariance
-from .std_msgs import Header, String
-
-
-@dataclass
-class Odometry(IdlStruct, typename="Odometry"):
-    """Odometry message."""
-
-    header: Header
-    child_frame_id: String
-    pose: PoseWithCovariance
-    twist: TwistWithCovariance
-
-
-@dataclass
-class AMCLPose(IdlStruct, typename="AMCLPose"):
-    """AMCLPose message."""
-
-    header: Header
-    pose: Pose
-    covariance: array[float64, 36]
-
-
-@dataclass
-class LidarLocalization(IdlStruct, typename="LidarLocalization"):
-    """LidarLocalization message."""
-
-    header: Header
-    pose: Pose
-    match_score: int32
-    quality_percent: float32
-    num_points: int32
-
-
-@dataclass
-class Time(IdlStruct, typename="Time"):
-    """Time message."""
-
-    sec: int32
-    nanosec: int32
-
-
-@dataclass
-class GoalID(IdlStruct, typename="GoalID"):
-    """GoalID message."""
-
-    uuid: array[uint8, 16]
-
-
-@dataclass
-class GoalInfo(IdlStruct, typename="GoalInfo"):
-    """GoalInfo message."""
-
-    goal_id: GoalID
-    stamp: Time
-
-
-@dataclass
-class GoalStatus(IdlStruct, typename="GoalStatus"):
-    """GoalStatus message."""
-
-    goal_info: GoalInfo
-    status: int32
-
-
-@dataclass
-class Nav2Status(IdlStruct, typename="Nav2Status"):
-    """Nav2Status message."""
-
-    status_list: sequence[GoalStatus]
diff --git a/src/zenoh_msgs/idl/sensor_msgs.py b/src/zenoh_msgs/idl/sensor_msgs.py
deleted file mode 100644
index 039a33fcf6..0000000000
--- a/src/zenoh_msgs/idl/sensor_msgs.py
+++ /dev/null
@@ -1,265 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum
-from typing import List
-
-from pycdr2 import IdlStruct
-from pycdr2.types import array, float32, float64, int8, int32, sequence, uint8, uint16, uint32
-
-from .geometry_msgs import Point32, Quaternion, Vector3
-from .std_msgs import Header, String
-
-
-@dataclass
-class RegionOfInterest(IdlStruct, typename="RegionOfInterest"):
-    """RegionOfInterest message."""
-
-    x_offset: uint32
-    y_offset: uint32
-    height: uint32
-    width: uint32
-    do_rectify: bool
-
-
-@dataclass
-class CameraInfo(IdlStruct, typename="CameraInfo"):
-    """CameraInfo message."""
-
-    header: Header
-    height: uint32
-    width: uint32
-    distortion_model: str
-    d: sequence[float64]
-    k: array[float64, 9]
-    r: array[float64, 9]
-    p: array[float64, 12]
-    binning_x: uint32
-    binning_y: uint32
-    roi: RegionOfInterest
-
-
-@dataclass
-class Image(IdlStruct, typename="Image"):
-    """Image message."""
-
-    header: Header
-    height: uint32
-    width: uint32
-    encoding: str
-    is_bigendian: uint8
-    step: uint32
-    data: bytes
-
-
-@dataclass
-class IMU(IdlStruct, typename="IMU"):
-    """IMU message."""
-
-    header: Header
-    orientation: Quaternion
-    orientation_covariance: array[float64, 9]
-    angular_velocity: Vector3
-    angular_velocity_covariance: array[float64, 9]
-    linear_acceleration: Vector3
-    linear_acceleration_covariance: array[float64, 9]
-
-
-@dataclass
-class Detection(IdlStruct, typename="Detection"):
-    """Detection message."""
-
-    header: Header
-    orientation: Quaternion
-    orientation_covariance: array[float64, 9]
-    angular_velocity: Vector3
-    angular_velocity_covariance: array[float64, 9]
-    linear_acceleration: Vector3
-    linear_acceleration_covariance: array[float64, 9]
-
-
-@dataclass
-class HazardDetection(IdlStruct, typename="HazardDetection"):
-    """HazardDetection message."""
-
-    header: Header
-
-    class TYPE(Enum):
-        """Type enum for HazardDetection."""
-
-        BACKUP_LIMIT = 0
-        BUMP = 1  # The robot has bumped against an obstacle
-        CLIFF = 2  # The robot detected a cliff
-        STALL = 3  # The wheels of the robot are stalled against an obstacle
-        WHEEL_DROP = 4  # The wheels of the robot are fully dropped
-        OBJECT_PROXIMITY = 5  # The robot detects an obstacle in close proximity
-
-    type: uint8
-
-
-@dataclass
-class HazardDetectionVector(IdlStruct, typename="HazardDetectionVector"):
-    """HazardDetectionVector message."""
-
-    header: Header
-    detections: sequence[HazardDetection]
-
-
-@dataclass
-class NavSatStatus(IdlStruct, typename="NavSatStatus"):
-    """NavSatStatus message."""
-
-    class STATUS(Enum):
-        """Status enum for NavSatStatus."""
-
-        NO_FIX = -1  # unable to fix position
-        FIX = 0  # unaugmented fix
-        SBAS_FIX = 1  # with satellite-based augmentation
-        GBAS_FIX = 2  # with ground-based augmentation
-
-    status: int8
-
-    class SERVICE(Enum):
-        """Service enum for NavSatStatus."""
-
-        GPS = 1
-        GLONASS = 2
-        COMPASS = 4  # includes BeiDou
-        GALILEO = 8
-
-    service: uint16
-
-
-@dataclass
-class NavSatFix(IdlStruct, typename="NavSatFix"):
-    """NavSatFix message."""
-
-    header: Header
-    status: NavSatStatus
-    latitude: float64
-    longitude: float64
-    altitude: float64
-    position_covariance: array[float64, 9]
-
-    class POSITION_COVARIANCE_TYPE(Enum):
-        """Position covariance type enum for NavSatFix."""
-
-        UNKNOWN = 0
-        APPROXIMATED = 1
-        DIAGONAL_KNOWN = 2
-        KNOWN = 3
-
-    position_covariance_type: uint8
-
-
-@dataclass
-class PointField(IdlStruct, typename="PointField"):
-    """PointField message."""
-
-    name: str
-    offset: uint32
-
-    class DATA_TYPE(Enum):
-        """Data type enum for PointField."""
-
-        INT8 = 1
-        UINT8 = 2
-        INT16 = 3
-        UINT16 = 4
-        INT32 = 5
-        UINT32 = 6
-        FLOAT32 = 7
-        FLOAT64 = 8
-
-    datatype: uint8
-    count: uint32
-
-
-@dataclass
-class PointCloud(IdlStruct, typename="PointCloud"):
-    """PointCloud message."""
-
-    header: Header
-    points: sequence[Point32]
-    channels: sequence[PointField]
-
-
-@dataclass
-class PointCloud2(IdlStruct, typename="PointCloud2"):
-    """PointCloud2 message."""
-
-    header: Header
-    height: uint32
-    width: uint32
-    fields: sequence[PointField]
-    is_bigendian: bool
-    point_step: uint32
-    row_step: uint32
-    data: sequence[uint8]
-    is_dense: bool
-
-
-@dataclass
-class BatteryState(IdlStruct, typename="BatteryState"):
-    """Battery state message."""
-
-    header: Header
-    voltage: float32  # Voltage in Volts (Mandatory)
-    temperature: float32
-    current: float32  # Negative when discharging (A)  (If unmeasured NaN)
-    charge: float32  # Current charge in Ah  (If unmeasured NaN)
-    capacity: float32  # Capacity in Ah (last full capacity)  (If unmeasured NaN)
-    design_capacity: float32  # Capacity in Ah (design capacity)  (If unmeasured NaN)
-    percentage: float32  # Charge percentage on 0 to 1 range  (If unmeasured NaN)
-    power_supply_status: uint8  # The charging status as reported. Values defined above
-    power_supply_health: uint8  # The battery health metric. Values defined above
-    power_supply_technology: uint8  # The battery chemistry. Values defined above
-    present: bool  # True if the battery is present
-    cell_voltage: List[float32]  # An array of individual cell voltages for each cell in the pack
-    # If individual voltages unknown but number of cells known set each to NaN
-    cell_temperature: List[float32]  # An array of individual cell temperatures for each cell in the pack
-    # If individual temperatures unknown but number of cells known set each to NaN
-    location: String  # The location into which the battery is inserted. (slot number or plug)
-    serial_number: String  # The best approximation of the battery serial number
-
-
-@dataclass
-class LaserScan(IdlStruct, typename="LaserScan"):
-    """Laser scan message."""
-
-    header: Header
-    angle_min: float32
-    angle_max: float32
-    angle_increment: float32
-    time_increment: float32
-    scan_time: float32
-    range_min: float32
-    range_max: float32
-    ranges: List[float32]
-    intensities: List[float32]
-
-
-@dataclass
-class DockStatus(IdlStruct, typename="DockStatus"):
-    """Dock status message."""
-
-    header: Header
-    docker_visible: bool
-    is_docked: bool
-
-
-@dataclass
-class Paths(IdlStruct, typename="Paths"):
-    """Paths message."""
-
-    header: Header
-    paths: List[uint32]
-    blocked_by_obstacle_idx: List[uint32]
-    blocked_by_hazard_idx: List[uint32]
-
-
-@dataclass
-class Joy(IdlStruct, typename="Joy"):
-    """Joy message."""
-
-    header: Header
-    axes: List[float32]
-    buttons: List[int32]
diff --git a/src/zenoh_msgs/idl/status_msgs.py b/src/zenoh_msgs/idl/status_msgs.py
deleted file mode 100644
index 6e2ad37c7a..0000000000
--- a/src/zenoh_msgs/idl/status_msgs.py
+++ /dev/null
@@ -1,249 +0,0 @@
-from dataclasses import dataclass, field
-from enum import Enum
-
-from pycdr2 import IdlStruct
-from pycdr2.types import int8
-
-from .std_msgs import Header, String
-
-
-@dataclass
-class AudioStatus(IdlStruct, typename="AudioStatus"):
-    """Audio status message."""
-
-    class STATUS_MIC(Enum):
-        """Mic status code enum for AudioStatus."""
-
-        DISABLED = 0
-        READY = 1
-        ACTIVE = 2
-        UNKNOWN = 3
-
-    class STATUS_SPEAKER(Enum):
-        """Speaker status code enum for AudioStatus."""
-
-        DISABLED = 0
-        READY = 1
-        ACTIVE = 2
-        UNKNOWN = 3
-
-    header: Header
-    status_mic: int8
-    status_speaker: int8
-    sentence_to_speak: String
-
-
-@dataclass
-class CameraStatus(IdlStruct, typename="CameraStatus"):
-    """Camera status message."""
-
-    class STATUS(Enum):
-        """Code enum for CameraStatus."""
-
-        DISABLED = 0
-        ENABLED = 1
-
-    header: Header
-    status: int8
-
-
-@dataclass
-class AIStatusRequest(IdlStruct, typename="AIStatusRequest"):
-    """AI status request message."""
-
-    class Code(Enum):
-        """Code enum for AIStatusRequest."""
-
-        DISABLED = 0
-        ENABLED = 1
-        STATUS = 2
-
-    header: Header
-    request_id: String
-    code: int8
-
-
-@dataclass
-class AIStatusResponse(IdlStruct, typename="AIStatusResponse"):
-    """AI status response message."""
-
-    class Code(Enum):
-        """Code enum for AIStatusResponse."""
-
-        DISABLED = 0
-        ENABLED = 1
-        UNKNOWN = 2
-
-    header: Header
-    request_id: String
-    code: int8
-    status: String
-
-
-@dataclass
-class ModeStatusRequest(IdlStruct, typename="ModeStatusRequest"):
-    """Mode status request message."""
-
-    class Code(Enum):
-        """Code enum for ModeStatusRequest."""
-
-        SWITCH_MODE = 0
-        STATUS = 1
-
-    header: Header
-    request_id: String
-    code: int8
-    mode: String = field(default_factory=lambda: String(""))  # Target mode for SWITCH_MODE, ignored for STATUS
-
-
-@dataclass
-class ModeStatusResponse(IdlStruct, typename="ModeStatusResponse"):
-    """Mode status response message."""
-
-    class Code(Enum):
-        """Code enum for ModeStatusResponse."""
-
-        SUCCESS = 0
-        FAILURE = 1
-        UNKNOWN = 2
-
-    header: Header
-    request_id: String
-    code: int8
-    current_mode: String
-    message: String
-
-
-@dataclass
-class TTSStatusRequest(IdlStruct, typename="TTSStatusRequest"):
-    """TTS status request message."""
-
-    class Code(Enum):
-        """Code enum for TTSStatusRequest."""
-
-        DISABLED = 0
-        ENABLED = 1
-        STATUS = 2
-
-    header: Header
-    request_id: String
-    code: int8
-
-
-@dataclass
-class TTSStatusResponse(IdlStruct, typename="TTSStatusResponse"):
-    """TTS status response message."""
-
-    class Code(Enum):
-        """Code enum for TTSStatusResponse."""
-
-        DISABLED = 0
-        ENABLED = 1
-        UNKNOWN = 2
-
-    header: Header
-    request_id: String
-    code: int8
-    status: String
-
-
-@dataclass
-class ASRText(IdlStruct, typename="ASRText"):
-    """ASR text message."""
-
-    header: Header
-    text: str
-
-
-@dataclass
-class AvatarFaceRequest(IdlStruct, typename="AvatarFaceRequest"):
-    """Avatar face request message."""
-
-    class Code(Enum):
-        """Code enum for AvatarFaceRequest."""
-
-        SWITCH_FACE = 0
-        STATUS = 1
-
-    header: Header
-    request_id: String
-    code: int8
-    face_text: String
-
-
-@dataclass
-class AvatarFaceResponse(IdlStruct, typename="AvatarFaceResponse"):
-    """Avatar face response message."""
-
-    class Code(Enum):
-        """Code enum for AvatarFaceResponse."""
-
-        ACTIVE = 0
-        INACTIVE = 1
-        UNKNOWN = 2
-
-    header: Header
-    request_id: String
-    code: int8
-    message: String
-
-
-@dataclass
-class ConfigRequest(IdlStruct, typename="ConfigRequest"):
-    """Request message for configuration requests."""
-
-    header: Header
-    request_id: String
-    config: String = field(default_factory=lambda: String(""))  # ignored for GET_CONFIG
-
-
-@dataclass
-class ConfigResponse(IdlStruct, typename="ConfigResponse"):
-    """Response message for configuration requests."""
-
-    header: Header
-    request_id: String
-    config: String
-    message: String
-
-
-@dataclass
-class ChargingStatus(IdlStruct, typename="ChargingStatus"):
-    """Charging status message."""
-
-    class Code(Enum):
-        """Code enum for ChargingStatus."""
-
-        DISCHARGING = 0
-        CHARGING = 1
-        ENROUTE_CHARGING = 2
-        FULLY_CHARGED = 3
-
-    header: Header
-    code: int8
-    status: String
-
-
-@dataclass
-class PersonGreetingStatus(IdlStruct, typename="PersonGreetingStatus"):
-    """Person greeting status message."""
-
-    class STATUS(Enum):
-        """
-        Code enum for PersonGreetingStatus.
-
-        APPROACHING: A person is approaching.
-        APPROACHED: A person has approached.
-        SWITCH: Switch state from the conversation to find the next person.
-        CONVERSATION: Currently in conversation with a person.
-        """
-
-        APPROACHING = 0
-        APPROACHED = 1
-        SWITCH = 2
-        CONVERSATION = 3
-
-    header: Header
-    request_id: String
-    status: int8
-    message: String
diff --git a/src/zenoh_msgs/idl/std_msgs.py b/src/zenoh_msgs/idl/std_msgs.py
deleted file mode 100644
index 39554d97aa..0000000000
--- a/src/zenoh_msgs/idl/std_msgs.py
+++ /dev/null
@@ -1,65 +0,0 @@
-"""Standard message definitions for Zenoh communication."""
-
-import math
-import time
-from dataclasses import dataclass
-
-from pycdr2 import IdlStruct
-from pycdr2.types import float32, int32, uint32
-
-
-@dataclass
-class Time(IdlStruct, typename="Time"):
-    """Time message."""
-
-    sec: int32
-    nanosec: uint32
-
-
-@dataclass
-class Duration(IdlStruct, typename="Duration"):
-    """Duration message."""
-
-    sec: int32
-    nanosec: uint32
-
-
-@dataclass
-class Header(IdlStruct, typename="Header"):
-    """Standard metadata for higher-level stamped data types."""
-
-    stamp: Time
-    frame_id: str
-
-
-@dataclass
-class ColorRGBA(IdlStruct, typename="ColorRGBA"):
-    """RGBA color message."""
-
-    r: float32
-    g: float32
-    b: float32
-    a: float32
-
-
-@dataclass
-class String(IdlStruct, typename="String"):
-    """String message."""
-
-    data: str
-
-
-def prepare_header(frame_id: str = "") -> Header:
-    """
-    Prepare a Header with the current timestamp and a given frame ID.
-
-    Parameters
-    ----------
-    frame_id : str
-        The frame ID to be set in the header.
-    """
-    ts = time.time()
-    remainder, seconds = math.modf(ts)
-    timestamp = Time(sec=int32(seconds), nanosec=uint32(remainder * 1000000000))  # type: ignore
-    header = Header(stamp=timestamp, frame_id=frame_id)
-    return header
diff --git a/src/zenoh_msgs/idl/unitree_api_msgs.py b/src/zenoh_msgs/idl/unitree_api_msgs.py
deleted file mode 100644
index 58c0b8632c..0000000000
--- a/src/zenoh_msgs/idl/unitree_api_msgs.py
+++ /dev/null
@@ -1,48 +0,0 @@
-"""Unitree API message definitions for Zenoh communication."""
-
-from dataclasses import dataclass, field
-from typing import List
-
-from pycdr2 import IdlStruct
-from pycdr2.types import int32, int64, uint8
-
-
-@dataclass
-class RequestIdentity(IdlStruct, typename="unitree_api::msg::dds_::RequestIdentity_"):
-    """Request identity containing API routing information."""
-
-    id: int64 = 0
-    api_id: int64 = 0
-
-
-@dataclass
-class RequestLease(IdlStruct, typename="unitree_api::msg::dds_::RequestLease_"):
-    """Request lease information."""
-
-    id: int64 = 0
-
-
-@dataclass
-class RequestPolicy(IdlStruct, typename="unitree_api::msg::dds_::RequestPolicy_"):
-    """Request policy settings."""
-
-    priority: int32 = 0
-    noreply: bool = False
-
-
-@dataclass
-class RequestHeader(IdlStruct, typename="unitree_api::msg::dds_::RequestHeader_"):
-    """Request header containing identity, lease, and policy."""
-
-    identity: RequestIdentity = field(default_factory=RequestIdentity)
-    lease: RequestLease = field(default_factory=RequestLease)
-    policy: RequestPolicy = field(default_factory=RequestPolicy)
-
-
-@dataclass
-class Request(IdlStruct, typename="unitree_api::msg::dds_::Request_"):
-    """Unitree API request message for sport/action commands."""
-
-    header: RequestHeader = field(default_factory=RequestHeader)
-    parameter: str = ""
-    binary: List[uint8] = field(default_factory=list)
diff --git a/src/zenoh_msgs/idl/unitree_go.py b/src/zenoh_msgs/idl/unitree_go.py
deleted file mode 100644
index 03a8e5e441..0000000000
--- a/src/zenoh_msgs/idl/unitree_go.py
+++ /dev/null
@@ -1,104 +0,0 @@
-from dataclasses import dataclass
-
-from pycdr2 import IdlStruct
-from pycdr2.types import array, float32, int8, int16, int32, uint8, uint16, uint32
-
-
-@dataclass
-class TimeSpec(IdlStruct, typename="TimeSpec"):
-    """TimeSpec message."""
-
-    sec: int32
-    nanosec: uint32
-
-
-@dataclass
-class IMUState(IdlStruct, typename="IMUState"):
-    """IMUState message."""
-
-    quaternion: array[float32, 4]
-    gyroscope: array[float32, 3]
-    accelerometer: array[float32, 3]
-    rpy: array[float32, 3]
-    temperature: int8
-
-
-@dataclass
-class MotorState(IdlStruct, typename="MotorState"):
-    """MotorState message."""
-
-    mode: uint8
-    q: float32
-    dq: float32
-    ddq: float32
-    tau_est: float32
-    q_raw: float32
-    dq_raw: float32
-    ddq_raw: float32
-    temperature: int8
-    lost: uint32
-    reserve: array[uint32, 2]
-
-
-@dataclass
-class BmsState(IdlStruct, typename="BmsState"):
-    """BmsState message."""
-
-    version_high: uint8
-    version_low: uint8
-    status: uint8
-    soc: uint8
-    current: int32
-    cycle: uint16
-    bq_ntc: array[int8, 2]
-    mcu_ntc: array[int8, 2]
-    cell_vol: array[uint16, 15]
-
-
-@dataclass
-class LowState(IdlStruct, typename="LowState"):
-    """LowState message."""
-
-    head: array[uint8, 2]
-    level_flag: uint8
-    frame_reserve: uint8
-    sn: array[uint32, 2]
-    version: array[uint32, 2]
-    bandwidth: uint16
-    imu_state: IMUState
-    motor_state: array[MotorState, 20]
-    bms_state: BmsState
-    foot_force: array[int16, 4]
-    foot_force_est: array[int16, 4]
-    tick: uint32
-    wireless_remote: array[uint8, 40]
-    bit_flag: uint8
-    adc_reel: float32
-    temperature_ntc1: int8
-    temperature_ntc2: int8
-    power_v: float32
-    power_a: float32
-    fan_frequency: array[uint16, 4]
-    reserve: uint32
-    crc: uint32
-
-
-@dataclass
-class SportModeState(IdlStruct, typename="SportModeState"):
-    """SportModeState message."""
-
-    stamp: TimeSpec
-    error_code: uint32
-    imu_state: IMUState
-    mode: uint8
-    progress: float32
-    gait_type: uint8
-    foot_raise_height: float32
-    position: array[float32, 3]
-    body_height: float32
-    velocity: array[float32, 3]
-    yaw_speed: float32
-    range_obstacle: array[float32, 4]
-    foot_force: array[int16, 4]
-    foot_position_body: array[float32, 12]
-    foot_speed_body: array[float32, 12]
diff --git a/src/zenoh_msgs/session.py b/src/zenoh_msgs/session.py
deleted file mode 100644
index 96324274e0..0000000000
--- a/src/zenoh_msgs/session.py
+++ /dev/null
@@ -1,418 +0,0 @@
-import logging
-from typing import Any, Callable, Optional, Union
-
-import zenoh
-
-from zenoh_msgs.cloud_session.topic_schemas import CLOUD_TOPICS
-from zenoh_msgs.cloud_session.zenoh_adapter import (
-    CloudSimZenohSession,
-    _Publisher,
-    _Sample,
-    _Subscriber,
-)
-
-ZenohSessionType = Union[zenoh.Session, CloudSimZenohSession, "HybridZenohSession", "_ZenohSessionContextManager"]
-ZenohSampleType = Union[zenoh.Sample, "_Sample"]
-
-
-def create_zenoh_config(network_discovery: bool = True) -> zenoh.Config:
-    """
-    Create a Zenoh configuration for a client connecting to a Zenoh router.
-
-    Parameters
-    ----------
-    network_discovery : bool, optional
-        Whether to enable network discovery (default is True).
-
-    Returns
-    -------
-    zenoh.Config
-        The Zenoh configuration object.
-    """
-    config = zenoh.Config()
-    if not network_discovery:
-        config.insert_json5("mode", '"client"')
-        config.insert_json5("connect/endpoints", '["tcp/127.0.0.1:7447"]')
-
-    return config
-
-
-class HybridZenohSession:
-    """
-    A session wrapper that routes subscriptions and publications to either a cloud
-    simulation session or a standard Zenoh session based on the topic.
-
-    Topics in CLOUD_TOPICS are routed to the cloud session, while all other topics
-    are routed to the standard Zenoh session.
-    """
-
-    _api_key: Optional[str] = None
-    _use_sim: bool = False
-
-    def __init__(self) -> None:
-        """
-        Initialize the hybrid session with lazy-initialized underlying sessions.
-        """
-        self._cloud_session: Optional[CloudSimZenohSession] = None
-        self._zenoh_session: Optional[zenoh.Session] = None
-        self._api_key = HybridZenohSession._api_key
-        self._use_sim = HybridZenohSession._use_sim
-
-    @classmethod
-    def set_api_key(cls, api_key: str) -> None:
-        """
-        Set the API key for all HybridZenohSession instances.
-
-        Parameters
-        ----------
-        api_key : str
-            The default API key to use for cloud session authentication.
-        """
-        cls._api_key = api_key
-
-    @classmethod
-    def set_use_sim(cls, use_sim: bool) -> None:
-        """
-        Set the simulation mode for all HybridZenohSession instances.
-
-        Parameters
-        ----------
-        use_sim : bool
-            Whether the system is running in simulation mode.
-        """
-        cls._use_sim = use_sim
-
-    @property
-    def use_sim(self) -> bool:
-        """
-        Get the simulation mode.
-
-        Returns
-        -------
-        bool
-            Whether the system is running in simulation mode.
-        """
-        return self._use_sim
-
-    def _get_cloud_session(self) -> CloudSimZenohSession:
-        """
-        Get or create the cloud session.
-
-        Returns
-        -------
-        CloudSimZenohSession
-            The cloud simulation session for topics in CLOUD_TOPICS.
-        """
-        if self._cloud_session is None:
-            self._cloud_session = _open_cloud_session(token=self._api_key)
-            logging.info("Initialized cloud simulation session")
-        return self._cloud_session
-
-    def _get_zenoh_session(self) -> zenoh.Session:
-        """
-        Get or create the standard Zenoh session.
-
-        Returns
-        -------
-        zenoh.Session
-            The standard Zenoh session for non-cloud topics.
-        """
-        if self._zenoh_session is None:
-            local_config = create_zenoh_config(network_discovery=False)
-            try:
-                self._zenoh_session = zenoh.open(local_config)
-                logging.info("Zenoh client opened without network discovery")
-            except Exception:
-                logging.info("Falling back to network discovery...")
-                config = create_zenoh_config()
-                try:
-                    self._zenoh_session = zenoh.open(config)
-                    logging.info("Zenoh client opened with network discovery")
-                except Exception as e:
-                    logging.error(f"Error opening Zenoh client: {e}")
-                    raise Exception("Failed to open Zenoh session") from e
-        return self._zenoh_session
-
-    def declare_subscriber(
-        self,
-        topic: str,
-        handler: Optional[Callable[[Any], None]],
-    ) -> Optional[Union[_Subscriber, zenoh.Subscriber]]:
-        """
-        Subscribe to a topic, routing to the appropriate underlying session.
-
-        Parameters
-        ----------
-        topic : str
-            The topic to subscribe to.
-        handler : Callable[[Any], None]
-            A callback function to handle incoming messages.
-
-        Returns
-        -------
-        Optional[Union[_Subscriber, zenoh.Subscriber]]
-            A subscriber object from the appropriate session.
-        """
-        if topic in CLOUD_TOPICS:
-            logging.debug(f"Routing topic '{topic}' to cloud session")
-            return self._get_cloud_session().declare_subscriber(topic, handler)
-        else:
-            logging.debug(f"Routing topic '{topic}' to standard Zenoh session")
-            return self._get_zenoh_session().declare_subscriber(topic, handler)
-
-    def declare_publisher(self, topic: str) -> Optional[Union[_Publisher, zenoh.Publisher]]:
-        """
-        Create a publisher for a topic, routing to the appropriate underlying session.
-
-        Parameters
-        ----------
-        topic : str
-            The topic to publish to.
-
-        Returns
-        -------
-        Optional[Union[_Publisher, zenoh.Publisher]]
-            A publisher object from the appropriate session.
-        """
-        if topic in CLOUD_TOPICS:
-            logging.debug(f"Routing topic '{topic}' to cloud session")
-            return self._get_cloud_session().declare_publisher(topic)
-        else:
-            logging.debug(f"Routing topic '{topic}' to standard Zenoh session")
-            return self._get_zenoh_session().declare_publisher(topic)
-
-    def get(self, topic: str, *args: Any, **kwargs: Any) -> Any:
-        """
-        Perform a get operation on a topic, routing to the appropriate underlying session.
-
-        Note: Query/response patterns (get) are not supported on cloud simulation topics.
-        If a cloud topic is requested, this will use the standard Zenoh session instead.
-
-        Parameters
-        ----------
-        topic : str
-            The topic to query.
-        *args : Any
-            Additional positional arguments to pass to the underlying session.
-        **kwargs : Any
-            Additional keyword arguments to pass to the underlying session.
-
-        Returns
-        -------
-        Any
-            The result from the underlying session's get operation.
-        """
-        if topic in CLOUD_TOPICS:
-            logging.warning(
-                f"Query/response (get) not supported for cloud topic '{topic}', "
-                "falling back to standard Zenoh session"
-            )
-        logging.debug(f"Routing get for topic '{topic}' to standard Zenoh session")
-        return self._get_zenoh_session().get(topic, *args, **kwargs)
-
-    def put(self, topic: str, payload: Any, *args: Any, **kwargs: Any) -> None:
-        """
-        Publish to a topic, routing to the appropriate underlying session.
-
-        Parameters
-        ----------
-        topic : str
-            The topic to publish to.
-        payload : Any
-            The payload to publish.
-        *args : Any
-            Additional positional arguments to pass to the underlying session.
-        **kwargs : Any
-            Additional keyword arguments to pass to the underlying session.
-        """
-        if topic in CLOUD_TOPICS:
-            logging.debug(f"Routing put for topic '{topic}' to cloud session")
-            self._get_cloud_session().put(topic, payload, *args, **kwargs)
-        else:
-            logging.debug(f"Routing put for topic '{topic}' to standard Zenoh session")
-            self._get_zenoh_session().put(topic, payload, *args, **kwargs)
-
-    def close(self) -> None:
-        """
-        Close both underlying sessions if they were initialized.
-        """
-        if self._cloud_session is not None:
-            self._cloud_session.close()
-            logging.info("Closed cloud simulation session")
-        if self._zenoh_session is not None:
-            self._zenoh_session.close()
-            logging.info("Closed standard Zenoh session")
-
-
-def open_zenoh_session() -> "_ZenohSessionContextManager":
-    """
-    Open a Zenoh session.
-
-    Returns
-    -------
-    _ZenohSessionContextManager
-        A context manager that yields a Zenoh session.
-    """
-    return _ZenohSessionContextManager()
-
-
-class _ZenohSessionContextManager:
-    """
-    Context manager wrapper for Zenoh sessions.
-
-    This class enables using open_zenoh_session() with the 'with' statement,
-    ensuring proper cleanup of resources. It also maintains backward compatibility
-    by allowing direct attribute access without using a context manager.
-    """
-
-    def __init__(self) -> None:
-        """
-        Initialize the context manager without creating the session yet.
-        """
-        self._session: Optional[ZenohSessionType] = None
-
-    def __enter__(self) -> ZenohSessionType:
-        """
-        Open and return the Zenoh session.
-
-        Returns
-        -------
-        ZenohSessionType
-            The opened Zenoh session.
-        """
-        self._session = _create_zenoh_session()
-
-        return self._session
-
-    def __exit__(self, _exc_type, _exc_val, _exc_tb) -> None:
-        """
-        Close the Zenoh session.
-
-        Parameters
-        ----------
-        _exc_type : type, optional
-            The type of exception that occurred, if any.
-        _exc_val : Exception, optional
-            The exception instance that occurred, if any.
-        _exc_tb : traceback, optional
-            The traceback object, if any.
-        """
-        if self._session is not None:
-            self._session.close()
-            logging.info("Closed Zenoh session")
-
-    def __getattr__(self, name: str) -> Any:
-        """
-        Forward attribute access to the underlying session.
-
-        Parameters
-        ----------
-        name : str
-            The name of the attribute to access.
-
-        Returns
-        -------
-        Any
-            The value of the requested attribute from the underlying session.
-        """
-        if self._session is None:
-            self._session = _create_zenoh_session()
-        return getattr(self._session, name)
-
-
-def _create_zenoh_session() -> ZenohSessionType:
-    """
-    Internal function to create a Zenoh session.
-
-    Returns
-    -------
-    ZenohSessionType
-        A session object that can be used to interact with Zenoh topics.
-    """
-    if HybridZenohSession._use_sim:
-        return HybridZenohSession()
-
-    local_config = create_zenoh_config(network_discovery=False)
-    try:
-        session = zenoh.open(local_config)
-        logging.info("Zenoh client opened without network discovery")
-        return session
-    except Exception:
-        logging.info("Falling back to network discovery...")
-
-    config = create_zenoh_config()
-    try:
-        session = zenoh.open(config)
-        logging.info("Zenoh client opened with network discovery")
-        return session
-    except Exception as e:
-        logging.error(f"Error opening Zenoh client: {e}")
-        raise Exception("Failed to open Zenoh session") from e
-
-
-def _open_cloud_session(
-    url: str = "wss://api.openmind.com/api/core/simulation/zenoh", token: Optional[str] = None
-) -> CloudSimZenohSession:
-    """
-    Open a CloudSimZenohSession using the URL and token from environment variables.
-    """
-    return CloudSimZenohSession(url, token=token)
-
-
-def load_api_key(api_key: Optional[str]):
-    """
-    Load the API key for cloud session authentication.
-
-    This function sets the API key for all HybridZenohSession instances, allowing
-    them to authenticate with the cloud broker when routing topics in CLOUD_TOPICS.
-
-    Parameters
-    ----------
-    api_key : str
-        The API key to use for cloud session authentication.
-    """
-    if not api_key:
-        return
-
-    HybridZenohSession.set_api_key(api_key)
-
-
-def load_use_sim(use_sim: bool):
-    """
-    Load the simulation mode setting.
-
-    This function sets the simulation mode for all HybridZenohSession instances,
-    allowing them to route topics in CLOUD_TOPICS to the cloud session when use_sim is True.
-
-    Parameters
-    ----------
-    use_sim : bool
-        Whether the system is running in simulation mode.
-    """
-    HybridZenohSession.set_use_sim(use_sim)
-
-
-def load_session_config(api_key: Optional[str], use_sim: bool):
-    """
-    Load session configuration settings.
-
-    This function sets both the API key and simulation mode for all HybridZenohSession instances.
-
-    Parameters
-    ----------
-    api_key : Optional[str]
-        The API key to use for cloud session authentication.
-    use_sim : bool
-        Whether the system is running in simulation mode.
-    """
-    load_api_key(api_key)
-    load_use_sim(use_sim)
-
-
-if __name__ == "__main__":
-    session = open_zenoh_session()
-    if session:
-        logging.info("Session opened successfully")
-        session.close()
-    else:
-        logging.error("Failed to open Zenoh session")
diff --git a/system_hw_test/ble.py b/system_hw_test/ble.py
deleted file mode 100644
index de09083add..0000000000
--- a/system_hw_test/ble.py
+++ /dev/null
@@ -1,49 +0,0 @@
-# Scan for nearby Bluetooth LE devices and their services
-
-import asyncio
-
-from bleak import BleakClient, BleakScanner
-
-
-async def main():
-    devices = await BleakScanner.discover()
-    for device in devices:
-        print()
-        print(f"Name: {device.name}")
-        print(f"Address: {device.address}")
-        print(f"Details: {device.details}")
-        print(f"Metadata: {device.metadata}")
-        print(f"RSSI: {device.rssi}")
-
-    for device in devices:
-        try:
-            this_device = await BleakScanner.find_device_by_address(device.address, timeout=20)
-            async with BleakClient(this_device) as client:
-                print("Services found for device")
-                print(f"\tDevice address:{device.address}")
-                print(f"\tDevice name:{device.name}")
-
-                print("\tServices:")
-                for service in client.services:
-                    print()
-                    print(f"\t\tDescription: {service.description}")
-                    print(f"\t\tService: {service}")
-
-                    print("\t\tCharacteristics:")
-                    for c in service.characteristics:
-                        print()
-                        print(f"\t\t\tUUID: {c.uuid}"),
-                        print(f"\t\t\tDescription: {c.uuid}")
-                        print(f"\t\t\tHandle: {c.uuid}"),
-                        print(f"\t\t\tProperties: {c.uuid}")
-
-                        print("\t\tDescriptors:")
-                        for descrip in c.descriptors:
-                            print(f"\t\t\t{descrip}")
-
-        except Exception as e:
-            print(f"Could not connect to device with info: {device}")
-            print(f"Error: {e}")
-
-
-asyncio.run(main())
diff --git a/system_hw_test/booster_zenoh_mock.py b/system_hw_test/booster_zenoh_mock.py
deleted file mode 100644
index 74b08048ec..0000000000
--- a/system_hw_test/booster_zenoh_mock.py
+++ /dev/null
@@ -1,70 +0,0 @@
-import json
-import os
-import sys
-import time
-
-import zenoh
-
-# Add src directory to path to import local zenoh_msgs if needed
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "src"))
-
-from zenoh_msgs import BoosterApiRespMsg, RpcServiceRequest, RpcServiceResponse
-
-
-class BoosterZenohMock:
-    def __init__(self):
-        print("Opening Zenoh session...")
-        self.zenoh_session = zenoh.open(zenoh.Config())
-        self.zenoh_key = "booster_rpc_service"
-
-        # Register Zenoh Query Responder
-        print(f"Registering Zenoh responder on: {self.zenoh_key}")
-        self.queryable = self.zenoh_session.declare_queryable(self.zenoh_key, self.zenoh_query_handler)
-        print("Bridge is ready. Waiting for Zenoh requests...")
-
-    def zenoh_query_handler(self, query):
-        """Callback when Zenoh client calls session.get()"""
-        print(f"Received Zenoh query on {query.selector}")
-
-        payload = query.payload.to_bytes()
-        try:
-            # Deserialize the Zenoh request
-            zenoh_req = RpcServiceRequest.deserialize(payload)
-            inner_msg = zenoh_req.msg  # This is the BoosterApiReqMsg
-
-            print(f"Request API ID: {inner_msg.api_id}")
-            print(f"Request Body: {inner_msg.body}")
-
-            # --- Mock Response Logic ---
-            # Simulate ROS 2 service success:
-            response_body = json.dumps({"status": "success", "message": "Robot moved (MOCKED)"})
-            api_resp = BoosterApiRespMsg(status=0, body=response_body)
-
-            # Wrap back into the RpcServiceResponse expected by client
-            zenoh_resp = RpcServiceResponse(msg=api_resp)
-
-            # Send the reply back to the Zenoh client
-            query.reply(self.zenoh_key, zenoh_resp.serialize())
-            print("Reply sent back via Zenoh.")
-
-        except Exception as e:
-            print(f"Error handling query: {e}")
-
-    def close(self):
-        self.queryable.undeclare()
-        self.zenoh_session.close()
-
-
-def main():
-    bridge = BoosterZenohMock()
-    try:
-        while True:
-            time.sleep(1)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        bridge.close()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/system_hw_test/booster_zenoh_ros2_bridge.py b/system_hw_test/booster_zenoh_ros2_bridge.py
deleted file mode 100755
index 25f0a517b2..0000000000
--- a/system_hw_test/booster_zenoh_ros2_bridge.py
+++ /dev/null
@@ -1,242 +0,0 @@
-import json
-import math
-
-import rclpy
-
-# Import ROS 2 service type
-from booster_interface.srv import RpcService
-from rclpy.node import Node
-from rosidl_runtime_py.utilities import get_message
-
-# Import your custom message wrappers
-# Ensure these are in your PYTHONPATH
-from zenoh_msgs import (
-    BoosterApiRespMsg,
-    Odometer,
-    RpcServiceRequest,
-    RpcServiceResponse,
-    open_zenoh_session,
-)
-from zenoh_msgs import sensor_msgs as zenoh_sensor_msgs
-from zenoh_msgs import std_msgs as zenoh_std_msgs
-
-
-class BoosterZenohBridge(Node):
-    def __init__(self):
-        super().__init__("booster_zenoh_bridge")
-
-        # 1. Initialize ROS 2 Service Client
-        # This bridge acts as a CLIENT to the real ROS 2 service
-        self.ros2_service_name = "/booster_rpc_service"
-        self.cli = self.create_client(RpcService, self.ros2_service_name)
-
-        # Wait for service to be available
-        print(f"Waiting for ROS 2 service: {self.ros2_service_name}")
-        while not self.cli.wait_for_service(timeout_sec=1.0):
-            print("Service not available, waiting...")
-        print(f"ROS 2 service {self.ros2_service_name} is ready")
-
-        # 2. Initialize Zenoh Session
-        print("Opening Zenoh session...")
-        self.zenoh_session = open_zenoh_session()
-        self.zenoh_key = "booster_rpc_service"
-
-        # 2b. Bridge ROS2 /om/paths -> Zenoh om/paths (for SimplePathsProvider)
-        self.ros2_paths_topic = "/om/paths"
-        self.zenoh_paths_key = "om/paths"
-        self._paths_sub = None
-
-        # 2c. Bridge ROS2 /odometer_state -> Zenoh odometer_state (for K1OdomProvider)
-        self.ros2_odom_topic = "/odometer_state"
-        self.zenoh_odom_key = "odometer_state"
-        self._odom_sub = None
-
-        # 3. Register Zenoh Query Responder
-        # This listens for the session.get() calls from your test script
-        print(f"Registering Zenoh responder on: {self.zenoh_key}")
-        self.queryable = self.zenoh_session.declare_queryable(self.zenoh_key, self.zenoh_query_handler)
-
-        # Try to subscribe immediately; if /om/paths isn't available yet, retry.
-        self._try_subscribe_paths()
-        self.create_timer(1.0, self._try_subscribe_paths)
-
-        # Try to subscribe immediately; if /odometer_state isn't available yet, retry.
-        self._try_subscribe_odom()
-        self.create_timer(1.0, self._try_subscribe_odom)
-
-        print("Bridge is ready. Waiting for Zenoh requests...")
-
-    def _try_subscribe_odom(self):
-        if self._odom_sub is not None:
-            return
-
-        topics = dict(self.get_topic_names_and_types())
-        types = topics.get(self.ros2_odom_topic)
-        type_str = types[0] if types else None
-        if not type_str:
-            return
-
-        try:
-            msg_type = get_message(type_str)
-        except Exception as e:
-            print(f"Cannot resolve ROS2 message type for {self.ros2_odom_topic}: {type_str} ({e})")
-            return
-
-        print(f"Subscribing to ROS2 {self.ros2_odom_topic} [{type_str}] -> Zenoh {self.zenoh_odom_key}")
-        self._odom_sub = self.create_subscription(
-            msg_type,
-            self.ros2_odom_topic,
-            self._ros2_odom_callback,
-            10,
-        )
-
-    def _yaw_from_quat(self, x: float, y: float, z: float, w: float) -> float:
-        # Standard yaw extraction (Z axis rotation) from quaternion.
-        siny_cosp = 2.0 * (w * z + x * y)
-        cosy_cosp = 1.0 - 2.0 * (y * y + z * z)
-        return math.atan2(siny_cosp, cosy_cosp)
-
-    def _ros2_odom_callback(self, msg):
-        try:
-            # Case 1: message already looks like (x, y, theta)
-            if hasattr(msg, "x") and hasattr(msg, "y") and hasattr(msg, "theta"):
-                x = float(getattr(msg, "x"))
-                y = float(getattr(msg, "y"))
-                theta = float(getattr(msg, "theta"))
-            else:
-                # Case 2: nav_msgs/Odometry-like: pose.pose.position + pose.pose.orientation
-                pose = getattr(msg, "pose", None)
-                pose_inner = getattr(pose, "pose", pose) if pose is not None else None
-                position = getattr(pose_inner, "position", None) if pose_inner else None
-                orientation = getattr(pose_inner, "orientation", None) if pose_inner else None
-
-                if position is None or orientation is None:
-                    raise ValueError("Unsupported odom message layout (need x/y/theta or pose.position+orientation)")
-
-                x = float(getattr(position, "x", 0.0))
-                y = float(getattr(position, "y", 0.0))
-                qx = float(getattr(orientation, "x", 0.0))
-                qy = float(getattr(orientation, "y", 0.0))
-                qz = float(getattr(orientation, "z", 0.0))
-                qw = float(getattr(orientation, "w", 1.0))
-                theta = float(self._yaw_from_quat(qx, qy, qz, qw))
-
-            z_odom = Odometer(x=x, y=y, theta=theta)
-            self.zenoh_session.put(self.zenoh_odom_key, z_odom.serialize())
-        except Exception as e:
-            print(f"Error bridging {self.ros2_odom_topic}: {e}")
-
-    def _try_subscribe_paths(self):
-        if self._paths_sub is not None:
-            return
-
-        topics = dict(self.get_topic_names_and_types())
-        types = topics.get(self.ros2_paths_topic)
-        type_str = types[0] if types else None
-        if not type_str:
-            return
-
-        try:
-            msg_type = get_message(type_str)
-        except Exception as e:
-            print(f"Cannot resolve ROS2 message type for {self.ros2_paths_topic}: {type_str} ({e})")
-            return
-
-        print(f"Subscribing to ROS2 {self.ros2_paths_topic} [{type_str}] -> Zenoh {self.zenoh_paths_key}")
-        self._paths_sub = self.create_subscription(
-            msg_type,
-            self.ros2_paths_topic,
-            self._ros2_paths_callback,
-            10,
-        )
-
-    def _ros2_paths_callback(self, msg):
-        try:
-            header = getattr(msg, "header", None)
-            frame_id = getattr(header, "frame_id", "") if header else ""
-
-            stamp = getattr(header, "stamp", None) if header else None
-            sec = int(getattr(stamp, "sec", 0)) if stamp else 0
-            nanosec = int(getattr(stamp, "nanosec", 0)) if stamp else 0
-
-            z_header = zenoh_std_msgs.Header(
-                stamp=zenoh_std_msgs.Time(sec=sec, nanosec=nanosec),
-                frame_id=frame_id,
-            )
-
-            paths = list(getattr(msg, "paths", []) or [])
-            blocked_by_obstacle_idx = list(getattr(msg, "blocked_by_obstacle_idx", []) or [])
-            blocked_by_hazard_idx = list(getattr(msg, "blocked_by_hazard_idx", []) or [])
-
-            z_paths = zenoh_sensor_msgs.Paths(
-                header=z_header,
-                paths=paths,
-                blocked_by_obstacle_idx=blocked_by_obstacle_idx,
-                blocked_by_hazard_idx=blocked_by_hazard_idx,
-            )
-
-            self.zenoh_session.put(self.zenoh_paths_key, z_paths.serialize())
-        except Exception as e:
-            print(f"Error bridging {self.ros2_paths_topic}: {e}")
-
-    def zenoh_query_handler(self, query):
-        """Callback when Zenoh client calls session.get()"""
-        print(f"Received Zenoh query on {query.selector}")
-
-        payload = query.payload.to_bytes()
-        try:
-            # Deserialize the Zenoh request
-            zenoh_req = RpcServiceRequest.deserialize(payload)
-            inner_msg = zenoh_req.msg  # This is the BoosterApiReqMsg
-
-            # Convert Zenoh request to ROS 2 service request
-            ros2_req = RpcService.Request()
-            ros2_req.msg.api_id = inner_msg.api_id
-            ros2_req.msg.body = inner_msg.body
-
-            # Call the ROS 2 service synchronously
-            print("Calling ROS 2 service...")
-            future = self.cli.call_async(ros2_req)
-            rclpy.spin_until_future_complete(self, future, timeout_sec=5.0)
-
-            if future.result() is not None:
-                ros2_resp = future.result()
-                print(f"ROS 2 Response - Status: {ros2_resp.msg.status}, Body: {ros2_resp.msg.body}")
-
-                # Convert ROS 2 response to Zenoh response
-                api_resp = BoosterApiRespMsg(status=ros2_resp.msg.status, body=ros2_resp.msg.body)
-            else:
-                print("ROS 2 service call failed or timed out")
-                error_body = json.dumps({"status": "error", "message": "ROS 2 service call failed"})
-                api_resp = BoosterApiRespMsg(status=-1, body=error_body)
-
-            # Wrap back into the RpcServiceResponse expected by your client
-            zenoh_resp = RpcServiceResponse(msg=api_resp)
-
-            # Send the reply back to the Zenoh client
-            query.reply(self.zenoh_key, zenoh_resp.serialize())
-            print("Reply sent back via Zenoh.")
-
-        except Exception as e:
-            print(f"Error handling query: {e}")
-
-    def destroy_node(self):
-        self.queryable.undeclare()
-        self.zenoh_session.close()
-        super().destroy_node()
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    bridge = BoosterZenohBridge()
-    try:
-        rclpy.spin(bridge)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        bridge.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/system_hw_test/front_image.jpg b/system_hw_test/front_image.jpg
deleted file mode 100644
index da58999d5d..0000000000
Binary files a/system_hw_test/front_image.jpg and /dev/null differ
diff --git a/system_hw_test/g1_odommodestate.py b/system_hw_test/g1_odommodestate.py
deleted file mode 100644
index 2e63afd0d7..0000000000
--- a/system_hw_test/g1_odommodestate.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import sys
-import time
-
-sys.path.insert(0, "../src")
-
-try:
-    from unitree.unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
-except ImportError:
-    print("Please run this script from inside /system_hw_test")
-
-from unitree.unitree_sdk2py.core.channel import (
-    ChannelFactoryInitialize,
-    ChannelSubscriber,
-)
-
-
-class Custom:
-    def __init__(self):
-        self.low_state = None
-
-    # Public methods
-    def Init(self):
-        print("Initiating subscriber")
-        self.subscriber = ChannelSubscriber("rt/odommodestate", SportModeState_)
-        self.subscriber.Init(self.MessageHandler, 10)
-        print("Initiated subscriber")
-        print("Waiting for messages on topic: rt/odommodestate")
-        print("Press Ctrl+C to exit")
-
-    def MessageHandler(self, msg: SportModeState_):
-        print("\n[Message Received]")
-        print(f"message info: {msg}")
-        print(f"Timestamp: {time.time()}\n")
-
-
-if __name__ == "__main__":
-
-    if len(sys.argv) > 1:
-        print(f"Initializing channel factory with network interface: {sys.argv[1]}")
-        ChannelFactoryInitialize(0, sys.argv[1])
-    else:
-        print("Initializing channel factory with default network interface")
-        ChannelFactoryInitialize(0)
-
-    custom = Custom()
-    custom.Init()
-
-    try:
-        while True:
-            time.sleep(1)
-    except KeyboardInterrupt:
-        print("\nExiting...")
-        sys.exit(0)
diff --git a/system_hw_test/go2_camera_opencv.py b/system_hw_test/go2_camera_opencv.py
deleted file mode 100644
index fd38d4dd71..0000000000
--- a/system_hw_test/go2_camera_opencv.py
+++ /dev/null
@@ -1,42 +0,0 @@
-import sys
-
-import cv2
-import numpy as np
-
-from unitree.unitree_sdk2py.core.channel import ChannelFactoryInitialize
-from unitree.unitree_sdk2py.go2.video.video_client import VideoClient
-
-if __name__ == "__main__":
-    if len(sys.argv) > 1:
-        ChannelFactoryInitialize(0, sys.argv[1])
-    else:
-        ChannelFactoryInitialize(0)
-
-    client = VideoClient()  # Create a video client
-    client.SetTimeout(3.0)
-    client.Init()
-
-    code, data = client.GetImageSample()
-
-    # Request normal when code==0
-    while code == 0:
-        # Get Image data from Go2 robot
-        code, data = client.GetImageSample()
-
-        # Convert to numpy image
-        image_data = np.frombuffer(bytes(data), dtype=np.uint8)
-        image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
-
-        # Display image
-        cv2.imshow("front_camera", image)
-        # Press ESC to stop
-        if cv2.waitKey(20) == 27:
-            break
-
-    if code != 0:
-        print("Get image sample error. code:", code)
-    else:
-        # Capture an image
-        cv2.imwrite("front_image.jpg", image)
-
-    cv2.destroyWindow("front_camera")
diff --git a/system_hw_test/go2_capture_image.py b/system_hw_test/go2_capture_image.py
deleted file mode 100644
index b02c7085e0..0000000000
--- a/system_hw_test/go2_capture_image.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import sys
-import time
-
-from unitree.unitree_sdk2py.core.channel import ChannelFactoryInitialize
-from unitree.unitree_sdk2py.go2.video.video_client import VideoClient
-
-if __name__ == "__main__":
-    if len(sys.argv) > 1:
-        ChannelFactoryInitialize(0, sys.argv[1])
-    else:
-        ChannelFactoryInitialize(0)
-
-    client = VideoClient()
-    client.SetTimeout(3.0)
-    client.Init()
-
-    print("##################GetImageSample###################")
-    code, data = client.GetImageSample()
-
-    if code != 0:
-        print("get image sample error. code:", code)
-    else:
-        imageName = "./img.jpg"
-        print("ImageName:", imageName)
-
-        with open(imageName, "+wb") as f:
-            f.write(bytes(data))
-
-    time.sleep(1)
diff --git a/system_hw_test/go2_data_stream.py b/system_hw_test/go2_data_stream.py
deleted file mode 100644
index a2055b9233..0000000000
--- a/system_hw_test/go2_data_stream.py
+++ /dev/null
@@ -1,41 +0,0 @@
-import sys
-import time
-
-import unitree_legged_const as go2
-
-from unitree.unitree_sdk2py.core.channel import (
-    ChannelFactoryInitialize,
-    ChannelSubscriber,
-)
-from unitree.unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
-
-
-class Custom:
-    def __init__(self):
-        self.low_state = None
-
-    # Public methods
-    def Init(self):
-        # create subscriber #
-        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
-        self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10)
-
-    def LowStateMessageHandler(self, msg: LowState_):
-        self.low_state = msg
-        print("FR_0 motor state: ", msg.motor_state[go2.LegID["FR_0"]])
-        print("IMU state: ", msg.imu_state)
-        print("Battery state: voltage: ", msg.power_v, "current: ", msg.power_a)
-
-
-if __name__ == "__main__":
-
-    if len(sys.argv) > 1:
-        ChannelFactoryInitialize(0, sys.argv[1])
-    else:
-        ChannelFactoryInitialize(0)
-
-    custom = Custom()
-    custom.Init()
-
-    while True:
-        time.sleep(1)
diff --git a/system_hw_test/go2_lidar.py b/system_hw_test/go2_lidar.py
deleted file mode 100644
index ed33e680fa..0000000000
--- a/system_hw_test/go2_lidar.py
+++ /dev/null
@@ -1,194 +0,0 @@
-import math
-import struct
-import sys
-import time
-
-import matplotlib.pyplot as plt
-import numpy as np
-from matplotlib.animation import FuncAnimation
-
-sys.path.insert(0, "../src")
-
-try:
-    from unitree.unitree_sdk2py.idl.sensor_msgs.msg.dds_ import PointCloud2_
-except ImportError:
-    print("Please run this script from inside /system_hw_test")
-
-from unitree.unitree_sdk2py.core.channel import (
-    ChannelFactoryInitialize,
-    ChannelSubscriber,
-)
-
-# header: 'unitree.unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
-# height: types.uint32
-# width: types.uint32
-# fields: types.sequence['unitree.unitree_sdk2py.idl.sensor_msgs.msg.dds_.PointField_']
-# is_bigendian: bool
-# point_step: types.uint32
-# row_step: types.uint32
-# data: types.sequence[types.uint8]
-# is_dense: bool
-
-
-# fields=[
-# PointField_(name='x', offset=0, datatype=7, count=1),
-# PointField_(name='y', offset=4, datatype=7, count=1),
-# PointField_(name='z', offset=8, datatype=7, count=1),
-# PointField_(name='intensity', offset=12, datatype=7, count=1)], is_bigendian=False, point_step=16
-
-# fields=[
-#       PointField_(name='x', offset=0, datatype=7, count=1),
-#       PointField_(name='y', offset=4, datatype=7, count=1),
-#       PointField_(name='z', offset=8, datatype=7, count=1),
-#       PointField_(name='intensity', offset=16, datatype=7, count=1),
-#       PointField_(name='ring', offset=20, datatype=4, count=1),
-#       PointField_(name='time', offset=24, datatype=7, count=1)
-# ]
-
-
-fig, ax = plt.subplots(1)
-line = ax.plot([], [], ".", color="green")[0]
-ax.set_xlim(-180, 180)
-ax.set_ylim(-0.40, 1.5)
-
-
-class Custom:
-    def __init__(self):
-        self.low_state = None
-
-    # Public methods
-    def Init(self):
-        # create subscriber #
-        # /utlidar/cloud - this is noisy
-        # /utlidar/cloud_deskewed - much better behaved?
-        self.subscriber = ChannelSubscriber("rt/utlidar/cloud_deskewed", PointCloud2_)
-
-        # self.subscriber = ChannelSubscriber("rt/utlidar/cloud", PointCloud2_)
-        self.subscriber.Init(self.MessageHandler, 10)
-
-    def MessageHandler(self, msg: PointCloud2_):
-        self.cloud = msg
-        print("Cloud: ", msg)
-        # data = data.astype(np.uint8)
-        data = self.cloud.data
-        # print("Data: ", data)
-        width = self.cloud.width
-
-        print("Height: ", self.cloud.height)
-        print("Width: ", width)
-        print("Point Step: ", self.cloud.point_step)
-        print("Row Step: ", self.cloud.row_step)
-        print("len(Data): ", len(data))
-
-        sliced = bytes(data)
-
-        print("len(sliced): ", len(sliced))
-
-        unpack_size = int(width * self.cloud.point_step / 4)
-        print("unpack_size: ", unpack_size)
-
-        format_string = str(unpack_size) + "f"
-        print("format unpack_size: ", format_string)
-
-        float_array2 = np.array(struct.unpack(format_string, sliced))
-        # '>4f' means big-endian, 4 floats
-        # arr = float_array2.reshape((width, 4))
-
-        arr = float_array2.reshape((width, 4))
-
-        # #print("Size:", size(arr))
-
-        # print("Array:", arr[0])
-        # # print("Array:", arr[1])
-        # # print("Array:", arr[2])
-
-        x = arr[:, 0]
-        y = arr[:, 1]
-        z = arr[:, 2]
-        intensity = arr[:, 3]
-
-        print("min(x): ", min(x))
-        print("max(x): ", max(x))
-
-        print("min(y): ", min(y))
-        print("max(y): ", max(y))
-
-        print("min(z): ", min(z))
-        print("max(z): ", max(z))
-
-        print("min(intensity): ", min(intensity))
-        print("max(intensity): ", max(intensity))
-
-        print("len(x): ", len(x))
-        print("len(y): ", len(y))
-        print("len(z): ", len(z))
-        print("len(intensity): ", len(intensity))
-
-        # this gives us 361 bins, from -180.0 to 180
-        ls = np.full(361, 20.0)
-        angles = np.linspace(-180, 180, 361)
-        # print("angles: ", angles)
-        # # convert each point to a ray
-
-        # if width != 1437:
-        #     return
-
-        for p in arr:
-            rad = math.atan2(p[1], p[0])
-            deg = rad * (180 / math.pi)
-            z = p[2]
-            distance = math.sqrt(p[0] * p[0] + p[1] * p[1] + z * z)
-            shift = int(deg) + 180
-            if shift < 0:
-                shift = 0
-            elif shift > 360:
-                shift = 360
-
-            print("deg: ", deg)
-            print("distance: ", distance)
-
-            # if z < 0.25:
-            #     continue
-            # if z > 0.50:
-            #     continue
-            # if p[2] > 1.0:
-            #     continue
-            if distance > 1.5:
-                continue
-            if ls[shift] > z:
-                ls[shift] = z
-            # runs from -180 to +180
-
-        # print("ls: ", ls)
-        global line
-        line.set_data(angles, ls)
-
-        # global colors
-        # colors = cmap.to_rgba(z)
-
-        # global scatter
-        # #scatter.set_data(x, y, z)
-        # #scatter = ax.scatter(x, y, z, c=colors, marker="o")
-
-        """
-        The x,y,z data are a spatial map composed of about 1435 points
-        Each point is a LIDAR return from a particular place in the space around the sensor.
-        The data are already correctly compensated for the angle/orientatiuon of the sensor
-        Occasionally, there are significant data glitches
-        """
-
-
-if __name__ == "__main__":
-
-    if len(sys.argv) > 1:
-        ChannelFactoryInitialize(0, sys.argv[1])
-    else:
-        ChannelFactoryInitialize(0)
-
-    custom = Custom()
-    custom.Init()
-
-    while True:
-        time.sleep(1)
-        ani = FuncAnimation(fig, lambda _: None)
-        plt.show()
diff --git a/system_hw_test/go2_state.py b/system_hw_test/go2_state.py
deleted file mode 100644
index 191fc3491a..0000000000
--- a/system_hw_test/go2_state.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import sys
-import time
-
-sys.path.insert(0, "../src")
-
-from unitree.unitree_sdk2py.core.channel import (
-    ChannelFactoryInitialize,
-    ChannelSubscriber,
-)
-from unitree.unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
-
-
-class Custom:
-    def __init__(self):
-        self.low_state = None
-
-    def Init(self):
-        self.sportstate_subscriber = ChannelSubscriber("rt/sportmodestate", SportModeState_)
-        self.sportstate_subscriber.Init(self.SportStateMessageHandler, 10)
-
-    def SportStateMessageHandler(self, msg: SportModeState_):
-        self.low_state = msg
-        state_code = msg.error_code
-        print(f"Sport Mode State: {state_code}")
-
-
-if __name__ == "__main__":
-
-    if len(sys.argv) > 1:
-        ChannelFactoryInitialize(0, sys.argv[1])
-    else:
-        ChannelFactoryInitialize(0)
-
-    custom = Custom()
-    custom.Init()
-
-    while True:
-        time.sleep(1)
diff --git a/system_hw_test/gps_mag/gps_mag.ino b/system_hw_test/gps_mag/gps_mag.ino
deleted file mode 100644
index 3229c60079..0000000000
--- a/system_hw_test/gps_mag/gps_mag.ino
+++ /dev/null
@@ -1,462 +0,0 @@
-// for the GPS
-#include <Adafruit_GPS.h>
-#define GPSSerial Serial1
-Adafruit_GPS GPS(&GPSSerial);
-
-// PMTK commands to turn on SBAS/WAAS (DGPS)
-#define PMTK_ENABLE_SBAS   "$PMTK313,1*2E"  // enable SBAS search
-#define PMTK_ENABLE_WAAS   "$PMTK301,2*2E"  // set SBAS mode = WAAS
-
-// for the mag
-#include <Wire.h>
-#include <Adafruit_LIS3MDL.h>
-#include <Adafruit_Sensor.h>
-Adafruit_LIS3MDL lis3mdl;
-
-#include <Adafruit_LSM6DS3TRC.h>
-Adafruit_LSM6DS3TRC lsm6ds3trc;
-
-uint32_t timerGPS = millis();
-uint32_t timerMAG = millis();
-
-int IMU_LAST_READ = 0;
-
-/* For calibration, set CALIBRATION to true, run the script, close
-the Arduino IDE, close the serial monitor, and open MotionCal.
-
-MotionCal can be downloaded here:
-
-https://github.com/PaulStoffregen/MotionCal
-
-If you do not see your Arduino in MotionCal's serial port
-drop down menu, follow these instructions to compile MotionCal
-for your OS and platform
-
-https://github.com/PaulStoffregen/MotionCal/issues/11#issuecomment-2412937251
-*/
-
-bool CALIBRATION = false;
-
-float ToDecimalDegrees(float formattedLatLon)
-{
-  float decDegrees = (float)((int)formattedLatLon / 100);
-  float decMinutes = formattedLatLon - (decDegrees * 100);
-  float fractDegrees = decMinutes / 60.0;
-
-  return decDegrees + fractDegrees;
-}
-
-void PrintFloatArray(float ar[], int n)
-{
-  for(int i = 0; i < n; i++) {
-    Serial.print(ar[i]);
-    if(i == n - 1) {
-      Serial.print("\n");
-    } else {
-      Serial.print(":");
-    }
-  }
-}
-
-// These are specific to each IMU and IMU environment -
-// Poor calibration values will prevent AHRS function
-// Add your device specific values below, in the init loop
-float mag_hardiron[]  = { 0.0, 0.0, 0.0 }; // in uTesla
-float mag_softiron[]  = { 1.0, 0.0, 0.0, \
-                          0.0, 1.0, 0.0, \
-                          0.0, 0.0, 1.0 };
-float gyro_zerorate[] = { 0.0, 0.0, 0.0 }; // in Radians/s
-
-//declination = +12° 50'
-
-#include "quaternionFilters.h"
-#define MPS2_TO_G 9.80665
-
-void setup()
-{
-  Serial.begin(115200);
-  while (!Serial) delay(10);
-
-  // print device ID and pick calibration set...
-  char DeviceID[9];
-  itoa(NRF_FICR->DEVICEID[0], DeviceID, 16);
-  Serial.print("Device ID 0: ");
-  Serial.println(DeviceID);
-
-  if (strcmp(DeviceID, "38e4bfd6") == 0) {
-    float mh[]  = { 22.84, -11.84, 3.96 }; // in uTesla
-    float ms[]  = { +0.951, +0.059, -0.031, \
-                    +0.059, +1.091, +0.001, \
-                    -0.031, +0.001, +0.968 };
-    float gc[] = { 0.000,  0.020,  0.010}; // in Radians/s
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  } else if (strcmp(DeviceID, "cfcdd0fb") == 0) {
-    // not sure which Arduino this is
-    float mh[]  = { -15.53, 5.38, 19.17 }; // in uTesla
-    float ms[]  = { 0.934, 0.048, -0.021, \
-                              0.048, 1.090, 0.003, \
-                              -0.021, 0.003, 0.985 };
-    float gc[] = { 0.0, 0.0, 0.0 };
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  } else if (strcmp(DeviceID, "ec414ffd") == 0) {
-    float mh[]  = { +12.26, -23.74, -9.67 }; // in uTesla
-    float ms[]  = { +0.948, +0.046, -0.038, \
-                    +0.047, +1.087, -0.033, \
-                    -0.036, -0.033, +0.974 };
-    float gc[] = { -0.0055, 0.0111, 0.0017 };
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  } else if (strcmp(DeviceID, "c80e5b02") == 0) {
-    float mh[]  = { -24.32, +4.52, +12.20 }; // in uTesla
-    float ms[]  = { +0.954, +0.061, -0.033, \
-                    +0.061, +1.085, +0.002, \
-                    -0.033, +0.002, +0.969 };
-    float gc[] = { -0.0328, +0.0521, 0.0156 };
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  }
-  else {
-    Serial.println("CAUTION: Magnetometer not calibrated - code will yield garbage - please calibrate your Magnetometer and IMU");
-  }
-
-  Serial.println("Using these calibration values:");
-  PrintFloatArray(mag_hardiron,  3);
-  PrintFloatArray(mag_softiron,  9);
-  PrintFloatArray(gyro_zerorate, 3);
-
-  delay(5000);
-
-  // --- GPS init ---
-  Serial.println("GPS booting");
-  GPS.begin(9600);
-  GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
-  GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
-  GPS.sendCommand(PGCMD_ANTENNA);
-
-  // ==== DGPS enable ====
-  GPS.sendCommand(PMTK_ENABLE_SBAS);
-  GPS.sendCommand(PMTK_ENABLE_WAAS);
-  // ======================
-
-  delay(1000);
-
-  // Ask for firmware version
-  GPSSerial.println(PMTK_Q_RELEASE);
-
-  // --- Magnetometer init ---
-  Serial.println("Booting LIS3MDL");
-
-  if (!lis3mdl.begin_I2C()) {
-    Serial.println("Failed to find LIS3MDL");
-    while (1) { delay(10); }
-  }
-  Serial.println("LIS3MDL Found");
-
-  lis3mdl.setPerformanceMode(LIS3MDL_MEDIUMMODE);
-  lis3mdl.setOperationMode(LIS3MDL_CONTINUOUSMODE);
-  lis3mdl.setDataRate(LIS3MDL_DATARATE_155_HZ);
-  lis3mdl.setRange(LIS3MDL_RANGE_4_GAUSS);
-  lis3mdl.setIntThreshold(500);
-  lis3mdl.configInterrupt(false, false, true, // enable z axis
-                          true,  // polarity
-                          false, // don't latch
-                          true); // enabled!
-
-  Serial.println("Booting LSM6DS3TR-C");
-
-  if (!lsm6ds3trc.begin_I2C()) {
-    Serial.println("Failed to find LSM6DS3TR-C");
-    while (1) { delay(10); }
-  }
-  Serial.println("LSM6DS3TR-C Found");
-
-  lsm6ds3trc.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
-  lsm6ds3trc.setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
-  lsm6ds3trc.setAccelDataRate(LSM6DS_RATE_12_5_HZ);
-  lsm6ds3trc.setGyroDataRate(LSM6DS_RATE_12_5_HZ);
-  lsm6ds3trc.configInt1(false, false, true); // accelerometer DRDY on INT1
-  lsm6ds3trc.configInt2(false, true, false); // gyro DRDY on INT2
-}
-
-void loop()
-{
-
-  char c = GPS.read();
-  // if a sentence is received, we can check the checksum, parse it...
-  if (GPS.newNMEAreceived()) {
-    if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
-      return; // we can fail to parse a sentence in which case we should just wait for another
-  }
-
-  // approximately every 1 seconds or so, print out the current stats
-  if (millis() - timerGPS > 1000) {
-    timerGPS = millis(); // reset the timer
-
-    if (GPS.fix && CALIBRATION == false) {
-
-      float latDecimal = ToDecimalDegrees(GPS.latitude);
-      float lonDecimal = ToDecimalDegrees(GPS.longitude);
-
-      // use this if you want DDMM.MMMM and DDDMM.MMMM
-      // Degrees and minutes
-      // Serial.print("GPS:");
-      // Serial.print(GPS.latitude, 4);
-      // Serial.print(GPS.lat);
-      // Serial.print(",");
-      // Serial.print(GPS.longitude, 4);
-      // Serial.print(GPS.lon);
-
-      // use this if you want decimal degrees
-      Serial.print("GPS:");
-      Serial.print(latDecimal,8);
-      Serial.print(GPS.lat);
-      Serial.print(",");
-      Serial.print(lonDecimal,8);
-      Serial.print(GPS.lon);
-
-      Serial.print(",KN:");
-      Serial.print(GPS.speed);
-      Serial.print(",HEAD:");
-      Serial.print(GPS.angle);
-      Serial.print(",ALT:");
-      Serial.print(GPS.altitude);
-      Serial.print(",SAT:");
-      Serial.print((int)GPS.satellites);
-      Serial.print(",TIME:");
-      Serial.print(GPS.hour);
-      Serial.print(":");
-      Serial.print(GPS.minute);
-      Serial.print(":");
-      Serial.print(GPS.seconds);
-      Serial.print(":");
-      Serial.println(GPS.milliseconds);
-    } else {
-      Serial.print("STAT: Waiting for GPS fix. SAT:");
-      Serial.println((int)GPS.satellites);
-    }
-  }
-
-  // approximately 500 ms or so, update the direction
-  if (millis() - timerMAG > 50) {
-    timerMAG = millis();
-    float imu_dt_s = float(timerMAG - IMU_LAST_READ) / 1000;
-    IMU_LAST_READ = timerMAG;
-
-    // Get a new normalized sensor event
-    sensors_event_t accel;
-    sensors_event_t gyro;
-    sensors_event_t mag;
-    sensors_event_t temp;
-
-    lsm6ds3trc.getEvent(&accel, &gyro, &temp);
-    lis3mdl.getEvent(&mag);
-
-    if (CALIBRATION) {
-      float ax_G = accel.acceleration.x / MPS2_TO_G;
-      float ay_G = accel.acceleration.y / MPS2_TO_G;
-      float az_G = accel.acceleration.z / MPS2_TO_G;
-
-      float gx = gyro.gyro.x;
-      float gy = gyro.gyro.y;
-      float gz = gyro.gyro.z;
-
-      // hard iron cal
-      float mx = mag.magnetic.x;
-      float my = mag.magnetic.y;
-      float mz = mag.magnetic.z;
-
-      Serial.print("Raw:");
-      Serial.print(int(ax_G*10000)); Serial.print(",");
-      Serial.print(int(ay_G*10000)); Serial.print(",");
-      Serial.print(int(az_G*10000)); Serial.print(",");
-      Serial.print(int(gx*RAD_TO_DEG)); Serial.print(","); // Deg resolution, that's ok
-      Serial.print(int(gy*RAD_TO_DEG)); Serial.print(",");
-      Serial.print(int(gz*RAD_TO_DEG)); Serial.print(",");
-      Serial.print(int(mx*10)); Serial.print(","); // uT*10
-      Serial.print(int(my*10)); Serial.print(",");
-      Serial.print(int(mz*10)); Serial.println("");
-
-      // unified data
-      Serial.print("Uni:");
-      Serial.print(ax_G); Serial.print(",");
-      Serial.print(ay_G); Serial.print(",");
-      Serial.print(az_G); Serial.print(",");
-      Serial.print(gx, 4); Serial.print(",");
-      Serial.print(gy, 4); Serial.print(",");
-      Serial.print(gz, 4); Serial.print(",");
-      Serial.print(mx); Serial.print(",");
-      Serial.print(my); Serial.print(",");
-      Serial.print(mz); Serial.println("");
-
-      return;
-    }
-
-    // Serial.print("T:");
-    // Serial.print(temp.temperature);
-    // Serial.println("C");
-
-    // /* Display the results (acceleration is measured in m/s^2) */
-    // Serial.print("AX:");
-    // Serial.print(accel.acceleration.x);
-    // Serial.print("Y:");
-    // Serial.print(accel.acceleration.y);
-    // Serial.print("Z:");
-    // Serial.print(accel.acceleration.z);
-    // Serial.println(" m/s^2");
-
-    // /* Display the results (rotation is measured in rad/s) */
-    // Serial.print("GX:");
-    // Serial.print(gyro.gyro.x);
-    // Serial.print("Y:");
-    // Serial.print(gyro.gyro.y);
-    // Serial.print("Z:");
-    // Serial.print(gyro.gyro.z);
-    // Serial.println(" rad/s");
-
-    // /* Display the results (magnetic field is measured in uTesla) */
-    // Serial.print("MAG:X:"); Serial.print(mag.magnetic.x);
-    // Serial.print("Y:"); Serial.print(mag.magnetic.y);
-    // Serial.print("Z:"); Serial.print(mag.magnetic.z);
-    // Serial.println("uT");
-
-    // Serial.print("DT(s):");
-    // Serial.println(imu_dt_s);
-
-    float ax_G = accel.acceleration.x / MPS2_TO_G;
-    float ay_G = accel.acceleration.y / MPS2_TO_G;
-    float az_G = accel.acceleration.z / MPS2_TO_G;
-
-    float gx = gyro.gyro.x + gyro_zerorate[0];
-    float gy = gyro.gyro.y + gyro_zerorate[1];
-    float gz = gyro.gyro.z + gyro_zerorate[2];
-
-    // hard iron cal
-    float mx = mag.magnetic.x - mag_hardiron[0];
-    float my = mag.magnetic.y - mag_hardiron[1];
-    float mz = mag.magnetic.z - mag_hardiron[2];
-
-    // soft iron cal
-    float mxCal = mx * mag_softiron[0] + my * mag_softiron[1] + mz * mag_softiron[2];
-    float myCal = mx * mag_softiron[3] + my * mag_softiron[4] + mz * mag_softiron[5];
-    float mzCal = mx * mag_softiron[6] + my * mag_softiron[7] + mz * mag_softiron[8];
-
-    MahonyQuaternionUpdate(ax_G, ay_G, az_G, gx, gy, gz, mxCal, myCal, mzCal, imu_dt_s);
-
-    // String dataLog = String("DATA:");
-    // dataLog += String(" AX:") + String(ax_G) + String(",AY:") + String(ay_G) + String(",AZ:") + String(az_G);
-    // dataLog += String(",GX:") + String(gx) + String(",GY:") + String(gy) + String(",GZ:") + String(gz);
-    // dataLog += String(",MX:") + String(mxCal) + String(",MY:") + String(myCal) + String(",MZ:") + String(mzCal);
-
-    // Serial.println(dataLog);
-
-    // NOTE: Written by Kris Winer
-    // Define output variables from updated quaternion---these are Tait-Bryan
-    // angles, commonly used in aircraft orientation. In this coordinate system,
-    // the positive z-axis is down toward Earth. Yaw is the angle between Sensor
-    // x-axis and Earth magnetic North (or true North if corrected for local
-    // declination, looking down on the sensor positive yaw is counterclockwise.
-    // Pitch is angle between sensor x-axis and Earth ground plane, toward the
-    // Earth is positive, up toward the sky is negative. Roll is angle between
-    // sensor y-axis and Earth ground plane, y-axis up is positive roll. These
-    // arise from the definition of the homogeneous rotation matrix constructed
-    // from quaternions. Tait-Bryan angles as well as Euler angles are
-    // non-commutative; that is, the get the correct orientation the rotations
-    // must be applied in the correct order which for this configuration is yaw,
-    // pitch, and then roll.
-    // For more see
-    // http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-    // which has additional links.
-    float myIMUyaw = atan2(2.0f * (*(getQ()+1) * *(getQ()+2) + *getQ()
-                  * *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)
-                  * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) - *(getQ()+3)
-                  * *(getQ()+3));
-    float myIMUpitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()
-                  * *(getQ()+2)));
-    float myIMUroll = atan2(2.0f * (*getQ() * *(getQ()+1) + *(getQ()+2)
-                  * *(getQ()+3)), *getQ() * *getQ() - *(getQ()+1)
-                  * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) + *(getQ()+3)
-                  * *(getQ()+3));
-
-    Serial.print("YPR: ");
-    Serial.print(myIMUyaw *= RAD_TO_DEG, 2);
-    Serial.print(", ");
-    Serial.print(myIMUpitch *= RAD_TO_DEG, 2);
-    Serial.print(", ");
-    Serial.println(myIMUroll *= RAD_TO_DEG, 2);
-
-  float headingDegrees = 0.0;
-  if (myIMUyaw < 0) {
-    headingDegrees = -1.0 * myIMUyaw;
-  } else {
-    headingDegrees = -1.0 * myIMUyaw + 360.0;
-  }
-
-  String cardinal;
-  if (headingDegrees > 348.75 || headingDegrees < 11.25) {
-    cardinal = " N";
-  }
-  else if (headingDegrees > 11.25 && headingDegrees < 33.75) {
-    cardinal = " NNE";
-  }
-  else if (headingDegrees > 33.75 && headingDegrees < 56.25) {
-    cardinal = " NE";
-  }
-  else if (headingDegrees > 56.25 && headingDegrees < 78.75) {
-    cardinal = " ENE";
-  }
-  else if (headingDegrees > 78.75 && headingDegrees < 101.25) {
-    cardinal = " E";
-  }
-  else if (headingDegrees > 101.25 && headingDegrees < 123.75) {
-    cardinal = " ESE";
-  }
-  else if (headingDegrees > 123.75 && headingDegrees < 146.25) {
-    cardinal = " SE";
-  }
-  else if (headingDegrees > 146.25 && headingDegrees < 168.75) {
-    cardinal = " SSE";
-  }
-  else if (headingDegrees > 168.75 && headingDegrees < 191.25) {
-    cardinal = " S";
-  }
-  else if (headingDegrees > 191.25 && headingDegrees < 213.75) {
-    cardinal = " SSW";
-  }
-  else if (headingDegrees > 213.75 && headingDegrees < 236.25) {
-    cardinal = " SW";
-  }
-  else if (headingDegrees > 236.25 && headingDegrees < 258.75) {
-    cardinal = " WSW";
-  }
-  else if (headingDegrees > 258.75 && headingDegrees < 281.25) {
-    cardinal = " W";
-  }
-  else if (headingDegrees > 281.25 && headingDegrees < 303.75) {
-    cardinal = " WNW";
-  }
-  else if (headingDegrees > 303.75 && headingDegrees < 326.25) {
-    cardinal = " NW";
-  }
-  else if (headingDegrees > 326.25 && headingDegrees < 348.75) {
-    cardinal = " NNW";
-  }
-
-  float headingRadiansNTC = atan2(myCal, mxCal);
-  float headingDegreesNTC = headingRadiansNTC * 180 / PI;
-  if (headingDegreesNTC < 0) {
-    headingDegreesNTC += 360;
-  }
-
-  Serial.print("HDG (DEG): ");
-  Serial.print(headingDegrees);
-  Serial.print(cardinal);
-  Serial.print(" NTC_HDG: ");
-  Serial.println(headingDegreesNTC);
-  }
-}
diff --git a/system_hw_test/gps_mag/quaternionFilters.cpp b/system_hw_test/gps_mag/quaternionFilters.cpp
deleted file mode 100644
index 2bb5efb4a0..0000000000
--- a/system_hw_test/gps_mag/quaternionFilters.cpp
+++ /dev/null
@@ -1,263 +0,0 @@
-/* MPU9250 Basic Example Code
- by: Kris Winer
- date: April 1, 2014
- license: Beerware - Use this code however you'd like. If you
- find it useful you can buy me a beer some time.
- Modified by Brent Wilkins July 19, 2016
- Modified by Owen Lyke Aug 6 2018
- - Removed code about magnetometer that would cause an abort()
- - Magnetometer can be accessed by using the MPU9250 as an I2C
-   master. See the register map for more details
-
- Demonstrate basic MPU-9250 functionality including parameterizing the register
- addresses, initializing the sensor, getting properly scaled accelerometer,
- gyroscope, and magnetometer data out. Added display functions to allow display
- to on breadboard monitor. Addition of 9 DoF sensor fusion using open source
- Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
- and the Teensy 3.1.
-*/
-
-// Implementation of Sebastian Madgwick's "...efficient orientation filter
-// for... inertial/magnetic sensor arrays"
-// (see http://www.x-io.co.uk/category/open-source/ for examples & more details)
-// which fuses acceleration, rotation rate, and magnetic moments to produce a
-// quaternion-based estimate of absolute device orientation -- which can be
-// converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
-// The performance of the orientation filter is at least as good as conventional
-// Kalman-based filtering algorithms but is much less computationally
-// intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
-
-#include "quaternionFilters.h"
-
-// These are the free parameters in the Mahony filter and fusion scheme, Kp
-// for proportional feedback, Ki for integral
-#define Kp 2.0f * 5.0f
-// ADJUST!! Set to 0.0 to turn off
-#define Ki 0.0f
-
-static float GyroMeasError = PI * (40.0f / 180.0f);
-// gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
-static float GyroMeasDrift = PI * (0.0f  / 180.0f);
-// There is a tradeoff in the beta parameter between accuracy and response
-// speed. In the original Madgwick study, beta of 0.041 (corresponding to
-// GyroMeasError of 2.7 degrees/s) was found to give optimal accuracy.
-// However, with this value, the LSM9SD0 response time is about 10 seconds
-// to a stable initial quaternion. Subsequent changes also require a
-// longish lag time to a stable output, not fast enough for a quadcopter or
-// robot car! By increasing beta (GyroMeasError) by about a factor of
-// fifteen, the response time constant is reduced to ~2 sec. I haven't
-// noticed any reduction in solution accuracy. This is essentially the I
-// coefficient in a PID control sense; the bigger the feedback coefficient,
-// the faster the solution converges, usually at the expense of accuracy.
-// In any case, this is the free parameter in the Madgwick filtering and
-// fusion scheme.
-static float beta = sqrt(3.0f / 4.0f) * GyroMeasError;   // Compute beta
-// Compute zeta, the other free parameter in the Madgwick scheme usually
-// set to a small or zero value
-static float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;
-
-// Vector to hold integral error for Mahony method
-static float eInt[3] = {0.0f, 0.0f, 0.0f};
-// Vector to hold quaternion
-static float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};
-
-void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat)
-{
-  // short name local variable for readability
-  float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];
-  float norm;
-  float hx, hy, _2bx, _2bz;
-  float s1, s2, s3, s4;
-  float qDot1, qDot2, qDot3, qDot4;
-
-  // Auxiliary variables to avoid repeated arithmetic
-  float _2q1mx;
-  float _2q1my;
-  float _2q1mz;
-  float _2q2mx;
-  float _4bx;
-  float _4bz;
-  float _2q1 = 2.0f * q1;
-  float _2q2 = 2.0f * q2;
-  float _2q3 = 2.0f * q3;
-  float _2q4 = 2.0f * q4;
-  float _2q1q3 = 2.0f * q1 * q3;
-  float _2q3q4 = 2.0f * q3 * q4;
-  float q1q1 = q1 * q1;
-  float q1q2 = q1 * q2;
-  float q1q3 = q1 * q3;
-  float q1q4 = q1 * q4;
-  float q2q2 = q2 * q2;
-  float q2q3 = q2 * q3;
-  float q2q4 = q2 * q4;
-  float q3q3 = q3 * q3;
-  float q3q4 = q3 * q4;
-  float q4q4 = q4 * q4;
-
-  // Normalise accelerometer measurement
-  norm = sqrt(ax * ax + ay * ay + az * az);
-  if (norm == 0.0f) return; // handle NaN
-  norm = 1.0f/norm;
-  ax *= norm;
-  ay *= norm;
-  az *= norm;
-
-  // Normalise magnetometer measurement
-  norm = sqrt(mx * mx + my * my + mz * mz);
-  if (norm == 0.0f) return; // handle NaN
-  norm = 1.0f/norm;
-  mx *= norm;
-  my *= norm;
-  mz *= norm;
-
-  // Reference direction of Earth's magnetic field
-  _2q1mx = 2.0f * q1 * mx;
-  _2q1my = 2.0f * q1 * my;
-  _2q1mz = 2.0f * q1 * mz;
-  _2q2mx = 2.0f * q2 * mx;
-  hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 +
-       _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
-  hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
-  _2bx = sqrt(hx * hx + hy * hy);
-  _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
-  _4bx = 2.0f * _2bx;
-  _4bz = 2.0f * _2bz;
-
-  // Gradient decent algorithm corrective step
-  s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
-  norm = 1.0f/norm;
-  s1 *= norm;
-  s2 *= norm;
-  s3 *= norm;
-  s4 *= norm;
-
-  // Compute rate of change of quaternion
-  qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
-  qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
-  qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
-  qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
-
-  // Integrate to yield quaternion
-  q1 += qDot1 * deltat;
-  q2 += qDot2 * deltat;
-  q3 += qDot3 * deltat;
-  q4 += qDot4 * deltat;
-  norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
-  norm = 1.0f/norm;
-  q[0] = q1 * norm;
-  q[1] = q2 * norm;
-  q[2] = q3 * norm;
-  q[3] = q4 * norm;
-}
-
-// Similar to Madgwick scheme but uses proportional and integral filtering on
-// the error between estimated reference vectors and measured ones.
-void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat)
-{
-  // short name local variable for readability
-  float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];
-  float norm;
-  float hx, hy, bx, bz;
-  float vx, vy, vz, wx, wy, wz;
-  float ex, ey, ez;
-  float pa, pb, pc;
-
-  // Auxiliary variables to avoid repeated arithmetic
-  float q1q1 = q1 * q1;
-  float q1q2 = q1 * q2;
-  float q1q3 = q1 * q3;
-  float q1q4 = q1 * q4;
-  float q2q2 = q2 * q2;
-  float q2q3 = q2 * q3;
-  float q2q4 = q2 * q4;
-  float q3q3 = q3 * q3;
-  float q3q4 = q3 * q4;
-  float q4q4 = q4 * q4;
-
-  // Normalise accelerometer measurement
-  norm = sqrt(ax * ax + ay * ay + az * az);
-  //Serial.print("Accel Norm:");
-  //Serial.println(norm);
-  if (norm == 0.0f) {
-    Serial.println("Quarterion: ERROR ACCEL norm == 0.0");
-    return; // Handle NaN
-  }
-  norm = 1.0f / norm;       // Use reciprocal for division
-  ax *= norm;
-  ay *= norm;
-  az *= norm;
-
-  // Normalise magnetometer measurement
-  norm = sqrt(mx * mx + my * my + mz * mz);
-  //Serial.print("Mag Norm:");
-  //Serial.println(norm);
-  if (norm == 0.0f) {
-    Serial.println("Quarterion: ERROR MAG norm == 0.0");
-    return; // Handle NaN
-  }
-  norm = 1.0f / norm;       // Use reciprocal for division
-  mx *= norm;
-  my *= norm;
-  mz *= norm;
-
-  // Reference direction of Earth's magnetic field
-  hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
-  hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
-  bx = sqrt((hx * hx) + (hy * hy));
-  bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
-
-  // Estimated direction of gravity and magnetic field
-  vx = 2.0f * (q2q4 - q1q3);
-  vy = 2.0f * (q1q2 + q3q4);
-  vz = q1q1 - q2q2 - q3q3 + q4q4;
-  wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
-  wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
-  wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
-
-  // Error is cross product between estimated direction and measured direction of gravity
-  ex = (ay * vz - az * vy) + (my * wz - mz * wy);
-  ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
-  ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
-  if (Ki > 0.0f)
-  {
-    eInt[0] += ex;      // accumulate integral error
-    eInt[1] += ey;
-    eInt[2] += ez;
-  }
-  else
-  {
-    eInt[0] = 0.0f;     // prevent integral wind up
-    eInt[1] = 0.0f;
-    eInt[2] = 0.0f;
-  }
-
-  // Apply feedback terms
-  gx = gx + Kp * ex + Ki * eInt[0];
-  gy = gy + Kp * ey + Ki * eInt[1];
-  gz = gz + Kp * ez + Ki * eInt[2];
-
-  // Integrate rate of change of quaternion
-  pa = q2;
-  pb = q3;
-  pc = q4;
-  q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
-  q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
-  q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
-  q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
-
-  // Normalise quaternion
-  norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
-  //Serial.print("Quat Norm:");
-  //Serial.println(norm);
-  norm = 1.0f / norm;
-  q[0] = q1 * norm;
-  q[1] = q2 * norm;
-  q[2] = q3 * norm;
-  q[3] = q4 * norm;
-}
-
-const float * getQ () { return q; }
diff --git a/system_hw_test/gps_mag/quaternionFilters.h b/system_hw_test/gps_mag/quaternionFilters.h
deleted file mode 100644
index 0def56d9a5..0000000000
--- a/system_hw_test/gps_mag/quaternionFilters.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _QUATERNIONFILTERS_H_
-#define _QUATERNIONFILTERS_H_
-
-/* MPU9250 Basic Example Code
- by: Kris Winer
- date: April 1, 2014
- license: Beerware - Use this code however you'd like. If you
- find it useful you can buy me a beer some time.
- Modified by Brent Wilkins July 19, 2016
- Modified by Owen Lyke Aug 6 2018
- - Removed code about magnetometer that would cause an abort()
- - Magnetometer can be accessed by using the MPU9250 as an I2C
-   master. See the register map for more details
-
- Demonstrate basic MPU-9250 functionality including parameterizing the register
- addresses, initializing the sensor, getting properly scaled accelerometer,
- gyroscope, and magnetometer data out. Added display functions to allow display
- to on breadboard monitor. Addition of 9 DoF sensor fusion using open source
- Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
- and the Teensy 3.1.
-*/
-
-#include <Arduino.h>
-
-void MadgwickQuaternionUpdate(float ax, float ay, float az,
-                              float gx, float gy, float gz,
-                              float mx, float my, float mz,
-                              float deltat);
-void MahonyQuaternionUpdate(float ax, float ay, float az,
-                            float gx, float gy, float gz,
-                            float mx, float my, float mz,
-                            float deltat);
-const float * getQ();
-
-#endif // _QUATERNIONFILTERS_H_
diff --git a/system_hw_test/gps_mag_ble/gps_mag_ble.ino b/system_hw_test/gps_mag_ble/gps_mag_ble.ino
deleted file mode 100644
index 212f1e723a..0000000000
--- a/system_hw_test/gps_mag_ble/gps_mag_ble.ino
+++ /dev/null
@@ -1,685 +0,0 @@
-// For the BLE
-#include <string.h>
-#include <bluefruit.h>
-#include <SPI.h>
-
-#define ARRAY_SIZE     (15)   // The number of RSSI values to store and compare
-#define TIMEOUT_MS     (1500) // Number of milliseconds before a record is invalidated in the list
-
-/* This struct is used to track detected nodes */
-typedef struct node_record_s
-{
-  uint8_t  addr[6];        // Six byte Device Address
-  int8_t   rssi;           // RSSI value
-  uint32_t timestamp;      // Timestamp for invalidation purposes
-  uint8_t  payload[31];    // 31 byte (max) Advertising Data
-  uint8_t  payload_length; // length of the Advertising Data
-  int8_t   reserved;       // Padding for word alignment
-} node_record_t;
-
-node_record_t records[ARRAY_SIZE];
-
-// for the GPS
-#include <Adafruit_GPS.h>
-#define GPSSerial Serial1
-Adafruit_GPS GPS(&GPSSerial);
-
-// PMTK commands to turn on SBAS/WAAS (DGPS)
-#define PMTK_ENABLE_SBAS   "$PMTK313,1*2E"  // enable SBAS search
-#define PMTK_ENABLE_WAAS   "$PMTK301,2*2E"  // set SBAS mode = WAAS
-
-// for the mag
-#include <Wire.h>
-#include <Adafruit_LIS3MDL.h>
-#include <Adafruit_Sensor.h>
-Adafruit_LIS3MDL lis3mdl;
-
-#include <Adafruit_LSM6DS3TRC.h>
-Adafruit_LSM6DS3TRC lsm6ds3trc;
-
-uint32_t timerGPS = millis();
-uint32_t timerMAG = millis();
-uint32_t timerBLE = millis();
-
-int IMU_LAST_READ = 0;
-
-/* For calibration, set CALIBRATION to true, run the script, close
-the Arduino IDE, close the serial monitor, and open MotionCal.
-
-MotionCal can be downloaded here:
-
-https://github.com/PaulStoffregen/MotionCal
-
-If you do not see your Arduino in MotionCal's serial port
-drop down menu, follow these instructions to compile MotionCal
-for your OS and platform
-
-https://github.com/PaulStoffregen/MotionCal/issues/11#issuecomment-2412937251
-*/
-
-bool CALIBRATION = false;
-
-float ToDecimalDegrees(float formattedLatLon)
-{
-  float decDegrees = (float)((int)formattedLatLon / 100);
-  float decMinutes = formattedLatLon - (decDegrees * 100);
-  float fractDegrees = decMinutes / 60.0;
-
-  return decDegrees + fractDegrees;
-}
-
-void PrintFloatArray(float ar[], int n)
-{
-  for(int i = 0; i < n; i++) {
-    Serial.print(ar[i]);
-    if(i == n - 1) {
-      Serial.print("\n");
-    } else {
-      Serial.print(":");
-    }
-  }
-}
-
-// These are specific to each IMU and IMU environment -
-// Poor calibration values will prevent AHRS function
-// Add your device specific values below, in the init loop
-float mag_hardiron[]  = { 0.0, 0.0, 0.0 }; // in uTesla
-float mag_softiron[]  = { 1.0, 0.0, 0.0, \
-                          0.0, 1.0, 0.0, \
-                          0.0, 0.0, 1.0 };
-float gyro_zerorate[] = { 0.0, 0.0, 0.0 }; // in Radians/s
-
-float headingDegrees = 0.0;
-//declination = +12° 50'
-
-#include "quaternionFilters.h"
-#define MPS2_TO_G 9.80665
-
-void setup()
-{
-  Serial.begin(115200);
-  while (!Serial) delay(10);
-
-  /* Clear the BLE results list */
-  memset(records, 0, sizeof(records));
-  for (uint8_t i = 0; i<ARRAY_SIZE; i++)
-  {
-    // Set all RSSI values to lowest value for comparison purposes,
-    // since 0 would be higher than any valid RSSI value
-    records[i].rssi = -128;
-  }
-
-    /* Enable both peripheral and central modes */
-  if ( !Bluefruit.begin(1, 1) )
-  {
-    Serial.println("Unable to init Bluefruit");
-    while(1)
-    {
-      digitalToggle(LED_RED);
-      delay(100);
-    }
-  }
-  else
-  {
-    Serial.println("Bluefruit initialized (central mode)");
-  }
-
-  Bluefruit.setTxPower(4);    // Check bluefruit.h for supported values
-
-  /* Set the LED interval for blinky pattern on BLUE LED */
-  Bluefruit.setConnLedInterval(250);
-
-  /* Start Central Scanning
-   * - Enable auto scan if disconnected
-   * - Filter out packet with a min rssi
-   * - Interval = 100 ms, window = 50 ms
-   * - Use active scan (used to retrieve the optional scan response adv packet)
-   * - Start(0) = will scan forever since no timeout is given
-   */
-  Bluefruit.Scanner.setRxCallback(scan_callback);
-  Bluefruit.Scanner.restartOnDisconnect(true);
-  Bluefruit.Scanner.filterRssi(-80);            // Only invoke callback for devices with RSSI >= -80 dBm
-  Bluefruit.Scanner.setInterval(160, 80);       // in units of 0.625 ms
-  Bluefruit.Scanner.useActiveScan(true);        // Request scan response data
-  Bluefruit.Scanner.start(0);                   // 0 = Don't stop scanning after n seconds
-  Serial.println("Scanning ...");
-
-  // print device ID and pick calibration set...
-  char DeviceID[9];
-  itoa(NRF_FICR->DEVICEID[0], DeviceID, 16);
-  Serial.print("Device ID 0: ");
-  Serial.println(DeviceID);
-
-  if (strcmp(DeviceID, "38e4bfd6") == 0) {
-    float mh[]  = { 22.84, -11.84, 3.96 }; // in uTesla
-    float ms[]  = { +0.951, +0.059, -0.031, \
-                    +0.059, +1.091, +0.001, \
-                    -0.031, +0.001, +0.968 };
-    float gc[] = { 0.000,  0.020,  0.010}; // in Radians/s
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  } else if (strcmp(DeviceID, "cfcdd0fb") == 0) {
-    // not sure which Arduino this is
-    float mh[]  = { -15.53, 5.38, 19.17 }; // in uTesla
-    float ms[]  = { +0.934, 0.048, -0.021, \
-                    +0.048, 1.090, +0.003, \
-                    -0.021, 0.003, +0.985 };
-    float gc[] = { 0.0, 0.0, 0.0 };
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  } else if (strcmp(DeviceID, "ec414ffd") == 0) {
-    float mh[]  = { +12.26, -23.74, -9.67 }; // in uTesla
-    float ms[]  = { +0.948, +0.046, -0.038, \
-                    +0.047, +1.087, -0.033, \
-                    -0.036, -0.033, +0.974 };
-    float gc[] = { -0.0055, 0.0111, 0.0017 };
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  } else if (strcmp(DeviceID, "c80e5b02") == 0) {
-    float mh[]  = { -24.32, +4.52, +12.20 }; // in uTesla
-    float ms[]  = { +0.954, +0.061, -0.033, \
-                    +0.061, +1.085, +0.002, \
-                    -0.033, +0.002, +0.969 };
-    float gc[] = { -0.0328, +0.0521, 0.0156 };
-    memcpy(mag_hardiron,  mh, sizeof(mag_hardiron));
-    memcpy(mag_softiron,  ms, sizeof(mag_softiron));
-    memcpy(gyro_zerorate, gc, sizeof(gyro_zerorate));
-  }
-  else {
-    Serial.println("CAUTION: Magnetometer not calibrated - code will yield garbage - please calibrate your Magnetometer and IMU");
-  }
-
-  Serial.println("Using these calibration values:");
-  PrintFloatArray(mag_hardiron,  3);
-  PrintFloatArray(mag_softiron,  9);
-  PrintFloatArray(gyro_zerorate, 3);
-
-  delay(5000);
-
-  // --- GPS init ---
-  Serial.println("GPS booting");
-  GPS.begin(9600);
-  GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
-  GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
-  GPS.sendCommand(PGCMD_ANTENNA);
-
-  // ==== DGPS enable ====
-  GPS.sendCommand(PMTK_ENABLE_SBAS);
-  GPS.sendCommand(PMTK_ENABLE_WAAS);
-  // ======================
-
-  delay(1000);
-
-  // Ask for firmware version
-  GPSSerial.println(PMTK_Q_RELEASE);
-
-  // --- Magnetometer init ---
-  Serial.println("Booting LIS3MDL");
-
-  if (!lis3mdl.begin_I2C()) {
-    Serial.println("Failed to find LIS3MDL");
-    while (1) { delay(10); }
-  }
-  Serial.println("LIS3MDL Found");
-
-  lis3mdl.setPerformanceMode(LIS3MDL_MEDIUMMODE);
-  lis3mdl.setOperationMode(LIS3MDL_CONTINUOUSMODE);
-  lis3mdl.setDataRate(LIS3MDL_DATARATE_155_HZ);
-  lis3mdl.setRange(LIS3MDL_RANGE_4_GAUSS);
-  lis3mdl.setIntThreshold(500);
-  lis3mdl.configInterrupt(false, false, true, // enable z axis
-                          true,  // polarity
-                          false, // don't latch
-                          true); // enabled!
-
-  Serial.println("Booting LSM6DS3TR-C");
-
-  if (!lsm6ds3trc.begin_I2C()) {
-    Serial.println("Failed to find LSM6DS3TR-C");
-    while (1) { delay(10); }
-  }
-  Serial.println("LSM6DS3TR-C Found");
-
-  lsm6ds3trc.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
-  lsm6ds3trc.setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
-  lsm6ds3trc.setAccelDataRate(LSM6DS_RATE_12_5_HZ);
-  lsm6ds3trc.setGyroDataRate(LSM6DS_RATE_12_5_HZ);
-  lsm6ds3trc.configInt1(false, false, true); // accelerometer DRDY on INT1
-  lsm6ds3trc.configInt2(false, true, false); // gyro DRDY on INT2
-}
-
-/* This callback handler is fired every time a valid advertising packet is detected */
-void scan_callback(ble_gap_evt_adv_report_t* report)
-{
-  node_record_t record;
-
-  // uint8_t buffer[32];
-  // memset(buffer, 0, sizeof(buffer));
-
-  /* Prepare the record and try to insert it into the existing record list */
-  memcpy(record.addr, report->peer_addr.addr, 6); /* Copy the 6-byte device ADDR */
-  memcpy(record.payload, report->data.p_data, report->data.len); /* Copy the Adv Data */
-  record.payload_length = report->data.len;       /* for nice printing */
-  // if (record.payload_length == 0)
-  //   Serial.printf("WARNING EMPTY PAYLOAD IN CALLBACK");
-  record.rssi = report->rssi;                     /* Copy the RSSI value */
-  record.timestamp = millis();                    /* Set the timestamp (approximate) */
-
-  // /* Shortened Local Name */
-  // if(Bluefruit.Scanner.parseReportByType(report, BLE_GAP_AD_TYPE_SHORT_LOCAL_NAME, buffer, sizeof(buffer)))
-  // {
-  //   Serial.printf("SHORT NAME: %s\n", buffer);
-  //   memset(buffer, 0, sizeof(buffer));
-  // }
-
-  // /* Complete Local Name */
-  // if(Bluefruit.Scanner.parseReportByType(report, BLE_GAP_AD_TYPE_COMPLETE_LOCAL_NAME, buffer, sizeof(buffer)))
-  // {
-  //   Serial.printf("COMPLETE NAME %s\n", buffer);
-  //   memset(buffer, 0, sizeof(buffer));
-  // }
-
-  /* Attempt to insert the record into the list */
-  if (record.payload_length > 0) {
-    // disregard non-adv packets
-    insertRecord(&record);
-  }
-  // if (insertRecord(&record) == 1)                 /* Returns 1 if the list was updated */
-  // {
-  //   //printRecordList();                            /* The list was updated, print the new values */
-  //   // commented this to reduce traffic over the USB bus
-  // }
-
-  // For Softdevice v6: after received a report, scanner will be paused
-  // We need to call Scanner resume() to continue scanning
-  Bluefruit.Scanner.resume();
-}
-
-/* Prints the current record list to the Serial Monitor */
-void printRecordList(void)
-{
-  Serial.print("BLE: ");
-  for (uint8_t i = 0; i<ARRAY_SIZE; i++)
-  {
-    if (records[i].rssi > -128) {
-      // do not print empty fields
-      for(int j=0; j<6; j++)
-      {
-        Serial.printf("%02X", records[i].addr[j]);
-      }
-      Serial.printf(":%i", records[i].rssi);
-      if (records[i].payload_length > 0){
-        Serial.printf(":");
-        for(int j=0; j<records[i].payload_length; j++)
-        {
-          Serial.printf("%02X", records[i].payload[j]);
-        }
-      }
-      Serial.printf(" ");
-    }
-  }
-  Serial.print("\n");
-}
-
-/* Perform a simple bubble sort on the records array */
-/* It's slow, but relatively easy to understand */
-/* Sorts based on RSSI values, where the strongest signal appears highest in the list */
-void bubbleSort(void)
-{
-  int inner, outer;
-  node_record_t temp;
-
-  for(outer=0; outer<ARRAY_SIZE-1; outer++)
-  {
-    for(inner=outer+1; inner<ARRAY_SIZE; inner++)
-    {
-      if(records[outer].rssi < records[inner].rssi)
-      {
-        memcpy((void *)&temp, (void *)&records[outer], sizeof(node_record_t));           // temp=records[outer];
-        memcpy((void *)&records[outer], (void *)&records[inner], sizeof(node_record_t)); // records[outer] = records[inner];
-        memcpy((void *)&records[inner], (void *)&temp, sizeof(node_record_t));           // records[inner] = temp;
-      }
-    }
-  }
-}
-
-/*  This function will check if any records in the list
- *  have expired and need to be invalidated, such as when
- *  a device goes out of range.
- *
- *  Returns the number of invalidated records, or 0 if
- *  nothing was changed.
- */
-int invalidateRecords(void)
-{
-  uint8_t i;
-  int match = 0;
-
-  /* Not enough time has elapsed to avoid an underflow error */
-  if (millis() <= TIMEOUT_MS)
-  {
-    return 0;
-  }
-
-  /* Check if any records have expired */
-  for (i=0; i<ARRAY_SIZE; i++)
-  {
-    if (records[i].timestamp) // Ignore zero"ed records
-    {
-      if (millis() - records[i].timestamp >= TIMEOUT_MS)
-      {
-        /* Record has expired, zero it out */
-        memset(&records[i], 0, sizeof(node_record_t));
-        records[i].rssi = -128;
-        match++;
-      }
-    }
-  }
-
-  /* Resort the list if something was zero'ed out */
-  if (match)
-  {
-    // Serial.printf("Invalidated %i records!\n", match);
-    bubbleSort();
-  }
-
-  return match;
-}
-
-/* This function attempts to insert the record if it is larger than the smallest valid RSSI entry */
-/* Returns 1 if a change was made, otherwise 0 */
-int insertRecord(node_record_t *record)
-{
-  uint8_t i;
-
-  /* Invalidate results older than n milliseconds */
-  invalidateRecords();
-
-  /* 1. Bubble Sort
-   *    This puts the lists in a known state where we can make
-   *    certain assumptions about the last record in the array. */
-  bubbleSort();
-
-  /* 2. Check for a match on existing device address */
-  /*    Replace it if a match is found, then sort */
-  uint8_t match = 0;
-  for (i=0; i<ARRAY_SIZE; i++)
-  {
-    if (memcmp(records[i].addr, record->addr, 6) == 0)
-    {
-      match = 1;
-    }
-    if (match)
-    {
-      memcpy(&records[i], record, sizeof(node_record_t));
-      goto sort_then_exit;
-    }
-  }
-
-  /* 3. Check for zero'ed records */
-  /*    Insert if a zero record is found, then sort */
-  for (i=0; i<ARRAY_SIZE; i++)
-  {
-    if (records[i].rssi == -128)
-    {
-      memcpy(&records[i], record, sizeof(node_record_t));
-      goto sort_then_exit;
-    }
-  }
-
-  /* 4. Check RSSI of the lowest record */
-  /*    Replace if >=, then sort */
-  if (records[ARRAY_SIZE-1].rssi <= record->rssi)
-  {
-      memcpy(&records[ARRAY_SIZE-1], record, sizeof(node_record_t));
-      goto sort_then_exit;
-  }
-
-  /* Nothing to do ... RSSI is lower than the last value, exit and ignore */
-  return 0;
-
-sort_then_exit:
-  /* Bubble sort */
-  bubbleSort();
-  return 1;
-}
-
-void loop()
-{
-
-  char c = GPS.read();
-  // if a sentence is received, check the checksum and potentially parse the sentence...
-  if (GPS.newNMEAreceived()) {
-    if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
-      return; // we can fail to parse a sentence in which case we should just wait for another
-  }
-
-  // Every second, print out the current stats
-  if (millis() - timerGPS > 1000) {
-    timerGPS = millis(); // reset the timer
-
-    Serial.print("HDG:");
-    Serial.println(headingDegrees);
-
-    if (GPS.fix && CALIBRATION == false) {
-
-      float latDecimal = ToDecimalDegrees(GPS.latitude);
-      float lonDecimal = ToDecimalDegrees(GPS.longitude);
-
-      // use this if you want DDMM.MMMM and DDDMM.MMMM
-      // Degrees and minutes
-      // Serial.print("GPS:");
-      // Serial.print(GPS.latitude, 4);
-      // Serial.print(GPS.lat);
-      // Serial.print(",");
-      // Serial.print(GPS.longitude, 4);
-      // Serial.print(GPS.lon);
-
-      // use this if you want decimal degrees
-      Serial.print("GPS:");
-      Serial.print(latDecimal,8);
-      Serial.print(GPS.lat);
-      Serial.print(",");
-      Serial.print(lonDecimal,8);
-      Serial.print(GPS.lon);
-
-      Serial.print(",KN:");
-      Serial.print(GPS.speed);
-      Serial.print(",HEAD:");
-      Serial.print(GPS.angle);
-      Serial.print(",ALT:");
-      Serial.print(GPS.altitude);
-      Serial.print(",SAT:");
-      Serial.print((int)GPS.satellites);
-      Serial.print(",TIME:");
-      Serial.print(GPS.year);
-      Serial.print(":");
-      Serial.print(GPS.month);
-      Serial.print(":");
-      Serial.print(GPS.day);
-      Serial.print(":");
-      Serial.print(GPS.hour);
-      Serial.print(":");
-      Serial.print(GPS.minute);
-      Serial.print(":");
-      Serial.print(GPS.seconds);
-      Serial.print(":");
-      Serial.print(GPS.milliseconds);
-      Serial.print(",FIX:");
-      Serial.println((int)GPS.fixquality);
-    } else {
-      Serial.print("SAT: Waiting for GPS fix. SAT_IN_VIEW:");
-      Serial.println((int)GPS.satellites);
-    }
-  }
-
-  // Compute the magnetic direction every 50ms
-  if (millis() - timerMAG > 50) {
-    // do not change this value otherwise the filter will not converge
-    timerMAG = millis();
-    float imu_dt_s = float(timerMAG - IMU_LAST_READ) / 1000;
-    IMU_LAST_READ = timerMAG;
-
-    // Get a new normalized sensor event
-    sensors_event_t accel;
-    sensors_event_t gyro;
-    sensors_event_t mag;
-    sensors_event_t temp;
-
-    lsm6ds3trc.getEvent(&accel, &gyro, &temp);
-    lis3mdl.getEvent(&mag);
-
-    if (CALIBRATION) {
-      float ax_G = accel.acceleration.x / MPS2_TO_G;
-      float ay_G = accel.acceleration.y / MPS2_TO_G;
-      float az_G = accel.acceleration.z / MPS2_TO_G;
-
-      float gx = gyro.gyro.x;
-      float gy = gyro.gyro.y;
-      float gz = gyro.gyro.z;
-
-      // hard iron cal
-      float mx = mag.magnetic.x;
-      float my = mag.magnetic.y;
-      float mz = mag.magnetic.z;
-
-      Serial.print("Raw:");
-      Serial.print(int(ax_G*10000)); Serial.print(",");
-      Serial.print(int(ay_G*10000)); Serial.print(",");
-      Serial.print(int(az_G*10000)); Serial.print(",");
-      Serial.print(int(gx*RAD_TO_DEG)); Serial.print(","); // Deg resolution, that's ok
-      Serial.print(int(gy*RAD_TO_DEG)); Serial.print(",");
-      Serial.print(int(gz*RAD_TO_DEG)); Serial.print(",");
-      Serial.print(int(mx*10)); Serial.print(","); // uT*10
-      Serial.print(int(my*10)); Serial.print(",");
-      Serial.print(int(mz*10)); Serial.println("");
-
-      // unified data
-      Serial.print("Uni:");
-      Serial.print(ax_G); Serial.print(",");
-      Serial.print(ay_G); Serial.print(",");
-      Serial.print(az_G); Serial.print(",");
-      Serial.print(gx, 4); Serial.print(",");
-      Serial.print(gy, 4); Serial.print(",");
-      Serial.print(gz, 4); Serial.print(",");
-      Serial.print(mx); Serial.print(",");
-      Serial.print(my); Serial.print(",");
-      Serial.print(mz); Serial.println("");
-
-      return;
-    }
-
-    // Serial.print("T:");
-    // Serial.print(temp.temperature);
-    // Serial.println("C");
-
-    // /* Display the results (acceleration is measured in m/s^2) */
-    // Serial.print("AX:");
-    // Serial.print(accel.acceleration.x);
-    // Serial.print("Y:");
-    // Serial.print(accel.acceleration.y);
-    // Serial.print("Z:");
-    // Serial.print(accel.acceleration.z);
-    // Serial.println(" m/s^2");
-
-    // /* Display the results (rotation is measured in rad/s) */
-    // Serial.print("GX:");
-    // Serial.print(gyro.gyro.x);
-    // Serial.print("Y:");
-    // Serial.print(gyro.gyro.y);
-    // Serial.print("Z:");
-    // Serial.print(gyro.gyro.z);
-    // Serial.println(" rad/s");
-
-    // /* Display the results (magnetic field is measured in uTesla) */
-    // Serial.print("MAG:X:"); Serial.print(mag.magnetic.x);
-    // Serial.print("Y:"); Serial.print(mag.magnetic.y);
-    // Serial.print("Z:"); Serial.print(mag.magnetic.z);
-    // Serial.println("uT");
-
-    // Serial.print("DT(s):");
-    // Serial.println(imu_dt_s);
-
-    float ax_G = accel.acceleration.x / MPS2_TO_G;
-    float ay_G = accel.acceleration.y / MPS2_TO_G;
-    float az_G = accel.acceleration.z / MPS2_TO_G;
-
-    float gx = gyro.gyro.x + gyro_zerorate[0];
-    float gy = gyro.gyro.y + gyro_zerorate[1];
-    float gz = gyro.gyro.z + gyro_zerorate[2];
-
-    // hard iron cal
-    float mx = mag.magnetic.x - mag_hardiron[0];
-    float my = mag.magnetic.y - mag_hardiron[1];
-    float mz = mag.magnetic.z - mag_hardiron[2];
-
-    // soft iron cal
-    float mxCal = mx * mag_softiron[0] + my * mag_softiron[1] + mz * mag_softiron[2];
-    float myCal = mx * mag_softiron[3] + my * mag_softiron[4] + mz * mag_softiron[5];
-    float mzCal = mx * mag_softiron[6] + my * mag_softiron[7] + mz * mag_softiron[8];
-
-    MahonyQuaternionUpdate(ax_G, ay_G, az_G, gx, gy, gz, mxCal, myCal, mzCal, imu_dt_s);
-
-    // String dataLog = String("DATA:");
-    // dataLog += String(" AX:") + String(ax_G) + String(",AY:") + String(ay_G) + String(",AZ:") + String(az_G);
-    // dataLog += String(",GX:") + String(gx) + String(",GY:") + String(gy) + String(",GZ:") + String(gz);
-    // dataLog += String(",MX:") + String(mxCal) + String(",MY:") + String(myCal) + String(",MZ:") + String(mzCal);
-
-    // Serial.println(dataLog);
-
-    // NOTE: Written by Kris Winer
-    // Define output variables from updated quaternion---these are Tait-Bryan
-    // angles, commonly used in aircraft orientation. In this coordinate system,
-    // the positive z-axis is down toward Earth. Yaw is the angle between Sensor
-    // x-axis and Earth magnetic North (or true North if corrected for local
-    // declination, looking down on the sensor positive yaw is counterclockwise.
-    // Pitch is angle between sensor x-axis and Earth ground plane, toward the
-    // Earth is positive, up toward the sky is negative. Roll is angle between
-    // sensor y-axis and Earth ground plane, y-axis up is positive roll. These
-    // arise from the definition of the homogeneous rotation matrix constructed
-    // from quaternions. Tait-Bryan angles as well as Euler angles are
-    // non-commutative; that is, the get the correct orientation the rotations
-    // must be applied in the correct order which for this configuration is yaw,
-    // pitch, and then roll.
-    // For more see
-    // http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-    // which has additional links.
-    float myIMUyaw = atan2(2.0f * (*(getQ()+1) * *(getQ()+2) + *getQ()
-                  * *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)
-                  * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) - *(getQ()+3)
-                  * *(getQ()+3));
-    // float myIMUpitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()
-    //               * *(getQ()+2)));
-    // float myIMUroll = atan2(2.0f * (*getQ() * *(getQ()+1) + *(getQ()+2)
-    //               * *(getQ()+3)), *getQ() * *getQ() - *(getQ()+1)
-    //               * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) + *(getQ()+3)
-    //               * *(getQ()+3));
-
-    // Serial.print("YPR: ");
-    // Serial.print(myIMUyaw *= RAD_TO_DEG, 2);
-    // Serial.print(", ");
-    // Serial.print(myIMUpitch *= RAD_TO_DEG, 2);
-    // Serial.print(", ");
-    // Serial.println(myIMUroll *= RAD_TO_DEG, 2);
-    myIMUyaw *= RAD_TO_DEG;
-    if (myIMUyaw < 0) {
-      headingDegrees = -1.0 * myIMUyaw;
-    } else {
-      headingDegrees = -1.0 * myIMUyaw + 360.0;
-    }
-  }
-
-  // approximately every 1 seconds or so, print out the current stats
-  if (millis() - timerBLE > 1000) {
-    timerBLE = millis(); // reset the timer
-    // if (invalidateRecords())
-    // {
-      /* The list was updated, print the new values */
-      printRecordList();
-    //}
-  }
-
-}
diff --git a/system_hw_test/gps_mag_ble/quaternionFilters.cpp b/system_hw_test/gps_mag_ble/quaternionFilters.cpp
deleted file mode 100644
index 2bb5efb4a0..0000000000
--- a/system_hw_test/gps_mag_ble/quaternionFilters.cpp
+++ /dev/null
@@ -1,263 +0,0 @@
-/* MPU9250 Basic Example Code
- by: Kris Winer
- date: April 1, 2014
- license: Beerware - Use this code however you'd like. If you
- find it useful you can buy me a beer some time.
- Modified by Brent Wilkins July 19, 2016
- Modified by Owen Lyke Aug 6 2018
- - Removed code about magnetometer that would cause an abort()
- - Magnetometer can be accessed by using the MPU9250 as an I2C
-   master. See the register map for more details
-
- Demonstrate basic MPU-9250 functionality including parameterizing the register
- addresses, initializing the sensor, getting properly scaled accelerometer,
- gyroscope, and magnetometer data out. Added display functions to allow display
- to on breadboard monitor. Addition of 9 DoF sensor fusion using open source
- Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
- and the Teensy 3.1.
-*/
-
-// Implementation of Sebastian Madgwick's "...efficient orientation filter
-// for... inertial/magnetic sensor arrays"
-// (see http://www.x-io.co.uk/category/open-source/ for examples & more details)
-// which fuses acceleration, rotation rate, and magnetic moments to produce a
-// quaternion-based estimate of absolute device orientation -- which can be
-// converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
-// The performance of the orientation filter is at least as good as conventional
-// Kalman-based filtering algorithms but is much less computationally
-// intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
-
-#include "quaternionFilters.h"
-
-// These are the free parameters in the Mahony filter and fusion scheme, Kp
-// for proportional feedback, Ki for integral
-#define Kp 2.0f * 5.0f
-// ADJUST!! Set to 0.0 to turn off
-#define Ki 0.0f
-
-static float GyroMeasError = PI * (40.0f / 180.0f);
-// gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
-static float GyroMeasDrift = PI * (0.0f  / 180.0f);
-// There is a tradeoff in the beta parameter between accuracy and response
-// speed. In the original Madgwick study, beta of 0.041 (corresponding to
-// GyroMeasError of 2.7 degrees/s) was found to give optimal accuracy.
-// However, with this value, the LSM9SD0 response time is about 10 seconds
-// to a stable initial quaternion. Subsequent changes also require a
-// longish lag time to a stable output, not fast enough for a quadcopter or
-// robot car! By increasing beta (GyroMeasError) by about a factor of
-// fifteen, the response time constant is reduced to ~2 sec. I haven't
-// noticed any reduction in solution accuracy. This is essentially the I
-// coefficient in a PID control sense; the bigger the feedback coefficient,
-// the faster the solution converges, usually at the expense of accuracy.
-// In any case, this is the free parameter in the Madgwick filtering and
-// fusion scheme.
-static float beta = sqrt(3.0f / 4.0f) * GyroMeasError;   // Compute beta
-// Compute zeta, the other free parameter in the Madgwick scheme usually
-// set to a small or zero value
-static float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;
-
-// Vector to hold integral error for Mahony method
-static float eInt[3] = {0.0f, 0.0f, 0.0f};
-// Vector to hold quaternion
-static float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};
-
-void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat)
-{
-  // short name local variable for readability
-  float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];
-  float norm;
-  float hx, hy, _2bx, _2bz;
-  float s1, s2, s3, s4;
-  float qDot1, qDot2, qDot3, qDot4;
-
-  // Auxiliary variables to avoid repeated arithmetic
-  float _2q1mx;
-  float _2q1my;
-  float _2q1mz;
-  float _2q2mx;
-  float _4bx;
-  float _4bz;
-  float _2q1 = 2.0f * q1;
-  float _2q2 = 2.0f * q2;
-  float _2q3 = 2.0f * q3;
-  float _2q4 = 2.0f * q4;
-  float _2q1q3 = 2.0f * q1 * q3;
-  float _2q3q4 = 2.0f * q3 * q4;
-  float q1q1 = q1 * q1;
-  float q1q2 = q1 * q2;
-  float q1q3 = q1 * q3;
-  float q1q4 = q1 * q4;
-  float q2q2 = q2 * q2;
-  float q2q3 = q2 * q3;
-  float q2q4 = q2 * q4;
-  float q3q3 = q3 * q3;
-  float q3q4 = q3 * q4;
-  float q4q4 = q4 * q4;
-
-  // Normalise accelerometer measurement
-  norm = sqrt(ax * ax + ay * ay + az * az);
-  if (norm == 0.0f) return; // handle NaN
-  norm = 1.0f/norm;
-  ax *= norm;
-  ay *= norm;
-  az *= norm;
-
-  // Normalise magnetometer measurement
-  norm = sqrt(mx * mx + my * my + mz * mz);
-  if (norm == 0.0f) return; // handle NaN
-  norm = 1.0f/norm;
-  mx *= norm;
-  my *= norm;
-  mz *= norm;
-
-  // Reference direction of Earth's magnetic field
-  _2q1mx = 2.0f * q1 * mx;
-  _2q1my = 2.0f * q1 * my;
-  _2q1mz = 2.0f * q1 * mz;
-  _2q2mx = 2.0f * q2 * mx;
-  hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 +
-       _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
-  hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
-  _2bx = sqrt(hx * hx + hy * hy);
-  _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
-  _4bx = 2.0f * _2bx;
-  _4bz = 2.0f * _2bz;
-
-  // Gradient decent algorithm corrective step
-  s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-  norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
-  norm = 1.0f/norm;
-  s1 *= norm;
-  s2 *= norm;
-  s3 *= norm;
-  s4 *= norm;
-
-  // Compute rate of change of quaternion
-  qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
-  qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
-  qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
-  qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
-
-  // Integrate to yield quaternion
-  q1 += qDot1 * deltat;
-  q2 += qDot2 * deltat;
-  q3 += qDot3 * deltat;
-  q4 += qDot4 * deltat;
-  norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
-  norm = 1.0f/norm;
-  q[0] = q1 * norm;
-  q[1] = q2 * norm;
-  q[2] = q3 * norm;
-  q[3] = q4 * norm;
-}
-
-// Similar to Madgwick scheme but uses proportional and integral filtering on
-// the error between estimated reference vectors and measured ones.
-void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat)
-{
-  // short name local variable for readability
-  float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];
-  float norm;
-  float hx, hy, bx, bz;
-  float vx, vy, vz, wx, wy, wz;
-  float ex, ey, ez;
-  float pa, pb, pc;
-
-  // Auxiliary variables to avoid repeated arithmetic
-  float q1q1 = q1 * q1;
-  float q1q2 = q1 * q2;
-  float q1q3 = q1 * q3;
-  float q1q4 = q1 * q4;
-  float q2q2 = q2 * q2;
-  float q2q3 = q2 * q3;
-  float q2q4 = q2 * q4;
-  float q3q3 = q3 * q3;
-  float q3q4 = q3 * q4;
-  float q4q4 = q4 * q4;
-
-  // Normalise accelerometer measurement
-  norm = sqrt(ax * ax + ay * ay + az * az);
-  //Serial.print("Accel Norm:");
-  //Serial.println(norm);
-  if (norm == 0.0f) {
-    Serial.println("Quarterion: ERROR ACCEL norm == 0.0");
-    return; // Handle NaN
-  }
-  norm = 1.0f / norm;       // Use reciprocal for division
-  ax *= norm;
-  ay *= norm;
-  az *= norm;
-
-  // Normalise magnetometer measurement
-  norm = sqrt(mx * mx + my * my + mz * mz);
-  //Serial.print("Mag Norm:");
-  //Serial.println(norm);
-  if (norm == 0.0f) {
-    Serial.println("Quarterion: ERROR MAG norm == 0.0");
-    return; // Handle NaN
-  }
-  norm = 1.0f / norm;       // Use reciprocal for division
-  mx *= norm;
-  my *= norm;
-  mz *= norm;
-
-  // Reference direction of Earth's magnetic field
-  hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
-  hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
-  bx = sqrt((hx * hx) + (hy * hy));
-  bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
-
-  // Estimated direction of gravity and magnetic field
-  vx = 2.0f * (q2q4 - q1q3);
-  vy = 2.0f * (q1q2 + q3q4);
-  vz = q1q1 - q2q2 - q3q3 + q4q4;
-  wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
-  wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
-  wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
-
-  // Error is cross product between estimated direction and measured direction of gravity
-  ex = (ay * vz - az * vy) + (my * wz - mz * wy);
-  ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
-  ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
-  if (Ki > 0.0f)
-  {
-    eInt[0] += ex;      // accumulate integral error
-    eInt[1] += ey;
-    eInt[2] += ez;
-  }
-  else
-  {
-    eInt[0] = 0.0f;     // prevent integral wind up
-    eInt[1] = 0.0f;
-    eInt[2] = 0.0f;
-  }
-
-  // Apply feedback terms
-  gx = gx + Kp * ex + Ki * eInt[0];
-  gy = gy + Kp * ey + Ki * eInt[1];
-  gz = gz + Kp * ez + Ki * eInt[2];
-
-  // Integrate rate of change of quaternion
-  pa = q2;
-  pb = q3;
-  pc = q4;
-  q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
-  q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
-  q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
-  q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
-
-  // Normalise quaternion
-  norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
-  //Serial.print("Quat Norm:");
-  //Serial.println(norm);
-  norm = 1.0f / norm;
-  q[0] = q1 * norm;
-  q[1] = q2 * norm;
-  q[2] = q3 * norm;
-  q[3] = q4 * norm;
-}
-
-const float * getQ () { return q; }
diff --git a/system_hw_test/gps_mag_ble/quaternionFilters.h b/system_hw_test/gps_mag_ble/quaternionFilters.h
deleted file mode 100644
index 0def56d9a5..0000000000
--- a/system_hw_test/gps_mag_ble/quaternionFilters.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _QUATERNIONFILTERS_H_
-#define _QUATERNIONFILTERS_H_
-
-/* MPU9250 Basic Example Code
- by: Kris Winer
- date: April 1, 2014
- license: Beerware - Use this code however you'd like. If you
- find it useful you can buy me a beer some time.
- Modified by Brent Wilkins July 19, 2016
- Modified by Owen Lyke Aug 6 2018
- - Removed code about magnetometer that would cause an abort()
- - Magnetometer can be accessed by using the MPU9250 as an I2C
-   master. See the register map for more details
-
- Demonstrate basic MPU-9250 functionality including parameterizing the register
- addresses, initializing the sensor, getting properly scaled accelerometer,
- gyroscope, and magnetometer data out. Added display functions to allow display
- to on breadboard monitor. Addition of 9 DoF sensor fusion using open source
- Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
- and the Teensy 3.1.
-*/
-
-#include <Arduino.h>
-
-void MadgwickQuaternionUpdate(float ax, float ay, float az,
-                              float gx, float gy, float gz,
-                              float mx, float my, float mz,
-                              float deltat);
-void MahonyQuaternionUpdate(float ax, float ay, float az,
-                            float gx, float gy, float gz,
-                            float mx, float my, float mz,
-                            float deltat);
-const float * getQ();
-
-#endif // _QUATERNIONFILTERS_H_
diff --git a/system_hw_test/intel435/__init__.py b/system_hw_test/intel435/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/system_hw_test/intel435/intel435_obstacle_ros2.py b/system_hw_test/intel435/intel435_obstacle_ros2.py
deleted file mode 100644
index 768faba489..0000000000
--- a/system_hw_test/intel435/intel435_obstacle_ros2.py
+++ /dev/null
@@ -1,68 +0,0 @@
-import matplotlib.pyplot as plt
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import PointCloud
-
-
-class Intel435ObstacleDector(Node):
-    def __init__(self):
-        super().__init__("intel435_obstacle_dector")
-        self.obstacle = []
-
-        self.depth_subscription = self.create_subscription(
-            PointCloud,
-            "/camera/realsense2_camera_node/depth/obstacle_point",
-            self.obstacle_callback,
-            10,
-        )
-
-        self.plot_timer = self.create_timer(0.01, self.plot_obstacles)
-
-        self.get_logger().info("Intel435ObstacleDector node started")
-
-    def obstacle_callback(self, msg: PointCloud):
-        try:
-            points = []
-            for point in msg.points:
-                x = point.x
-                y = point.y
-                z = point.z
-                points.append({"x": x, "y": y, "z": z})
-            self.obstacle = points
-
-        except Exception as e:
-            self.get_logger().error(f"Error processing depth info: {e}")
-
-    def plot_obstacles(self):
-        if len(self.obstacle) > 50:
-            x_coords = [obs["x"] for obs in self.obstacle]
-            y_coords = [obs["y"] for obs in self.obstacle]
-
-            plt.clf()
-            plt.scatter(x_coords, y_coords, c="red", alpha=0.6, s=10)
-            plt.scatter(0, 0, c="blue", s=50, marker="o")
-            plt.xlabel("X (forward) [m]")
-            plt.ylabel("Y (left) [m]")
-            plt.title(f"Obstacles Top View ({len(self.obstacle)} points)")
-            plt.grid(True, alpha=0.3)
-            plt.xlim(-0.5, 0.5)
-            plt.ylim(-0.5, 0.5)
-            plt.pause(0.001)
-            plt.show(block=False)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = Intel435ObstacleDector()
-
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/system_hw_test/intel435/intel435_obstacle_zenoh.py b/system_hw_test/intel435/intel435_obstacle_zenoh.py
deleted file mode 100644
index afcef0c8f7..0000000000
--- a/system_hw_test/intel435/intel435_obstacle_zenoh.py
+++ /dev/null
@@ -1,66 +0,0 @@
-import logging
-import sys
-import time
-
-import matplotlib.pyplot as plt
-
-sys.path.insert(0, "../../src")
-
-from zenoh_msgs import open_zenoh_session, sensor_msgs
-
-logging.basicConfig(level=logging.INFO)
-
-
-class Intel435ObstacleDector:
-    def __init__(self):
-        self.obstacle = []
-
-        self.session = open_zenoh_session()
-
-        self.session.declare_subscriber("camera/realsense2_camera_node/depth/obstacle_point", self.obstacle_callback)
-
-        logging.info("Zenoh is open for Intel435ObstacleDector")
-
-    def obstacle_callback(self, msg):
-        try:
-            points = sensor_msgs.PointCloud.deserialize(msg.payload.to_bytes())
-            obstacles = []
-            for pt in points.points:
-                x = pt.x
-                y = pt.y
-                z = pt.z
-                obstacles.append({"x": x, "y": y, "z": z})
-            self.obstacle = obstacles
-        except Exception as e:
-            logging.error(f"Error processing obstacle info: {e}")
-
-    def plot_obstacles(self):
-        if len(self.obstacle) > 50:
-            x_coords = [obs["x"] for obs in self.obstacle]
-            y_coords = [obs["y"] for obs in self.obstacle]
-
-            plt.clf()
-            plt.scatter(x_coords, y_coords, c="red", alpha=0.6, s=10)
-            plt.scatter(0, 0, c="blue", s=50, marker="o")
-            plt.xlabel("X (forward) [m]")
-            plt.ylabel("Y (left) [m]")
-            plt.title(f"Obstacles Top View ({len(self.obstacle)} points)")
-            plt.grid(True, alpha=0.3)
-            plt.xlim(-0.5, 0.5)
-            plt.ylim(-0.5, 0.5)
-            plt.pause(0.001)
-            plt.show(block=False)
-
-
-def main():
-    detector = Intel435ObstacleDector()
-    try:
-        while True:
-            detector.plot_obstacles()
-            time.sleep(0.01)
-    except KeyboardInterrupt:
-        print("Shutting down Intel435ObstacleDector")
-
-
-if __name__ == "__main__":
-    main()
diff --git a/system_hw_test/intel435/intel435_ros2.py b/system_hw_test/intel435/intel435_ros2.py
deleted file mode 100644
index dbf0e3e7b1..0000000000
--- a/system_hw_test/intel435/intel435_ros2.py
+++ /dev/null
@@ -1,171 +0,0 @@
-import math
-
-import matplotlib.pyplot as plt
-import numpy as np
-import rclpy
-from cv_bridge import CvBridge
-from rclpy.node import Node
-from sensor_msgs.msg import CameraInfo, Image
-
-
-class Intel435ObstacleDector(Node):
-    def __init__(self):
-        super().__init__("intel435_obstacle_dector")
-        self.bridge = CvBridge()
-        self.fx = None
-        self.fy = None
-        self.cx = None
-        self.cy = None
-
-        self.obstacle_threshold = 0.10  # 10cm above ground
-        self.obstacle = []
-
-        self.depth_subscription = self.create_subscription(
-            Image,
-            "/camera/realsense2_camera_node/depth/image_rect_raw",
-            self.depth_callback,
-            10,
-        )
-
-        self.depth_info = self.create_subscription(
-            CameraInfo,
-            "/camera/realsense2_camera_node/depth/camera_info",
-            self.depth_info_callback,
-            10,
-        )
-
-        self.plot_timer = self.create_timer(0.01, self.plot_obstacles)
-
-        self.get_logger().info("Intel435ObstacleDector node started")
-
-    def depth_info_callback(self, msg):
-        try:
-            self.camera_info = msg
-            self.fx = msg.k[0]
-            self.fy = msg.k[4]
-            self.cx = msg.k[2]
-            self.cy = msg.k[5]
-        except Exception as e:
-            self.get_logger().error(f"Error processing depth info: {e}")
-
-    def image_to_world(self, u, v, depth_value, camera_height=0.45, tilt_angle=55):
-        """
-        Convert image coordinates to world coordinates
-        """
-        if self.fx is None or self.fy is None or self.cx is None or self.cy is None:
-            self.get_logger().warn("Camera intrinsics not available yet")
-            return None, None, None
-
-        depth_meters = depth_value / 1000.0
-
-        # Image to camera coordinates
-        cam_x = (u - self.cx) * depth_meters / self.fx
-        cam_y = (v - self.cy) * depth_meters / self.fy
-        cam_z = depth_meters
-
-        point_camera = np.array([cam_x, cam_y, cam_z])
-        theta = np.radians(tilt_angle)
-
-        R_tilt = np.array(
-            [
-                [1, 0, 0],
-                [0, np.cos(theta), np.sin(theta)],
-                [0, -np.sin(theta), np.cos(theta)],
-            ]
-        )
-
-        R_align = np.array(
-            [
-                [0, 0, 1],  # Camera Z (forward) -> World X (forward)
-                [-1, 0, 0],  # Camera X (right) -> World Y (left)
-                [0, -1, 0],  # Camera Y (down) -> World Z (up)
-            ]
-        )
-
-        R_combined = R_align @ R_tilt
-        point_world = R_combined @ point_camera
-
-        camera_position_world = np.array([0, 0, camera_height])
-        point_world = point_world + camera_position_world
-
-        world_x = point_world[0]
-        world_y = point_world[1]
-        world_z = point_world[2]
-
-        return world_x, world_y, world_z
-
-    def calculate_angle_and_distance(self, world_x, world_y):
-        distance = math.sqrt(world_x**2 + world_y**2)
-
-        angle_rad = math.atan2(world_y, world_x)
-        angle_degrees = math.degrees(angle_rad)
-
-        return angle_degrees, distance
-
-    def depth_callback(self, msg):
-        try:
-            depth_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
-
-            obstacle = []
-
-            for row in range(0, depth_image.shape[0], 10):
-                for col in range(0, depth_image.shape[1], 10):
-                    depth_value = depth_image[row, col]
-                    if depth_value > 0 and depth_value < 5000:
-                        world_x, world_y, world_z = self.image_to_world(
-                            col, row, depth_value, camera_height=0.45, tilt_angle=55
-                        )
-
-                        if world_x is not None and world_z > self.obstacle_threshold:
-                            angle_degrees, distance = self.calculate_angle_and_distance(world_x, world_y)
-                            # Change to the robot coordinate system
-                            obstacle.append(
-                                {
-                                    "x": -world_y,
-                                    "y": world_x,
-                                    "z": world_z,
-                                    "depth": depth_value,
-                                    "angle": angle_degrees,
-                                    "distance": distance,
-                                }
-                            )
-
-            self.obstacle = obstacle
-            self.get_logger().debug(f"Detected {len(self.obstacle)} obstacles")
-
-        except Exception as e:
-            self.get_logger().error(f"Error processing depth image: {e}")
-
-    def plot_obstacles(self):
-        if len(self.obstacle) > 50:
-            x_coords = [obs["x"] for obs in self.obstacle]
-            y_coords = [obs["y"] for obs in self.obstacle]
-
-            plt.clf()
-            plt.scatter(x_coords, y_coords, c="red", alpha=0.6, s=10)
-            plt.scatter(0, 0, c="blue", s=50, marker="o")
-            plt.xlabel("X (forward) [m]")
-            plt.ylabel("Y (left) [m]")
-            plt.title(f"Obstacles Top View ({len(self.obstacle)} points)")
-            plt.grid(True, alpha=0.3)
-            plt.xlim(-0.5, 0.5)
-            plt.ylim(-0.5, 0.5)
-            plt.pause(0.001)
-            plt.show(block=False)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = Intel435ObstacleDector()
-
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/system_hw_test/intel435/intel435_zenoh.py b/system_hw_test/intel435/intel435_zenoh.py
deleted file mode 100644
index aadc44de13..0000000000
--- a/system_hw_test/intel435/intel435_zenoh.py
+++ /dev/null
@@ -1,195 +0,0 @@
-import logging
-import math
-import sys
-import time
-
-import matplotlib.pyplot as plt
-import numpy as np
-
-sys.path.insert(0, "../../src")
-
-from zenoh_msgs import open_zenoh_session, sensor_msgs
-
-logging.basicConfig(level=logging.INFO)
-
-
-class Intel435ObstacleDector:
-    def __init__(self):
-        self.fx = None
-        self.fy = None
-        self.cx = None
-        self.cy = None
-
-        self.camera_info = None
-        self.camera_image = None
-
-        self.obstacle_threshold = 0.05  # 5cm above ground
-        self.obstacle = []
-
-        self.running = False
-
-        self.session = open_zenoh_session()
-
-        self.session.declare_subscriber("camera/realsense2_camera_node/depth/image_rect_raw", self.depth_callback)
-        self.session.declare_subscriber("camera/realsense2_camera_node/depth/camera_info", self.depth_info_callback)
-
-        logging.info("Zenoh is open for Intel435ObstacleDector")
-
-    def depth_info_callback(self, msg):
-        try:
-            self.camera_info = sensor_msgs.CameraInfo.deserialize(msg.payload.to_bytes())
-            self.fx = self.camera_info.k[0]
-            self.fy = self.camera_info.k[4]
-            self.cx = self.camera_info.k[2]
-            self.cy = self.camera_info.k[5]
-        except Exception as e:
-            logging.error(f"Error processing depth info: {e}")
-
-    def image_to_world(self, u, v, depth_value, camera_height=0.45, tilt_angle=55):
-        """
-        Convert image coordinates to world coordinates
-        """
-        if self.fx is None or self.fy is None or self.cx is None or self.cy is None:
-            logging.warning("Camera intrinsics not available yet")
-            return None, None, None
-
-        depth_meters = depth_value / 1000.0
-
-        # Image to camera coordinates
-        cam_x = (u - self.cx) * depth_meters / self.fx
-        cam_y = (v - self.cy) * depth_meters / self.fy
-        cam_z = depth_meters
-
-        point_camera = np.array([cam_x, cam_y, cam_z])
-        theta = np.radians(tilt_angle)
-
-        R_tilt = np.array(
-            [
-                [1, 0, 0],
-                [0, np.cos(theta), np.sin(theta)],
-                [0, -np.sin(theta), np.cos(theta)],
-            ]
-        )
-
-        R_align = np.array(
-            [
-                [0, 0, 1],  # Camera Z (forward) -> World X (forward)
-                [-1, 0, 0],  # Camera X (right) -> World Y (left)
-                [0, -1, 0],  # Camera Y (down) -> World Z (up)
-            ]
-        )
-
-        R_combined = R_align @ R_tilt
-        point_world = R_combined @ point_camera
-
-        camera_position_world = np.array([0, 0, camera_height])
-        point_world = point_world + camera_position_world
-
-        world_x = point_world[0]
-        world_y = point_world[1]
-        world_z = point_world[2]
-
-        return world_x, world_y, world_z
-
-    def imgmsg_to_numpy(self, img_msg):
-        """Convert sensor_msgs/Image to numpy array directly"""
-        if img_msg.encoding == "mono8" or img_msg.encoding == "8UC1":
-            dtype = np.uint8
-        # Intel 435 supports 16-bit depth images
-        elif img_msg.encoding == "mono16" or img_msg.encoding == "16UC1":
-            dtype = np.uint16
-        elif img_msg.encoding == "32FC1":
-            dtype = np.float32
-        elif img_msg.encoding == "bgr8" or img_msg.encoding == "rgb8":
-            dtype = np.uint8
-        else:
-            raise ValueError(f"Unsupported encoding: {img_msg.encoding}")
-
-        data_bytes = bytes(img_msg.data)
-        np_array = np.frombuffer(data_bytes, dtype=dtype)
-
-        try:
-            depth_image = np_array.reshape((img_msg.height, img_msg.width))
-        except ValueError as e:
-            logging.error(f"Error reshaping image data: {e}")
-            return None
-
-        return depth_image
-
-    def calculate_angle_and_distance(self, world_x, world_y):
-        distance = math.sqrt(world_x**2 + world_y**2)
-
-        angle_rad = math.atan2(world_y, world_x)
-        angle_degrees = math.degrees(angle_rad)
-
-        return angle_degrees, distance
-
-    def depth_callback(self, msg):
-        try:
-            self.camera_image = sensor_msgs.Image.deserialize(msg.payload.to_bytes())
-
-            depth_image = self.imgmsg_to_numpy(self.camera_image)
-            if depth_image is None:
-                logging.error("Failed to convert depth image")
-                return
-
-            obstacle = []
-
-            for row in range(0, depth_image.shape[0], 10):
-                for col in range(0, depth_image.shape[1], 10):
-                    depth_value = depth_image[row, col]
-                    if depth_value > 0:
-                        world_x, world_y, world_z = self.image_to_world(
-                            col, row, depth_value, camera_height=0.45, tilt_angle=55
-                        )
-
-                        if world_x is not None and world_z > self.obstacle_threshold:
-                            angle_degrees, distance = self.calculate_angle_and_distance(world_x, world_y)
-                            # Change to the robot coordinate system
-                            obstacle.append(
-                                {
-                                    "x": -world_y,
-                                    "y": world_x,
-                                    "z": world_z,
-                                    "depth": depth_value,
-                                    "angle": angle_degrees,
-                                    "distance": distance,
-                                }
-                            )
-
-            self.obstacle = obstacle
-            logging.debug(f"Detected {len(self.obstacle)} obstacles")
-
-        except Exception as e:
-            logging.error(f"Error processing depth image: {e}")
-
-    def plot_obstacles(self):
-        if len(self.obstacle) > 50:
-            x_coords = [obs["x"] for obs in self.obstacle]
-            y_coords = [obs["y"] for obs in self.obstacle]
-
-            plt.clf()
-            plt.scatter(x_coords, y_coords, c="red", alpha=0.6, s=10)
-            plt.scatter(0, 0, c="blue", s=50, marker="o")
-            plt.xlabel("X (forward) [m]")
-            plt.ylabel("Y (left) [m]")
-            plt.title(f"Obstacles Top View ({len(self.obstacle)} points)")
-            plt.grid(True, alpha=0.3)
-            plt.xlim(-0.5, 0.5)
-            plt.ylim(-0.5, 0.5)
-            plt.pause(0.001)
-            plt.show(block=False)
-
-
-def main():
-    detector = Intel435ObstacleDector()
-    try:
-        while True:
-            detector.plot_obstacles()
-            time.sleep(0.01)
-    except KeyboardInterrupt:
-        print("Shutting down Intel435ObstacleDector")
-
-
-if __name__ == "__main__":
-    main()
diff --git a/system_hw_test/mag_gps_module.py b/system_hw_test/mag_gps_module.py
deleted file mode 100644
index 869f392dab..0000000000
--- a/system_hw_test/mag_gps_module.py
+++ /dev/null
@@ -1,63 +0,0 @@
-"""
-GPS Module for System Hardware Test
-"""
-
-import argparse
-import time
-
-import serial
-
-parser = argparse.ArgumentParser()
-parser.add_argument("--serial", help="serial port to use, when using the low level driver", type=str)
-print(parser.format_help())
-
-args = parser.parse_args()
-
-if args.serial is None:
-    print("No serial port provided. Exiting.")
-    exit(1)
-
-baudrate = 115200
-timeout = 1
-
-serial_connection = serial.Serial(args.serial, baudrate, timeout=timeout)
-
-while True:
-    data = serial_connection.readline().decode("utf-8").strip()
-    try:
-        if data.startswith("HDG (DEG):"):
-            parts = data.split()
-            if len(parts) >= 4:
-                # that's a HDG packet
-                yaw_mag_0_360 = float(parts[2])
-                yaw_mag_cardinal = parts[3]
-                print(f"MAG: {yaw_mag_0_360}")
-            else:
-                print(f"Unable to parse heading: {data}")
-        elif data.startswith("YPR:"):
-            yaw, pitch, roll = map(str.strip, data[4:].split(","))
-            print(f"Orientation is Yaw: {yaw}°, Pitch: {pitch}°, Roll: {roll}°.")
-        elif data.startswith("GPS:"):
-            try:
-                parts = data[4:].split(",")
-                lat = parts[0]
-                lon = parts[1]
-                heading = parts[3].split(":")[1]
-                alt = parts[4].split(":")[1]
-                sat = parts[5].split(":")[1]
-                alt = float(alt)
-                sat = int(sat)
-                if len(parts) >= 6:
-                    time = parts[6][5:]
-                    time_utc = time
-                print(
-                    (
-                        f"Current location is {lat}, {lon} at {alt}m altitude. "
-                        f"GPS Heading {heading}° with {sat} satellites locked. "
-                        f"The time, if available, is {time_utc}."
-                    )
-                )
-            except Exception as e:
-                print(f"Failed to parse GPS: {data} ({e})")
-    except Exception as e:
-        print(f"Error processing serial MAG/GPS input: {data} ({e})")
diff --git a/system_hw_test/om_audio_remote_input.py b/system_hw_test/om_audio_remote_input.py
deleted file mode 100644
index 9c0822629f..0000000000
--- a/system_hw_test/om_audio_remote_input.py
+++ /dev/null
@@ -1,239 +0,0 @@
-"""
-This script is used to test the remote audio input functionality of a system.
-"""
-
-import base64
-import json
-import logging
-import os
-import sys
-import threading
-import time
-from dataclasses import dataclass
-from typing import Optional
-
-import pyaudio
-from om1_utils import ws
-
-logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s")
-
-OM_API_KEY = os.environ.get("OM_API_KEY", None)
-if not OM_API_KEY:
-    logging.error("OM_API_KEY environment variable not set.")
-    sys.exit(1)
-
-
-@dataclass
-class AudioInput:
-    """
-    Data class to represent audio input parameters for remote audio input.
-    """
-
-    audio: str
-    rate: int
-    language_code: str = "en-US"
-
-    def to_dict(self) -> dict:
-        """
-        Convert the AudioInput object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the AudioInput object.
-        """
-        return {
-            "audio": self.audio,
-            "rate": self.rate,
-            "language_code": self.language_code,
-        }
-
-    @classmethod
-    def from_dict(cls, data: dict) -> "AudioInput":
-        """
-        Populate the AudioInput object from a dictionary.
-
-        Parameters
-        ----------
-        data : dict
-            Dictionary containing audio input parameters.
-        """
-        return cls(
-            audio=data.get("audio", ""),
-            rate=data.get("rate", 16000),
-            language_code=data.get("language_code", "en-US"),
-        )
-
-
-class RemoteAudioInput:
-    def __init__(
-        self,
-        rate: Optional[int] = None,
-        chunk: Optional[int] = None,
-        device: Optional[int] = None,
-        device_name: str = None,
-    ):
-        self.ws_client: ws.Client = ws.Client(url=f"wss://api.openmind.com/api/core/teleops/audio?api_key={OM_API_KEY}")
-        self.ws_client.start()
-
-        self._rate = rate
-        self._chunk = chunk
-        self._device = device
-        self._device_name = device_name
-
-        self._audio_interface: pyaudio.PyAudio = pyaudio.PyAudio()
-        self._audio_stream: Optional[pyaudio.Stream] = None
-
-        self._audio_thread: Optional[threading.Thread] = None
-
-        self.running: bool = True
-
-        try:
-            input_device = None
-            device_count = self._audio_interface.get_device_count()
-            logging.info(f"Found {device_count} audio devices")
-
-            if self._device is not None:
-                input_device = self._audio_interface.get_device_info_by_index(self._device)
-                logging.info(f"Selected input device: {input_device['name']} ({self._device})")
-                if input_device["maxInputChannels"] == 0:
-                    logging.warning(
-                        f"Selected input device does not advertise input channels: {input_device['name']} ({self._device})"
-                    )
-            elif self._device_name is not None:
-                available_devices = []
-                for i in range(device_count):
-                    device_info = self._audio_interface.get_device_info_by_index(i)
-                    device_name = device_info["name"]
-                    available_devices.append({"name": device_name, "index": i})
-                    if self._device_name.lower() in device_name.lower():
-                        input_device = device_info
-                        self._device = i
-                        break
-                if input_device is None:
-                    raise ValueError(
-                        f"Input device '{self._device_name}' not found. Available devices: {available_devices}"
-                    )
-            else:
-                input_device = self._audio_interface.get_default_input_device_info()
-                self._device = input_device["index"]
-                logging.info(f"Default input device: {input_device['name']} ({self._device})")
-
-            if input_device is None:
-                raise ValueError("No input device found")
-
-            logging.info(f"Selected input device: {input_device['name']} ({self._device})")
-
-            if rate is None:
-                self._rate = int(input_device.get("defaultSampleRate", 16000))
-                logging.info(f"Using device default sample rate: {self._rate} Hz")
-            else:
-                self._rate = rate
-                logging.info(f"Using specified sample rate: {self._rate} Hz")
-
-            if chunk is None:
-                self._chunk = int(self._rate * 0.2)  # ~200ms of audio
-                logging.info(f"Using calculated chunk size: {self._chunk} frames (~200ms)")
-            else:
-                self._chunk = chunk
-                chunk_duration_ms = (self._chunk / self._rate) * 1000
-                logging.info(f"Using specified chunk size: {self._chunk} frames (~{chunk_duration_ms:.1f}ms)")
-
-        except Exception as e:
-            logging.error(f"Error initializing audio input: {e}")
-            self._audio_interface.terminate()
-            raise
-
-    def start(self) -> "RemoteAudioInput":
-        """
-        Initializes and starts the audio capture stream.
-
-        This method sets up the PyAudio interface, configures the input device,
-        and starts the audio processing thread.
-
-        Returns
-        -------
-        RemoteAudioInput
-            The current instance for method chaining
-
-        Raises
-        ------
-        Exception
-            If there are errors initializing the audio interface or opening the stream
-        """
-        if not self.running:
-            return self
-
-        try:
-            self._audio_stream = self._audio_interface.open(
-                format=pyaudio.paInt16,
-                input_device_index=self._device,
-                channels=1,
-                rate=self._rate,
-                input=True,
-                frames_per_buffer=self._chunk,
-                stream_callback=self._fill_buffer,
-            )
-
-            logging.info(f"Started audio stream with device {self._device}")
-
-        except Exception as e:
-            logging.error(f"Error opening audio stream: {e}")
-            self._audio_interface.terminate()
-            raise
-
-        return self
-
-    def _fill_buffer(self, in_data: bytes, frame_count: int, time_info, status_flags):
-        """
-        Callback function to handle incoming audio data.
-
-        Parameters
-        ----------
-        in_data : bytes
-            Raw audio data from the input stream
-        frame_count : int
-            Number of frames in the incoming data
-        time_info : dict
-            Timing information from the audio stream
-        status_flags : int
-            Status flags indicating stream status
-
-        Returns
-        -------
-        tuple
-            A tuple containing the processed audio data and a flag indicating whether to continue the stream
-        """
-        if self.ws_client.is_connected():
-            encode_audio = base64.b64encode(in_data).decode("utf-8")
-            audio_input = AudioInput(audio=encode_audio, rate=self._rate, language_code="en-US")
-            self.ws_client.send_message(json.dumps(audio_input.to_dict()))
-        return None, pyaudio.paContinue
-
-    def _start_audio_thread(self):
-        """
-        Starts the audio processing thread if it's not already running.
-
-        The thread runs as a daemon to ensure it terminates when the main program exits.
-        """
-        if self._audio_thread is None or not self._audio_thread.is_alive():
-            self._audio_thread = threading.Thread(target=self.on_audio, daemon=True)
-            self._audio_thread.start()
-            logging.info("Started audio processing thread")
-
-
-if __name__ == "__main__":
-    try:
-        remote_audio_input = RemoteAudioInput(rate=48000, chunk=12144)
-        remote_audio_input.start()
-        logging.info("Remote audio input started successfully.")
-
-        while remote_audio_input.running:
-            try:
-                time.sleep(0.1)
-            except Exception as e:
-                logging.error(f"Error in main loop: {e}")
-                remote_audio_input.running = False
-
-    except Exception as e:
-        logging.error(f"Failed to start remote audio input: {e}")
diff --git a/system_hw_test/om_keyboard_remote_control.py b/system_hw_test/om_keyboard_remote_control.py
deleted file mode 100644
index 95495df606..0000000000
--- a/system_hw_test/om_keyboard_remote_control.py
+++ /dev/null
@@ -1,188 +0,0 @@
-"""
-This script is designed to control a robot remotely using keyboard inputs.
-It uses the OpenMind API to send movement commands based on key presses.
-The script listens for key events and updates the robot's movement accordingly.
-w - Move forward
-s - Move backward
-a - Turn left
-d - Turn right
-"""
-
-import json
-import logging
-import os
-import sys
-import threading
-import time
-from dataclasses import dataclass
-
-from om1_utils import ws
-from pynput import keyboard
-
-logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s")
-
-OM_API_KEY = os.environ.get("OM_API_KEY", None)
-if not OM_API_KEY:
-    logging.error("OM_API_KEY environment variable not set.")
-    sys.exit(1)
-
-
-@dataclass
-class CommandStatus:
-    """
-    Data class to represent the command status of a teleops system.
-    """
-
-    vx: float
-    vy: float
-    vyaw: float
-    timestamp: str
-
-    def to_dict(self) -> dict:
-        """
-        Convert the CommandStatus object to a dictionary.
-
-        Returns
-        -------
-        dict
-            Dictionary representation of the CommandStatus object.
-        """
-        return {
-            "vx": self.vx,
-            "vy": self.vy,
-            "vyaw": self.vyaw,
-            "timestamp": self.timestamp,
-        }
-
-    @classmethod
-    def from_dict(cls, data: dict) -> "CommandStatus":
-        """
-        Populate the CommandStatus object from a dictionary.
-
-        Parameters
-        ----------
-        data : dict
-            Dictionary containing command status information.
-        """
-        return cls(
-            vx=data.get("vx", 0.0),
-            vy=data.get("vy", 0.0),
-            vyaw=data.get("vyaw", 0.0),
-            timestamp=data.get("timestamp", time.time()),
-        )
-
-
-class RemoteMoveController:
-    def __init__(self):
-        self.ws_client = ws.Client(url=f"wss://api.openmind.com/api/core/teleops/command?api_key={OM_API_KEY}")
-        self.ws_client.start()
-
-        self.linear = 0.0
-        self.angular = 0.0
-        self.key_pressed = set()
-
-    def on_press(self, key):
-        try:
-            k = key.char
-        except Exception:
-            k = key.name
-
-        self.key_pressed.add(k)
-        self.update_movement()
-
-    def on_release(self, key):
-
-        try:
-            k = key.char
-        except Exception:
-            k = key.name
-
-        if k in self.key_pressed:
-            self.key_pressed.remove(k)
-
-        self.update_movement()
-
-    def publish_command(self):
-        command = CommandStatus(
-            vx=self.linear,
-            vy=0.0,
-            vyaw=self.angular,
-            timestamp=time.time(),
-        )
-        self.ws_client.send_message(json.dumps(command.to_dict()))
-
-        logging.info(f"Published command: {command.to_dict()}")
-
-    def update_movement(self):
-        linear = 0.0
-        angular = 0.0
-
-        if "w" in self.key_pressed:
-            linear = 0.5
-        if "s" in self.key_pressed:
-            linear = -0.5
-        if "a" in self.key_pressed:
-            angular = 0.5
-        if "d" in self.key_pressed:
-            angular = -0.5
-
-        self.linear = linear
-        self.angular = angular
-
-        self.publish_command()
-
-        if self.linear > 0:
-            logging.info(f"Moving forward {self.linear}")
-        elif self.linear < 0:
-            logging.info(f"Moving backward {self.linear}")
-
-        if self.angular > 0:
-            logging.info(f"Turning left {self.angular}")
-        elif self.angular < 0:
-            logging.info(f"Turning right {self.angular}")
-
-    def continuous_publish_thread(self):
-        publish_rate = 10  # Hz (10 times per second)
-        sleep_time = 1.0 / publish_rate
-
-        while True:
-            if self.key_pressed:
-                self.publish_command()
-            time.sleep(sleep_time)
-
-    def control_loop(self):
-        listener = keyboard.Listener(
-            on_press=lambda key: self.on_press(key),
-            on_release=lambda key: self.on_release(key),
-        )
-        listener.start()
-
-        logging.info("Keyboard Control Active:")
-        logging.info(" W - Move Forward")
-        logging.info(" S - Move Backward")
-        logging.info(" A - Turn Left")
-        logging.info(" D - Turn Right")
-
-        publisher_thread = threading.Thread(target=self.continuous_publish_thread, daemon=True)
-        publisher_thread.start()
-
-        while True:
-            time.sleep(0.1)
-
-
-if __name__ == "__main__":
-    try:
-        move_controller = RemoteMoveController()
-
-        control_thread = threading.Thread(target=move_controller.control_loop, daemon=True)
-        control_thread.start()
-
-        while True:
-            time.sleep(0.5)
-
-    except KeyboardInterrupt:
-        logging.info("Program interrupted")
-    finally:
-        logging.info("Exiting program")
-        time.sleep(0.5)
-        sys.exit(0)
diff --git a/system_hw_test/parse_crsf_radio.py b/system_hw_test/parse_crsf_radio.py
deleted file mode 100644
index f0a24ef07d..0000000000
--- a/system_hw_test/parse_crsf_radio.py
+++ /dev/null
@@ -1,221 +0,0 @@
-"""
-
-A parser for TBS crsf data.
-
-Based on Bryan Mayland's CRSF "Python Parser"
-https://github.com/crsf-wg/crsf/wiki/Python-Parser
-
-Uses the public CRSF documentation:
-https://github.com/tbs-fpv/tbs-crsf-spec
-
-Known issues:
-
-Occasionally, one of the RC_Channels has a value of >2000, which is noise.
-This is a problem, since it tells the receiver that one of the switches was
-activated, even if they were not. I'm rejecting all RC data with values >2000.
-A typical range for a valid RC signal is 174 to 1800 - this is true for both
-sticks and switches.
-
-Run like this:
-
-uv run parse_crsf_radio.py
-
-"""
-
-import argparse
-from enum import IntEnum
-
-import serial
-
-
-class PacketsTypes(IntEnum):
-    GPS = 0x02
-    VARIO = 0x07
-    BATTERY_SENSOR = 0x08
-    BARO_ALT = 0x09
-    HEARTBEAT = 0x0B
-    VIDEO_TRANSMITTER = 0x0F
-    LINK_STATISTICS = 0x14
-    RC_CHANNELS_PACKED = 0x16
-    ATTITUDE = 0x1E
-    FLIGHT_MODE = 0x21
-    DEVICE_INFO = 0x29
-    CONFIG_READ = 0x2C
-    CONFIG_WRITE = 0x2D
-    RADIO_ID = 0x3A
-    PARAMETER_PING = 0x28
-    SYNC_BYTE = 0xC8
-
-
-def crc8_dvb_s2(crc, a) -> int:
-    crc = crc ^ a
-    for ii in range(8):
-        if crc & 0x80:
-            crc = (crc << 1) ^ 0xD5
-        else:
-            crc = crc << 1
-    return crc & 0xFF
-
-
-def crc8_data(data) -> int:
-    crc = 0
-    for a in data:
-        crc = crc8_dvb_s2(crc, a)
-    return crc
-
-
-def crsf_validate_frame(frame) -> bool:
-    # print(f"\nfull frame: {frame.hex()}")
-    # print(f"payload len: {len(frame[2:-1])}")
-    # print(f"payload: {frame[2:-1].hex()}")
-    # checksum = crc8_data(frame[2:-1])
-    # print(f"CRC calculated: {hex(checksum)}")
-    # print(f"CRC at data end: {hex(frame[-1])}")
-    return crc8_data(frame[2:-1]) == frame[-1]
-
-
-def signed_byte(b):
-    return b - 256 if b >= 128 else b
-
-
-def n(val):
-    # reject garbage values and noise (anything < 174 or > 1806)
-
-    res = val - 174
-    res = res / 1632
-
-    if res > 1.0:
-        res = 1.0
-    elif res < 0.0:
-        res = 0.0
-
-    return round(res, 2)
-
-
-def handleCrsfPacket(ptype, data):
-    if ptype == PacketsTypes.RADIO_ID and data[5] == 0x10:
-        # print(f"OTX sync")
-        pass
-    elif ptype == PacketsTypes.LINK_STATISTICS:
-        # LINK_STATISTICS = 0x14
-        rssi1 = signed_byte(data[3])
-        rssi2 = signed_byte(data[4])
-        lq = data[5]
-        snr = signed_byte(data[6])
-        antenna = data[7]
-        mode = data[8]
-        power = data[9]
-        # telemetry strength
-        downlink_rssi = signed_byte(data[10])
-        downlink_lq = data[11]
-        downlink_snr = signed_byte(data[12])
-        print(
-            f"RSSI={rssi1}/{rssi2}dBm LQ={lq:03} mode={mode} "
-            f"ant={antenna} snr={snr} power={power} drssi={downlink_rssi} dlq={downlink_lq} dsnr={downlink_snr}"
-        )
-    elif ptype == PacketsTypes.ATTITUDE:
-        pitch = int.from_bytes(data[3:5], byteorder="big", signed=True) / 10000.0
-        roll = int.from_bytes(data[5:7], byteorder="big", signed=True) / 10000.0
-        yaw = int.from_bytes(data[7:9], byteorder="big", signed=True) / 10000.0
-        print(f"Attitude: Pitch={pitch:0.2f} Roll={roll:0.2f} Yaw={yaw:0.2f} (rad)")
-    elif ptype == PacketsTypes.FLIGHT_MODE:
-        packet = "".join(map(chr, data[3:-2]))
-        print(f"Flight Mode: {packet}")
-    elif ptype == PacketsTypes.BATTERY_SENSOR:
-        vbat = int.from_bytes(data[3:5], byteorder="big", signed=True) / 10.0
-        curr = int.from_bytes(data[5:7], byteorder="big", signed=True) / 10.0
-        mah = data[7] << 16 | data[8] << 7 | data[9]
-        pct = data[10]
-        print(f"Battery: {vbat:0.2f}V {curr:0.1f}A {mah}mAh {pct}%")
-    elif ptype == PacketsTypes.BARO_ALT:
-        print("BaroAlt: ")
-    elif ptype == PacketsTypes.DEVICE_INFO:
-        packet = " ".join(map(hex, data))
-        print(f"Device Info: {packet}")
-    elif data[2] == PacketsTypes.GPS:
-        lat = int.from_bytes(data[3:7], byteorder="big", signed=True) / 1e7
-        lon = int.from_bytes(data[7:11], byteorder="big", signed=True) / 1e7
-        gspd = int.from_bytes(data[11:13], byteorder="big", signed=True) / 36.0
-        hdg = int.from_bytes(data[13:15], byteorder="big", signed=True) / 100.0
-        alt = int.from_bytes(data[15:17], byteorder="big", signed=True) - 1000
-        sats = data[17]
-        print(f"GPS: Pos={lat} {lon} GSpd={gspd:0.1f}m/s Hdg={hdg:0.1f} Alt={alt}m Sats={sats}")
-    elif ptype == PacketsTypes.VARIO:
-        vspd = int.from_bytes(data[3:5], byteorder="big", signed=True) / 10.0
-        print(f"VSpd: {vspd:0.1f}m/s")
-    elif ptype == PacketsTypes.RC_CHANNELS_PACKED:
-        # RC_CHANNELS_PACKED = 0x16
-        packet = data[2:-1]
-        packet = packet[1:-1]  # remove type and crc
-        packet_bin_8 = ["{0:08b}".format(i)[::-1] for i in packet]  # [::-1] reverse
-        packet_bin_full = "".join(packet_bin_8)
-        packet_bin_11 = [packet_bin_full[11 * i : 11 * (i + 1)] for i in range(16)]
-        rc_packet = [int(b[::-1], 2) for b in packet_bin_11]
-
-        # sometimes there is noise in the packets - anything above a value of 2000 is garbage
-        if max(rc_packet) > 2000:
-            return
-
-        # print(f"Control packet: {rc_packet}")
-        lud = n(rc_packet[2])
-        llr = n(rc_packet[3])
-        rud = n(rc_packet[0])
-        rlr = n(rc_packet[1])
-        swA = n(rc_packet[4])
-        swA = "in" if swA > 0.6 else "off"
-        swB = n(rc_packet[5])
-        swB = "front" if swB <= 0.33 else "back" if swB >= 0.66 else "middle"
-        swC = n(rc_packet[6])
-        swC = "front" if swC <= 0.33 else "back" if swC >= 0.66 else "middle"
-        swD = n(rc_packet[7])
-        swD = "in" if swD > 0.6 else "off"
-        swE = n(rc_packet[8])
-        swE = "on" if swE > 0.6 else "off"
-        swF = n(rc_packet[9])
-        swF = "on" if swF > 0.6 else "off"
-        print(f"LUD:{lud},LLR:{llr},RUD:{rud},RLR:{rlr},SWA:{swA},SWB:{swB},SWC:{swC},SWD:{swD},SWE:{swE},SWF:{swF}")
-    elif ptype == PacketsTypes.PARAMETER_PING:
-        packet = " ".join(map(hex, data))
-        print(f"PING 0x{ptype:02x}: {packet}")
-    else:
-        packet = " ".join(map(hex, data))
-        print(f"Unknown 0x{ptype:02x}: {packet}")
-
-
-parser = argparse.ArgumentParser()
-parser.add_argument("-P", "--port", default="/dev/cu.usbserial-B003ABY3", required=False)
-parser.add_argument("-b", "--baud", default=420000, required=False)
-parser.add_argument(
-    "-t",
-    "--tx",
-    required=False,
-    default=False,
-    action="store_true",
-    help="Enable sending CHANNELS_PACKED every 20ms (all channels 1500us)",
-)
-args = parser.parse_args()
-
-with serial.Serial(
-    args.port,
-    args.baud,
-    timeout=1,
-) as ser:
-    input = bytearray()
-    while True:
-        if ser.in_waiting > 0:
-            input.extend(ser.read(ser.in_waiting))
-        while len(input) > 2:
-            expected_len = input[1] + 2
-            if expected_len > 64 or expected_len < 4:
-                input = bytearray()
-            elif len(input) >= expected_len:
-                single = input[:expected_len]  # copy out this whole packet
-                input = input[expected_len:]  # and remove it from the buffer
-                if single[0] == PacketsTypes.SYNC_BYTE:
-                    if not crsf_validate_frame(single):
-                        packet = " ".join(map(hex, single))
-                        print(f"crc error: {packet}")
-                    else:
-                        handleCrsfPacket(single[2], single)
-            else:
-                break
diff --git a/system_hw_test/rpdriver.py b/system_hw_test/rpdriver.py
deleted file mode 100644
index ab92cb7509..0000000000
--- a/system_hw_test/rpdriver.py
+++ /dev/null
@@ -1,499 +0,0 @@
-"""Simple and lightweight module for working with RPLidar rangefinder scanners.
-
-Usage example:
-
->>> from rplidar import RPLidar
->>> lidar = RPLidar('/dev/ttyUSB0')
->>>
->>> info = lidar.get_info()
->>> print(info)
->>>
->>> health = lidar.get_health()
->>> print(health)
->>>
->>> for i, scan in enumerate(lidar.iter_scans()):
-...  print('%d: Got %d measures' % (i, len(scan)))
-...  if i > 10:
-...   break
-...
->>> lidar.stop()
->>> lidar.stop_motor()
->>> lidar.disconnect()
-
-For additional information please refer to the RPLidar class documentation.
-"""
-
-import codecs
-import logging
-import struct
-import sys
-import time
-from collections import namedtuple
-
-import serial
-
-SYNC_BYTE = b"\xa5"
-SYNC_BYTE2 = b"\x5a"
-
-GET_INFO_BYTE = b"\x50"
-GET_HEALTH_BYTE = b"\x52"
-
-STOP_BYTE = b"\x25"
-RESET_BYTE = b"\x40"
-
-_SCAN_TYPE = {
-    "normal": {"byte": b"\x20", "response": 129, "size": 5},
-    "force": {"byte": b"\x21", "response": 129, "size": 5},
-    "express": {"byte": b"\x82", "response": 130, "size": 84},
-}
-
-DESCRIPTOR_LEN = 7
-INFO_LEN = 20
-HEALTH_LEN = 3
-
-INFO_TYPE = 4
-HEALTH_TYPE = 6
-
-# Constants & Command to start A2 motor
-MAX_MOTOR_PWM = 1023
-DEFAULT_MOTOR_PWM = 660
-SET_PWM_BYTE = b"\xf0"
-
-_HEALTH_STATUSES = {
-    0: "Good",
-    1: "Warning",
-    2: "Error",
-}
-
-
-class RPLidarException(Exception):
-    """Basic exception class for RPLidar"""
-
-
-def _b2i(byte):
-    """Converts byte to integer (for Python 2 compatibility)"""
-    return byte if int(sys.version[0]) == 3 else ord(byte)
-
-
-def _showhex(signal):
-    """Converts string bytes to hex representation (useful for debugging)"""
-    return [format(_b2i(b), "#02x") for b in signal]
-
-
-def _process_scan(raw):
-    """Processes input raw data and returns measurement data"""
-    new_scan = bool(_b2i(raw[0]) & 0b1)
-    inversed_new_scan = bool((_b2i(raw[0]) >> 1) & 0b1)
-    quality = _b2i(raw[0]) >> 2
-    if new_scan == inversed_new_scan:
-        raise RPLidarException("New scan flags mismatch")
-    check_bit = _b2i(raw[1]) & 0b1
-    if check_bit != 1:
-        raise RPLidarException("Check bit not equal to 1")
-    angle = ((_b2i(raw[1]) >> 1) + (_b2i(raw[2]) << 7)) / 64.0
-    distance = (_b2i(raw[3]) + (_b2i(raw[4]) << 8)) / 4.0
-    return new_scan, quality, angle, distance
-
-
-def _process_express_scan(data, new_angle, trame):
-    new_scan = (new_angle < data.start_angle) & (trame == 1)
-    angle = (data.start_angle + ((new_angle - data.start_angle) % 360) / 32 * trame - data.angle[trame - 1]) % 360
-    distance = data.distance[trame - 1]
-    return new_scan, None, angle, distance
-
-
-class RPDriver(object):
-    """Class for communicating with RPLidar rangefinder scanners"""
-
-    def __init__(self, port, baudrate=115200, timeout=1, logger=None):
-        """Initialize RPLidar object for communicating with the sensor.
-
-        Parameters
-        ----------
-        port : str
-            Serial port name to which sensor is connected
-        baudrate : int, optional
-            Baudrate for serial connection (the default is 115200)
-        timeout : float, optional
-            Serial port connection timeout in seconds (the default is 1)
-        logger : logging.Logger instance, optional
-            Logger instance, if none is provided new instance is created
-        """
-        self._serial = None
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self._motor_speed = DEFAULT_MOTOR_PWM
-        self.scanning = [False, 0, "normal"]
-        self.express_trame = 32
-        self.express_data = False
-        self.motor_running = None
-        if logger is None:
-            logger = logging.getLogger("rplidar")
-        self.logger = logger
-        self.connect()
-
-    def connect(self):
-        """Connects to the serial port with the name `self.port`. If it was
-        connected to another serial port disconnects from it first."""
-        if self._serial is not None:
-            self.disconnect()
-        try:
-            self._serial = serial.Serial(
-                self.port,
-                self.baudrate,
-                parity=serial.PARITY_NONE,
-                stopbits=serial.STOPBITS_ONE,
-                timeout=self.timeout,
-            )
-        except serial.SerialException as err:
-            raise RPLidarException("Failed to connect to the sensor " "due to: %s" % err)
-
-    def disconnect(self):
-        """Disconnects from the serial port"""
-        if self._serial is None:
-            return
-        self._serial.close()
-
-    def _set_pwm(self, pwm):
-        payload = struct.pack("<H", pwm)
-        self._send_payload_cmd(SET_PWM_BYTE, payload)
-
-    @property
-    def motor_speed(self):
-        return self._motor_speed
-
-    @motor_speed.setter
-    def motor_speed(self, pwm):
-        assert 0 <= pwm <= MAX_MOTOR_PWM
-        self._motor_speed = pwm
-        if self.motor_running:
-            self._set_pwm(self._motor_speed)
-
-    def start_motor(self):
-        """Starts sensor motor"""
-        self.logger.info("Starting motor")
-        # For A1
-        self._serial.setDTR(False)
-
-        # For A2
-        self._set_pwm(self._motor_speed)
-        self.motor_running = True
-
-    def stop_motor(self):
-        """Stops sensor motor"""
-        self.logger.info("Stopping motor")
-        # For A2
-        self._set_pwm(0)
-        time.sleep(0.001)
-        # For A1
-        self._serial.setDTR(True)
-        self.motor_running = False
-
-    def _send_payload_cmd(self, cmd, payload):
-        """Sends `cmd` command with `payload` to the sensor"""
-        size = struct.pack("B", len(payload))
-        req = SYNC_BYTE + cmd + size + payload
-        checksum = 0
-        for v in struct.unpack("B" * len(req), req):
-            checksum ^= v
-        req += struct.pack("B", checksum)
-        self._serial.write(req)
-        self.logger.debug("Command sent: %s" % _showhex(req))
-
-    def _send_cmd(self, cmd):
-        """Sends `cmd` command to the sensor"""
-        req = SYNC_BYTE + cmd
-        self._serial.write(req)
-        self.logger.debug("Command sent: %s" % _showhex(req))
-
-    def _read_descriptor(self):
-        """Reads descriptor packet"""
-        descriptor = self._serial.read(DESCRIPTOR_LEN)
-        self.logger.debug("Received descriptor: %s", _showhex(descriptor))
-        if len(descriptor) != DESCRIPTOR_LEN:
-            raise RPLidarException("Descriptor length mismatch")
-        elif not descriptor.startswith(SYNC_BYTE + SYNC_BYTE2):
-            raise RPLidarException("Incorrect descriptor starting bytes")
-        is_single = _b2i(descriptor[-2]) == 0
-        return _b2i(descriptor[2]), is_single, _b2i(descriptor[-1])
-
-    def _read_response(self, dsize):
-        """Reads response packet with length of `dsize` bytes"""
-        self.logger.debug("Trying to read response: %d bytes", dsize)
-        while self._serial.inWaiting() < dsize:
-            time.sleep(0.001)
-        data = self._serial.read(dsize)
-        self.logger.debug("Received data: %s", _showhex(data))
-        return data
-
-    def get_info(self):
-        """Get device information
-
-        Returns
-        -------
-        dict
-            Dictionary with the sensor information
-        """
-        if self._serial.inWaiting() > 0:
-            return "Buffer is full! Run clean_input() to empty the buffer."
-        self._send_cmd(GET_INFO_BYTE)
-        dsize, is_single, dtype = self._read_descriptor()
-        if dsize != INFO_LEN:
-            raise RPLidarException("Wrong get_info reply length")
-        if not is_single:
-            raise RPLidarException("Not a single response mode")
-        if dtype != INFO_TYPE:
-            raise RPLidarException("Wrong response data type")
-        raw = self._read_response(dsize)
-        serialnumber = codecs.encode(raw[4:], "hex").upper()
-        serialnumber = codecs.decode(serialnumber, "ascii")
-        data = {
-            "model": _b2i(raw[0]),
-            "firmware": (_b2i(raw[2]), _b2i(raw[1])),
-            "hardware": _b2i(raw[3]),
-            "serial number": serialnumber,
-        }
-        return data
-
-    def get_health(self):
-        """Get device health state. When the core system detects some
-        potential risk that may cause hardware failure in the future,
-        the returned status value will be 'Warning'. But sensor can still work
-        as normal. When sensor is in the Protection Stop state, the returned
-        status value will be 'Error'. In case of warning or error statuses
-        non-zero error code will be returned.
-
-        Returns
-        -------
-        status : str
-            'Good', 'Warning' or 'Error' statuses
-        error_code : int
-            The related error code that caused a warning/error.
-        """
-        if self._serial.inWaiting() > 0:
-            return "Data in buffer. " "Run clean_input() to empty the buffer."
-        self.logger.info("Asking for health")
-        self._send_cmd(GET_HEALTH_BYTE)
-        dsize, is_single, dtype = self._read_descriptor()
-        if dsize != HEALTH_LEN:
-            raise RPLidarException("Wrong get_info reply length")
-        if not is_single:
-            raise RPLidarException("Not a single response mode")
-        if dtype != HEALTH_TYPE:
-            raise RPLidarException("Wrong response data type")
-        raw = self._read_response(dsize)
-        status = _HEALTH_STATUSES[_b2i(raw[0])]
-        error_code = (_b2i(raw[1]) << 8) + _b2i(raw[2])
-        return status, error_code
-
-    def clean_input(self):
-        """Clean input buffer by reading all available data"""
-        if self.scanning[0]:
-            return "Cleaning not allowed during active scanning!"
-        self._serial.flushInput()
-        self.express_trame = 32
-        self.express_data = False
-
-    def stop(self):
-        """Stops scanning process, disables laser diode and the measurement
-        system, moves sensor to the idle state."""
-        self.logger.info("Stop scanning")
-        self._send_cmd(STOP_BYTE)
-        time.sleep(0.1)
-        self.scanning[0] = False
-        self.clean_input()
-
-    def start(self, scan_type="normal"):
-        """Start the scanning process
-
-        Parameters
-        ----------
-        scan : normal, force, or express.
-        """
-        if self.scanning[0]:
-            return "Scan already running!"
-        """Start the scanning process, enable laser diode and the
-        measurement system"""
-        status, error_code = self.get_health()
-        self.logger.debug("Health status: %s [%d]", status, error_code)
-        if status == _HEALTH_STATUSES[2]:
-            self.logger.warning("Trying to reset sensor due to error. " "Error code: %d", error_code)
-            self.reset()
-            status, error_code = self.get_health()
-            if status == _HEALTH_STATUSES[2]:
-                raise RPLidarException("RPLidar hardware failure. " "Error code: %d" % error_code)
-        elif status == _HEALTH_STATUSES[1]:
-            self.logger.warning("Warning sensor status detected! " "Error code: %d", error_code)
-
-        cmd = _SCAN_TYPE[scan_type]["byte"]
-        print("Starting scan in %s mode" % scan_type)
-        self.logger.info("starting scan process in %s mode" % scan_type)
-
-        if scan_type == "express":
-            self._send_payload_cmd(cmd, b"\x00\x00\x00\x00\x00")
-        else:
-            self._send_cmd(cmd)
-
-        dsize, is_single, dtype = self._read_descriptor()
-        if dsize != _SCAN_TYPE[scan_type]["size"]:
-            raise RPLidarException("Wrong get_info reply length")
-        if is_single:
-            raise RPLidarException("Not a multiple response mode")
-        if dtype != _SCAN_TYPE[scan_type]["response"]:
-            raise RPLidarException("Wrong response data type")
-        self.scanning = [True, dsize, scan_type]
-
-    def reset(self):
-        """Resets sensor core, reverting it to a similar state as it has
-        just been powered up."""
-        self.logger.info("Resetting the sensor")
-        self._send_cmd(RESET_BYTE)
-        time.sleep(2)
-        self.clean_input()
-
-    def iter_measures(self, scan_type="normal", max_buf_meas=3000):
-        """Iterate over measurements. Note that consumer must be fast enough,
-        otherwise data will accumulate inside buffer and consumer will get
-        data with increasing lag.
-
-        Parameters
-        ----------
-        max_buf_meas : int or False if you want unlimited buffer
-            Maximum number of bytes to be stored inside the buffer. Once
-            number exceeds this limit buffer will be emptied out.
-
-        Yields
-        ------
-        new_scan : bool
-            True if measurement belongs to a new scan
-        quality : int
-            Reflected laser pulse strength
-        angle : float
-            The measurement heading angle in degree units [0, 360)
-        distance : float
-            Measured object distance related to the sensor's rotation center.
-            In millimeters. Set to 0 when measure is invalid.
-        """
-        self.start_motor()
-        if not self.scanning[0]:
-            self.start(scan_type)
-        while True:
-            dsize = self.scanning[1]
-            # print(f"M: Dsize:{dsize}")
-            if max_buf_meas:
-                data_in_buf = self._serial.inWaiting()
-                if data_in_buf > max_buf_meas:
-                    self.logger.warning(
-                        "Too many bytes in the input buffer: %d/%d. " "Cleaning buffer...",
-                        data_in_buf,
-                        max_buf_meas,
-                    )
-                    self.stop()
-                    self.start(self.scanning[2])
-
-            if self.scanning[2] == "normal":
-                print("M: Normal scanning")
-                raw = self._read_response(dsize)
-                print(f"M: Raw:{raw}")
-                yield _process_scan(raw)
-            if self.scanning[2] == "express":
-                # print("M: Express scanning")
-                if self.express_trame == 32:
-                    self.express_trame = 0
-                    # if not self.express_data or type(self.express_data) == bool:
-                    if not self.express_data:
-                        self.logger.debug("reading first time bytes")
-                        self.express_data = ExpressPacket.from_string(self._read_response(dsize))
-
-                    self.express_old_data = self.express_data
-                    self.logger.debug(
-                        "set old_data with start_angle %f",
-                        self.express_old_data.start_angle,
-                    )
-                    self.express_data = ExpressPacket.from_string(self._read_response(dsize))
-                    self.logger.debug(
-                        "set new_data with start_angle %f",
-                        self.express_data.start_angle,
-                    )
-
-                self.express_trame += 1
-                self.logger.debug(
-                    "process scan of frame %d with angle : " "%f and angle new : %f",
-                    self.express_trame,
-                    self.express_old_data.start_angle,
-                    self.express_data.start_angle,
-                )
-                yield _process_express_scan(
-                    self.express_old_data,
-                    self.express_data.start_angle,
-                    self.express_trame,
-                )
-
-    def iter_scans(self, scan_type="normal", max_buf_meas=3000, min_len=5):
-        """Iterate over scans. Note that consumer must be fast enough,
-        otherwise data will be accumulated inside buffer and consumer will get
-        data with increasing lag.
-
-        Parameters
-        ----------
-        max_buf_meas : int
-            Maximum number of measures to be stored inside the buffer. Once
-            number exceeds this limit buffer will be cleared.
-        min_len : int
-            Minimum number of measures in the scan for it to be returned.
-
-        Yields
-        ------
-        scan : list
-            List of the measurements. Each measurement is a tuple with following
-            format: (quality, angle, distance). For values description please
-            refer to `iter_measures` method's documentation.
-        """
-        scan_list = []
-        iterator = self.iter_measures(scan_type, max_buf_meas)
-        for new_scan, quality, angle, distance in iterator:
-            if new_scan:
-                if len(scan_list) > min_len:
-                    yield scan_list
-                scan_list = []
-            if distance > 0:
-                scan_list.append((quality, angle, distance))
-
-
-class ExpressPacket(namedtuple("express_packet", "distance angle new_scan start_angle")):
-    sync1 = 0xA
-    sync2 = 0x5
-    sign = {0: 1, 1: -1}
-
-    @classmethod
-    def from_string(cls, data):
-        packet = bytearray(data)
-
-        if (packet[0] >> 4) != cls.sync1 or (packet[1] >> 4) != cls.sync2:
-            raise ValueError("try to parse corrupted data ({})".format(packet))
-
-        checksum = 0
-        for b in packet[2:]:
-            checksum ^= b
-        if checksum != (packet[0] & 0b00001111) + ((packet[1] & 0b00001111) << 4):
-            raise ValueError("Invalid checksum ({})".format(packet))
-
-        new_scan = packet[3] >> 7
-        start_angle = (packet[2] + ((packet[3] & 0b01111111) << 8)) / 64
-
-        d = a = ()
-        for i in range(0, 80, 5):
-            d += ((packet[i + 4] >> 2) + (packet[i + 5] << 6),)
-            a += (
-                ((packet[i + 8] & 0b00001111) + ((packet[i + 4] & 0b00000001) << 4))
-                / 8
-                * cls.sign[(packet[i + 4] & 0b00000010) >> 1],
-            )
-            d += ((packet[i + 6] >> 2) + (packet[i + 7] << 6),)
-            a += (
-                ((packet[i + 8] >> 4) + ((packet[i + 6] & 0b00000001) << 4))
-                / 8
-                * cls.sign[(packet[i + 6] & 0b00000010) >> 1],
-            )
-        return cls(d, a, new_scan, start_angle)
diff --git a/system_hw_test/rptest.py b/system_hw_test/rptest.py
deleted file mode 100644
index ee78105ffd..0000000000
--- a/system_hw_test/rptest.py
+++ /dev/null
@@ -1,459 +0,0 @@
-import argparse
-import math
-import sys
-import threading
-import time
-
-import numpy as np
-import zenoh
-from matplotlib import pyplot as plot
-from matplotlib.animation import FuncAnimation
-from matplotlib.patches import Circle, Rectangle
-from rpdriver import RPDriver
-
-from .intel435.intel435_obstacle_zenoh import Intel435ObstacleDector
-
-sys.path.insert(0, "../src")
-
-try:
-    from zenoh_msgs import open_zenoh_session, sensor_msgs
-except ImportError:
-    print("Please run this script from inside /system_hw_test")
-
-parser = argparse.ArgumentParser()
-parser.add_argument("--serial", help="serial port to use, when using the low level driver", type=str)
-parser.add_argument("--zenoh", help="use zenoh to connect to the robot", action="store_true")
-parser.add_argument("--multicast", help="multicast address for zenoh", type=str, default=None)
-parser.add_argument("--URID", help="your robot's URID, when using Zenoh", type=str, default="")
-parser.add_argument("--type", help="the type of the robot (go2 or tb4)", type=str, default="go2")
-print(parser.format_help())
-
-args = parser.parse_args()
-
-# Create an instance of Intel435ObstacleDector
-intel435ObstacleDector = Intel435ObstacleDector()
-
-
-def create_straight_line_path_from_angle(angle_degrees, length=1.0, num_points=10):
-    """Create a straight line path from origin at specified angle and length"""
-    angle_rad = math.radians(angle_degrees)
-    end_x = length * math.sin(angle_rad)  # sin for x because 0° is forward (positive y)
-    end_y = length * math.cos(angle_rad)  # cos for y because 0° is forward (positive y)
-
-    x_vals = np.linspace(0.0, end_x, num_points)
-    y_vals = np.linspace(0.0, end_y, num_points)
-    return np.array([x_vals, y_vals])
-
-
-# Define 9 straight line paths separated by 15 degrees
-# Center path is 0° (straight forward), then ±15°, ±30°, ±45°, ±60°
-path_angles = [-60, -45, -30, -15, 0, 15, 30, 45, 60, 180]  # degrees
-path_length = 1.05  # meters
-
-paths = [create_straight_line_path_from_angle(angle, path_length) for angle in path_angles]
-
-print(f"Created {len(paths)} paths with angles: {path_angles}")
-print(f"Each path extends {path_length}m from robot center")
-
-pp = []
-for path in paths:
-    pairs = list(zip(path[0], path[1]))
-    pp.append(pairs)
-
-print(paths)
-print(pp)
-
-fig = plot.figure()
-ax1 = plot.subplot(131)
-ax2 = plot.subplot(132)
-ax3 = plot.subplot(133)
-
-center = ax1.plot([0], [0], "o", color="blue")[0]  # the robot
-circle = ax1.add_patch(Circle((0, 0), 0.20, color="red"))  # the robot
-points = ax1.plot([], [], "-", color="black")[0]
-front = ax1.annotate("Front", xytext=(0.1, 0.3), xy=(0, 0.5))
-arrow = ax1.annotate("", xytext=(0, 0), xy=(0, 1.5), arrowprops=dict(arrowstyle="->"))
-ax1.set_xlim(-5, 5)
-ax1.set_ylim(-5, 5)
-ax1.set_aspect("equal")
-
-# Robot and sensor configuration
-# UNITREE
-
-half_width_robot = 0.20  # the width of the robot is 40 cm
-relevant_distance_max = 1.1  # meters
-relevant_distance_min = 0.20  # meters
-sensor_mounting_angle = 172.0  # corrects for how sensor is mounted
-# angles_blanked = [[-180.0, -140.0], [140.0, 180.0]]
-angles_blanked = []
-
-# Figure 2 - the zoom and the possible paths
-centerZoom = ax2.plot([0], [0], "o", color="blue")[0]  # the robot
-
-if args.type == "tb4":
-    sensor_mounting_angle = 270.0
-    angles_blanked = [[-180.0, -160.0], [110.0, 180.0]]
-    circleZoom = ax2.add_patch(Circle((0, 0), 0.20, ls="--", lw=1, ec="red", fc="none"))  # the robot head
-    outline = ax2.add_patch(Rectangle((-0.05, -0.15), 0.20, 0.06, ls="--", fc="black"))  # the robot electronics
-else:
-    circleZoom = ax2.add_patch(Circle((0, 0), 0.20, ls="--", lw=1, ec="red", fc="none"))  # the robot head
-    outline = ax2.add_patch(Rectangle((-0.2, -0.7), 0.40, 0.70, ls="--", lw=1, ec="red", fc="none"))  # the robot body
-pointsZoom = ax2.plot([], [], ".", color="black")[0]
-ax2.set_xlim(-1.2, 1.2)
-ax2.set_ylim(-1.2, 1.2)
-ax2.set_aspect("equal")
-
-lines = []
-for li in list(range(0, len(paths))):
-    lines.append(ax2.plot([0], [0], "-", color="black")[0])
-
-line = ax3.plot([0], [0], "-", color="red")[0]
-ax3.set_xlim(-180, 180)
-ax3.set_ylim(0, 1.2)
-ax3.set_aspect(300)
-
-ax3.plot([-180.0, -48.0], [1.18, 1.18], "-", color="red", linewidth=3.0)[0]
-ax3.plot([-42.0, 42.0], [1.18, 1.18], "-", color="black", linewidth=3.0)[0]
-ax3.plot([48.0, 180.0], [1.18, 1.18], "-", color="green", linewidth=3.0)[0]
-ax3.annotate("Left", xytext=(-125, 1.1), xy=(0, 0.5))
-ax3.annotate("Front", xytext=(-20, 1.1), xy=(0, 0.5))
-ax3.annotate("Right", xytext=(85, 1.1), xy=(0, 0.5))
-
-# display the blanked regions of the scan
-for b in angles_blanked:
-    deg_to_rad = np.pi / 180.0
-
-    start_angle = b[0] * deg_to_rad
-    end_angle = b[1] * deg_to_rad
-
-    theta = np.linspace(start_angle, end_angle, 50)
-    r = relevant_distance_max
-
-    x = r * np.sin(theta)
-    y = r * np.cos(theta)
-
-    # the arc
-    ax2.plot(x, y, "--", color="grey", linewidth=1.5)
-
-    # the straight lines
-    ax2.plot([0, x[0]], [0, y[0]], "--", color="grey", linewidth=1)
-    ax2.plot([0, x[-1]], [0, y[-1]], "--", color="grey", linewidth=1)
-
-    # for panel 3 - this is in the correct units
-    width = abs(b[1] - b[0])
-    ax3.add_patch(Rectangle((b[0], 0.2), width, 1.0, fc="grey"))
-
-
-def continuous_serial(lidar):
-
-    for i, scan in enumerate(lidar.iter_scans(scan_type="express", max_buf_meas=3000, min_len=5)):
-
-        array = np.array(scan)
-
-        # the driver sends angles in degrees between from 0 to 360
-        # warning - the driver may send two or more readings per angle,
-        # this can be confusing for the code
-        angles = array[:, 1]
-
-        # distances are in millimeters
-        distances_mm = array[:, 2]
-        distances_m = [i / 1000 for i in distances_mm]
-
-        data = list(zip(angles, distances_m))
-        array_ready = np.array(data)
-        # print(f"Array {array_ready}")
-        process(array_ready)
-
-
-def zenoh_scan(sample):
-
-    scan = sensor_msgs.LaserScan.deserialize(sample.payload.to_bytes())
-    # print(f"Scan {scan}")
-
-    # angle_min=-3.1241390705108643, angle_max=3.1415927410125732
-    angles = list(
-        map(
-            lambda x: 360.0 * (x + math.pi) / (2 * math.pi),
-            np.arange(scan.angle_min, scan.angle_max, scan.angle_increment),
-        )
-    )
-
-    angles_final = np.flip(angles)
-    # angles now run from 360.0 to 0 degrees
-    data = list(zip(angles_final, scan.ranges))
-    array_ready = np.array(data)
-    # print(f"Array {array_ready}")
-    process(array_ready)
-
-
-def distance_point_to_line_segment(px, py, x1, y1, x2, y2):
-    # Vector from line start to line end
-    dx = x2 - x1
-    dy = y2 - y1
-
-    # If the line segment has zero length, return distance to point
-    if dx == 0 and dy == 0:
-        return math.sqrt((px - x1) ** 2 + (py - y1) ** 2)
-
-    # Calculate the parameter t that represents the projection of the point onto the line
-    t = ((px - x1) * dx + (py - y1) * dy) / (dx * dx + dy * dy)
-
-    # Clamp t to [0, 1] to stay within the line segment
-    t = max(0, min(1, t))
-
-    # Find the closest point on the line segment
-    closest_x = x1 + t * dx
-    closest_y = y1 + t * dy
-
-    # Return the distance from the point to the closest point on the line segment
-    return math.sqrt((px - closest_x) ** 2 + (py - closest_y) ** 2)
-
-
-def calculate_angle_and_distance(world_x, world_y):
-    distance = math.sqrt(world_x**2 + world_y**2)
-
-    angle_rad = math.atan2(world_y, world_x)
-    angle_degrees = math.degrees(angle_rad)
-
-    return angle_degrees, distance
-
-
-def process(data):
-
-    complexes = []
-
-    for angle, distance in data:
-
-        d_m = distance
-
-        # don't worry about distant objects
-        if d_m > 5.0:
-            continue
-
-        # first, correctly orient the sensor zero to the robot zero
-        angle = angle + sensor_mounting_angle
-        if angle >= 360.0:
-            angle = angle - 360.0
-        elif angle < 0.0:
-            angle = 360.0 + angle
-
-        # then, convert to radians
-        a_rad = angle * math.pi / 180.0
-
-        v1 = d_m * math.cos(a_rad)
-        v2 = d_m * math.sin(a_rad)
-
-        # convert to x and y
-        # x runs backwards to forwards, y runs left to right
-        x = -1 * v2
-        y = -1 * v1
-
-        # convert the angle to -180 to + 180 range
-        angle = angle - 180.0
-
-        keep = True
-        for b in angles_blanked:
-            if angle >= b[0] and angle <= b[1]:
-                # this is a permanent reflection based on the robot
-                # disregard
-                keep = False
-                break
-
-        if d_m < relevant_distance_min:
-            # this is too close, disregard
-            keep = False
-
-        # the final data ready to use for path planning
-        if keep:
-            complexes.append([x, y, angle, d_m])
-
-    if len(intel435ObstacleDector.obstacle) > 100:
-        for obstacle in intel435ObstacleDector.obstacle:
-            angle, distance = calculate_angle_and_distance(obstacle["x"], obstacle["y"])
-            complexes.append(
-                [
-                    obstacle["x"],
-                    obstacle["y"],
-                    angle,
-                    distance,
-                ]
-            )
-
-    array = np.array(complexes)
-
-    # sort data into strictly increasing angles to deal with sensor issues
-    # the sensor sometimes reports part of the previous scan and part of the next scan
-    # so you end up with multiple slightly different values for some angles at the
-    # junction
-    sorted_indices = array[:, 2].argsort()
-    array = array[sorted_indices]
-
-    X = array[:, 0]
-    Y = array[:, 1]
-    A = array[:, 2]
-    D = array[:, 3]
-
-    global points
-    points.set_data(X, Y)
-
-    global pointsZoom
-    pointsZoom.set_data(X, Y)
-
-    global line
-    line.set_data(A, D)
-
-    """
-    Determine set of possible paths
-    """
-    possible_paths = np.array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
-    bad_paths = []
-
-    # all the possible conflicting points
-    for x, y, d in list(zip(X, Y, D)):
-        for apath in possible_paths:
-            # Get the start and end points of this straight line path
-            path_points = paths[apath]
-            start_x, start_y = (
-                path_points[0][0],
-                path_points[1][0],
-            )
-            end_x, end_y = path_points[0][-1], path_points[1][-1]
-
-            if apath == 9:
-                # For going back, only consider obstacles that are:
-                # 1. Behind the robot (negative x in robot frame)
-                # 2. Within a certain distance threshold
-
-                # Assuming robot faces positive x direction
-                # Only check obstacles behind the robot
-                if y >= 0:  # Skip obstacles in front of or beside the robot
-                    continue
-
-            # Calculate distance from obstacle to the line segment
-            dist_to_line = distance_point_to_line_segment(x, y, start_x, start_y, end_x, end_y)
-
-            if dist_to_line < half_width_robot:
-                # too close - this path will not work
-                path_to_remove = np.array([apath])
-                bad_paths.append(apath)
-                possible_paths = np.setdiff1d(possible_paths, path_to_remove)
-                break  # no need to keep checking this path - we know this path is bad
-
-    print(f"possible_paths: {possible_paths}")
-
-    # convert to simple list
-    ppl = possible_paths.tolist()
-
-    left = []
-    forward = []
-    right = []
-    backward = []
-
-    for p in ppl:
-        # Categorize paths based on angle
-        angle = path_angles[p]
-        if angle == -60:
-            left.append(p)
-        elif angle == -45:
-            left.append(p)
-        elif angle == -30:
-            left.append(p)
-        elif angle == -15:
-            forward.append(p)
-        elif angle == 0:
-            forward.append(p)
-        elif angle == 15:
-            forward.append(p)
-        elif angle == 30:
-            right.append(p)
-        elif angle == 45:
-            right.append(p)
-        elif angle == 60:
-            right.append(p)
-        elif angle == 180:
-            backward.append(p)
-
-        lines[p].set_data(paths[p][0], paths[p][1])
-        lines[p].set_color("green")
-
-    if len(ppl) > 0:
-        print(f"There are {len(ppl)} possible paths.")
-        if len(left) > 0:
-            print(f"You can turn left using paths: {left} ({[path_angles[p] for p in left]}°).")
-        if len(forward) > 0:
-            print(f"You can go forward using paths: {forward} ({[path_angles[p] for p in forward]}°).")
-        if len(right) > 0:
-            print(f"You can turn right using paths: {right} ({[path_angles[p] for p in right]}°).")
-        if len(backward) > 0:
-            print(f"You can go backward using paths: {backward} ({[path_angles[p] for p in backward]}°).")
-    else:
-        print("You are surrounded by objects and cannot safely move in any direction. DO NOT MOVE.")
-
-    for p in bad_paths:
-        # these are all the bad paths
-        lines[p].set_data(paths[p][0], paths[p][1])
-        lines[p].set_color("red")
-
-
-if __name__ == "__main__":
-
-    if args.serial:
-        PORT_NAME = args.serial
-        print(f"Using {PORT_NAME} as the serial port")
-        try:
-            lidar = RPDriver(PORT_NAME)
-            info = lidar.get_info()
-            print(f"Info: {info}")
-
-            health = lidar.get_health()
-            print(f"Health: {health}")
-
-            # reset to clear buffers
-            lidar.reset()
-
-            subscribe_thread = threading.Thread(target=continuous_serial, args=(lidar,))
-            subscribe_thread.daemon = True
-            subscribe_thread.start()
-
-            ani = FuncAnimation(fig, lambda _: None)
-            plot.show()
-
-        except KeyboardInterrupt:
-            print("Program interrupted")
-
-        finally:
-            print("Exiting program")
-            lidar.stop()
-            lidar.disconnect()
-            time.sleep(0.5)
-            sys.exit(0)
-
-        sys.exit(0)
-
-    if args.zenoh:
-        print("Using Zenoh to connect to robot")
-        print("[INFO] Opening zenoh session...")
-        conf = zenoh.Config()
-        if args.multicast:
-            conf.insert_json5("scouting", f'{{"multicast": {{"address": "{args.multicast}"}}}}')
-
-        z = open_zenoh_session()
-
-        if args.type == "go2":
-            print("[INFO] Creating Subscribers for Go2")
-            scans = z.declare_subscriber("scan", zenoh_scan)
-
-        if args.type == "tb4":
-            print("[INFO] Creating Subscribers for TB4")
-            scans = z.declare_subscriber(f"{args.URID}/pi/scan", zenoh_scan)
-
-        if args.type != "go2" and args.type != "tb4":
-            print(f"[ERROR] Unsupported robot type: {args.type}")
-            sys.exit(1)
-
-        ani = FuncAnimation(fig, lambda _: None)
-        plot.show()
-
-        sys.exit(0)
-
-    raise ValueError("You must specify either --serial or --zenoh to run this script.")
diff --git a/system_hw_test/simple_paths.py b/system_hw_test/simple_paths.py
deleted file mode 100644
index a94b5ca022..0000000000
--- a/system_hw_test/simple_paths.py
+++ /dev/null
@@ -1,42 +0,0 @@
-import logging
-import sys
-import time
-
-sys.path.insert(0, "../src")
-
-from zenoh_msgs import open_zenoh_session, sensor_msgs
-
-logging.basicConfig(level=logging.INFO)
-
-
-class SimplePaths:
-    def __init__(self):
-        self.session = open_zenoh_session()
-        self.session.declare_subscriber("om/paths", self.paths_callback)
-
-        logging.info("Zenoh is open for Paths")
-
-    def paths_callback(self, msg):
-        try:
-            paths_msg = sensor_msgs.Paths.deserialize(msg.payload.to_bytes())
-            msg_time = paths_msg.header.stamp.sec + paths_msg.header.stamp.nanosec * 1e-9
-            current_time = time.time()
-            latency = current_time - msg_time
-            logging.debug(f"Received paths with latency: {latency:.6f} seconds")
-            logging.debug(f"Received paths: {paths_msg.paths}")
-        except Exception as e:
-            logging.error(f"Error processing paths: {e}")
-
-
-def main():
-    paths_detector = SimplePaths()
-    try:
-        while True:
-            time.sleep(1)
-    except KeyboardInterrupt:
-        logging.info("Shutting down Paths detector")
-        paths_detector.session.close()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/system_hw_test/teleops.html b/system_hw_test/teleops.html
deleted file mode 100644
index 40d472466d..0000000000
--- a/system_hw_test/teleops.html
+++ /dev/null
@@ -1,680 +0,0 @@
-<h3>Remote Control</h3><!DOCTYPE html>
-<html lang="en">
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>WebSocket Video Stream with Remote Control</title>
-    <style>
-        body {
-            font-family: Arial, sans-serif;
-            display: flex;
-            flex-direction: column;
-            align-items: center;
-            justify-content: center;
-            min-height: 100vh;
-            margin: 0;
-            background-color: #f0f0f0;
-            padding: 20px;
-        }
-
-        .container {
-            text-align: center;
-            background-color: white;
-            padding: 20px;
-            border-radius: 8px;
-            box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);
-            max-width: 900px;
-            width: 100%;
-        }
-
-        h1 {
-            color: #333;
-            margin-bottom: 20px;
-        }
-
-        .main-content {
-            display: flex;
-            gap: 20px;
-            align-items: flex-start;
-            justify-content: center;
-            flex-wrap: wrap;
-        }
-
-        .video-section {
-            flex: 1;
-            min-width: 300px;
-        }
-
-        .control-section {
-            flex: 0 0 300px;
-            display: flex;
-            flex-direction: column;
-            gap: 20px;
-        }
-
-        #videoContainer {
-            position: relative;
-            width: 100%;
-            max-width: 640px;
-            margin: 20px auto;
-            border: 1px solid #ddd;
-            background-color: #000;
-        }
-
-        #videoDisplay {
-            width: 100%;
-            height: auto;
-            display: block;
-        }
-
-        .connection-panel {
-            background-color: #f9f9f9;
-            padding: 15px;
-            border-radius: 8px;
-            border: 1px solid #ddd;
-        }
-
-        .control-panel {
-            background-color: #f9f9f9;
-            padding: 15px;
-            border-radius: 8px;
-            border: 1px solid #ddd;
-        }
-
-        .control-grid {
-            display: grid;
-            grid-template-columns: repeat(3, 1fr);
-            gap: 10px;
-            max-width: 200px;
-            margin: 15px auto;
-        }
-
-        .control-btn {
-            width: 60px;
-            height: 60px;
-            font-size: 24px;
-            font-weight: bold;
-            border: 2px solid #333;
-            border-radius: 8px;
-            background-color: #fff;
-            cursor: pointer;
-            transition: all 0.1s;
-            display: flex;
-            align-items: center;
-            justify-content: center;
-        }
-
-        .control-btn:active, .control-btn.active {
-            background-color: #4CAF50;
-            color: white;
-            transform: scale(0.95);
-        }
-
-        .control-btn:disabled {
-            background-color: #ccc;
-            color: #666;
-            cursor: not-allowed;
-            border-color: #999;
-        }
-
-        .empty-cell {
-            width: 60px;
-            height: 60px;
-        }
-
-        button {
-            background-color: #4CAF50;
-            color: white;
-            border: none;
-            padding: 10px 15px;
-            text-align: center;
-            text-decoration: none;
-            display: inline-block;
-            font-size: 16px;
-            margin: 4px 2px;
-            cursor: pointer;
-            border-radius: 4px;
-        }
-
-        button:disabled {
-            background-color: #cccccc;
-            cursor: not-allowed;
-        }
-
-        #disconnectBtn {
-            background-color: #f44336;
-        }
-
-        #statusIndicator {
-            width: 15px;
-            height: 15px;
-            border-radius: 50%;
-            background-color: #ff0000;
-            display: inline-block;
-            margin-right: 10px;
-            vertical-align: middle;
-        }
-
-        #statusText {
-            display: inline-block;
-            vertical-align: middle;
-        }
-
-        .status-connected {
-            background-color: #4CAF50 !important;
-        }
-
-        .url-input {
-            padding: 10px;
-            width: 80%;
-            border: 1px solid #ddd;
-            border-radius: 4px;
-            margin-right: 5px;
-            font-size: 16px;
-        }
-
-        #stats {
-            margin-top: 10px;
-            font-size: 14px;
-            color: #666;
-        }
-
-        .command-status {
-            margin-top: 15px;
-            padding: 10px;
-            background-color: #e8f5e8;
-            border-radius: 4px;
-            font-family: monospace;
-            font-size: 14px;
-        }
-
-        .instructions {
-            margin-top: 15px;
-            font-size: 14px;
-            color: #666;
-            text-align: left;
-        }
-
-        .api-key-section {
-            margin-bottom: 15px;
-        }
-
-        @media (max-width: 768px) {
-            .main-content {
-                flex-direction: column;
-            }
-
-            .control-section {
-                flex: none;
-                width: 100%;
-            }
-        }
-    </style>
-</head>
-<body>
-    <div class="container">
-        <h1>WebSocket Video Stream with Remote Control</h1>
-
-        <div class="main-content">
-            <div class="video-section">
-                <div class="connection-panel">
-                    <h3>Connection Status</h3>
-                    <div id="statusBar" style="margin-top: 10px;">
-                        <strong>Video Stream:</strong>
-                        <span id="statusIndicator"></span>
-                        <span id="statusText">Disconnected</span>
-                    </div>
-                    <div style="margin-top: 10px;">
-                        <strong>Robot Control:</strong>
-                        <span id="controlStatusIndicator" style="width: 15px; height: 15px; border-radius: 50%; background-color: #ff0000; display: inline-block; margin-right: 10px; vertical-align: middle;"></span>
-                        <span id="controlStatusText">Control Disconnected</span>
-                    </div>
-                </div>
-
-                <div id="videoContainer">
-                    <img id="videoDisplay" alt="Video stream will appear here">
-                </div>
-
-                <div id="stats">
-                    <div>Frames received: <span id="frameCount">0</span></div>
-                    <div>Average FPS: <span id="fps">0</span></div>
-                    <div>Last frame size: <span id="frameSize">0</span> bytes</div>
-                </div>
-
-                <div id="connectionControls">
-                    <button id="disconnectBtn" disabled>Disconnect All</button>
-                </div>
-            </div>
-
-            <div class="control-section">
-                <div class="control-panel">
-                    <h3>API Connection</h3>
-
-                    <div class="api-key-section">
-                        <input type="password" id="apiKey" class="url-input" placeholder="Enter OM API Key" style="width: 70%;">
-                        <button id="connectBtn">Connect</button>
-                    </div>
-
-                    <div class="control-grid">
-                        <div class="empty-cell"></div>
-                        <button class="control-btn" id="forwardBtn" data-key="w">↑</button>
-                        <div class="empty-cell"></div>
-
-                        <button class="control-btn" id="leftBtn" data-key="a">←</button>
-                        <div class="empty-cell"></div>
-                        <button class="control-btn" id="rightBtn" data-key="d">→</button>
-
-                        <div class="empty-cell"></div>
-                        <button class="control-btn" id="backwardBtn" data-key="s">↓</button>
-                        <div class="empty-cell"></div>
-                    </div>
-
-                    <div class="instructions">
-                        <strong>Keyboard Controls:</strong><br>
-                        W - Move Forward<br>
-                        S - Move Backward<br>
-                        A - Turn Left<br>
-                        D - Turn Right<br><br>
-                        <em>Use keyboard or click buttons above</em>
-                    </div>
-
-                    <div class="command-status" id="commandStatus">
-                        vx: 0.0, vy: 0.0, vyaw: 0.0
-                    </div>
-                </div>
-            </div>
-        </div>
-    </div>
-
-    <script>
-        document.addEventListener('DOMContentLoaded', function() {
-            // Video stream elements
-            const connectBtn = document.getElementById('connectBtn');
-            const disconnectBtn = document.getElementById('disconnectBtn');
-            const apiKeyInput = document.getElementById('apiKey');
-            const statusIndicator = document.getElementById('statusIndicator');
-            const statusText = document.getElementById('statusText');
-            const videoDisplay = document.getElementById('videoDisplay');
-            const frameCountElement = document.getElementById('frameCount');
-            const fpsElement = document.getElementById('fps');
-            const frameSizeElement = document.getElementById('frameSize');
-
-            // Control elements
-            const controlStatusIndicator = document.getElementById('controlStatusIndicator');
-            const controlStatusText = document.getElementById('controlStatusText');
-            const commandStatusElement = document.getElementById('commandStatus');
-            const controlButtons = document.querySelectorAll('.control-btn');
-
-            // State variables
-            let websocket = null;
-            let controlWebsocket = null;
-            let frameCount = 0;
-            let startTime = null;
-            let isConnected = false;
-            let isControlConnected = false;
-            let keysPressed = new Set();
-            let currentCommand = { vx: 0.0, vy: 0.0, vyaw: 0.0 };
-
-            // Auto reconnect variables
-            let apiKey = '';
-            let controlReconnectTimer = null;
-            let videoReconnectTimer = null;
-            let controlReconnectAttempts = 0;
-            let videoReconnectAttempts = 0;
-            let maxReconnectAttempts = 10;
-            let baseReconnectDelay = 1000; // 1 second
-            let isManualDisconnect = false;
-
-            // Unified connection functionality
-            connectBtn.addEventListener('click', function() {
-                const inputApiKey = apiKeyInput.value.trim();
-                if (!inputApiKey) {
-                    alert('Please enter your OM API Key');
-                    return;
-                }
-                apiKey = inputApiKey;
-                isManualDisconnect = false;
-                controlReconnectAttempts = 0;
-                videoReconnectAttempts = 0;
-                connectToServices(apiKey);
-            });
-
-            disconnectBtn.addEventListener('click', function() {
-                isManualDisconnect = true;
-                clearReconnectTimers();
-                disconnectAll();
-            });
-
-            // Keyboard event listeners
-            document.addEventListener('keydown', function(event) {
-                if (!isControlConnected) return;
-
-                const key = event.key.toLowerCase();
-                if (['w', 'a', 's', 'd'].includes(key)) {
-                    event.preventDefault();
-                    if (!keysPressed.has(key)) {
-                        keysPressed.add(key);
-                        updateControlButtons();
-                        updateMovement();
-                    }
-                }
-            });
-
-            document.addEventListener('keyup', function(event) {
-                if (!isControlConnected) return;
-
-                const key = event.key.toLowerCase();
-                if (['w', 'a', 's', 'd'].includes(key)) {
-                    event.preventDefault();
-                    keysPressed.delete(key);
-                    updateControlButtons();
-                    updateMovement();
-                }
-            });
-
-            // Button event listeners
-            controlButtons.forEach(button => {
-                const key = button.dataset.key;
-                if (key) {
-                    button.addEventListener('mousedown', function() {
-                        if (!isControlConnected) return;
-                        keysPressed.add(key);
-                        updateControlButtons();
-                        updateMovement();
-                    });
-
-                    button.addEventListener('mouseup', function() {
-                        if (!isControlConnected) return;
-                        keysPressed.delete(key);
-                        updateControlButtons();
-                        updateMovement();
-                    });
-
-                    button.addEventListener('mouseleave', function() {
-                        if (!isControlConnected) return;
-                        keysPressed.delete(key);
-                        updateControlButtons();
-                        updateMovement();
-                    });
-                }
-            });
-
-            function connectToServices(apiKey) {
-                connectToVideoWebSocket(apiKey);
-                connectToControlWebSocket(apiKey);
-            }
-
-            function disconnectAll() {
-                if (websocket) {
-                    websocket.close();
-                }
-                if (controlWebsocket) {
-                    controlWebsocket.close();
-                }
-            }
-
-            function clearReconnectTimers() {
-                if (controlReconnectTimer) {
-                    clearTimeout(controlReconnectTimer);
-                    controlReconnectTimer = null;
-                }
-                if (videoReconnectTimer) {
-                    clearTimeout(videoReconnectTimer);
-                    videoReconnectTimer = null;
-                }
-            }
-
-            function scheduleControlReconnect() {
-                if (isManualDisconnect || controlReconnectAttempts >= maxReconnectAttempts) {
-                    if (controlReconnectAttempts >= maxReconnectAttempts) {
-                        updateControlStatus('Max reconnect attempts reached', 'red');
-                    }
-                    return;
-                }
-
-                const delay = Math.min(baseReconnectDelay * Math.pow(2, controlReconnectAttempts), 30000); // Max 30 seconds
-                controlReconnectAttempts++;
-
-                updateControlStatus(`Reconnecting in ${Math.ceil(delay/1000)}s (attempt ${controlReconnectAttempts}/${maxReconnectAttempts})`, 'orange');
-
-                controlReconnectTimer = setTimeout(() => {
-                    console.log(`Control reconnect attempt ${controlReconnectAttempts}/${maxReconnectAttempts}`);
-                    connectToControlWebSocket(apiKey);
-                }, delay);
-            }
-
-            function scheduleVideoReconnect() {
-                if (isManualDisconnect || videoReconnectAttempts >= maxReconnectAttempts) {
-                    if (videoReconnectAttempts >= maxReconnectAttempts) {
-                        updateStatus('Max reconnect attempts reached', 'red');
-                    }
-                    return;
-                }
-
-                const delay = Math.min(baseReconnectDelay * Math.pow(2, videoReconnectAttempts), 30000); // Max 30 seconds
-                videoReconnectAttempts++;
-
-                updateStatus(`Reconnecting in ${Math.ceil(delay/1000)}s (attempt ${videoReconnectAttempts}/${maxReconnectAttempts})`, 'orange');
-
-                videoReconnectTimer = setTimeout(() => {
-                    console.log(`Video reconnect attempt ${videoReconnectAttempts}/${maxReconnectAttempts}`);
-                    connectToVideoWebSocket(apiKey);
-                }, delay);
-            }
-
-            function connectToVideoWebSocket(apiKey) {
-                try {
-                    const videoUrl = `wss://api.openmind.com/api/core/teleops/video?api_key=${apiKey}`;
-                    websocket = new WebSocket(videoUrl);
-                    updateStatus('Connecting...', 'orange');
-                    connectBtn.disabled = true;
-
-                    websocket.onopen = function() {
-                        console.log('Video WebSocket connection established');
-                        updateStatus('Connected', 'green');
-                        disconnectBtn.disabled = false;
-                        isConnected = true;
-                        frameCount = 0;
-                        startTime = Date.now();
-                        videoReconnectAttempts = 0; // Reset on successful connection
-                        if (videoReconnectTimer) {
-                            clearTimeout(videoReconnectTimer);
-                            videoReconnectTimer = null;
-                        }
-                    };
-
-                    websocket.onmessage = function(event) {
-                        processVideoFrame(event.data);
-                    };
-
-                    websocket.onerror = function(error) {
-                        console.error('Video WebSocket error:', error);
-                        updateStatus('Error: ' + error.message, 'red');
-                    };
-
-                    websocket.onclose = function(event) {
-                        console.log('Video WebSocket connection closed', event);
-                        updateStatus('Disconnected', 'red');
-                        connectBtn.disabled = false;
-                        disconnectBtn.disabled = true;
-                        isConnected = false;
-
-                        // Auto reconnect if not manually disconnected
-                        if (!isManualDisconnect && apiKey) {
-                            scheduleVideoReconnect();
-                        }
-                    };
-                } catch (error) {
-                    console.error('Failed to create video WebSocket:', error);
-                    updateStatus('Connection failed: ' + error.message, 'red');
-                    connectBtn.disabled = false;
-                }
-            }
-
-            function connectToControlWebSocket(apiKey) {
-                try {
-                    const controlUrl = `wss://api.openmind.com/api/core/teleops/command?api_key=${apiKey}`;
-                    controlWebsocket = new WebSocket(controlUrl);
-
-                    updateControlStatus('Connecting...', 'orange');
-                    connectBtn.disabled = true;
-
-                    controlWebsocket.onopen = function() {
-                        console.log('Control WebSocket connection established');
-                        updateControlStatus('Control Connected', 'green');
-                        disconnectBtn.disabled = false;
-                        isControlConnected = true;
-                        enableControlButtons();
-                        controlReconnectAttempts = 0; // Reset on successful connection
-                        if (controlReconnectTimer) {
-                            clearTimeout(controlReconnectTimer);
-                            controlReconnectTimer = null;
-                        }
-                    };
-
-                    controlWebsocket.onerror = function(error) {
-                        console.error('Control WebSocket error:', error);
-                        updateControlStatus('Control Error: ' + error.message, 'red');
-                    };
-
-                    controlWebsocket.onclose = function(event) {
-                        console.log('Control WebSocket connection closed', event);
-                        updateControlStatus('Control Disconnected', 'red');
-                        connectBtn.disabled = false;
-                        disconnectBtn.disabled = true;
-                        isControlConnected = false;
-                        disableControlButtons();
-                        keysPressed.clear();
-                        updateControlButtons();
-                        currentCommand = { vx: 0.0, vy: 0.0, vyaw: 0.0 };
-                        updateCommandStatus();
-
-                        // Auto reconnect if not manually disconnected
-                        if (!isManualDisconnect && apiKey) {
-                            scheduleControlReconnect();
-                        }
-                    };
-                } catch (error) {
-                    console.error('Failed to create control WebSocket:', error);
-                    updateControlStatus('Control connection failed: ' + error.message, 'red');
-                    connectBtn.disabled = false;
-                }
-            }
-
-            function processVideoFrame(data) {
-                try {
-                    frameCount++;
-                    frameCountElement.textContent = frameCount;
-
-                    if (startTime) {
-                        const elapsedTime = (Date.now() - startTime) / 1000;
-                        const fps = (frameCount / elapsedTime).toFixed(2);
-                        fpsElement.textContent = fps;
-                    }
-
-                    frameSizeElement.textContent = data.length;
-
-                    if (typeof data === 'string') {
-                        let base64Data = data;
-                        if (data.startsWith('data:image')) {
-                            base64Data = data.split(',')[1];
-                        }
-                        videoDisplay.src = `data:image/jpeg;base64,${base64Data}`;
-                    } else {
-                        const reader = new FileReader();
-                        reader.onload = function() {
-                            const base64 = reader.result.split(',')[1];
-                            videoDisplay.src = `data:image/jpeg;base64,${base64}`;
-                        };
-                        reader.readAsDataURL(new Blob([data]));
-                    }
-                } catch (error) {
-                    console.error('Error processing video frame:', error);
-                }
-            }
-
-            function updateMovement() {
-                let vx = 0.0;
-                let vyaw = 0.0;
-
-                if (keysPressed.has('w')) vx = 0.5;
-                if (keysPressed.has('s')) vx = -0.5;
-                if (keysPressed.has('a')) vyaw = 0.5;
-                if (keysPressed.has('d')) vyaw = -0.5;
-
-                currentCommand = {
-                    vx: vx,
-                    vy: 0.0,
-                    vyaw: vyaw,
-                    timestamp: Date.now() / 1000
-                };
-
-                publishCommand();
-                updateCommandStatus();
-            }
-
-            function publishCommand() {
-                if (controlWebsocket && isControlConnected) {
-                    controlWebsocket.send(JSON.stringify(currentCommand));
-                    console.log('Published command:', currentCommand);
-                }
-            }
-
-            function updateControlButtons() {
-                controlButtons.forEach(button => {
-                    const key = button.dataset.key;
-                    if (key && keysPressed.has(key)) {
-                        button.classList.add('active');
-                    } else {
-                        button.classList.remove('active');
-                    }
-                });
-            }
-
-            function enableControlButtons() {
-                controlButtons.forEach(button => {
-                    button.disabled = false;
-                });
-            }
-
-            function disableControlButtons() {
-                controlButtons.forEach(button => {
-                    button.disabled = true;
-                    button.classList.remove('active');
-                });
-            }
-
-            function updateStatus(message, color) {
-                statusText.textContent = message;
-                statusIndicator.style.backgroundColor = color;
-                if (color === 'green') {
-                    statusIndicator.classList.add('status-connected');
-                } else {
-                    statusIndicator.classList.remove('status-connected');
-                }
-            }
-
-            function updateControlStatus(message, color) {
-                controlStatusText.textContent = message;
-                controlStatusIndicator.style.backgroundColor = color;
-            }
-
-            function updateCommandStatus() {
-                commandStatusElement.textContent =
-                    `vx: ${currentCommand.vx.toFixed(1)}, vy: ${currentCommand.vy.toFixed(1)}, vyaw: ${currentCommand.vyaw.toFixed(1)}`;
-            }
-
-            // Continuous command publishing (similar to Python version)
-            setInterval(function() {
-                if (isControlConnected && keysPressed.size > 0) {
-                    publishCommand();
-                }
-            }, 100); // 10 Hz
-
-            // Initialize
-            disableControlButtons();
-            updateCommandStatus();
-        });
-    </script>
-</body>
-</html>
diff --git a/system_hw_test/test_arm_action.py b/system_hw_test/test_arm_action.py
deleted file mode 100644
index ee7ec91f9b..0000000000
--- a/system_hw_test/test_arm_action.py
+++ /dev/null
@@ -1,113 +0,0 @@
-"""
-Test script for G1 arm actions via ros2 topic pub.
-Verifies that arm action commands reach g1_arm_action_node.
-
-Usage:
-    python3 test_arm_action.py shake_hand
-    python3 test_arm_action.py face_wave
-    python3 test_arm_action.py hands_up
-    python3 test_arm_action.py stand_still
-    python3 test_arm_action.py show_hand
-"""
-
-import asyncio
-import sys
-
-ROS2_TOPIC = "/api/sport/request"
-ROS2_MSG_TYPE = "unitree_api/msg/Request"
-
-CUSTOM_API_ID = 9001
-BUILTIN_API_ID = 7106
-
-CUSTOM_ACTIONS = {
-    "shake_hand",
-    "face_wave",
-    "hands_up",
-    "stand_still",
-    "show_hand",
-    "wave",
-    "move",
-    "show_hand1",
-    "show_hand2",
-    "my_gesture",
-}
-
-BUILTIN_ACTIONS = {
-    "left_kiss": 12,
-    "right_kiss": 13,
-    "clap": 17,
-    "high_five": 18,
-    "heart": 20,
-    "high_wave": 26,
-}
-
-
-async def publish_custom_action(action_name: str) -> None:
-    # Match the exact format that works manually:
-    # ros2 topic pub --once /api/sport/request unitree_api/msg/Request \
-    #   "{header: {identity: {api_id: 9001}}, parameter: '{\"action\": \"shake_hand\"}'}"
-    msg = (
-        "{header: {identity: {api_id: " + str(CUSTOM_API_ID) + "}}, "
-        'parameter: \'{"action": "' + action_name + "\"}'}"
-    )
-
-    cmd = ["ros2", "topic", "pub", "--once", ROS2_TOPIC, ROS2_MSG_TYPE, msg]
-    print(f"Running: {' '.join(cmd)}")
-
-    proc = await asyncio.create_subprocess_exec(
-        *cmd,
-        stdout=asyncio.subprocess.PIPE,
-        stderr=asyncio.subprocess.PIPE,
-    )
-    stdout, stderr = await proc.communicate()
-    print(f"stdout: {stdout.decode()}")
-    if stderr:
-        print(f"stderr: {stderr.decode()}")
-    print(f"Return code: {proc.returncode}")
-
-
-async def publish_builtin_action(action_name: str, action_id: int) -> None:
-    msg = (
-        "{header: {identity: {api_id: " + str(BUILTIN_API_ID) + "}}, " 'parameter: \'{"data": ' + str(action_id) + "}'}"
-    )
-
-    cmd = ["ros2", "topic", "pub", "--once", ROS2_TOPIC, ROS2_MSG_TYPE, msg]
-    print(f"Running: {' '.join(cmd)}")
-
-    proc = await asyncio.create_subprocess_exec(
-        *cmd,
-        stdout=asyncio.subprocess.PIPE,
-        stderr=asyncio.subprocess.PIPE,
-    )
-    stdout, stderr = await proc.communicate()
-    print(f"stdout: {stdout.decode()}")
-    if stderr:
-        print(f"stderr: {stderr.decode()}")
-    print(f"Return code: {proc.returncode}")
-
-
-async def main() -> None:
-    if len(sys.argv) < 2:
-        print("Usage: python3 test_arm_action.py <action_name>")
-        print(f"\nCustom actions: {sorted(CUSTOM_ACTIONS)}")
-        print(f"Built-in actions: {sorted(BUILTIN_ACTIONS.keys())}")
-        sys.exit(1)
-
-    action = sys.argv[1]
-
-    if action in CUSTOM_ACTIONS:
-        print(f"Sending CUSTOM action: {action} (api_id={CUSTOM_API_ID})")
-        await publish_custom_action(action)
-    elif action in BUILTIN_ACTIONS:
-        action_id = BUILTIN_ACTIONS[action]
-        print(f"Sending BUILT-IN action: {action} (api_id={BUILTIN_API_ID}, data={action_id})")
-        await publish_builtin_action(action, action_id)
-    else:
-        print(f"Unknown action: {action}")
-        print(f"\nCustom actions: {sorted(CUSTOM_ACTIONS)}")
-        print(f"Built-in actions: {sorted(BUILTIN_ACTIONS.keys())}")
-        sys.exit(1)
-
-
-if __name__ == "__main__":
-    asyncio.run(main())
diff --git a/system_hw_test/test_audio.py b/system_hw_test/test_audio.py
deleted file mode 100644
index 8f47ed2928..0000000000
--- a/system_hw_test/test_audio.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import sounddevice as sd
-
-samplerates = 8000, 16000, 32000, 44100, 48000, 96000, 128000
-
-all_devices = sd.query_devices()
-num_devices = len(all_devices)
-
-for i in range(num_devices):
-    supported_samplerates = []
-    dev = all_devices[i]
-    inc = dev["max_input_channels"]
-    outc = dev["max_output_channels"]
-    if inc + outc > 4:
-        # real devices do not have 128 channels etc
-        continue
-    for fs in samplerates:
-        try:
-            sd.check_output_settings(device=i, samplerate=fs)
-        except Exception:
-            pass
-        else:
-            supported_samplerates.append(fs)
-    print(f"{dev['name']} rates: {supported_samplerates} in:{inc} out:{outc}")
diff --git a/system_hw_test/test_audio_mac.py b/system_hw_test/test_audio_mac.py
deleted file mode 100644
index 6117533f42..0000000000
--- a/system_hw_test/test_audio_mac.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import osascript
-import sounddevice as sd
-import soundfile as sf
-
-filename = "woof.wav"
-# Extract data and sampling rate from file
-data, fs = sf.read(filename, dtype="float32")
-
-# Get all available devices
-devices = sd.query_devices()
-print(devices)
-
-# Set the default output device to the first available output
-# You might need to change the index based on your system
-# You can also set it using a string, e.g., sd.default.device = 'Internal Speakers'
-try:
-    output_device_index = next(i for i, device in enumerate(devices) if device["name"] == "External Headphones")
-    sd.default.device = output_device_index
-    print(f"Default output device set to: {devices[output_device_index]['name']}")
-except StopIteration:
-    print("No output device found.")
-
-# Verify the change
-print(f"Current default output device is: {sd.query_devices(sd.default.device)['name']}")
-
-print("Current volume settings")
-result = osascript.osascript("get volume settings")
-print(result)
-
-target_volume = 100
-print(f"Setting volume to: {target_volume}")
-vol = "set volume output volume " + str(target_volume)
-osascript.osascript(vol)
-
-result = osascript.osascript("get volume settings")
-print(result)
-
-# force unmute
-osascript.osascript("set volume without output muted")
-
-print("Confirm loud and unmuted:")
-result = osascript.osascript("get volume settings")
-print(result)
-
-sd.play(data, fs)
-status = sd.wait()  # Wait until file is done playing
diff --git a/system_hw_test/test_booster_move.py b/system_hw_test/test_booster_move.py
deleted file mode 100644
index abf11e5822..0000000000
--- a/system_hw_test/test_booster_move.py
+++ /dev/null
@@ -1,183 +0,0 @@
-"""
-Test script for Booster robot movement commands.
-This script sends direct commands to the Booster robot via Zenoh.
-"""
-
-import asyncio
-import os
-import sys
-
-# Add src directory to path to import local zenoh_msgs
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "src"))
-
-from zenoh_msgs import RemoteControllerState, open_zenoh_session
-
-
-async def send_command(session, lx: float, ly: float, rx: float, duration: float = 1.0):
-    """
-    Send a movement command to the Booster robot.
-
-    Parameters
-    ----------
-    session : zenoh.Session
-        The Zenoh session
-    lx : float
-        Lateral movement (-1 to 1, positive is right)
-    ly : float
-        Forward/backward movement (-1 to 1, negative is forward)
-    rx : float
-        Rotation (-1 to 1)
-    duration : float
-        How long to send the command (seconds)
-    """
-    msg = RemoteControllerState(
-        event=1536,
-        lx=lx,
-        ly=ly,
-        rx=rx,
-        ry=0.0,
-    )
-    session.put("remote_controller_state", msg.serialize())
-    print(f"Sent command: lx={lx}, ly={ly}, rx={rx}")
-    await asyncio.sleep(duration)
-
-
-async def stop_robot(session):
-    """Send stop command to the robot."""
-    msg = RemoteControllerState(event=1536)
-    session.put("remote_controller_state", msg.serialize())
-    print("Sent STOP command")
-
-
-async def test_forward(session):
-    """Test moving forward."""
-    print("\n=== Testing: Move Forward ===")
-    await send_command(session, lx=0.0, ly=-0.2, rx=0.0, duration=2.0)
-    await stop_robot(session)
-    await asyncio.sleep(1)
-
-
-async def test_backward(session):
-    """Test moving backward."""
-    print("\n=== Testing: Move Backward ===")
-    await send_command(session, lx=0.0, ly=0.2, rx=0.0, duration=2.0)
-    await stop_robot(session)
-    await asyncio.sleep(1)
-
-
-async def test_turn_left(session):
-    """Test turning left."""
-    print("\n=== Testing: Turn Left ===")
-    await send_command(session, lx=0.0, ly=0.0, rx=0.3, duration=2.0)
-    await stop_robot(session)
-    await asyncio.sleep(1)
-
-
-async def test_turn_right(session):
-    """Test turning right."""
-    print("\n=== Testing: Turn Right ===")
-    await send_command(session, lx=0.0, ly=0.0, rx=-0.3, duration=2.0)
-    await stop_robot(session)
-    await asyncio.sleep(1)
-
-
-async def test_strafe_left(session):
-    """Test strafing left."""
-    print("\n=== Testing: Strafe Left ===")
-    await send_command(session, lx=-0.2, ly=0.0, rx=0.0, duration=2.0)
-    await stop_robot(session)
-    await asyncio.sleep(1)
-
-
-async def test_strafe_right(session):
-    """Test strafing right."""
-    print("\n=== Testing: Strafe Right ===")
-    await send_command(session, lx=0.2, ly=0.0, rx=0.0, duration=2.0)
-    await stop_robot(session)
-    await asyncio.sleep(1)
-
-
-async def run_all_tests(session):
-    """Run all movement tests."""
-    print("\n" + "=" * 50)
-    print("Starting Booster Robot Movement Tests")
-    print("=" * 50)
-
-    await test_forward(session)
-    await test_backward(session)
-    await test_turn_left(session)
-    await test_turn_right(session)
-    await test_strafe_left(session)
-    await test_strafe_right(session)
-
-    print("\n" + "=" * 50)
-    print("All tests completed!")
-    print("=" * 50)
-
-
-async def interactive_mode(session):
-    """Interactive mode for manual control."""
-    print("\n" + "=" * 50)
-    print("Interactive Control Mode")
-    print("=" * 50)
-    print("Commands:")
-    print("  w - Move forward")
-    print("  s - Move backward")
-    print("  a - Turn left")
-    print("  d - Turn right")
-    print("  q - Strafe left")
-    print("  e - Strafe right")
-    print("  x - Stop")
-    print("  exit - Quit")
-    print("=" * 50 + "\n")
-
-    while True:
-        try:
-            cmd = input("Enter command: ").strip().lower()
-
-            if cmd == "exit":
-                await stop_robot(session)
-                break
-            elif cmd == "w":
-                await send_command(session, 0.0, -0.2, 0.0, 0.5)
-            elif cmd == "s":
-                await send_command(session, 0.0, 0.2, 0.0, 0.5)
-            elif cmd == "a":
-                await send_command(session, 0.0, 0.0, 0.3, 0.5)
-            elif cmd == "d":
-                await send_command(session, 0.0, 0.0, -0.3, 0.5)
-            elif cmd == "q":
-                await send_command(session, -0.2, 0.0, 0.0, 0.5)
-            elif cmd == "e":
-                await send_command(session, 0.2, 0.0, 0.0, 0.5)
-            elif cmd == "x":
-                await stop_robot(session)
-            else:
-                print("Unknown command!")
-
-        except KeyboardInterrupt:
-            print("\nStopping robot...")
-            await stop_robot(session)
-            break
-        except Exception as e:
-            print(f"Error: {e}")
-
-
-async def main():
-    """Main function."""
-    print("Connecting to Zenoh...")
-    session = open_zenoh_session()
-    print(f"Connected to Zenoh: {session}\n")
-
-    if len(sys.argv) > 1 and sys.argv[1] == "interactive":
-        await interactive_mode(session)
-    else:
-        print("Running automated tests...")
-        print("(Use 'python booster_move.py interactive' for manual control)")
-        await run_all_tests(session)
-
-    print("\nTest complete!")
-
-
-if __name__ == "__main__":
-    asyncio.run(main())
diff --git a/system_hw_test/test_booster_move_zenoh_service.py b/system_hw_test/test_booster_move_zenoh_service.py
deleted file mode 100644
index 279d490401..0000000000
--- a/system_hw_test/test_booster_move_zenoh_service.py
+++ /dev/null
@@ -1,288 +0,0 @@
-"""
-Test script for Booster robot movement commands via Zenoh to ROS2 service.
-This script sends movement commands through Zenoh bridge to /booster_rpc_service.
-
-The Zenoh bridge maps ROS 2 services to Zenoh Queries (request/reply pattern):
-- ROS2 service servers become Zenoh query responders
-- ROS2 service clients use session.get() to send queries
-- Service key: booster_rpc_service (maps to /booster_rpc_service in ROS2)
-"""
-
-import asyncio
-import json
-import os
-import sys
-from typing import Optional
-
-# Add src directory to path to import local zenoh_msgs
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "src"))
-
-from zenoh_msgs import (
-    BoosterApiReqMsg,
-    BoosterApiRespMsg,
-    RpcServiceRequest,
-    RpcServiceResponse,
-    open_zenoh_session,
-)
-
-
-class BoosterMoveZenohClient:
-    """Zenoh client for testing Booster robot movement via RPC service."""
-
-    # API ID for movement commands (kMove)
-    API_MOVE = 2001
-
-    def __init__(self):
-        """Initialize the Zenoh client."""
-        print("Connecting to Zenoh...")
-        self.session = open_zenoh_session()
-        print(f"Connected to Zenoh: {self.session}\n")
-
-        # Zenoh key for ROS2 service (maps to /booster_rpc_service)
-        self.service_name = "booster_rpc_service"
-        print(f"Service name: {self.service_name}\n")
-
-    def create_service_request(self, vx: float, vy: float, vyaw: float) -> bytes:
-        """
-        Create a service request payload for movement command.
-
-        Parameters
-        ----------
-        vx : float
-            Linear velocity in x direction (m/s), positive is forward
-        vy : float
-            Linear velocity in y direction (m/s), positive is left
-        vyaw : float
-            Angular velocity (rad/s), positive is counter-clockwise
-
-        Returns
-        -------
-        bytes
-            Serialized service request payload (CDR format, wrapped in RpcServiceRequest)
-        """
-        # Create the inner request message using BoosterApiReqMsg
-        inner_request = BoosterApiReqMsg(api_id=self.API_MOVE, body=json.dumps({"vx": vx, "vy": vy, "vyaw": vyaw}))
-
-        # Wrap it in RpcServiceRequest to match ROS 2 service definition
-        request = RpcServiceRequest(msg=inner_request)
-
-        # Serialize to CDR format for Zenoh bridge
-        serialized_request = request.serialize()
-        # print(f"Serialized request (hex): {serialized_request.hex()}")
-        return serialized_request
-
-    async def _call_service(self, request_payload: bytes, timeout: float = 10.0) -> Optional[BoosterApiRespMsg]:
-        """
-        Call the ROS 2 service using session.get().
-
-        Parameters
-        ----------
-        request_payload : bytes
-            The serialized request payload.
-        timeout : float
-            Timeout in seconds.
-
-        Returns
-        -------
-        Optional[BoosterApiRespMsg]
-            The response message, or None if timeout or error.
-        """
-        try:
-            # Use Zenoh query for ROS2 service call (request/reply pattern)
-            print(f"Sending query to: {self.service_name}")
-            replies = self.session.get(
-                self.service_name,
-                payload=request_payload,
-                timeout=timeout,
-            )
-
-            for reply in replies:
-                if reply.ok:
-                    try:
-                        # Deserialize to RpcServiceResponse wrapper
-                        service_response = RpcServiceResponse.deserialize(reply.ok.payload.to_bytes())
-                        # Return the inner msg (BoosterApiRespMsg)
-                        return service_response.msg
-                    except Exception as e:
-                        print(f"Error deserializing response: {e}")
-                else:
-                    print(f"Service error: {reply.err}")
-
-            return None
-
-        except Exception as e:
-            print(f"Service call failed: {e}")
-            return None
-
-    async def send_move_command(self, vx: float, vy: float, vyaw: float, duration: float = 1.0):
-        """
-        Send a movement command to the robot via Zenoh service.
-
-        Parameters
-        ----------
-        vx : float
-            Linear velocity in x direction (m/s)
-        vy : float
-            Linear velocity in y direction (m/s)
-        vyaw : float
-            Angular velocity (rad/s)
-        duration : float
-            How long to execute the command (seconds)
-        """
-        print(f"Sending command: vx={vx}, vy={vy}, vyaw={vyaw}")
-
-        # Create the service request
-        request_payload = self.create_service_request(vx, vy, vyaw)
-
-        response_msg = await self._call_service(request_payload)
-
-        if response_msg:
-            print(f"Service response - status: {response_msg.status}")
-            print(f"Service response - body: {response_msg.body}")
-            if response_msg.body:
-                try:
-                    body_data = json.loads(response_msg.body)
-                    print(f"Parsed body: {body_data}")
-                except json.JSONDecodeError:
-                    pass
-        else:
-            print("Warning: No response received from service")
-
-        await asyncio.sleep(duration)
-
-    async def stop_robot(self):
-        """Send stop command to the robot."""
-        print("Sending STOP command")
-        request_payload = self.create_service_request(0.0, 0.0, 0.0)
-
-        response_msg = await self._call_service(request_payload)
-
-        if response_msg:
-            print(f"Stop response - status: {response_msg.status}")
-            print(f"Stop response - body: {response_msg.body}")
-        else:
-            print("Warning: No stop response received")
-
-    async def test_forward(self):
-        """Test moving forward."""
-        print("\n=== Testing: Move Forward ===")
-        await self.send_move_command(vx=0.2, vy=0.0, vyaw=0.0, duration=2.0)
-        await self.stop_robot()
-        await asyncio.sleep(1)
-
-    async def test_backward(self):
-        """Test moving backward."""
-        print("\n=== Testing: Move Backward ===")
-        await self.send_move_command(vx=-0.2, vy=0.0, vyaw=0.0, duration=2.0)
-        await self.stop_robot()
-        await asyncio.sleep(1)
-
-    async def test_turn_left(self):
-        """Test turning left (counter-clockwise)."""
-        print("\n=== Testing: Turn Left ===")
-        await self.send_move_command(vx=0.0, vy=0.0, vyaw=0.3, duration=2.0)
-        await self.stop_robot()
-        await asyncio.sleep(1)
-
-    async def test_turn_right(self):
-        """Test turning right (clockwise)."""
-        print("\n=== Testing: Turn Right ===")
-        await self.send_move_command(vx=0.0, vy=0.0, vyaw=-0.3, duration=2.0)
-        await self.stop_robot()
-        await asyncio.sleep(1)
-
-    async def test_strafe_left(self):
-        """Test strafing left."""
-        print("\n=== Testing: Strafe Left ===")
-        await self.send_move_command(vx=0.0, vy=0.2, vyaw=0.0, duration=2.0)
-        await self.stop_robot()
-        await asyncio.sleep(1)
-
-    async def test_strafe_right(self):
-        """Test strafing right."""
-        print("\n=== Testing: Strafe Right ===")
-        await self.send_move_command(vx=0.0, vy=-0.2, vyaw=0.0, duration=2.0)
-        await self.stop_robot()
-        await asyncio.sleep(1)
-
-    async def run_all_tests(self):
-        """Run all movement tests."""
-        print("\n" + "=" * 50)
-        print("Starting Booster Robot Movement Tests (Zenoh Service)")
-        print("=" * 50)
-
-        await self.test_forward()
-        await self.test_backward()
-        await self.test_turn_left()
-        await self.test_turn_right()
-        await self.test_strafe_left()
-        await self.test_strafe_right()
-
-        print("\n" + "=" * 50)
-        print("All tests completed!")
-        print("=" * 50)
-
-    async def interactive_mode(self):
-        """Interactive mode for manual control."""
-        print("\n" + "=" * 50)
-        print("Interactive Control Mode")
-        print("=" * 50)
-        print("Commands:")
-        print("  w - Move forward")
-        print("  s - Move backward")
-        print("  a - Turn left")
-        print("  d - Turn right")
-        print("  q - Strafe left")
-        print("  e - Strafe right")
-        print("  x - Stop")
-        print("  exit - Quit")
-        print("=" * 50 + "\n")
-
-        while True:
-            try:
-                cmd = input("Enter command: ").strip().lower()
-
-                if cmd == "exit":
-                    await self.stop_robot()
-                    break
-                elif cmd == "w":
-                    await self.send_move_command(0.2, 0.0, 0.0, 0.5)
-                elif cmd == "s":
-                    await self.send_move_command(-0.2, 0.0, 0.0, 0.5)
-                elif cmd == "a":
-                    await self.send_move_command(0.0, 0.0, 0.3, 0.5)
-                elif cmd == "d":
-                    await self.send_move_command(0.0, 0.0, -0.3, 0.5)
-                elif cmd == "q":
-                    await self.send_move_command(0.0, 0.2, 0.0, 0.5)
-                elif cmd == "e":
-                    await self.send_move_command(0.0, -0.2, 0.0, 0.5)
-                elif cmd == "x":
-                    await self.stop_robot()
-                else:
-                    print("Unknown command!")
-
-            except KeyboardInterrupt:
-                print("\nStopping robot...")
-                await self.stop_robot()
-                break
-            except Exception as e:
-                print(f"Error: {e}")
-
-
-async def main():
-    """Main function."""
-    client = BoosterMoveZenohClient()
-
-    if len(sys.argv) > 1 and sys.argv[1] == "interactive":
-        await client.interactive_mode()
-    else:
-        print("Running automated tests...")
-        print("(Use 'python test_booster_move_zenoh_service.py interactive' for manual control)")
-        await client.run_all_tests()
-
-    print("\nTest complete!")
-
-
-if __name__ == "__main__":
-    asyncio.run(main())
diff --git a/system_hw_test/test_booster_zenoh_odom_sub.py b/system_hw_test/test_booster_zenoh_odom_sub.py
deleted file mode 100644
index bda3a57c28..0000000000
--- a/system_hw_test/test_booster_zenoh_odom_sub.py
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env python3
-"""
-Simple Zenoh subscriber to verify /odometer_state data transfer
-"""
-
-import zenoh
-
-# Connect to zenoh on localhost:7447
-print("Connecting to Zenoh...")
-config = zenoh.Config()
-config.insert_json5("mode", '"client"')
-config.insert_json5("connect/endpoints", '["tcp/127.0.0.1:7447"]')
-session = zenoh.open(config)
-print("✓ Connected to Zenoh bridge on tcp/127.0.0.1:7447")
-
-# Track received messages
-received = {"count": 0}
-
-
-def listener(sample):
-    received["count"] += 1
-    print(f"\n[Message #{received['count']}] {sample.key_expr}")
-    print(f"  Timestamp: {sample.timestamp}")
-    print(f"  Payload size: {len(sample.payload)} bytes")
-    try:
-        # Try to decode as UTF-8 string
-        decoded = sample.payload.to_bytes().decode("utf-8", errors="ignore")
-        if len(decoded) < 200:
-            print(f"  Value: {decoded}")
-        else:
-            print(f"  Value: {decoded[:200]}...")
-    except Exception:
-        pass
-
-
-# Subscribe to odometer_state
-print("\nSubscribing to **/odometer_state...")
-sub = session.declare_subscriber("**/odometer_state", listener)
-
-print("\n✓ Listening for /odometer_state messages...")
-print("(Press Ctrl+C to stop)\n")
-
-try:
-    import time
-
-    while True:
-        time.sleep(0.1)
-except KeyboardInterrupt:
-    print("\n\n✓ Stopping subscriber...")
-    print(f"Total messages received: {received['count']}")
-    sub.undeclare()
-    session.close()
-    print("✓ Connection closed")
diff --git a/system_hw_test/turtlebot4_battery.py b/system_hw_test/turtlebot4_battery.py
deleted file mode 100644
index 45924d4243..0000000000
--- a/system_hw_test/turtlebot4_battery.py
+++ /dev/null
@@ -1,32 +0,0 @@
-import argparse
-import sys
-import time
-
-sys.path.insert(0, "../src")
-
-from zenoh_msgs import open_zenoh_session
-
-parser = argparse.ArgumentParser()
-parser.add_argument("--URID", help="your robot's URID, when using Zenoh", type=str)
-print(parser.format_help())
-
-args = parser.parse_args()
-
-
-def listener(sample):
-    bytesI = sample.payload.to_bytes()
-    print(f"Received {bytesI}")
-
-
-if __name__ == "__main__":
-
-    URID = args.URID
-    print(f"Using Zenoh to connect to robot using {URID}")
-    print("[INFO] Opening zenoh session...")
-
-    with open_zenoh_session() as session:
-        scans = session.declare_subscriber(f"{URID}/c3/battery_state", listener)
-        print("Zenoh is open")
-        while True:
-            print("Waiting for battery messages")
-            time.sleep(1)
diff --git a/system_hw_test/turtlebot4_camera_opencv.py b/system_hw_test/turtlebot4_camera_opencv.py
deleted file mode 100644
index fc17d4aed7..0000000000
--- a/system_hw_test/turtlebot4_camera_opencv.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import sys
-import time
-
-import cv2
-import numpy as np
-
-sys.path.insert(0, "../src")
-from zenoh_msgs import open_zenoh_session
-
-
-def listener(sample):
-    bytesI = sample.payload.to_bytes()
-    print(f"Received {len(sample.payload)}")
-    X = np.frombuffer(bytesI, dtype=np.uint8)
-    # for some reason the first 76 numbers are trash?
-    # some sort of metadata header?
-    Xc = X[76:187576]
-    rgb = np.reshape(Xc, (250, 250, 3))
-    cv2.imwrite("front_image.jpg", rgb)
-
-
-if __name__ == "__main__":
-
-    with open_zenoh_session() as session:
-        camera = session.declare_subscriber("pi/oakd/rgb/preview/image_raw", listener)
-        print("Zenoh is open")
-        while True:
-            print("Waiting for camera messages")
-            time.sleep(1)
diff --git a/system_hw_test/turtlebot4_keyboard_movement.py b/system_hw_test/turtlebot4_keyboard_movement.py
deleted file mode 100644
index 0e6b0ba8fe..0000000000
--- a/system_hw_test/turtlebot4_keyboard_movement.py
+++ /dev/null
@@ -1,192 +0,0 @@
-import argparse
-import logging
-import sys
-import threading
-import time
-from dataclasses import dataclass
-
-from pycdr2 import IdlStruct
-from pycdr2.types import float64
-from pynput import keyboard
-
-sys.path.insert(0, "../src")
-from zenoh_msgs import open_zenoh_session
-
-parser = argparse.ArgumentParser()
-parser.add_argument("--URID", help="your robot's URID, when using Zenoh", type=str)
-print(parser.format_help())
-
-args = parser.parse_args()
-
-# Configure logging
-logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s")
-
-# Global variables
-exit_program = False
-current_linear = 0.0
-current_angular = 0.0
-key_pressed = set()
-
-
-@dataclass
-class Vector3(IdlStruct, typename="Vector3"):
-    x: float64
-    y: float64
-    z: float64
-
-
-@dataclass
-class Twist(IdlStruct, typename="Twist"):
-    linear: Vector3
-    angular: Vector3
-
-
-class MoveController:
-
-    def __init__(self, URID: str = ""):
-        self.session = None
-        self.cmd_vel = f"{URID}/c3/cmd_vel"
-        try:
-            self.session = open_zenoh_session()
-            logging.info("Zenoh client opened")
-        except Exception as e:
-            logging.error(f"Error opening Zenoh client: {e}")
-
-    def pub_twist(self, linear, angular):
-        if self.session is None:
-            logging.info("No open Zenoh session, returning")
-            return
-
-        logging.debug(f"Publishing twist: linear={linear}, angular={angular}")
-        try:
-            t = Twist(
-                linear=Vector3(x=float(linear), y=0.0, z=0.0),
-                angular=Vector3(x=0.0, y=0.0, z=float(angular)),
-            )
-            serialized_data = t.serialize()
-            self.session.put(self.cmd_vel, serialized_data)
-        except Exception as e:
-            logging.error(f"Error publishing twist: {e}")
-
-
-def on_press(key, move_controller):
-    global key_pressed
-
-    try:
-        k = key.char
-    except Exception:
-        k = key.name
-
-    key_pressed.add(k)
-    update_movement(move_controller)
-
-
-def on_release(key, move_controller):
-    global key_pressed
-
-    try:
-        k = key.char
-    except Exception:
-        k = key.name
-
-    if k in key_pressed:
-        key_pressed.remove(k)
-
-    update_movement(move_controller)
-
-    if k == "esc":
-        global exit_program
-        exit_program = True
-        return False
-
-
-def update_movement(move_controller):
-    global key_pressed, current_linear, current_angular, last_print_time
-
-    new_linear = 0.0
-    new_angular = 0.0
-
-    if "w" in key_pressed:
-        new_linear = 0.5
-    if "s" in key_pressed:
-        new_linear = -0.5
-    if "a" in key_pressed:
-        new_angular = 0.5
-    if "d" in key_pressed:
-        new_angular = -0.5
-
-    current_linear = new_linear
-    current_angular = new_angular
-
-    move_controller.pub_twist(current_linear, current_angular)
-
-    if current_linear > 0:
-        print("Moving forward")
-    elif current_linear < 0:
-        print("Moving backward")
-
-    if current_angular > 0:
-        print("Turning left")
-    elif current_angular < 0:
-        print("Turning right")
-
-    if current_linear == 0 and current_angular == 0:
-        print("Stopped")
-
-
-def continuous_publish_thread(move_controller):
-    """Thread function to continuously publish movement commands."""
-    publish_rate = 10  # Hz (10 times per second)
-    sleep_time = 1.0 / publish_rate
-
-    while not exit_program:
-        if key_pressed:
-            move_controller.pub_twist(current_linear, current_angular)
-        time.sleep(sleep_time)
-
-
-def control_loop(move_controller):
-    listener = keyboard.Listener(
-        on_press=lambda key: on_press(key, move_controller),
-        on_release=lambda key: on_release(key, move_controller),
-    )
-    listener.start()
-
-    print("Keyboard Control Active:")
-    print(" W - Move Forward")
-    print(" S - Move Backward")
-    print(" A - Turn Left")
-    print(" D - Turn Right")
-    print(" ESC - Quit")
-
-    publisher_thread = threading.Thread(target=continuous_publish_thread, args=(move_controller,))
-    publisher_thread.daemon = True
-    publisher_thread.start()
-
-    while not exit_program:
-        time.sleep(0.1)
-
-
-if __name__ == "__main__":
-    try:
-
-        URID = args.URID
-        print(f"Using Zenoh to connect to robot using {URID}")
-        print("[INFO] Opening zenoh session...")
-
-        move_controller = MoveController(URID)
-
-        control_thread = threading.Thread(target=control_loop, args=(move_controller,))
-        control_thread.daemon = True
-        control_thread.start()
-
-        while not exit_program:
-            time.sleep(0.5)
-
-    except KeyboardInterrupt:
-        logging.info("Program interrupted")
-    finally:
-        logging.info("Exiting program")
-        exit_program = True
-        time.sleep(0.5)
-        sys.exit(0)
diff --git a/system_hw_test/turtlebot_zenoh/Dockerfile b/system_hw_test/turtlebot_zenoh/Dockerfile
deleted file mode 100644
index 92d0e91bd8..0000000000
--- a/system_hw_test/turtlebot_zenoh/Dockerfile
+++ /dev/null
@@ -1,24 +0,0 @@
-FROM eclipse/zenoh-bridge-ros2dds:1.2.1
-
-# latest is currently 1.2.1
-# this image contains everything we need
-
-# EXPOSE 7445/tcp
-# EXPOSE 7446/udp
-# EXPOSE 7447/tcp
-# EXPOSE 8000/tcp
-
-# let's overwrite the eclipse default entrypoint
-COPY entrypoint.sh /entrypoint.sh
-RUN chmod +x entrypoint.sh
-
-WORKDIR /app
-
-COPY config_create3.json5 /app/config_create3.json5
-COPY config_rpi.json5 /app/config_rpi.json5
-
-COPY run_zenoh_bridge_create3.sh /app/run_zenoh_bridge_create3.sh
-RUN chmod +x /app/run_zenoh_bridge_create3.sh
-
-COPY run_zenoh_bridge_rpi.sh /app/run_zenoh_bridge_rpi.sh
-RUN chmod +x /app/run_zenoh_bridge_rpi.sh
diff --git a/system_hw_test/turtlebot_zenoh/config_create3.json5 b/system_hw_test/turtlebot_zenoh/config_create3.json5
deleted file mode 100644
index 197bd2cf43..0000000000
--- a/system_hw_test/turtlebot_zenoh/config_create3.json5
+++ /dev/null
@@ -1,59 +0,0 @@
-{
-  //// Based on https://hub.docker.com/r/theconstructai/zenoh-bridge-ros2dds
-  //// Thank you theconstruct.ai
-  mode: "peer",
-  connect: { endpoints: ["tcp/localhost:7445"] },
-  listen: { endpoints: ["tcp/localhost:7447"] },
-  plugins: {
-    ros2dds: {
-      nodename: "zenoh_bridge_ros2dds_create3",
-      domain: 1,
-      allow: {
-        publishers: [
-          ".*/battery_state",
-          ".*/cmd_audio",
-          ".*/cmd_lightring",
-          ".*/cmd_vel",
-          ".*/dock_status",
-          ".*/imu",
-          ".*/joint_states",
-          ".*/odom",
-          ".*/robot_description",
-          ".*/hazard_detection",
-          ".*/robot_state/transition_event",
-          ".*/static_transform/transition_event",
-          ".*/tf",
-          ".*/tf_static",
-        ],
-        subscribers: [
-          ".*/battery_state",
-          ".*/cmd_audio",
-          ".*/cmd_lightring",
-          ".*/cmd_vel",
-          ".*/dock_status",
-          ".*/imu",
-          ".*/joint_states",
-          ".*/odom",
-          ".*/robot_description",
-          ".*/hazard_detection",
-          ".*/robot_state/transition_event",
-          ".*/static_transform/transition_event",
-          ".*/tf",
-          ".*/tf_static",
-        ],
-        service_servers: [".*/start_motor", ".*/stop_motor"],
-        service_clients: [".*/start_motor", ".*/stop_motor"],
-        action_servers: [".*/dock", ".*/undock"],
-        action_clients: [".*/dock", ".*/undock"],
-      },
-      queries_timeout: {
-        default: 10.0,
-        actions: {
-          send_goal: 1.0,
-          cancel_goal: 1.0,
-          get_result: [".*/dock=120.0", ".*/undock=10.0"],
-        },
-      },
-    },
-  },
-}
diff --git a/system_hw_test/turtlebot_zenoh/config_rpi.json5 b/system_hw_test/turtlebot_zenoh/config_rpi.json5
deleted file mode 100644
index db7d857d68..0000000000
--- a/system_hw_test/turtlebot_zenoh/config_rpi.json5
+++ /dev/null
@@ -1,66 +0,0 @@
-{
-  //// Based on https://hub.docker.com/r/theconstructai/zenoh-bridge-ros2dds
-  //// Thank you theconstruct.ai
-  mode: "peer",
-  connect: { endpoints: ["tcp/localhost:7447"] },
-  listen: { endpoints: ["tcp/0.0.0.0:7445"] },
-  plugins: {
-    ros2dds: {
-      nodename: "zenoh_bridge_ros2dds_rpi",
-      domain: 0,
-      allow: {
-        publishers: [
-          ".*/battery_state",
-          ".*/cmd_vel",
-          ".*/dock_status",
-          ".*/imu",
-          ".*/joint_states",
-          ".*/odom",
-          ".*/robot_description",
-          ".*/robot_state/transition_event",
-          ".*/scan",
-          ".*/hazard_detection",
-          ".*/static_transform/transition_event",
-          ".*/tf",
-          ".*/tf_static",
-          ".*/wheel_status",
-          ".*/oakd/rgb/preview/image_raw",
-        ],
-        subscribers: [
-          ".*/battery_state",
-          ".*/cmd_vel",
-          ".*/dock_status",
-          ".*/imu",
-          ".*/joint_states",
-          ".*/odom",
-          ".*/robot_description",
-          ".*/robot_state/transition_event",
-          ".*/scan",
-          ".*/hazard_detection",
-          ".*/static_transform/transition_event",
-          ".*/tf",
-          ".*/tf_static",
-          ".*/wheel_status",
-          ".*/oakd/rgb/preview/image_raw",
-        ],
-        service_servers: [".*/start_motor", ".*/stop_motor"],
-        service_clients: [".*/start_motor", ".*/stop_motor"],
-        action_servers: [".*/dock", ".*/undock"],
-        action_clients: [".*/dock", ".*/undock"],
-      },
-      queries_timeout: {
-        default: 10.0,
-        actions: {
-          send_goal: 1.0,
-          cancel_goal: 1.0,
-          get_result: [
-            ".*long_mission=3600",
-            ".*short_action=10.0",
-            ".*/dock=120.0",
-            ".*/undock=10.0",
-          ],
-        },
-      },
-    },
-  },
-}
diff --git a/system_hw_test/turtlebot_zenoh/docker-compose.yaml b/system_hw_test/turtlebot_zenoh/docker-compose.yaml
deleted file mode 100644
index dc59215b1c..0000000000
--- a/system_hw_test/turtlebot_zenoh/docker-compose.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-services:
-  zenoh-bridge-turtlebot4:
-    image: openmindagi/turtlebridge
-    container_name: zenoh-bridge-turtlebot4
-    network_mode: "host"
-    restart: always # Ensures the container restarts on reboot
-    logging:
-      driver: json-file
-      options:
-        max-size: "10m"
-        max-file: "3"
diff --git a/system_hw_test/turtlebot_zenoh/entrypoint.sh b/system_hw_test/turtlebot_zenoh/entrypoint.sh
deleted file mode 100644
index 064c253e23..0000000000
--- a/system_hw_test/turtlebot_zenoh/entrypoint.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/bin/ash
-
-# Function to run a script and log its output
-run_script() {
-    local script=$1
-    local log_file=$2
-    $script 2>&1 | tee -a $log_file
-}
-
-# Log files
-log_file_1="/var/log/zenoh_bridge_create3.log"
-log_file_2="/var/log/zenoh_bridge_rpi.log"
-
-# Ensure the log directory exists
-mkdir -p /var/log
-
-# Execute the first script and log its output
-run_script /app/run_zenoh_bridge_create3.sh $log_file_1 &
-
-# Get PID of the first script
-pid1=$!
-
-# Execute the second script and log its output
-run_script /app/run_zenoh_bridge_rpi.sh $log_file_2 &
-
-# Get PID of the second script
-pid2=$!
-
-# Wait for both scripts to finish
-wait $pid1
-wait $pid2
diff --git a/system_hw_test/turtlebot_zenoh/run_zenoh_bridge_create3.sh b/system_hw_test/turtlebot_zenoh/run_zenoh_bridge_create3.sh
deleted file mode 100644
index b8acbea8a5..0000000000
--- a/system_hw_test/turtlebot_zenoh/run_zenoh_bridge_create3.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/bin/ash
-export ROS_DISTRO=humble
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-unset CYCLONEDDS_URI
-export ROS_DOMAIN_ID=1
-
-/zenoh-bridge-ros2dds -c /app/config_create3.json5
-
-echo "zenoh-bridge-ros2dds that captures Create3 DDS messages has started."
diff --git a/system_hw_test/turtlebot_zenoh/run_zenoh_bridge_rpi.sh b/system_hw_test/turtlebot_zenoh/run_zenoh_bridge_rpi.sh
deleted file mode 100644
index bb41055523..0000000000
--- a/system_hw_test/turtlebot_zenoh/run_zenoh_bridge_rpi.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/bin/ash
-export ROS_DISTRO=humble
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-unset CYCLONEDDS_URI
-export ROS_DOMAIN_ID=0
-
-/zenoh-bridge-ros2dds -c /app/config_rpi.json5
-
-echo "zenoh-bridge-ros2dds that captures RPi DDS messages has started."
diff --git a/system_hw_test/unitree_legged_const.py b/system_hw_test/unitree_legged_const.py
deleted file mode 100644
index 153a0519d3..0000000000
--- a/system_hw_test/unitree_legged_const.py
+++ /dev/null
@@ -1,20 +0,0 @@
-LegID = {
-    "FR_0": 0,  # Front right hip
-    "FR_1": 1,  # Front right thigh
-    "FR_2": 2,  # Front right calf
-    "FL_0": 3,
-    "FL_1": 4,
-    "FL_2": 5,
-    "RR_0": 6,
-    "RR_1": 7,
-    "RR_2": 8,
-    "RL_0": 9,
-    "RL_1": 10,
-    "RL_2": 11,
-}
-
-HIGHLEVEL = 0xEE
-LOWLEVEL = 0xFF
-TRIGERLEVEL = 0xF0
-PosStopF = 2.146e9
-VelStopF = 16000.0
diff --git a/system_hw_test/woof.wav b/system_hw_test/woof.wav
deleted file mode 100644
index 7c913349c6..0000000000
Binary files a/system_hw_test/woof.wav and /dev/null differ
diff --git a/system_hw_test/yolo.py b/system_hw_test/yolo.py
deleted file mode 100644
index f29d4b0d5e..0000000000
--- a/system_hw_test/yolo.py
+++ /dev/null
@@ -1,131 +0,0 @@
-import argparse
-import datetime
-import json
-import time
-
-import cv2
-from ultralytics import YOLO
-
-# Load model
-# model = YOLO("yolov8n.pt")
-# model = YOLO("yolo11n.pt")
-
-model = YOLO("yolo12n.pt")
-
-# Common resolutions to test (width, height), ordered high to low
-RESOLUTIONS = [
-    (3840, 2160),  # 4K
-    (2560, 1440),  # QHD
-    (1920, 1080),  # Full HD
-    (1280, 720),  # HD
-    (1024, 576),
-    (800, 600),
-    (640, 480),  # VGA fallback
-]
-
-
-parser = argparse.ArgumentParser()
-parser.add_argument("--cam", help="the index of the camera you want to use", type=int, default=0)
-print(parser.format_help())
-args = parser.parse_args()
-
-
-def set_best_resolution(cap, resolutions):
-    for width, height in resolutions:
-        cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
-        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
-
-        # Give it a moment to settle
-        time.sleep(0.1)
-
-        actual_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
-        actual_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
-
-        if actual_width == width and actual_height == height:
-            print(f"✅ Resolution set to: {width}x{height}")
-            return width, height
-
-    print("⚠️ Could not set preferred resolution. Using default.")
-    return int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)), int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
-
-
-# Open webcam
-cap = cv2.VideoCapture(args.cam)
-
-# Set the best available resolution
-best_width, best_height = set_best_resolution(cap, RESOLUTIONS)
-
-# Create timestamped log filename
-start_time = datetime.datetime.now(datetime.UTC)
-log_filename = f"detections_log_{start_time.isoformat(timespec='seconds').replace(':', '-')}Z.jsonl"
-log_file = open(log_filename, "a")
-
-frame_index = 0
-print(f"Logging to: {log_filename}")
-print("Press 'q' to quit...")
-
-while cap.isOpened():
-    ret, frame = cap.read()
-    if not ret:
-        break
-
-    timestamp = time.time()
-    datetime_str = datetime.datetime.fromtimestamp(timestamp, datetime.UTC).isoformat()
-
-    results = model.predict(source=frame, save=False, stream=True, verbose=False)
-
-    detections = []
-    for r in results:
-        for box in r.boxes:
-            x1, y1, x2, y2 = map(float, box.xyxy[0])
-            cls = int(box.cls[0])
-            conf = float(box.conf[0])
-            label = model.names[cls]
-
-            detections.append(
-                {
-                    "class": label,
-                    "confidence": round(conf, 4),
-                    "bbox": [round(x1), round(y1), round(x2), round(y2)],
-                }
-            )
-
-            cv2.rectangle(frame, (int(x1), int(y1)), (int(x2), int(y2)), (0, 255, 0), 2)
-            cv2.putText(
-                frame,
-                f"{label} {conf:.2f}",
-                (int(x1), int(y1) - 10),
-                cv2.FONT_HERSHEY_SIMPLEX,
-                0.5,
-                (0, 255, 0),
-                1,
-            )
-
-    # Print to terminal
-    print(f"\nFrame {frame_index} @ {datetime_str} — {len(detections)} objects:")
-    for det in detections:
-        print(f"  {det['class']} ({det['confidence']:.2f}) -> {det['bbox']}")
-
-    # Write to log
-    json_line = json.dumps(
-        {
-            "frame": frame_index,
-            "timestamp": timestamp,
-            "datetime": datetime_str,
-            "detections": detections,
-        }
-    )
-    log_file.write(json_line + "\n")
-    log_file.flush()
-
-    frame_index += 1
-    cv2.imshow("YOLOv8n Object Detection", frame)
-
-    if cv2.waitKey(1) & 0xFF == ord("q"):
-        break
-
-# Cleanup
-log_file.close()
-cap.release()
-cv2.destroyAllWindows()
-print(f"\nDetection logging complete. Log saved to: {log_filename}")
diff --git a/system_hw_test/yolov8n.pt b/system_hw_test/yolov8n.pt
deleted file mode 100644
index 0db4ca4b4d..0000000000
Binary files a/system_hw_test/yolov8n.pt and /dev/null differ
diff --git a/system_hw_test/zenoh_echo.py b/system_hw_test/zenoh_echo.py
deleted file mode 100644
index a033bd979e..0000000000
--- a/system_hw_test/zenoh_echo.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import argparse
-import asyncio
-import json
-import os
-import sys
-
-# Add src directory to path to import local zenoh_msgs if needed
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "src"))
-
-import zenoh
-
-from zenoh_msgs import Odometer, RemoteControllerState
-
-
-def deserialize_message(key, payload):
-    """
-    Attempt to deserialize payload based on key expression.
-    Returns formatted string or None if unknown/failed.
-    """
-    try:
-        if "remote_controller_state" in key:
-            msg = RemoteControllerState.deserialize(payload)
-            return f"RemoteControllerState(event={msg.event}, lx={msg.lx:.2f}, ly={msg.ly:.2f}, rx={msg.rx:.2f}, ry={msg.ry:.2f})"
-        elif "odometer_state" in key:
-            msg = Odometer.deserialize(payload)
-            return f"Odometer(x={msg.x:.2f}, y={msg.y:.2f}, theta={msg.theta:.2f})"
-        # Add more message types here as needed
-        return None
-    except Exception as e:
-        return f"<Deserialization Error: {e}>"
-
-
-def on_message(sample):
-    """Callback for Zenoh message subscriber."""
-    try:
-        payload = sample.payload.to_bytes()
-        key = str(sample.key_expr)
-
-        # Try specific deserialization first
-        deserialized = deserialize_message(key, payload)
-        if deserialized:
-            print(f"[{key}]: {deserialized}")
-            return
-
-        # Fallback to string/JSON/bytes
-        try:
-            decoded = payload.decode("utf-8")
-            try:
-                json_obj = json.loads(decoded)
-                formatted = json.dumps(json_obj, indent=2)
-                print(f"[{key}]:\n{formatted}")
-            except json.JSONDecodeError:
-                print(f"[{key}]: {decoded}")
-        except UnicodeDecodeError:
-            print(f"[{key}]: {payload}")
-    except Exception as e:
-        print(f"Error processing message on {sample.key_expr}: {e}")
-
-
-async def main():
-    parser = argparse.ArgumentParser(description="Echo Zenoh messages like 'ros2 topic echo'")
-    parser.add_argument("topic", nargs="?", default="**", help="Topic to subscribe to (default: '**')")
-    parser.add_argument("--endpoint", default="tcp/127.0.0.1:7447", help="Zenoh endpoint to connect to")
-    parser.add_argument("--no-multicast", action="store_true", help="Disable multicast discovery")
-
-    args = parser.parse_args()
-
-    print("Connecting to Zenoh...")
-    conf = zenoh.Config()
-
-    if args.endpoint:
-        conf.insert_json5("connect/endpoints", f'["{args.endpoint}"]')
-
-    if args.no_multicast:
-        conf.insert_json5("scouting/multicast/enabled", "false")
-
-    session = zenoh.open(conf)
-    print(f"Connected to Zenoh: {session}")
-    print(f"Subscribing to: {args.topic}")
-    print("Press Ctrl+C to exit...")
-
-    sub = session.declare_subscriber(args.topic, on_message)
-
-    try:
-        while True:
-            await asyncio.sleep(1)
-    except KeyboardInterrupt:
-        print("\nStopping...")
-    finally:
-        sub.undeclare()
-        session.close()
-
-
-if __name__ == "__main__":
-    try:
-        asyncio.run(main())
-    except KeyboardInterrupt:
-        pass
diff --git a/test/integration/config_runner_test.go b/test/integration/config_runner_test.go
new file mode 100644
index 0000000000..4d691088eb
--- /dev/null
+++ b/test/integration/config_runner_test.go
@@ -0,0 +1,189 @@
+//go:build integration
+
+package integration
+
+import (
+	"encoding/json"
+	"fmt"
+	"os"
+	"path/filepath"
+	"regexp"
+	"strings"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+
+	"github.com/openmind/om1/internal/config"
+)
+
+type testCase struct {
+	Name         string   `json:"name"`
+	Description  string   `json:"description"`
+	WaitForCalls int      `json:"wait_for_calls"`
+	TimeoutMs    int      `json:"timeout_ms"`
+	Expected     expected `json:"expected"`
+}
+
+type expected struct {
+	ActionCalls    []expectedCall `json:"action_calls"`
+	ForbiddenCalls []expectedCall `json:"forbidden_calls"`
+	MinCalls       int            `json:"min_calls"`
+	NoCalls        bool           `json:"no_calls"`
+}
+
+type expectedCall struct {
+	Action      string            `json:"action"`
+	ArgContains map[string]string `json:"arg_contains"`
+}
+
+const testCaseDir = "testdata/test_cases"
+
+func TestIntegrationFromConfig(t *testing.T) {
+	cases, err := filepath.Glob(filepath.Join(testCaseDir, "*.json5"))
+	require.NoError(t, err)
+	require.NotEmpty(t, cases, "no test cases found under %s", testCaseDir)
+
+	for _, path := range cases {
+		path := path
+		t.Run(strings.TrimSuffix(filepath.Base(path), ".json5"), func(t *testing.T) {
+			runCaseFile(t, path)
+		})
+	}
+}
+
+func runCaseFile(t *testing.T, path string) {
+	abs, err := filepath.Abs(path)
+	require.NoError(t, err)
+
+	sysCfg, err := config.Load(abs)
+	require.NoError(t, err, "load system config")
+
+	tc := loadTestMeta(t, abs)
+
+	waitFor := tc.WaitForCalls
+	if waitFor == 0 && !tc.Expected.NoCalls {
+		waitFor = max(tc.Expected.MinCalls, len(tc.Expected.ActionCalls))
+		if waitFor == 0 {
+			waitFor = 1
+		}
+	}
+
+	if len(tc.Expected.ForbiddenCalls) > 0 {
+		waitFor = 0
+	}
+	timeout := 3 * time.Second
+	if tc.TimeoutMs > 0 {
+		timeout = time.Duration(tc.TimeoutMs) * time.Millisecond
+	}
+
+	session, s := newSession()
+	calls := runRuntime(sysCfg, session, s, waitFor, timeout)
+
+	evaluate(t, tc, calls)
+}
+
+func evaluate(t *testing.T, tc testCase, calls []recordedCall) {
+	if tc.Expected.NoCalls {
+		require.Empty(t, calls, "expected no actions to fire, but some did: %s", describe(calls))
+		return
+	}
+
+	if tc.Expected.MinCalls > 0 {
+		require.GreaterOrEqual(t, len(calls), tc.Expected.MinCalls,
+			"expected at least %d actions, got %d: %s", tc.Expected.MinCalls, len(calls), describe(calls))
+	}
+
+	for _, want := range tc.Expected.ActionCalls {
+		require.Truef(t, matchesAny(want, calls),
+			"expected an action %q with args %v, but none matched.\nrecorded: %s",
+			want.Action, want.ArgContains, describe(calls))
+	}
+
+	for _, forbidden := range tc.Expected.ForbiddenCalls {
+		require.Falsef(t, matchesAny(forbidden, calls),
+			"action %q with args %v should not have fired.\nrecorded: %s",
+			forbidden.Action, forbidden.ArgContains, describe(calls))
+	}
+}
+
+func matchesAny(want expectedCall, calls []recordedCall) bool {
+	for _, got := range calls {
+		if got.Label != want.Action {
+			continue
+		}
+		if argsMatch(want.ArgContains, got.Args) {
+			return true
+		}
+	}
+	return false
+}
+
+func argsMatch(want map[string]string, got map[string]any) bool {
+	for key, sub := range want {
+		val, ok := got[key]
+		if !ok {
+			return false
+		}
+		if !strings.Contains(fmt.Sprintf("%v", val), sub) {
+			return false
+		}
+	}
+	return true
+}
+
+func describe(calls []recordedCall) string {
+	if len(calls) == 0 {
+		return "(none)"
+	}
+	parts := make([]string, len(calls))
+	for i, c := range calls {
+		parts[i] = fmt.Sprintf("%s%v", c.Label, c.Args)
+	}
+	return strings.Join(parts, ", ")
+}
+
+func loadTestMeta(t *testing.T, path string) testCase {
+	raw, err := os.ReadFile(path)
+	require.NoError(t, err)
+
+	var tc testCase
+	require.NoError(t, json.Unmarshal(stripJSON5(raw), &tc), "parse test-case metadata")
+	return tc
+}
+
+func stripJSON5(src []byte) []byte {
+	text := strings.ReplaceAll(string(src), "\\\n", "")
+	lines := strings.Split(text, "\n")
+	stripped := make([]string, 0, len(lines))
+	for _, line := range lines {
+		if c := commentIndex(line); c >= 0 {
+			line = line[:c]
+		}
+		stripped = append(stripped, line)
+	}
+	text = strings.Join(stripped, "\n")
+	text = regexp.MustCompile(`,(\s*[}\]])`).ReplaceAllString(text, "$1")
+	text = regexp.MustCompile(`([{\[,]\s*)([a-zA-Z_][a-zA-Z0-9_]*)\s*:`).ReplaceAllString(text, `$1"$2":`)
+	return []byte(text)
+}
+
+func commentIndex(line string) int {
+	inString := false
+	for i := 0; i < len(line)-1; i++ {
+		if line[i] == '"' {
+			inString = !inString
+		}
+		if !inString && line[i] == '/' && line[i+1] == '/' {
+			return i
+		}
+	}
+	return -1
+}
+
+func max(a, b int) int {
+	if a > b {
+		return a
+	}
+	return b
+}
diff --git a/test/integration/fuzz_test.go b/test/integration/fuzz_test.go
new file mode 100644
index 0000000000..b51e663bd6
--- /dev/null
+++ b/test/integration/fuzz_test.go
@@ -0,0 +1,126 @@
+//go:build integration
+
+package integration
+
+import (
+	"context"
+	"path/filepath"
+	"sync"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/runtime"
+)
+
+func FuzzModeSwitching(f *testing.F) {
+	f.Add([]byte{3, 1, 4, 1, 5, 9, 2, 6})
+	f.Add([]byte{0, 0, 0, 0, 0, 0})
+	f.Add([]byte{25, 25, 25})
+	f.Add([]byte{1, 30, 1, 30, 1, 30})
+
+	f.Fuzz(func(t *testing.T, schedule []byte) {
+		if len(schedule) == 0 {
+			return
+		}
+		runFuzzModeSwitch(t, schedule)
+	})
+}
+
+const maxFlips = 40
+
+func runFuzzModeSwitch(t *testing.T, schedule []byte) {
+	abs, err := filepath.Abs(filepath.Join("testdata", "fuzz_cases", "fuzz_mode_switch.json5"))
+	require.NoError(t, err)
+	cfg, err := config.Load(abs)
+	require.NoError(t, err)
+
+	session, s := newSession()
+	injectActionMeta(cfg, session)
+
+	drainModeContext()
+
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+
+	rt := runtime.New(cfg, zap.NewNop(), runtime.Options{})
+	runDone := make(chan struct{})
+	go func() {
+		defer close(runDone)
+		_ = rt.Run(ctx)
+	}()
+
+	var mu sync.Mutex
+	target := "alpha"
+
+	stopPub := make(chan struct{})
+	var pubWG sync.WaitGroup
+	pubWG.Add(1)
+	go func() {
+		defer pubWG.Done()
+		tick := time.NewTicker(5 * time.Millisecond)
+		defer tick.Stop()
+
+		for {
+			select {
+			case <-stopPub:
+				return
+			case <-tick.C:
+				mu.Lock()
+				d := target
+				mu.Unlock()
+				providers.ModeContext().Publish(map[string]any{"target": d})
+			}
+		}
+	}()
+
+	flips := schedule
+	if len(flips) > maxFlips {
+		flips = flips[:maxFlips]
+	}
+
+	for _, b := range flips {
+		time.Sleep(time.Duration(b%25) * time.Millisecond)
+		mu.Lock()
+
+		if target == "alpha" {
+			target = "beta"
+		} else {
+			target = "alpha"
+		}
+
+		mu.Unlock()
+	}
+
+	time.Sleep(40 * time.Millisecond)
+
+	close(stopPub)
+	pubWG.Wait()
+
+	cancel()
+	select {
+	case <-runDone:
+	case <-time.After(20 * time.Second):
+		t.Fatal("runtime did not shut down within 20s — possible deadlock under rapid transitions")
+	}
+
+	for _, c := range s.snapshot() {
+		require.Containsf(t, []string{"alpha_act", "beta_act"}, c.Label,
+			"recorded an action %q that belongs to no active mode", c.Label)
+	}
+}
+
+func drainModeContext() {
+	ch := providers.ModeContext().Updates()
+	for {
+		select {
+		case <-ch:
+		default:
+			return
+		}
+	}
+}
diff --git a/test/integration/harness_test.go b/test/integration/harness_test.go
new file mode 100644
index 0000000000..0e930ff0ca
--- /dev/null
+++ b/test/integration/harness_test.go
@@ -0,0 +1,333 @@
+//go:build integration
+
+package integration
+
+import (
+	"context"
+	"strings"
+	"sync"
+	"sync/atomic"
+	"time"
+
+	"go.uber.org/zap"
+
+	"github.com/openmind/om1/internal/actions"
+	"github.com/openmind/om1/internal/config"
+	"github.com/openmind/om1/internal/inputs"
+	"github.com/openmind/om1/internal/llm"
+	"github.com/openmind/om1/internal/providers"
+	"github.com/openmind/om1/internal/runtime"
+)
+
+const (
+	mockInputType    = "mock_input"
+	scriptedLLMType  = "scripted_llm"
+	recordingConnKey = "recording"
+)
+
+func init() {
+	inputs.Register(mockInputType, newMockSensor)
+	llm.Register(scriptedLLMType, newScriptedLLM)
+	actions.Register(recordingConnKey, newRecordingConnector)
+}
+
+type recordedCall struct {
+	Label string
+	Args  map[string]any
+}
+
+type sink struct {
+	mu    sync.Mutex
+	calls []recordedCall
+}
+
+func (s *sink) add(c recordedCall) {
+	s.mu.Lock()
+	s.calls = append(s.calls, c)
+	s.mu.Unlock()
+}
+
+func (s *sink) snapshot() []recordedCall {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	out := make([]recordedCall, len(s.calls))
+	copy(out, s.calls)
+	return out
+}
+
+func (s *sink) len() int {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	return len(s.calls)
+}
+
+var (
+	sinksMu sync.Mutex
+	sinks   = map[string]*sink{}
+
+	sessionCounter int64
+)
+
+func newSession() (string, *sink) {
+	id := "sess-" + itoa(atomic.AddInt64(&sessionCounter, 1))
+	s := &sink{}
+	sinksMu.Lock()
+	sinks[id] = s
+	sinksMu.Unlock()
+	return id, s
+}
+
+func sinkFor(id string) *sink {
+	sinksMu.Lock()
+	defer sinksMu.Unlock()
+	s, ok := sinks[id]
+	if !ok {
+		s = &sink{}
+		sinks[id] = s
+	}
+	return s
+}
+
+type mockSensor struct {
+	buffer         string
+	messages       []string
+	triggers       bool
+	publishContext map[string]any
+}
+
+func newMockSensor(cfg map[string]any) (inputs.Sensor, error) {
+	s := &mockSensor{triggers: true}
+	if v, ok := cfg["triggers_tick"].(bool); ok {
+		s.triggers = v
+	}
+
+	if pc, ok := cfg["publish_context"].(map[string]any); ok {
+		s.publishContext = pc
+	}
+
+	if text, ok := cfg["text"].(string); ok && text != "" {
+		s.messages = append(s.messages, text)
+	}
+
+	for _, m := range asStringSlice(cfg["messages"]) {
+		s.messages = append(s.messages, m)
+	}
+
+	if buf, ok := cfg["buffer"].(string); ok && buf != "" {
+		s.buffer = buf
+	} else {
+		s.buffer = strings.Join(s.messages, " ")
+	}
+
+	return s, nil
+}
+
+func (s *mockSensor) Listen(ctx context.Context) (<-chan any, error) {
+	ch := make(chan any)
+	go func() {
+		if len(s.publishContext) > 0 {
+			providers.ModeContext().Publish(s.publishContext)
+		}
+
+		for _, m := range s.messages {
+			select {
+			case ch <- m:
+			case <-ctx.Done():
+				return
+			}
+		}
+		<-ctx.Done()
+	}()
+	return ch, nil
+}
+
+func (s *mockSensor) Poll(context.Context) (any, error) { return nil, nil }
+
+func (s *mockSensor) RawToText(_ context.Context, raw any) (*inputs.Message, error) {
+	text, _ := raw.(string)
+	return inputs.NewMessage(text), nil
+}
+
+func (s *mockSensor) FormattedLatestBuffer() string { return s.buffer }
+func (s *mockSensor) Stop()                         {}
+func (s *mockSensor) TriggersTick() bool            { return s.triggers }
+
+type llmRule struct {
+	whenContains string
+	toolCalls    []llm.ToolCall
+}
+
+type scriptedLLM struct {
+	rules   []llmRule
+	schemas []map[string]any
+}
+
+func newScriptedLLM(cfg map[string]any) (llm.LLM, error) {
+	m := &scriptedLLM{}
+	for _, raw := range asSlice(cfg["rules"]) {
+		rule, ok := raw.(map[string]any)
+		if !ok {
+			continue
+		}
+
+		r := llmRule{}
+		r.whenContains, _ = rule["when_contains"].(string)
+		for _, rawCall := range asSlice(rule["tool_calls"]) {
+			call, ok := rawCall.(map[string]any)
+			if !ok {
+				continue
+			}
+
+			name, _ := call["name"].(string)
+			args, _ := call["arguments"].(map[string]any)
+			if args == nil {
+				args = map[string]any{}
+			}
+
+			r.toolCalls = append(r.toolCalls, llm.ToolCall{Name: name, Arguments: args})
+		}
+
+		m.rules = append(m.rules, r)
+	}
+
+	return m, nil
+}
+
+func (m *scriptedLLM) Call(_ context.Context, prompt string, _ []llm.Message) (*llm.Response, error) {
+	for _, r := range m.rules {
+		if r.whenContains == "" || strings.Contains(prompt, r.whenContains) {
+			return &llm.Response{ToolCalls: r.toolCalls}, nil
+		}
+
+	}
+
+	return &llm.Response{}, nil
+}
+
+func (m *scriptedLLM) SetSchemas(s []map[string]any)     { m.schemas = s }
+func (m *scriptedLLM) FunctionSchemas() []map[string]any { return m.schemas }
+
+type recordingConnector struct {
+	label string
+	sink  *sink
+}
+
+func newRecordingConnector(cfg map[string]any) (actions.Connector, error) {
+	session, _ := cfg["session"].(string)
+	label, _ := cfg["label"].(string)
+	return &recordingConnector{label: label, sink: sinkFor(session)}, nil
+}
+
+func (c *recordingConnector) Connect(_ context.Context, input actions.Input) (actions.Output, error) {
+	args, _ := input.(map[string]any)
+	c.sink.add(recordedCall{Label: c.label, Args: args})
+	return nil, nil
+}
+
+func (c *recordingConnector) Tick(ctx context.Context) {
+	select {
+	case <-ctx.Done():
+	case <-time.After(5 * time.Millisecond):
+	}
+}
+
+func (c *recordingConnector) Stop() {}
+
+func runRuntime(cfg *config.SystemConfig, session string, s *sink, waitForCalls int, timeout time.Duration) []recordedCall {
+	injectActionMeta(cfg, session)
+
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+
+	rt := runtime.New(cfg, zap.NewNop(), runtime.Options{})
+
+	runDone := make(chan struct{})
+	go func() {
+		defer close(runDone)
+		_ = rt.Run(ctx)
+	}()
+
+	deadline := time.NewTimer(timeout)
+	defer deadline.Stop()
+	poll := time.NewTicker(10 * time.Millisecond)
+	defer poll.Stop()
+
+	for waitForCalls <= 0 || s.len() < waitForCalls {
+		select {
+		case <-deadline.C:
+			goto stop
+		case <-poll.C:
+		}
+	}
+
+stop:
+	cancel()
+	select {
+	case <-runDone:
+	case <-time.After(20 * time.Second):
+	}
+	return s.snapshot()
+}
+
+func injectActionMeta(cfg *config.SystemConfig, session string) {
+	stamp := func(specs []config.ActionSpec) {
+		for i := range specs {
+			if specs[i].Config == nil {
+				specs[i].Config = map[string]any{}
+			}
+			label := specs[i].LLMLabel
+			if label == "" {
+				label = specs[i].Name
+			}
+			specs[i].Config["session"] = session
+			specs[i].Config["label"] = label
+		}
+	}
+	stamp(cfg.AgentActions)
+	for name, mode := range cfg.Modes {
+		stamp(mode.AgentActions)
+		cfg.Modes[name] = mode
+	}
+}
+
+func asSlice(v any) []any {
+	s, _ := v.([]any)
+	return s
+}
+
+func asStringSlice(v any) []string {
+	raw, _ := v.([]any)
+	out := make([]string, 0, len(raw))
+	for _, e := range raw {
+		if s, ok := e.(string); ok {
+			out = append(out, s)
+		}
+	}
+	return out
+}
+
+func itoa(n int64) string {
+	if n == 0 {
+		return "0"
+	}
+
+	var buf [20]byte
+	i := len(buf)
+	neg := n < 0
+	if neg {
+		n = -n
+	}
+
+	for n > 0 {
+		i--
+		buf[i] = byte('0' + n%10)
+		n /= 10
+	}
+
+	if neg {
+		i--
+		buf[i] = '-'
+	}
+
+	return string(buf[i:])
+}
diff --git a/test/integration/testdata/fuzz_cases/fuzz_mode_switch.json5 b/test/integration/testdata/fuzz_cases/fuzz_mode_switch.json5
new file mode 100644
index 0000000000..249e57718f
--- /dev/null
+++ b/test/integration/testdata/fuzz_cases/fuzz_mode_switch.json5
@@ -0,0 +1,55 @@
+{
+  // Two modes that ping-pong via context-aware rules. The fuzz driver publishes a
+  // `target` flag onto the mode-context bus at randomized times; the runtime
+  // transitions to whichever mode is currently targeted. Each mode emits its own
+  // action when it is *not* transitioning, so recorded actions reveal which mode
+  // was active. Used only by FuzzModeSwitching (not by the discovery runner — it
+  // lives outside testdata/test_cases/).
+  name: "fuzz mode switching",
+  default_mode: "alpha",
+
+  transition_rules: [
+    { from_mode: "alpha", to_mode: "beta", transition_type: "context_aware", context_conditions: { target: "beta" }, priority: 1 },
+    { from_mode: "beta", to_mode: "alpha", transition_type: "context_aware", context_conditions: { target: "alpha" }, priority: 1 },
+  ],
+
+  modes: {
+    alpha: {
+      name: "alpha",
+      hertz: 50,
+      agent_inputs: [
+        { type: "mock_input", config: { text: "alpha mode running", triggers_tick: true } },
+      ],
+      cortex_llm: {
+        type: "scripted_llm",
+        config: {
+          rules: [
+            { when_contains: "alpha", tool_calls: [ { name: "alpha_act", arguments: { mode: "alpha" } } ] },
+          ],
+        },
+      },
+      agent_actions: [
+        { name: "alpha_act", llm_label: "alpha_act", connector: "recording" },
+      ],
+    },
+
+    beta: {
+      name: "beta",
+      hertz: 50,
+      agent_inputs: [
+        { type: "mock_input", config: { text: "beta mode running", triggers_tick: true } },
+      ],
+      cortex_llm: {
+        type: "scripted_llm",
+        config: {
+          rules: [
+            { when_contains: "beta", tool_calls: [ { name: "beta_act", arguments: { mode: "beta" } } ] },
+          ],
+        },
+      },
+      agent_actions: [
+        { name: "beta_act", llm_label: "beta_act", connector: "recording" },
+      ],
+    },
+  },
+}
diff --git a/test/integration/testdata/test_cases/mode_no_transition.json5 b/test/integration/testdata/test_cases/mode_no_transition.json5
new file mode 100644
index 0000000000..c60a910f67
--- /dev/null
+++ b/test/integration/testdata/test_cases/mode_no_transition.json5
@@ -0,0 +1,76 @@
+{
+  // Negative transition test: a person-keyword rule exists, but the patrol input
+  // never mentions a person, so the robot stays in patrol and keeps acting there.
+  // The greet mode must never run. Mirrors the Python mode_no_transition case.
+  name: "no transition when keyword absent",
+  description: "input-triggered rule does not fire; original mode keeps acting",
+  default_mode: "patrol",
+  timeout_ms: 800,
+
+  transition_rules: [
+    {
+      from_mode: "patrol",
+      to_mode: "greet",
+      transition_type: "input_triggered",
+      trigger_keywords: ["person"],
+      priority: 1,
+    },
+  ],
+
+  modes: {
+    patrol: {
+      name: "patrol",
+      hertz: 50,
+      system_prompt_base: "You are on patrol.",
+      agent_inputs: [
+        { type: "mock_input", config: { text: "the corridor is clear", triggers_tick: true } },
+      ],
+      cortex_llm: {
+        type: "scripted_llm",
+        config: {
+          rules: [
+            {
+              when_contains: "clear",
+              tool_calls: [ { name: "speak", arguments: { sentence: "Continuing patrol" } } ],
+            },
+          ],
+        },
+      },
+      agent_actions: [
+        { name: "speak", llm_label: "speak", connector: "recording" },
+      ],
+    },
+
+    greet: {
+      name: "greet",
+      hertz: 50,
+      system_prompt_base: "You are greeting a visitor.",
+      agent_inputs: [
+        { type: "mock_input", config: { text: "Hello!", triggers_tick: true } },
+      ],
+      cortex_llm: {
+        type: "scripted_llm",
+        config: {
+          rules: [
+            {
+              when_contains: "Hello",
+              tool_calls: [ { name: "speak", arguments: { sentence: "Welcome, visitor!" } } ],
+            },
+          ],
+        },
+      },
+      agent_actions: [
+        { name: "speak", llm_label: "speak", connector: "recording" },
+      ],
+    },
+  },
+
+  expected: {
+    action_calls: [
+      { action: "speak", arg_contains: { sentence: "Continuing patrol" } },
+    ],
+    forbidden_calls: [
+      { action: "speak", arg_contains: { sentence: "Welcome" } },
+    ],
+  },
+}
diff --git a/test/integration/testdata/test_cases/mode_transition_context_aware.json5 b/test/integration/testdata/test_cases/mode_transition_context_aware.json5
new file mode 100644
index 0000000000..0b70ff2853
--- /dev/null
+++ b/test/integration/testdata/test_cases/mode_transition_context_aware.json5
@@ -0,0 +1,69 @@
+{
+  // Context-aware transition: the patrol input publishes a context flag onto the
+  // mode-context bus (threat_detected=true). The runtime re-evaluates and switches
+  // to `alert`, which then acts. Proves the context_aware rule path.
+  name: "context flag transitions to alert",
+  description: "context_aware rule transitions when a published flag matches",
+  default_mode: "patrol",
+  wait_for_calls: 1,
+  timeout_ms: 5000,
+
+  transition_rules: [
+    {
+      from_mode: "patrol",
+      to_mode: "alert",
+      transition_type: "context_aware",
+      context_conditions: { threat_detected: true },
+      priority: 1,
+    },
+  ],
+
+  modes: {
+    patrol: {
+      name: "patrol",
+      hertz: 50,
+      system_prompt_base: "You are on patrol.",
+      agent_inputs: [
+        {
+          type: "mock_input",
+          config: {
+            text: "scanning the area",
+            triggers_tick: true,
+            publish_context: { threat_detected: true },
+          },
+        },
+      ],
+      cortex_llm: { type: "scripted_llm", config: { rules: [] } },
+      agent_actions: [],
+    },
+
+    alert: {
+      name: "alert",
+      hertz: 50,
+      system_prompt_base: "You are responding to a threat.",
+      agent_inputs: [
+        { type: "mock_input", config: { text: "intruder detected", triggers_tick: true } },
+      ],
+      cortex_llm: {
+        type: "scripted_llm",
+        config: {
+          rules: [
+            {
+              when_contains: "intruder",
+              tool_calls: [ { name: "speak", arguments: { sentence: "Threat acknowledged" } } ],
+            },
+          ],
+        },
+      },
+      agent_actions: [
+        { name: "speak", llm_label: "speak", connector: "recording" },
+      ],
+    },
+  },
+
+  expected: {
+    action_calls: [
+      { action: "speak", arg_contains: { sentence: "Threat acknowledged" } },
+    ],
+  },
+}
diff --git a/test/integration/testdata/test_cases/mode_transition_greeting.json5 b/test/integration/testdata/test_cases/mode_transition_greeting.json5
new file mode 100644
index 0000000000..8d7f6ad4c0
--- /dev/null
+++ b/test/integration/testdata/test_cases/mode_transition_greeting.json5
@@ -0,0 +1,73 @@
+{
+  // Multi-mode scenario. The robot starts in `patrol`; the patrol input mentions
+  // a "person", which fires an input-triggered transition into `greet`. The greet
+  // mode then reacts to its own input and speaks a welcome — proving the runtime
+  // tears down one mode and brings up the next end-to-end.
+  name: "patrol transitions to greeting",
+  description: "input keyword triggers a mode transition; new mode produces an action",
+  default_mode: "patrol",
+  wait_for_calls: 1,
+  timeout_ms: 5000,
+
+  transition_rules: [
+    {
+      from_mode: "patrol",
+      to_mode: "greet",
+      transition_type: "input_triggered",
+      trigger_keywords: ["person"],
+      priority: 1,
+    },
+  ],
+
+  modes: {
+    patrol: {
+      name: "patrol",
+      hertz: 50,
+      system_prompt_base: "You are patrolling.",
+      agent_inputs: [
+        {
+          type: "mock_input",
+          config: { text: "I see a person approaching", triggers_tick: true },
+        },
+      ],
+      // No rules: patrol never emits an action on its own, so the only recorded
+      // call must come from the greet mode after the transition.
+      cortex_llm: { type: "scripted_llm", config: { rules: [] } },
+      agent_actions: [],
+    },
+
+    greet: {
+      name: "greet",
+      hertz: 50,
+      system_prompt_base: "You are greeting a visitor.",
+      agent_inputs: [
+        {
+          type: "mock_input",
+          config: { text: "Hello!", triggers_tick: true },
+        },
+      ],
+      cortex_llm: {
+        type: "scripted_llm",
+        config: {
+          rules: [
+            {
+              when_contains: "Hello",
+              tool_calls: [
+                { name: "speak", arguments: { sentence: "Welcome, visitor!" } },
+              ],
+            },
+          ],
+        },
+      },
+      agent_actions: [
+        { name: "speak", llm_label: "speak", connector: "recording" },
+      ],
+    },
+  },
+
+  expected: {
+    action_calls: [
+      { action: "speak", arg_contains: { sentence: "Welcome" } },
+    ],
+  },
+}
diff --git a/test/integration/testdata/test_cases/mode_transition_time_based.json5 b/test/integration/testdata/test_cases/mode_transition_time_based.json5
new file mode 100644
index 0000000000..5469b4bfca
--- /dev/null
+++ b/test/integration/testdata/test_cases/mode_transition_time_based.json5
@@ -0,0 +1,62 @@
+{
+  // Time-based transition: patrol holds for a short timeout, then the runtime
+  // automatically switches to `active`, which then produces an action. Proves the
+  // time-based rule path (checkTimeBased) drives a real mode switch.
+  name: "patrol times out into active",
+  description: "time_based rule transitions modes after a timeout",
+  default_mode: "patrol",
+  wait_for_calls: 1,
+  timeout_ms: 5000,
+
+  transition_rules: [
+    {
+      from_mode: "patrol",
+      to_mode: "active",
+      transition_type: "time_based",
+      timeout_seconds: 0.1,
+      priority: 1,
+    },
+  ],
+
+  modes: {
+    patrol: {
+      name: "patrol",
+      hertz: 50,
+      system_prompt_base: "You are idling on patrol.",
+      agent_inputs: [
+        { type: "mock_input", config: { text: "all quiet", triggers_tick: true } },
+      ],
+      cortex_llm: { type: "scripted_llm", config: { rules: [] } },
+      agent_actions: [],
+    },
+
+    active: {
+      name: "active",
+      hertz: 50,
+      system_prompt_base: "You are now active.",
+      agent_inputs: [
+        { type: "mock_input", config: { text: "time to move", triggers_tick: true } },
+      ],
+      cortex_llm: {
+        type: "scripted_llm",
+        config: {
+          rules: [
+            {
+              when_contains: "move",
+              tool_calls: [ { name: "move", arguments: { direction: "forward" } } ],
+            },
+          ],
+        },
+      },
+      agent_actions: [
+        { name: "move", llm_label: "move", connector: "recording" },
+      ],
+    },
+  },
+
+  expected: {
+    action_calls: [
+      { action: "move", arg_contains: { direction: "forward" } },
+    ],
+  },
+}
diff --git a/test/integration/testdata/test_cases/no_action_when_idle.json5 b/test/integration/testdata/test_cases/no_action_when_idle.json5
new file mode 100644
index 0000000000..2e0dac44e4
--- /dev/null
+++ b/test/integration/testdata/test_cases/no_action_when_idle.json5
@@ -0,0 +1,39 @@
+{
+  // The input never matches any LLM rule, so the cortex returns no tool calls and
+  // no action connector should ever fire. Guards against spurious dispatches.
+  name: "no action when idle",
+  description: "unmatched input produces no actions",
+  hertz: 50,
+  timeout_ms: 800,
+
+  system_prompt_base: "You are an idle test robot.",
+
+  agent_inputs: [
+    {
+      type: "mock_input",
+      config: { text: "nothing interesting is happening", triggers_tick: true },
+    },
+  ],
+
+  cortex_llm: {
+    type: "scripted_llm",
+    config: {
+      rules: [
+        {
+          when_contains: "emergency",
+          tool_calls: [
+            { name: "speak", arguments: { sentence: "should never fire" } },
+          ],
+        },
+      ],
+    },
+  },
+
+  agent_actions: [
+    { name: "speak", llm_label: "speak", connector: "recording" },
+  ],
+
+  expected: {
+    no_calls: true,
+  },
+}
diff --git a/test/integration/testdata/test_cases/obstacle_stop.json5 b/test/integration/testdata/test_cases/obstacle_stop.json5
new file mode 100644
index 0000000000..7384489793
--- /dev/null
+++ b/test/integration/testdata/test_cases/obstacle_stop.json5
@@ -0,0 +1,49 @@
+{
+  // Exercises concurrent multi-action output: a single LLM decision emits two
+  // tool calls (move + speak) that must both be dispatched to their connectors.
+  name: "stop and warn on obstacle",
+  description: "one LLM decision fans out to two concurrent actions",
+  hertz: 50,
+  wait_for_calls: 2,
+  timeout_ms: 3000,
+
+  system_prompt_base: "You are a cautious test robot.",
+
+  agent_inputs: [
+    {
+      type: "mock_input",
+      config: {
+        text: "There is an obstacle directly ahead",
+        triggers_tick: true,
+      },
+    },
+  ],
+
+  cortex_llm: {
+    type: "scripted_llm",
+    config: {
+      rules: [
+        {
+          when_contains: "obstacle",
+          tool_calls: [
+            { name: "move", arguments: { direction: "stop" } },
+            { name: "speak", arguments: { sentence: "Stopping for the obstacle" } },
+          ],
+        },
+      ],
+    },
+  },
+
+  agent_actions: [
+    { name: "move", llm_label: "move", connector: "recording" },
+    { name: "speak", llm_label: "speak", connector: "recording" },
+  ],
+
+  expected: {
+    min_calls: 2,
+    action_calls: [
+      { action: "move", arg_contains: { direction: "stop" } },
+      { action: "speak", arg_contains: { sentence: "obstacle" } },
+    ],
+  },
+}
diff --git a/test/integration/testdata/test_cases/speak_on_greeting.json5 b/test/integration/testdata/test_cases/speak_on_greeting.json5
new file mode 100644
index 0000000000..ee654faeb5
--- /dev/null
+++ b/test/integration/testdata/test_cases/speak_on_greeting.json5
@@ -0,0 +1,46 @@
+{
+  // A single mode whose input contains a greeting. The scripted cortex LLM
+  // reacts to "Hello" by emitting a `speak` tool call, which must reach the
+  // recording connector wired to the speak action.
+  name: "speak on greeting",
+  description: "input -> fuser -> cortex LLM -> speak action",
+  hertz: 50,
+  wait_for_calls: 1,
+  timeout_ms: 3000,
+
+  system_prompt_base: "You are a friendly test robot.",
+
+  agent_inputs: [
+    {
+      type: "mock_input",
+      config: {
+        text: "Hello there robot",
+        triggers_tick: true,
+      },
+    },
+  ],
+
+  cortex_llm: {
+    type: "scripted_llm",
+    config: {
+      rules: [
+        {
+          when_contains: "Hello",
+          tool_calls: [
+            { name: "speak", arguments: { sentence: "Hi there, human!" } },
+          ],
+        },
+      ],
+    },
+  },
+
+  agent_actions: [
+    { name: "speak", llm_label: "speak", connector: "recording" },
+  ],
+
+  expected: {
+    action_calls: [
+      { action: "speak", arg_contains: { sentence: "Hi there" } },
+    ],
+  },
+}
diff --git a/tests/__init__.py b/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/arm_g1/__init__.py b/tests/actions/arm_g1/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/arm_g1/connector/__init__.py b/tests/actions/arm_g1/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/arm_g1/connector/test_arm_g1_unitree_sdk.py b/tests/actions/arm_g1/connector/test_arm_g1_unitree_sdk.py
deleted file mode 100644
index 1fa50b8929..0000000000
--- a/tests/actions/arm_g1/connector/test_arm_g1_unitree_sdk.py
+++ /dev/null
@@ -1,126 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.arm_g1.connector.unitree_sdk import ARMUnitreeSDKConnector
-from actions.arm_g1.interface import ArmAction, ArmInput
-from actions.base import ActionConfig
-
-
-@pytest.fixture
-def mock_arm_client():
-    """Mock G1ArmActionClient."""
-    with patch("actions.arm_g1.connector.unitree_sdk.G1ArmActionClient") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def connector(mock_arm_client):
-    """Create ARMUnitreeSDKConnector with mocked arm client."""
-    config = ActionConfig()
-    connector = ARMUnitreeSDKConnector(config)
-    return connector
-
-
-class TestARMUnitreeSDKConnectorInit:
-    """Test ARMUnitreeSDKConnector initialization."""
-
-    def test_init_creates_arm_client(self, mock_arm_client):
-        """Test that init creates and initializes G1ArmActionClient."""
-        config = ActionConfig()
-        ARMUnitreeSDKConnector(config)
-
-        mock_arm_client.SetTimeout.assert_called_once_with(10.0)
-        mock_arm_client.Init.assert_called_once()
-
-    def test_init_handles_client_error(self):
-        """Test that init handles G1ArmActionClient initialization errors."""
-        with (
-            patch("actions.arm_g1.connector.unitree_sdk.G1ArmActionClient") as mock_class,
-            patch("actions.arm_g1.connector.unitree_sdk.logging") as mock_logging,
-        ):
-            mock_class.side_effect = Exception("Hardware not found")
-            config = ActionConfig()
-            ARMUnitreeSDKConnector(config)
-
-            mock_logging.error.assert_called_once()
-            assert "Hardware not found" in str(mock_logging.error.call_args[0][0])
-
-
-class TestARMUnitreeSDKConnectorConnect:
-    """Test connect method for each arm action."""
-
-    @pytest.mark.asyncio
-    async def test_connect_idle_returns_early(self, connector):
-        """Test idle action returns without executing."""
-        arm_input = ArmInput(action=ArmAction.IDLE)
-        with patch("actions.arm_g1.connector.unitree_sdk.logging") as mock_logging:
-            await connector.connect(arm_input)
-            mock_logging.info.assert_any_call("No action to perform, returning.")
-            connector.client.ExecuteAction.assert_not_called()
-
-    @pytest.mark.skip(reason="LEFT_KISS enum value is currently commented out")
-    @pytest.mark.asyncio
-    async def test_connect_left_kiss(self, connector):
-        """Test left kiss executes action ID 12."""
-        arm_input = ArmInput(action=ArmAction.LEFT_KISS)  # type: ignore[attr-defined]
-        await connector.connect(arm_input)
-        connector.client.ExecuteAction.assert_called_once_with(12)
-
-    @pytest.mark.skip(reason="RIGHT_KISS enum value is currently commented out")
-    @pytest.mark.asyncio
-    async def test_connect_right_kiss(self, connector):
-        """Test right kiss executes action ID 13."""
-        arm_input = ArmInput(action=ArmAction.RIGHT_KISS)  # type: ignore[attr-defined]
-        await connector.connect(arm_input)
-        connector.client.ExecuteAction.assert_called_once_with(13)
-
-    @pytest.mark.skip(reason="CLAP enum value is currently commented out")
-    @pytest.mark.asyncio
-    async def test_connect_clap(self, connector):
-        """Test clap executes action ID 17."""
-        arm_input = ArmInput(action=ArmAction.CLAP)  # type: ignore[attr-defined]
-        await connector.connect(arm_input)
-        connector.client.ExecuteAction.assert_called_once_with(17)
-
-    @pytest.mark.skip(reason="HIGH_FIVE enum value is currently commented out")
-    @pytest.mark.asyncio
-    async def test_connect_high_five(self, connector):
-        """Test high five executes action ID 18."""
-        arm_input = ArmInput(action=ArmAction.HIGH_FIVE)  # type: ignore[attr-defined]
-        await connector.connect(arm_input)
-        connector.client.ExecuteAction.assert_called_once_with(18)
-
-    @pytest.mark.asyncio
-    async def test_connect_shake_hand(self, connector):
-        """Test shake hand executes action ID 27."""
-        arm_input = ArmInput(action=ArmAction.SHAKE_HAND)  # type: ignore[attr-defined]
-        await connector.connect(arm_input)
-        connector.client.ExecuteAction.assert_called_once_with(27)
-
-    @pytest.mark.skip(reason="HEART enum value is currently commented out")
-    @pytest.mark.asyncio
-    async def test_connect_heart(self, connector):
-        """Test heart executes action ID 20."""
-        arm_input = ArmInput(action=ArmAction.HEART)  # type: ignore[attr-defined]
-        await connector.connect(arm_input)
-        connector.client.ExecuteAction.assert_called_once_with(20)
-
-    @pytest.mark.skip(reason="HIGH_WAVE enum value is currently commented out")
-    @pytest.mark.asyncio
-    async def test_connect_high_wave(self, connector):
-        """Test high wave executes action ID 26."""
-        arm_input = ArmInput(action=ArmAction.HIGH_WAVE)  # type: ignore[attr-defined]
-        await connector.connect(arm_input)
-        connector.client.ExecuteAction.assert_called_once_with(26)
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector):
-        """Test unknown action logs warning and returns."""
-        arm_input = ArmInput(action="unknown")  # type: ignore[arg-type]
-        with patch("actions.arm_g1.connector.unitree_sdk.logging") as mock_logging:
-            await connector.connect(arm_input)
-            mock_logging.warning.assert_called_with("Unknown action: unknown")
-            connector.client.ExecuteAction.assert_not_called()
diff --git a/tests/actions/arm_g1/connector/test_arm_g1_zenoh.py b/tests/actions/arm_g1/connector/test_arm_g1_zenoh.py
deleted file mode 100644
index 27b78320bc..0000000000
--- a/tests/actions/arm_g1/connector/test_arm_g1_zenoh.py
+++ /dev/null
@@ -1,241 +0,0 @@
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from actions.arm_g1.connector.zenoh import (
-    CUSTOM_ACTION_MAP,
-    SPORT_REQUEST_TOPIC,
-    ARMZenohConnector,
-)
-from actions.arm_g1.interface import ArmAction, ArmInput
-from actions.base import ActionConfig
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-    with (
-        patch("actions.arm_g1.connector.zenoh.open_zenoh_session") as mock_open_session,
-        patch("actions.arm_g1.connector.zenoh.ZBytes") as mock_zbytes,
-    ):
-        mock_session = Mock()
-        mock_open_session.return_value = mock_session
-        mock_zbytes.side_effect = lambda x: x
-
-        yield {
-            "session": mock_session,
-            "zbytes": mock_zbytes,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create ARMZenohConnector with mocked dependencies."""
-    config = ActionConfig()
-    return ARMZenohConnector(config)
-
-
-class TestARMZenohConnectorInit:
-    """Test ARMZenohConnector initialization."""
-
-    def test_init_opens_zenoh_session(self, connector, mock_dependencies):
-        """Test that init opens a Zenoh session."""
-        assert connector.session == mock_dependencies["session"]
-
-    def test_init_handles_zenoh_error(self):
-        """Test that init handles Zenoh session errors."""
-        with (
-            patch("actions.arm_g1.connector.zenoh.open_zenoh_session") as mock_open_session,
-            patch("actions.arm_g1.connector.zenoh.logging") as mock_logging,
-        ):
-            mock_open_session.side_effect = Exception("Connection refused")
-            config = ActionConfig()
-            conn = ARMZenohConnector(config)
-
-            assert conn.session is None
-            mock_logging.error.assert_called_once()
-            assert "Connection refused" in str(mock_logging.error.call_args[0][0])
-
-
-class TestARMZenohConnectorConnect:
-    """Test connect method for custom arm actions."""
-
-    @pytest.mark.asyncio
-    async def test_connect_idle_returns_early(self, connector, mock_dependencies):
-        """Test idle action returns without publishing."""
-        arm_input = ArmInput(action=ArmAction.IDLE)
-        await connector.connect(arm_input)
-        mock_dependencies["session"].put.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_no_session(self):
-        """Test connect with no Zenoh session logs error."""
-        with (
-            patch("actions.arm_g1.connector.zenoh.open_zenoh_session") as mock_open_session,
-            patch("actions.arm_g1.connector.zenoh.logging") as mock_logging,
-        ):
-            mock_open_session.side_effect = Exception("No connection")
-            config = ActionConfig()
-            conn = ARMZenohConnector(config)
-
-            arm_input = ArmInput(action=ArmAction.SHAKE_HAND)
-            await conn.connect(arm_input)
-
-            mock_logging.error.assert_any_call("ARMZenohConnector: No Zenoh session available")
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector, mock_dependencies):
-        """Test unknown action logs warning."""
-        arm_input = ArmInput(action="unknown")  # type: ignore[arg-type]
-        with patch("actions.arm_g1.connector.zenoh.logging") as mock_logging:
-            await connector.connect(arm_input)
-            mock_logging.warning.assert_called_once()
-            assert "Unknown action" in str(mock_logging.warning.call_args[0][0])
-            mock_dependencies["session"].put.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_shake_hand(self, connector, mock_dependencies):
-        """Test shake hand publishes custom action."""
-        arm_input = ArmInput(action=ArmAction.SHAKE_HAND)
-        await connector.connect(arm_input)
-
-        mock_dependencies["session"].put.assert_called_once()
-        topic = mock_dependencies["session"].put.call_args[0][0]
-        assert topic == SPORT_REQUEST_TOPIC
-
-    @pytest.mark.asyncio
-    async def test_connect_face_wave(self, connector, mock_dependencies):
-        """Test face wave publishes custom action."""
-        arm_input = ArmInput(action=ArmAction.FACE_WAVE)
-        await connector.connect(arm_input)
-
-        mock_dependencies["session"].put.assert_called_once()
-        topic = mock_dependencies["session"].put.call_args[0][0]
-        assert topic == SPORT_REQUEST_TOPIC
-
-    @pytest.mark.asyncio
-    async def test_connect_hands_up(self, connector, mock_dependencies):
-        """Test hands up publishes custom action."""
-        arm_input = ArmInput(action=ArmAction.HANDS_UP)
-        await connector.connect(arm_input)
-
-        mock_dependencies["session"].put.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector, mock_dependencies):
-        """Test stand still publishes custom action."""
-        arm_input = ArmInput(action=ArmAction.STAND_STILL)
-        await connector.connect(arm_input)
-
-        mock_dependencies["session"].put.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_show_hand(self, connector, mock_dependencies):
-        """Test show hand publishes custom action."""
-        arm_input = ArmInput(action=ArmAction.SHOW_HAND)
-        await connector.connect(arm_input)
-
-        mock_dependencies["session"].put.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_all_custom_actions(self, connector, mock_dependencies):
-        """Test all actions in CUSTOM_ACTION_MAP are publishable."""
-        for action_value, expected_name in CUSTOM_ACTION_MAP.items():
-            mock_dependencies["session"].put.reset_mock()
-            arm_input = ArmInput(action=action_value)  # type: ignore[arg-type]
-            await connector.connect(arm_input)
-            mock_dependencies["session"].put.assert_called_once()
-
-
-class TestARMZenohConnectorStop:
-    """Test stop method."""
-
-    def test_stop_closes_session(self, connector, mock_dependencies):
-        """Test stop closes the Zenoh session."""
-        connector.stop()
-        mock_dependencies["session"].close.assert_called_once()
-        assert connector.session is None
-
-    def test_stop_no_session(self):
-        """Test stop with no session does nothing."""
-        with patch("actions.arm_g1.connector.zenoh.open_zenoh_session") as mock_open_session:
-            mock_open_session.side_effect = Exception("No connection")
-            config = ActionConfig()
-            conn = ARMZenohConnector(config)
-            conn.stop()  # Should not raise
-
-
-class TestARMZenohConnectorAutoPayment:
-    """Test automatic down_payment functionality."""
-
-    @pytest.mark.asyncio
-    async def test_auto_down_payment_publishes_after_10_seconds(self, connector, mock_dependencies):
-        """Test that _auto_down_payment publishes down_payment after 10 seconds."""
-        # Mock asyncio.sleep to avoid actual delay in tests
-        with patch("asyncio.sleep", new_callable=AsyncMock) as mock_sleep:
-            await connector._auto_down_payment()
-
-            mock_sleep.assert_called_once_with(10)
-            mock_dependencies["session"].put.assert_called_once()
-            topic = mock_dependencies["session"].put.call_args[0][0]
-            assert topic == SPORT_REQUEST_TOPIC
-
-    @pytest.mark.asyncio
-    async def test_auto_down_payment_no_session(self):
-        """Test _auto_down_payment handles no session gracefully."""
-        with (
-            patch("actions.arm_g1.connector.zenoh.open_zenoh_session") as mock_open_session,
-            patch("actions.arm_g1.connector.zenoh.logging") as mock_logging,
-            patch("asyncio.sleep", new_callable=AsyncMock),
-        ):
-            mock_open_session.side_effect = Exception("No connection")
-            config = ActionConfig()
-            conn = ARMZenohConnector(config)
-
-            await conn._auto_down_payment()
-
-            mock_logging.error.assert_any_call("ARMZenohConnector: No Zenoh session available for auto down_payment")
-
-    @pytest.mark.asyncio
-    async def test_auto_down_payment_exception_handling(self, connector):
-        """Test that exceptions in _auto_down_payment are caught and logged."""
-        with (
-            patch("asyncio.sleep", new_callable=AsyncMock) as mock_sleep,
-            patch("actions.arm_g1.connector.zenoh.logging") as mock_logging,
-        ):
-            mock_sleep.side_effect = Exception("Unexpected error")
-
-            await connector._auto_down_payment()
-            mock_logging.exception.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_other_actions_dont_trigger_auto_payment(self, connector, mock_dependencies):
-        """Test that non-payment actions don't trigger automatic down_payment."""
-        test_actions = [
-            ArmAction.SHAKE_HAND,
-            ArmAction.FACE_WAVE,
-            ArmAction.HANDS_UP,
-            ArmAction.STAND_STILL,
-        ]
-
-        for action in test_actions:
-            mock_dependencies["session"].put.reset_mock()
-            arm_input = ArmInput(action=action)
-
-            with patch.object(connector, "_auto_down_payment", new_callable=AsyncMock) as mock_auto_done:
-                await connector.connect(arm_input)
-
-                mock_dependencies["session"].put.assert_called_once()
-                mock_auto_done.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_down_payment_action_format(self, connector, mock_dependencies):
-        """Test that down_payment action is formatted correctly."""
-        with patch("asyncio.sleep", new_callable=AsyncMock):
-            await connector._auto_down_payment()
-
-            call_args = mock_dependencies["session"].put.call_args
-            topic = call_args[0][0]
-
-            assert topic == SPORT_REQUEST_TOPIC
-            assert mock_dependencies["session"].put.called
diff --git a/tests/actions/discord/__init__.py b/tests/actions/discord/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/discord/connector/__init__.py b/tests/actions/discord/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/discord/connector/test_discord_webhook.py b/tests/actions/discord/connector/test_discord_webhook.py
deleted file mode 100644
index 0d1e316683..0000000000
--- a/tests/actions/discord/connector/test_discord_webhook.py
+++ /dev/null
@@ -1,239 +0,0 @@
-"""Tests for discord webhook action."""
-
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import aiohttp
-import pytest
-
-from actions.discord.connector.webhook import (
-    DISCORD_MAX_CONTENT_LENGTH,
-    DiscordWebhookConfig,
-    DiscordWebhookConnector,
-)
-from actions.discord.interface import Discord, DiscordInput
-
-
-class TestDiscordInput:
-    def test_default_values(self):
-        input_obj = DiscordInput()
-        assert input_obj.action == ""
-
-    def test_with_value(self):
-        input_obj = DiscordInput(action="Hello from robot!")
-        assert input_obj.action == "Hello from robot!"
-
-    def test_with_markdown(self):
-        input_obj = DiscordInput(action="**Bold** and *italic* text")
-        assert "**Bold**" in input_obj.action
-        assert "*italic*" in input_obj.action
-
-
-class TestDiscordInterface:
-    def test_interface_creation(self):
-        input_obj = DiscordInput(action="Test message")
-        output_obj = DiscordInput(action="Test message")
-        message = Discord(input=input_obj, output=output_obj)
-        assert message.input.action == "Test message"
-        assert message.output.action == "Test message"
-
-
-class TestDiscordWebhookConfig:
-    def test_with_webhook_url(self):
-        config = DiscordWebhookConfig(webhook_url="https://discord.com/api/webhooks/123/abc")
-        assert config.webhook_url == "https://discord.com/api/webhooks/123/abc"
-        assert config.username is None
-        assert config.avatar_url is None
-
-    def test_with_all_options(self):
-        config = DiscordWebhookConfig(
-            webhook_url="https://discord.com/api/webhooks/123/abc",
-            username="RobotBot",
-            avatar_url="https://example.com/avatar.png",
-        )
-        assert config.webhook_url == "https://discord.com/api/webhooks/123/abc"
-        assert config.username == "RobotBot"
-        assert config.avatar_url == "https://example.com/avatar.png"
-
-
-class TestDiscordWebhookConnector:
-    def test_init_with_webhook_url(self):
-        config = DiscordWebhookConfig(webhook_url="https://discord.com/api/webhooks/123/abc")
-        connector = DiscordWebhookConnector(config)
-        assert connector.config.webhook_url == "https://discord.com/api/webhooks/123/abc"
-
-    def test_init_without_webhook_url(self):
-        with patch("actions.discord.connector.webhook.logging.warning") as mock_warning:
-            config = DiscordWebhookConfig(webhook_url="")
-            DiscordWebhookConnector(config)
-            mock_warning.assert_called_with("Discord webhook URL not provided in configuration")
-
-
-class TestDiscordWebhookConnectorConnect:
-    @pytest.fixture
-    def connector_with_url(self):
-        config = DiscordWebhookConfig(webhook_url="https://discord.com/api/webhooks/123/abc")
-        return DiscordWebhookConnector(config)
-
-    @pytest.fixture
-    def connector_with_options(self):
-        config = DiscordWebhookConfig(
-            webhook_url="https://discord.com/api/webhooks/123/abc",
-            username="TestBot",
-            avatar_url="https://example.com/avatar.png",
-        )
-        return DiscordWebhookConnector(config)
-
-    @pytest.fixture
-    def mock_discord_session(self):
-        """Reusable aiohttp.ClientSession mock for Discord webhook tests."""
-        with patch("actions.discord.connector.webhook.aiohttp.ClientSession") as mock_session:
-            mock_response = AsyncMock()
-            mock_response.status = 204
-
-            mock_post = MagicMock()
-            mock_post.__aenter__ = AsyncMock(return_value=mock_response)
-            mock_post.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session_instance = MagicMock()
-            mock_session_instance.post = MagicMock(return_value=mock_post)
-            mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-            mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session.return_value = mock_session_instance
-
-            yield {
-                "session": mock_session,
-                "session_instance": mock_session_instance,
-                "response": mock_response,
-            }
-
-    @pytest.mark.asyncio
-    async def test_connect_without_webhook_url(self):
-        config = DiscordWebhookConfig(webhook_url="")
-        connector = DiscordWebhookConnector(config)
-
-        with patch("actions.discord.connector.webhook.logging.error") as mock_error:
-            input_obj = DiscordInput(action="Test")
-            await connector.connect(input_obj)
-            mock_error.assert_called_with("Discord webhook URL not configured")
-
-    @pytest.mark.asyncio
-    async def test_connect_with_empty_message(self, connector_with_url):
-        with patch("actions.discord.connector.webhook.logging.warning") as mock_warning:
-            input_obj = DiscordInput(action="")
-            await connector_with_url.connect(input_obj)
-            mock_warning.assert_called_with("Empty Discord message, skipping send")
-
-    @pytest.mark.asyncio
-    async def test_connect_logs_message(self, connector_with_url, mock_discord_session):
-        with patch("actions.discord.connector.webhook.logging.info") as mock_info:
-            input_obj = DiscordInput(action="Test notification")
-            await connector_with_url.connect(input_obj)
-            mock_info.assert_any_call("SendThisToDiscord: Test notification")
-
-    @pytest.mark.asyncio
-    async def test_connect_sends_correct_payload(self, connector_with_url, mock_discord_session):
-        input_obj = DiscordInput(action="Hello Discord!")
-        await connector_with_url.connect(input_obj)
-
-        session_instance = mock_discord_session["session_instance"]
-        session_instance.post.assert_called_once()
-        call_args = session_instance.post.call_args
-        assert call_args[0][0] == "https://discord.com/api/webhooks/123/abc"
-        assert call_args[1]["json"] == {"content": "Hello Discord!"}
-
-    @pytest.mark.asyncio
-    async def test_connect_includes_username_and_avatar(self, connector_with_options, mock_discord_session):
-        input_obj = DiscordInput(action="Hello!")
-        await connector_with_options.connect(input_obj)
-
-        session_instance = mock_discord_session["session_instance"]
-        call_args = session_instance.post.call_args
-        payload = call_args[1]["json"]
-        assert payload["content"] == "Hello!"
-        assert payload["username"] == "TestBot"
-        assert payload["avatar_url"] == "https://example.com/avatar.png"
-
-    @pytest.mark.asyncio
-    async def test_connect_logs_success_on_204(self, connector_with_url, mock_discord_session):
-        mock_discord_session["response"].status = 204
-
-        with patch("actions.discord.connector.webhook.logging.info") as mock_info:
-            input_obj = DiscordInput(action="Test")
-            await connector_with_url.connect(input_obj)
-
-            success_logged = any("successfully" in str(call).lower() for call in mock_info.call_args_list)
-            assert success_logged
-
-    @pytest.mark.asyncio
-    async def test_connect_logs_success_on_200(self, connector_with_url, mock_discord_session):
-        mock_discord_session["response"].status = 200
-
-        with patch("actions.discord.connector.webhook.logging.info") as mock_info:
-            input_obj = DiscordInput(action="Test")
-            await connector_with_url.connect(input_obj)
-
-            success_logged = any("successfully" in str(call).lower() for call in mock_info.call_args_list)
-            assert success_logged
-
-    @pytest.mark.asyncio
-    async def test_connect_raises_on_error_response(self, connector_with_url, mock_discord_session):
-        mock_discord_session["response"].status = 400
-        mock_discord_session["response"].text = AsyncMock(return_value="Bad Request")
-        mock_discord_session["response"].request_info = MagicMock()
-        mock_discord_session["response"].history = ()
-
-        with pytest.raises(aiohttp.ClientResponseError):
-            input_obj = DiscordInput(action="Test")
-            await connector_with_url.connect(input_obj)
-
-    @pytest.mark.asyncio
-    async def test_connect_raises_on_rate_limit(self, connector_with_url, mock_discord_session):
-        mock_discord_session["response"].status = 429
-        mock_discord_session["response"].text = AsyncMock(return_value="Rate limited")
-        mock_discord_session["response"].request_info = MagicMock()
-        mock_discord_session["response"].history = ()
-
-        with pytest.raises(aiohttp.ClientResponseError):
-            input_obj = DiscordInput(action="Test")
-            await connector_with_url.connect(input_obj)
-
-    @pytest.mark.asyncio
-    async def test_connect_handles_network_error(self, connector_with_url):
-        with patch("actions.discord.connector.webhook.aiohttp.ClientSession") as mock_session:
-            mock_session.side_effect = aiohttp.ClientError("Connection refused")
-
-            with pytest.raises(aiohttp.ClientError):
-                input_obj = DiscordInput(action="Test")
-                await connector_with_url.connect(input_obj)
-
-    @pytest.mark.asyncio
-    async def test_connect_handles_generic_exception(self, connector_with_url):
-        with patch("actions.discord.connector.webhook.aiohttp.ClientSession") as mock_session:
-            mock_session.side_effect = RuntimeError("Unexpected error")
-
-            with pytest.raises(RuntimeError):
-                input_obj = DiscordInput(action="Test")
-                await connector_with_url.connect(input_obj)
-
-    @pytest.mark.asyncio
-    async def test_connect_truncates_long_message(self, connector_with_url, mock_discord_session):
-        long_message = "x" * 2500
-        input_obj = DiscordInput(action=long_message)
-        await connector_with_url.connect(input_obj)
-
-        session_instance = mock_discord_session["session_instance"]
-        call_args = session_instance.post.call_args
-        sent_content = call_args[1]["json"]["content"]
-        assert len(sent_content) == DISCORD_MAX_CONTENT_LENGTH
-
-    @pytest.mark.asyncio
-    async def test_connect_does_not_truncate_short_message(self, connector_with_url, mock_discord_session):
-        short_message = "x" * 100
-        input_obj = DiscordInput(action=short_message)
-        await connector_with_url.connect(input_obj)
-
-        session_instance = mock_discord_session["session_instance"]
-        call_args = session_instance.post.call_args
-        sent_content = call_args[1]["json"]["content"]
-        assert len(sent_content) == 100
diff --git a/tests/actions/emergency_alert/__init__.py b/tests/actions/emergency_alert/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/emergency_alert/connector/__init__.py b/tests/actions/emergency_alert/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/emergency_alert/connector/test_emergency_alert_elevenlabs_tts.py b/tests/actions/emergency_alert/connector/test_emergency_alert_elevenlabs_tts.py
deleted file mode 100644
index 19718d1a18..0000000000
--- a/tests/actions/emergency_alert/connector/test_emergency_alert_elevenlabs_tts.py
+++ /dev/null
@@ -1,226 +0,0 @@
-import sys
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.emergency_alert.interface import EmergencyAlertInput
-
-sys.modules["om1_speech"] = MagicMock()
-
-from actions.emergency_alert.connector.elevenlabs_tts import (  # noqa: E402
-    EmergencyAlertElevenLabsTTSConnector,
-    SpeakElevenLabsTTSConfig,
-)
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies for connector initialization."""
-
-    with (
-        patch("actions.emergency_alert.connector.elevenlabs_tts.IOProvider") as mock_io,
-        patch("actions.emergency_alert.connector.elevenlabs_tts.open_zenoh_session") as mock_zenoh_session,
-        patch("actions.emergency_alert.connector.elevenlabs_tts.ASRRTSPProvider") as mock_asr,
-        patch("actions.emergency_alert.connector.elevenlabs_tts.ElevenLabsTTSProvider") as mock_tts,
-        patch("actions.emergency_alert.connector.elevenlabs_tts.TeleopsConversationProvider") as mock_conv,
-        patch("actions.emergency_alert.connector.elevenlabs_tts.prepare_header"),
-        patch("actions.emergency_alert.connector.elevenlabs_tts.AudioStatus") as mock_audio_status,
-        patch("actions.emergency_alert.connector.elevenlabs_tts.String"),
-    ):
-        mock_io_instance = Mock()
-        mock_io.return_value = mock_io_instance
-
-        mock_session = Mock()
-        mock_zenoh_session.return_value = mock_session
-
-        mock_asr_instance = Mock()
-        mock_asr.return_value = mock_asr_instance
-
-        mock_tts_instance = Mock()
-        mock_tts.return_value = mock_tts_instance
-
-        mock_conv_instance = Mock()
-        mock_conv.return_value = mock_conv_instance
-
-        mock_audio_status_instance = Mock()
-        mock_audio_status.return_value = mock_audio_status_instance
-        mock_audio_status.STATUS_MIC.UNKNOWN.value = 0
-        mock_audio_status.STATUS_SPEAKER.READY.value = 1
-        mock_audio_status.STATUS_SPEAKER.ACTIVE.value = 2
-
-        yield {
-            "io": mock_io_instance,
-            "session": mock_session,
-            "asr": mock_asr_instance,
-            "tts": mock_tts_instance,
-            "conv": mock_conv_instance,
-            "audio_status": mock_audio_status,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create connector with mocked dependencies."""
-    config = SpeakElevenLabsTTSConfig()
-    return EmergencyAlertElevenLabsTTSConnector(config)
-
-
-class TestSpeakElevenLabsTTSConfig:
-    """Test SpeakElevenLabsTTSConfig configuration."""
-
-    def test_default_config(self):
-        config = SpeakElevenLabsTTSConfig()
-        assert config.elevenlabs_api_key is None
-        assert config.voice_id == "JBFqnCBsd6RMkjVDRZzb"
-        assert config.model_id == "eleven_flash_v2_5"
-        assert config.output_format == "pcm_16000"
-        assert config.silence_rate == 0
-
-    def test_custom_config(self):
-        config = SpeakElevenLabsTTSConfig(
-            elevenlabs_api_key="test_key",
-            voice_id="custom_voice",
-            model_id="custom_model",
-            output_format="pcm_16000",
-            silence_rate=3,
-        )
-        assert config.elevenlabs_api_key == "test_key"
-        assert config.voice_id == "custom_voice"
-        assert config.model_id == "custom_model"
-        assert config.output_format == "pcm_16000"
-        assert config.silence_rate == 3
-
-
-class TestEmergencyAlertConnectorInit:
-    """Test EmergencyAlertElevenLabsTTSConnector initialization."""
-
-    def test_init(self, connector, mock_dependencies):
-        assert connector.tts_enabled is True
-        assert connector.audio_topic == "robot/status/audio"
-        assert connector.tts_status_request_topic == "om/tts/request"
-        mock_dependencies["tts"].start.assert_called_once()
-        mock_dependencies["session"].declare_publisher.assert_called_once()
-
-    def test_init_zenoh_error(self):
-        """Test initialization when Zenoh session fails."""
-        with (
-            patch("actions.emergency_alert.connector.elevenlabs_tts.IOProvider"),
-            patch("actions.emergency_alert.connector.elevenlabs_tts.open_zenoh_session") as mock_zenoh_session,
-            patch("actions.emergency_alert.connector.elevenlabs_tts.ASRRTSPProvider"),
-            patch("actions.emergency_alert.connector.elevenlabs_tts.ElevenLabsTTSProvider") as mock_tts,
-            patch("actions.emergency_alert.connector.elevenlabs_tts.TeleopsConversationProvider"),
-            patch("actions.emergency_alert.connector.elevenlabs_tts.prepare_header"),
-            patch("actions.emergency_alert.connector.elevenlabs_tts.AudioStatus") as mock_audio_status,
-            patch("actions.emergency_alert.connector.elevenlabs_tts.String"),
-            patch("actions.emergency_alert.connector.elevenlabs_tts.logging") as mock_logging,
-        ):
-            mock_zenoh_session.side_effect = Exception("Zenoh connection failed")
-            mock_audio_status.STATUS_MIC.UNKNOWN.value = 0
-            mock_audio_status.STATUS_SPEAKER.READY.value = 1
-            mock_tts_instance = Mock()
-            mock_tts.return_value = mock_tts_instance
-
-            config = SpeakElevenLabsTTSConfig()
-            connector = EmergencyAlertElevenLabsTTSConnector(config)
-
-            assert connector.session is None
-            mock_logging.error.assert_called()
-
-
-class TestEmergencyAlertConnectorConnect:
-    """Test connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_tts_disabled(self, connector, mock_dependencies):
-        """Test connect when TTS is disabled."""
-        connector.tts_enabled = False
-        alert_input = EmergencyAlertInput(action="Fire!")
-        with patch("actions.emergency_alert.connector.elevenlabs_tts.logging") as mock_logging:
-            await connector.connect(alert_input)
-            mock_logging.info.assert_any_call("TTS is disabled, skipping TTS action")
-
-    @pytest.mark.asyncio
-    async def test_connect_with_audio_pub(self, connector, mock_dependencies):
-        """Test connect publishes audio status when audio_pub exists."""
-        mock_dependencies["tts"].create_pending_message.return_value = {"text": "Help!"}
-        mock_dependencies["tts"].get_pending_message_count.return_value = 0
-        mock_dependencies["io"].llm_prompt = None
-
-        alert_input = EmergencyAlertInput(action="Help!")
-        await connector.connect(alert_input)
-
-        mock_dependencies["tts"].create_pending_message.assert_called_once_with("Help!")
-        connector.audio_pub.put.assert_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_too_many_pending(self, connector, mock_dependencies):
-        """Test connect skips when too many pending messages."""
-        mock_dependencies["tts"].create_pending_message.return_value = {"text": "Alert!"}
-        mock_dependencies["tts"].get_pending_message_count.return_value = 5
-        mock_dependencies["io"].llm_prompt = None
-
-        alert_input = EmergencyAlertInput(action="Alert!")
-        with patch("actions.emergency_alert.connector.elevenlabs_tts.logging") as mock_logging:
-            await connector.connect(alert_input)
-            mock_logging.warning.assert_any_call("Too many pending TTS messages, skipping adding new message")
-
-    @pytest.mark.asyncio
-    async def test_connect_stores_conversation(self, connector, mock_dependencies):
-        """Test connect stores robot message when Voice input detected."""
-        mock_dependencies["tts"].create_pending_message.return_value = {"text": "Emergency!"}
-        mock_dependencies["tts"].get_pending_message_count.return_value = 0
-        mock_dependencies["io"].llm_prompt = 'Voice: "help"'
-
-        alert_input = EmergencyAlertInput(action="Emergency!")
-        await connector.connect(alert_input)
-
-        mock_dependencies["conv"].store_robot_message.assert_called_once_with("Emergency!")
-
-    @pytest.mark.asyncio
-    async def test_connect_no_audio_pub_uses_tts(self, connector, mock_dependencies):
-        """Test connect uses TTS directly when no audio_pub."""
-        connector.audio_pub = None
-        mock_dependencies["tts"].create_pending_message.return_value = {"text": "Fire!"}
-        mock_dependencies["tts"].get_pending_message_count.return_value = 0
-        mock_dependencies["io"].llm_prompt = None
-
-        alert_input = EmergencyAlertInput(action="Fire!")
-        await connector.connect(alert_input)
-
-        mock_dependencies["tts"].register_tts_state_callback.assert_called_once()
-        mock_dependencies["tts"].add_pending_message.assert_called_once()
-
-
-class TestZenohTTSStatusRequest:
-    """Test _zenoh_tts_status_request callback."""
-
-    def test_enable_tts(self, connector, mock_dependencies):
-        """Test enabling TTS via Zenoh message."""
-        connector.tts_enabled = False
-
-        mock_data = Mock()
-        mock_data.payload.to_bytes.return_value = b"test"
-        mock_tts_status = Mock()
-        mock_tts_status.code = 1
-        mock_dependencies["audio_status"].return_value = mock_tts_status
-
-        with patch("actions.emergency_alert.connector.elevenlabs_tts.TTSStatusRequest") as mock_tts_req:
-            mock_tts_req.deserialize.return_value = mock_tts_status
-            connector._zenoh_tts_status_request(mock_data)
-
-        assert connector.tts_enabled is True
-
-    def test_disable_tts(self, connector, mock_dependencies):
-        """Test disabling TTS via Zenoh message."""
-        connector.tts_enabled = True
-
-        mock_data = Mock()
-        mock_data.payload.to_bytes.return_value = b"test"
-        mock_tts_status = Mock()
-        mock_tts_status.code = 0
-
-        with patch("actions.emergency_alert.connector.elevenlabs_tts.TTSStatusRequest") as mock_tts_req:
-            mock_tts_req.deserialize.return_value = mock_tts_status
-            connector._zenoh_tts_status_request(mock_data)
-
-        assert connector.tts_enabled is False
diff --git a/tests/actions/emotion/__init__.py b/tests/actions/emotion/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/emotion/connector/__init__.py b/tests/actions/emotion/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/emotion/connector/test_emotion_unitree_sdk.py b/tests/actions/emotion/connector/test_emotion_unitree_sdk.py
deleted file mode 100644
index daf24d192a..0000000000
--- a/tests/actions/emotion/connector/test_emotion_unitree_sdk.py
+++ /dev/null
@@ -1,134 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.emotion.connector.unitree_sdk import (
-    EmotionUnitreeConfig,
-    EmotionUnitreeConnector,
-)
-from actions.emotion.interface import EmotionAction, EmotionInput
-
-
-class TestEmotionUnitreeConfig:
-    """Test EmotionUnitreeConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration has empty ethernet."""
-        config = EmotionUnitreeConfig()
-        assert config.unitree_ethernet == ""
-
-    def test_custom_ethernet(self):
-        """Test custom ethernet adapter configuration."""
-        config = EmotionUnitreeConfig(unitree_ethernet="eth0")
-        assert config.unitree_ethernet == "eth0"
-
-
-class TestEmotionUnitreeConnectorInit:
-    """Test EmotionUnitreeConnector initialization."""
-
-    def test_init_without_ethernet(self):
-        """Test initialization without ethernet (no audio client)."""
-        config = EmotionUnitreeConfig()
-        connector = EmotionUnitreeConnector(config)
-        assert connector.ao_client is None
-        assert connector.unitree_ethernet == ""
-
-    def test_init_with_ethernet(self):
-        """Test initialization with ethernet creates AudioClient."""
-        with patch("actions.emotion.connector.unitree_sdk.AudioClient") as mock_audio:
-            mock_instance = Mock()
-            mock_audio.return_value = mock_instance
-
-            config = EmotionUnitreeConfig(unitree_ethernet="eth0")
-            connector = EmotionUnitreeConnector(config)
-
-            mock_audio.assert_called_once()
-            mock_instance.SetTimeout.assert_called_once_with(10.0)
-            mock_instance.Init.assert_called_once()
-            mock_instance.LedControl.assert_called_once_with(0, 255, 0)
-            assert connector.ao_client == mock_instance
-
-
-class TestEmotionUnitreeConnectorConnect:
-    """Test connect method for each emotion action."""
-
-    @pytest.fixture
-    def connector_no_client(self):
-        """Create connector without audio client."""
-        config = EmotionUnitreeConfig()
-        return EmotionUnitreeConnector(config)
-
-    @pytest.fixture
-    def connector_with_client(self):
-        """Create connector with mocked audio client."""
-        with patch("actions.emotion.connector.unitree_sdk.AudioClient") as mock_audio:
-            mock_instance = Mock()
-            mock_audio.return_value = mock_instance
-
-            config = EmotionUnitreeConfig(unitree_ethernet="eth0")
-            connector = EmotionUnitreeConnector(config)
-            return connector
-
-    @pytest.mark.asyncio
-    async def test_connect_no_client_logs_error(self, connector_no_client):
-        """Test connect without audio client logs error."""
-        emotion_input = EmotionInput(action=EmotionAction.HAPPY)
-        with patch("actions.emotion.connector.unitree_sdk.logging") as mock_logging:
-            await connector_no_client.connect(emotion_input)
-            mock_logging.error.assert_called_with("No Unitree Emotion Client")
-
-    @pytest.mark.asyncio
-    async def test_connect_happy(self, connector_with_client):
-        """Test happy emotion sets green LED."""
-        emotion_input = EmotionInput(action=EmotionAction.HAPPY)
-        await connector_with_client.connect(emotion_input)
-        connector_with_client.ao_client.LedControlNoReply.assert_called_with(0, 255, 0)
-
-    @pytest.mark.asyncio
-    async def test_connect_sad(self, connector_with_client):
-        """Test sad emotion sets yellow LED."""
-        emotion_input = EmotionInput(action=EmotionAction.SAD)
-        await connector_with_client.connect(emotion_input)
-        connector_with_client.ao_client.LedControlNoReply.assert_called_with(255, 255, 0)
-
-    @pytest.mark.asyncio
-    async def test_connect_mad(self, connector_with_client):
-        """Test mad emotion sets red LED."""
-        emotion_input = EmotionInput(action=EmotionAction.MAD)
-        await connector_with_client.connect(emotion_input)
-        connector_with_client.ao_client.LedControlNoReply.assert_called_with(255, 0, 0)
-
-    @pytest.mark.asyncio
-    async def test_connect_curious(self, connector_with_client):
-        """Test curious emotion sets blue LED."""
-        emotion_input = EmotionInput(action=EmotionAction.CURIOUS)
-        await connector_with_client.connect(emotion_input)
-        connector_with_client.ao_client.LedControlNoReply.assert_called_with(0, 0, 255)
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_emotion(self, connector_with_client):
-        """Test unknown emotion logs info."""
-        emotion_input = EmotionInput(action="confused")  # type: ignore[arg-type]
-        with patch("actions.emotion.connector.unitree_sdk.logging") as mock_logging:
-            await connector_with_client.connect(emotion_input)
-            mock_logging.info.assert_any_call("Unknown emotion: confused")
-
-    @pytest.mark.asyncio
-    async def test_connect_logs_action(self, connector_with_client):
-        """Test connect logs the action being sent."""
-        emotion_input = EmotionInput(action=EmotionAction.HAPPY)
-        with patch("actions.emotion.connector.unitree_sdk.logging") as mock_logging:
-            await connector_with_client.connect(emotion_input)
-            mock_logging.info.assert_any_call("SendThisToUTClient: EmotionAction.HAPPY")
-
-
-class TestEmotionUnitreeConnectorTick:
-    """Test tick method."""
-
-    def test_tick_calls_sleep(self):
-        """Test tick calls sleep with 5 seconds."""
-        config = EmotionUnitreeConfig()
-        connector = EmotionUnitreeConnector(config)
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(5)
diff --git a/tests/actions/face/__init__.py b/tests/actions/face/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/face/connector/__init__.py b/tests/actions/face/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/face/connector/test_face_avatar.py b/tests/actions/face/connector/test_face_avatar.py
deleted file mode 100644
index 0d283033fa..0000000000
--- a/tests/actions/face/connector/test_face_avatar.py
+++ /dev/null
@@ -1,161 +0,0 @@
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.base import ActionConfig  # noqa: E402
-from actions.face.connector.avatar import FaceAvatarConnector  # noqa: E402
-from actions.face.interface import FaceAction, FaceInput  # noqa: E402
-
-
-@pytest.fixture
-def default_config():
-    """Create a default config for testing."""
-    return ActionConfig()
-
-
-@pytest.fixture
-def face_input_happy():
-    """Create a FaceInput instance with happy action."""
-    return FaceInput(action=FaceAction.HAPPY)
-
-
-@pytest.fixture
-def face_input_sad():
-    """Create a FaceInput instance with sad action."""
-    return FaceInput(action=FaceAction.SAD)
-
-
-@pytest.fixture
-def face_input_curious():
-    """Create a FaceInput instance with curious action."""
-    return FaceInput(action=FaceAction.CURIOUS)
-
-
-@pytest.fixture
-def face_input_confused():
-    """Create a FaceInput instance with confused action."""
-    return FaceInput(action=FaceAction.CONFUSED)
-
-
-@pytest.fixture
-def face_input_think():
-    """Create a FaceInput instance with think action."""
-    return FaceInput(action=FaceAction.THINK)
-
-
-@pytest.fixture
-def face_input_excited():
-    """Create a FaceInput instance with excited action."""
-    return FaceInput(action=FaceAction.EXCITED)
-
-
-@pytest.fixture(scope="session", autouse=True)
-def mock_zenoh_modules():
-    """Mock zenoh modules before imports."""
-    with patch.dict(
-        "sys.modules",
-        {
-            "zenoh": MagicMock(),
-            "zenoh_msgs": MagicMock(),
-        },
-    ):
-        yield
-
-
-class TestFaceAvatarConnector:
-    """Test the Face Avatar connector."""
-
-    def test_init(self, default_config):
-        """Test initialization of FaceAvatarConnector."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-
-            mock_avatar_provider_class.assert_called_once()
-            assert connector.avatar_provider is not None
-            assert connector.avatar_provider == mock_provider_instance
-
-    @pytest.mark.asyncio
-    async def test_connect_happy(self, default_config, face_input_happy):
-        """Test connect with happy expression."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-            await connector.connect(face_input_happy)
-
-            mock_provider_instance.send_avatar_command.assert_called_once_with("Happy")
-
-    @pytest.mark.asyncio
-    async def test_connect_sad(self, default_config, face_input_sad):
-        """Test connect with sad expression."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-            await connector.connect(face_input_sad)
-
-            mock_provider_instance.send_avatar_command.assert_called_once_with("Sad")
-
-    @pytest.mark.asyncio
-    async def test_connect_curious(self, default_config, face_input_curious):
-        """Test connect with curious expression."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-            await connector.connect(face_input_curious)
-
-            mock_provider_instance.send_avatar_command.assert_called_once_with("Curious")
-
-    @pytest.mark.asyncio
-    async def test_connect_confused(self, default_config, face_input_confused):
-        """Test connect with confused expression."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-            await connector.connect(face_input_confused)
-
-            mock_provider_instance.send_avatar_command.assert_called_once_with("Confused")
-
-    @pytest.mark.asyncio
-    async def test_connect_think(self, default_config, face_input_think):
-        """Test connect with think expression."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-            await connector.connect(face_input_think)
-
-            mock_provider_instance.send_avatar_command.assert_called_once_with("Think")
-
-    @pytest.mark.asyncio
-    async def test_connect_excited(self, default_config, face_input_excited):
-        """Test connect with excited expression."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-            await connector.connect(face_input_excited)
-
-            mock_provider_instance.send_avatar_command.assert_called_once_with("Excited")
-
-    def test_stop(self, default_config):
-        """Test stop method."""
-        with patch("actions.face.connector.avatar.AvatarProvider") as mock_avatar_provider_class:
-            mock_provider_instance = Mock()
-            mock_avatar_provider_class.return_value = mock_provider_instance
-
-            connector = FaceAvatarConnector(default_config)
-            connector.stop()
-
-            mock_provider_instance.stop.assert_called_once()
diff --git a/tests/actions/face/connector/test_face_ros2.py b/tests/actions/face/connector/test_face_ros2.py
deleted file mode 100644
index 1bbe2c9d23..0000000000
--- a/tests/actions/face/connector/test_face_ros2.py
+++ /dev/null
@@ -1,53 +0,0 @@
-from unittest.mock import patch
-
-import pytest
-
-from actions.base import ActionConfig
-from actions.face.connector.ros2 import FaceRos2Connector
-from actions.face.interface import FaceAction, FaceInput
-
-
-@pytest.fixture
-def connector():
-    """Create a FaceRos2Connector with default config."""
-    return FaceRos2Connector(ActionConfig())
-
-
-class TestFaceRos2Connector:
-    """Test the Face ROS2 connector."""
-
-    def test_init(self):
-        """Test initialization of FaceRos2Connector."""
-        config = ActionConfig()
-        connector = FaceRos2Connector(config)
-        assert connector.config == config
-
-    @pytest.mark.asyncio
-    @pytest.mark.parametrize(
-        "face_action,expected_face",
-        [
-            (FaceAction.HAPPY, "happy"),
-            (FaceAction.CONFUSED, "confused"),
-            (FaceAction.CURIOUS, "curious"),
-            (FaceAction.EXCITED, "excited"),
-            (FaceAction.SAD, "sad"),
-            (FaceAction.THINK, "think"),
-        ],
-    )
-    async def test_connect_known_actions(self, connector, face_action, expected_face):
-        """Test connect sends correct face dict to ROS2 for known actions."""
-        face_input = FaceInput(action=face_action)
-        with patch("actions.face.connector.ros2.logging") as mock_logging:
-            await connector.connect(face_input)
-            mock_logging.info.assert_called_with(f"SendThisToROS2: {{'face': '{expected_face}'}}")
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector):
-        """Test connect logs unknown face type for unrecognized action."""
-        face_input = FaceInput(action=FaceAction.HAPPY)
-        object.__setattr__(face_input, "action", "unknown_face")
-        with patch("actions.face.connector.ros2.logging") as mock_logging:
-            await connector.connect(face_input)
-            calls = [str(c) for c in mock_logging.info.call_args_list]
-            assert any("Unknown face type: unknown_face" in c for c in calls)
-            assert any("SendThisToROS2: {'face': ''}" in c for c in calls)
diff --git a/tests/actions/face/test_interface.py b/tests/actions/face/test_interface.py
deleted file mode 100644
index c3bd4c7680..0000000000
--- a/tests/actions/face/test_interface.py
+++ /dev/null
@@ -1,57 +0,0 @@
-from actions.face.interface import Face, FaceAction, FaceInput
-
-
-class TestFaceAction:
-    """Tests for the FaceAction enum."""
-
-    def test_face_action_values(self):
-        """Test that FaceAction enum has correct values."""
-        assert FaceAction.HAPPY.value == "happy"
-        assert FaceAction.CONFUSED.value == "confused"
-        assert FaceAction.CURIOUS.value == "curious"
-        assert FaceAction.EXCITED.value == "excited"
-        assert FaceAction.SAD.value == "sad"
-        assert FaceAction.THINK.value == "think"
-
-    def test_face_action_is_string_enum(self):
-        """Test that FaceAction values are strings."""
-        for action in FaceAction:
-            assert isinstance(action.value, str)
-
-    def test_face_action_count(self):
-        """Test that FaceAction has expected number of expressions."""
-        assert len(FaceAction) == 6
-
-
-class TestFaceInput:
-    """Tests for the FaceInput dataclass."""
-
-    def test_face_input_creation(self):
-        """Test creating FaceInput with valid action."""
-        face_input = FaceInput(action=FaceAction.HAPPY)
-        assert face_input.action == FaceAction.HAPPY
-
-    def test_face_input_all_actions(self):
-        """Test creating FaceInput with all possible actions."""
-        for action in FaceAction:
-            face_input = FaceInput(action=action)
-            assert face_input.action == action
-
-
-class TestFace:
-    """Tests for the Face interface."""
-
-    def test_face_creation(self):
-        """Test creating Face with input and output."""
-        face_input = FaceInput(action=FaceAction.HAPPY)
-        face = Face(input=face_input, output=face_input)
-        assert face.input == face_input
-        assert face.output == face_input
-
-    def test_face_different_input_output(self):
-        """Test creating Face with different input and output."""
-        input_face = FaceInput(action=FaceAction.HAPPY)
-        output_face = FaceInput(action=FaceAction.SAD)
-        face = Face(input=input_face, output=output_face)
-        assert face.input.action == FaceAction.HAPPY
-        assert face.output.action == FaceAction.SAD
diff --git a/tests/actions/gps/__init__.py b/tests/actions/gps/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/gps/connector/__init__.py b/tests/actions/gps/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/gps/connector/test_gps_fabric.py b/tests/actions/gps/connector/test_gps_fabric.py
deleted file mode 100644
index d06cd273b7..0000000000
--- a/tests/actions/gps/connector/test_gps_fabric.py
+++ /dev/null
@@ -1,178 +0,0 @@
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-import requests as req
-
-from actions.gps.connector.fabric import (  # noqa: E402
-    GPSFabricConfig,
-    GPSFabricConnector,
-)
-from actions.gps.interface import GPSAction, GPSInput  # noqa: E402
-
-
-@pytest.fixture
-def default_config():
-    """Create a default config for testing."""
-    return GPSFabricConfig()
-
-
-@pytest.fixture
-def custom_config():
-    """Create a custom config for testing."""
-    return GPSFabricConfig(fabric_endpoint="http://custom:8080")
-
-
-@pytest.fixture
-def gps_input_share():
-    """Create a GPSInput instance with share location action."""
-    return GPSInput(action=GPSAction.SHARE_LOCATION)
-
-
-@pytest.fixture
-def gps_input_idle():
-    """Create a GPSInput instance with idle action."""
-    return GPSInput(action=GPSAction.IDLE)
-
-
-@pytest.fixture(scope="session", autouse=True)
-def mock_zenoh_modules():
-    """Mock zenoh modules before imports."""
-    with patch.dict(
-        "sys.modules",
-        {
-            "zenoh": MagicMock(),
-            "zenoh_msgs": MagicMock(),
-        },
-    ):
-        yield
-
-
-class TestGPSFabricConfig:
-    """Test the GPS Fabric configuration class."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = GPSFabricConfig()
-        assert config.fabric_endpoint == "http://localhost:8545"
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = GPSFabricConfig(fabric_endpoint="http://custom:9000")
-        assert config.fabric_endpoint == "http://custom:9000"
-
-
-class TestGPSFabricConnector:
-    """Test the GPS Fabric connector."""
-
-    def test_init(self, default_config):
-        """Test initialization of GPSFabricConnector."""
-        with patch("actions.gps.connector.fabric.IOProvider") as mock_io_provider_class:
-            mock_io_instance = Mock()
-            mock_io_provider_class.return_value = mock_io_instance
-
-            connector = GPSFabricConnector(default_config)
-
-            mock_io_provider_class.assert_called_once()
-            assert connector.io_provider is not None
-            assert connector.fabric_endpoint == "http://localhost:8545"
-
-    def test_init_with_custom_config(self, custom_config):
-        """Test initialization with custom configuration."""
-        with patch("actions.gps.connector.fabric.IOProvider") as mock_io_provider_class:
-            mock_io_instance = Mock()
-            mock_io_provider_class.return_value = mock_io_instance
-
-            connector = GPSFabricConnector(custom_config)
-
-            assert connector.fabric_endpoint == "http://custom:8080"
-
-    @pytest.mark.asyncio
-    async def test_connect_share_location(self, default_config, gps_input_share):
-        """Test connect with share location action."""
-        with patch("actions.gps.connector.fabric.IOProvider") as mock_io_provider_class:
-            mock_io_instance = Mock()
-            mock_io_provider_class.return_value = mock_io_instance
-
-            connector = GPSFabricConnector(default_config)
-
-            with patch.object(connector, "send_coordinates") as mock_send:
-                await connector.connect(gps_input_share)
-                mock_send.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_idle(self, default_config, gps_input_idle):
-        """Test connect with idle action does not send coordinates."""
-        with patch("actions.gps.connector.fabric.IOProvider") as mock_io_provider_class:
-            mock_io_instance = Mock()
-            mock_io_provider_class.return_value = mock_io_instance
-
-            connector = GPSFabricConnector(default_config)
-
-            with patch.object(connector, "send_coordinates") as mock_send:
-                await connector.connect(gps_input_idle)
-                mock_send.assert_not_called()
-
-    def test_send_coordinates_success(self, default_config):
-        """Test send_coordinates with successful response."""
-        with (
-            patch("actions.gps.connector.fabric.IOProvider") as mock_io_provider_class,
-            patch("actions.gps.connector.fabric.requests") as mock_requests,
-        ):
-            mock_io_instance = Mock()
-            mock_io_instance.get_dynamic_variable.side_effect = lambda x: {
-                "latitude": 37.7749,
-                "longitude": -122.4194,
-                "yaw_deg": 90.0,
-            }.get(x)
-            mock_io_provider_class.return_value = mock_io_instance
-
-            mock_response = Mock()
-            mock_response.json.return_value = {"result": True}
-            mock_requests.post.return_value = mock_response
-
-            connector = GPSFabricConnector(default_config)
-            connector.send_coordinates()
-
-            mock_requests.post.assert_called_once()
-            call_args = mock_requests.post.call_args
-            assert call_args[0][0] == "http://localhost:8545"
-            assert call_args[1]["json"]["method"] == "omp2p_shareStatus"
-
-    def test_send_coordinates_no_coordinates(self, default_config):
-        """Test send_coordinates when no coordinates available."""
-        with (
-            patch("actions.gps.connector.fabric.IOProvider") as mock_io_provider_class,
-            patch("actions.gps.connector.fabric.requests") as mock_requests,
-        ):
-            mock_io_instance = Mock()
-            mock_io_instance.get_dynamic_variable.return_value = None
-            mock_io_provider_class.return_value = mock_io_instance
-
-            connector = GPSFabricConnector(default_config)
-            result = connector.send_coordinates()
-
-            assert result is None
-            mock_requests.post.assert_not_called()
-
-    def test_send_coordinates_request_failure(self, default_config):
-        """Test send_coordinates handles request exception."""
-        with (
-            patch("actions.gps.connector.fabric.IOProvider") as mock_io_provider_class,
-            patch("actions.gps.connector.fabric.requests") as mock_requests,
-        ):
-            mock_io_instance = Mock()
-            mock_io_instance.get_dynamic_variable.side_effect = lambda x: {
-                "latitude": 37.7749,
-                "longitude": -122.4194,
-                "yaw_deg": 90.0,
-            }.get(x)
-            mock_io_provider_class.return_value = mock_io_instance
-
-            mock_requests.post.side_effect = req.RequestException("Connection error")
-            mock_requests.RequestException = req.RequestException
-
-            connector = GPSFabricConnector(default_config)
-            # Should not raise exception
-            connector.send_coordinates()
-
-            mock_requests.post.assert_called_once()
diff --git a/tests/actions/gps/test_interface.py b/tests/actions/gps/test_interface.py
deleted file mode 100644
index 2404c39c2d..0000000000
--- a/tests/actions/gps/test_interface.py
+++ /dev/null
@@ -1,53 +0,0 @@
-from actions.gps.interface import GPS, GPSAction, GPSInput
-
-
-class TestGPSAction:
-    """Tests for the GPSAction enum."""
-
-    def test_gps_action_values(self):
-        """Test that GPSAction enum has correct values."""
-        assert GPSAction.SHARE_LOCATION.value == "share location"
-        assert GPSAction.IDLE.value == "idle"
-
-    def test_gps_action_is_string_enum(self):
-        """Test that GPSAction values are strings."""
-        for action in GPSAction:
-            assert isinstance(action.value, str)
-
-    def test_gps_action_count(self):
-        """Test that GPSAction has expected number of actions."""
-        assert len(GPSAction) == 2
-
-
-class TestGPSInput:
-    """Tests for the GPSInput dataclass."""
-
-    def test_gps_input_creation(self):
-        """Test creating GPSInput with valid action."""
-        gps_input = GPSInput(action=GPSAction.SHARE_LOCATION)
-        assert gps_input.action == GPSAction.SHARE_LOCATION
-
-    def test_gps_input_all_actions(self):
-        """Test creating GPSInput with all possible actions."""
-        for action in GPSAction:
-            gps_input = GPSInput(action=action)
-            assert gps_input.action == action
-
-
-class TestGPS:
-    """Tests for the GPS interface."""
-
-    def test_gps_creation(self):
-        """Test creating GPS with input and output."""
-        gps_input = GPSInput(action=GPSAction.SHARE_LOCATION)
-        gps = GPS(input=gps_input, output=gps_input)
-        assert gps.input == gps_input
-        assert gps.output == gps_input
-
-    def test_gps_different_input_output(self):
-        """Test creating GPS with different input and output."""
-        input_gps = GPSInput(action=GPSAction.SHARE_LOCATION)
-        output_gps = GPSInput(action=GPSAction.IDLE)
-        gps = GPS(input=input_gps, output=output_gps)
-        assert gps.input.action == GPSAction.SHARE_LOCATION
-        assert gps.output.action == GPSAction.IDLE
diff --git a/tests/actions/greeting_conversation/__init__.py b/tests/actions/greeting_conversation/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/greeting_conversation/connector/__init__.py b/tests/actions/greeting_conversation/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/greeting_conversation/connector/test_base_greeting_conversation.py b/tests/actions/greeting_conversation/connector/test_base_greeting_conversation.py
deleted file mode 100644
index b002794930..0000000000
--- a/tests/actions/greeting_conversation/connector/test_base_greeting_conversation.py
+++ /dev/null
@@ -1,728 +0,0 @@
-import time
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.base import ActionConfig
-from actions.greeting_conversation.connector.base_greeting_conversation import (
-    BaseGreetingConversationConnector,
-    normalize_tts_text,
-)
-from actions.greeting_conversation.interface import ConversationState as InterfaceConversationState
-from actions.greeting_conversation.interface import (
-    GreetingConversationInput,
-)
-from providers.greeting_conversation_state_provider import ConversationState
-
-
-class MockActionConfig(ActionConfig):
-    """Mock configuration for the base connector."""
-
-    pass
-
-
-class ConcreteGreetingConnector(BaseGreetingConversationConnector[MockActionConfig]):
-    """Concrete implementation of BaseGreetingConversationConnector for testing."""
-
-    def __init__(self, config: MockActionConfig, mock_tts=None):
-        self._mock_tts = mock_tts
-        super().__init__(config)
-
-    def create_tts_provider(self):
-        """Return a mock TTS provider for testing."""
-        return self._mock_tts if self._mock_tts else Mock()
-
-
-@pytest.fixture
-def mock_tts():
-    """Create a mock TTS provider."""
-    tts = Mock()
-    tts.start = Mock()
-    tts.add_pending_message = Mock()
-    tts.create_pending_message = Mock(return_value={"text": "mock text"})
-    return tts
-
-
-@pytest.fixture
-def mock_providers(mock_tts):
-    """Mock all external providers used by the base greeting connector."""
-    with (
-        patch(
-            "actions.greeting_conversation.connector.base_greeting_conversation.GreetingConversationStateMachineProvider"
-        ) as mock_state_cls,
-        patch("actions.greeting_conversation.connector.base_greeting_conversation.ContextProvider") as mock_ctx_cls,
-        patch("actions.greeting_conversation.connector.base_greeting_conversation.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_state = Mock()
-        mock_ctx = Mock()
-        mock_session = Mock()
-        mock_audio_pub = Mock()
-        mock_state_cls.return_value = mock_state
-        mock_ctx_cls.return_value = mock_ctx
-        mock_zenoh.return_value = mock_session
-        mock_session.declare_publisher.return_value = mock_audio_pub
-        yield {
-            "tts": mock_tts,
-            "state_cls": mock_state_cls,
-            "state": mock_state,
-            "ctx_cls": mock_ctx_cls,
-            "ctx": mock_ctx,
-            "zenoh": mock_zenoh,
-            "session": mock_session,
-            "audio_pub": mock_audio_pub,
-        }
-
-
-@pytest.fixture
-def make_connector(mock_providers, mock_tts):
-    """Factory to create a ConcreteGreetingConnector with mocked providers."""
-
-    def _make(**config_kwargs):
-        config = MockActionConfig(**config_kwargs)
-        return ConcreteGreetingConnector(config, mock_tts=mock_tts)
-
-    return _make
-
-
-@pytest.fixture
-def connector(make_connector):
-    """Create a connector with default config."""
-    return make_connector()
-
-
-@pytest.fixture
-def greeting_input():
-    """Create a standard greeting conversation input."""
-    return GreetingConversationInput(
-        response="Hello! Nice to meet you.",
-        conversation_state=InterfaceConversationState.CONVERSING,
-        confidence=0.9,
-        speech_clarity=0.85,
-    )
-
-
-class TestBaseGreetingConversationConnector:
-    """Test the BaseGreetingConversationConnector."""
-
-    def test_init_creates_providers(self, connector, mock_providers):
-        """Test initialization creates all required providers."""
-        mock_providers["state_cls"].assert_called_once()
-        mock_providers["ctx_cls"].assert_called_once()
-        mock_providers["zenoh"].assert_called_once()
-        assert connector.greeting_state_provider is not None
-        assert connector.context_provider is not None
-
-    def test_init_starts_conversation(self, connector, mock_providers):
-        """Test initialization starts the conversation state machine."""
-        mock_providers["state"].start_conversation.assert_called_once()
-
-    def test_init_starts_tts(self, connector, mock_providers):
-        """Test initialization starts the TTS provider."""
-        mock_providers["tts"].start.assert_called_once()
-
-    def test_init_sets_default_values(self, connector, mock_providers):
-        """Test initialization sets default values."""
-        assert connector.tts_request_id is None
-        assert connector.tts_playing is False
-        assert connector.conversation_finished_sent is False
-        assert connector.greeting_status == ConversationState.CONVERSING.value
-        assert connector.person_greeting_topic == "om/person_greeting"
-        assert connector.audio_topic == "robot/status/audio"
-
-    def test_init_opens_zenoh_session(self, connector, mock_providers):
-        """Test initialization opens a Zenoh session."""
-        assert connector.session == mock_providers["session"]
-        assert connector.audio_pub == mock_providers["audio_pub"]
-
-    def test_init_handles_zenoh_failure(self, mock_providers, make_connector):
-        """Test initialization handles Zenoh session failure gracefully."""
-        mock_providers["zenoh"].side_effect = Exception("Connection failed")
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector = make_connector()
-        assert connector.session is None
-        assert connector.audio_pub is None
-
-    @pytest.mark.asyncio
-    async def test_connect_logs_conversation_details(self, connector, greeting_input, mock_providers):
-        """Test connect logs all conversation details."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging") as mock_log:
-            await connector.connect(greeting_input)
-            assert mock_log.info.call_count >= 4
-
-    @pytest.mark.asyncio
-    async def test_connect_publishes_audio_status_via_zenoh(self, connector, greeting_input, mock_providers):
-        """Test connect publishes AudioStatus via Zenoh with UUID tracking."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["tts"].create_pending_message.assert_called_once_with("Hello! Nice to meet you.")
-        mock_providers["audio_pub"].put.assert_called_once()
-        assert connector.tts_playing is True
-        assert connector.tts_request_id is not None
-
-    @pytest.mark.asyncio
-    async def test_connect_does_not_set_tts_playing_without_audio_pub(self, connector, greeting_input, mock_providers):
-        """Test tts_playing stays False when audio_pub is None."""
-        connector.audio_pub = None
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        await connector.connect(greeting_input)
-        assert connector.tts_playing is False
-
-    def test_on_audio_status_resets_tts_playing_on_match(self, connector, mock_providers):
-        """Test _on_audio_status resets tts_playing when UUID and READY status match."""
-        connector.tts_request_id = "test-uuid-123"
-        connector.tts_playing = True
-        connector.pending_finished_update = False
-
-        mock_data = Mock()
-        mock_status = Mock()
-        mock_status.header.frame_id = "test-uuid-123"
-        mock_status.status_speaker = 1  # READY
-
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.AudioStatus") as mock_audio_cls:
-            mock_audio_cls.deserialize.return_value = mock_status
-            mock_audio_cls.STATUS_SPEAKER.READY.value = 1
-            connector._on_audio_status(mock_data)
-
-        assert connector.tts_playing is False
-        mock_providers["ctx"].update_context.assert_not_called()
-
-    def test_on_audio_status_triggers_deferred_context_update(self, connector, mock_providers):
-        """Test _on_audio_status calls update_context when pending_finished_update is True."""
-        connector.tts_request_id = "test-uuid-123"
-        connector.tts_playing = True
-        connector.pending_finished_update = True
-
-        mock_data = Mock()
-        mock_status = Mock()
-        mock_status.header.frame_id = "test-uuid-123"
-        mock_status.status_speaker = 1  # READY
-
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.AudioStatus") as mock_audio_cls:
-            mock_audio_cls.deserialize.return_value = mock_status
-            mock_audio_cls.STATUS_SPEAKER.READY.value = 1
-            connector._on_audio_status(mock_data)
-
-        assert connector.tts_playing is False
-        assert connector.pending_finished_update is False
-        mock_providers["ctx"].update_context.assert_called_once_with({"greeting_conversation_finished": True})
-
-    def test_on_audio_status_ignores_non_matching_uuid(self, connector, mock_providers):
-        """Test _on_audio_status does not reset tts_playing for a different UUID."""
-        connector.tts_request_id = "test-uuid-123"
-        connector.tts_playing = True
-
-        mock_data = Mock()
-        mock_status = Mock()
-        mock_status.header.frame_id = "different-uuid-456"
-        mock_status.status_speaker = 1  # READY
-
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.AudioStatus") as mock_audio_cls:
-            mock_audio_cls.deserialize.return_value = mock_status
-            mock_audio_cls.STATUS_SPEAKER.READY.value = 1
-            connector._on_audio_status(mock_data)
-
-        assert connector.tts_playing is True
-
-    def test_on_audio_status_ignores_non_ready_status(self, connector, mock_providers):
-        """Test _on_audio_status does not reset tts_playing when speaker is ACTIVE."""
-        connector.tts_request_id = "test-uuid-123"
-        connector.tts_playing = True
-
-        mock_data = Mock()
-        mock_status = Mock()
-        mock_status.header.frame_id = "test-uuid-123"
-        mock_status.status_speaker = 2  # ACTIVE
-
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.AudioStatus") as mock_audio_cls:
-            mock_audio_cls.deserialize.return_value = mock_status
-            mock_audio_cls.STATUS_SPEAKER.READY.value = 1
-            connector._on_audio_status(mock_data)
-
-        assert connector.tts_playing is True
-
-    @pytest.mark.asyncio
-    async def test_connect_processes_conversation(self, connector, greeting_input, mock_providers):
-        """Test connect calls state machine process_conversation with llm_output."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        await connector.connect(greeting_input)
-        mock_providers["state"].process_conversation.assert_called_once_with(
-            {
-                "conversation_state": InterfaceConversationState.CONVERSING,
-                "response": "Hello! Nice to meet you.",
-                "confidence": 0.9,
-                "speech_clarity": 0.85,
-            }
-        )
-
-    @pytest.mark.asyncio
-    async def test_connect_updates_greeting_status(self, connector, greeting_input, mock_providers):
-        """Test connect updates the greeting status from state machine."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONCLUDING.value
-        }
-        await connector.connect(greeting_input)
-        assert connector.greeting_status == ConversationState.CONCLUDING.value
-
-    @pytest.mark.asyncio
-    async def test_connect_calls_publish_countdown_status(self, connector, greeting_input, mock_providers):
-        """Test connect calls publish_countdown_status with current state."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        with patch.object(connector, "publish_countdown_status") as mock_report:
-            await connector.connect(greeting_input)
-            mock_report.assert_called_once_with(ConversationState.CONVERSING.value)
-
-    @pytest.mark.asyncio
-    async def test_connect_finished_defers_context_update(self, connector, mock_providers):
-        """Test connect sets pending flag when TTS is playing."""
-        finished_input = GreetingConversationInput(
-            response="Goodbye!",
-            conversation_state=InterfaceConversationState.FINISHED,
-            confidence=0.95,
-            speech_clarity=0.9,
-        )
-        mock_providers["state"].process_conversation.return_value = {"current_state": ConversationState.FINISHED.value}
-        await connector.connect(finished_input)
-        mock_providers["ctx"].update_context.assert_not_called()
-        assert connector.pending_finished_update is True
-        assert connector.conversation_finished_sent is True
-
-    @pytest.mark.asyncio
-    async def test_connect_finished_updates_context_when_not_playing(self, connector, mock_providers):
-        """Test connect updates context immediately when TTS is not playing."""
-        connector.audio_pub = None  # No Zenoh → tts_playing stays False
-        finished_input = GreetingConversationInput(
-            response="Goodbye!",
-            conversation_state=InterfaceConversationState.FINISHED,
-            confidence=0.95,
-            speech_clarity=0.9,
-        )
-        mock_providers["state"].process_conversation.return_value = {"current_state": ConversationState.FINISHED.value}
-        await connector.connect(finished_input)
-        mock_providers["ctx"].update_context.assert_called_once_with({"greeting_conversation_finished": True})
-        assert connector.conversation_finished_sent is True
-
-    @pytest.mark.asyncio
-    async def test_connect_finished_only_sets_flag_once(self, connector, mock_providers):
-        """Test connect only sets pending flag once even if called multiple times."""
-        finished_input = GreetingConversationInput(
-            response="Goodbye!",
-            conversation_state=InterfaceConversationState.FINISHED,
-            confidence=0.95,
-            speech_clarity=0.9,
-        )
-        mock_providers["state"].process_conversation.return_value = {"current_state": ConversationState.FINISHED.value}
-        await connector.connect(finished_input)
-        await connector.connect(finished_input)
-        mock_providers["ctx"].update_context.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_not_finished_no_context_update(self, connector, greeting_input, mock_providers):
-        """Test connect does not update context when conversation is not finished."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        await connector.connect(greeting_input)
-        mock_providers["ctx"].update_context.assert_not_called()
-
-    def test_tick_sleeps_for_10_seconds(self, connector, mock_providers):
-        """Test tick sleeps for 10 seconds."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.CONVERSING.value,
-            "confidence": {"overall": 0.8},
-            "silence_duration": 2.0,
-        }
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch.object(connector, "sleep") as mock_sleep,
-        ):
-            connector.tick()
-            mock_sleep.assert_called_once_with(10)
-
-    def test_tick_skips_during_tts_activity(self, connector, mock_providers):
-        """Test tick skips state update when TTS is still active."""
-        connector.tts_playing = True
-        connector.tts_playing_start_time = time.time()
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch.object(connector, "sleep"),
-        ):
-            connector.tick()
-        mock_providers["state"].update_state_without_llm.assert_not_called()
-
-    def test_tick_updates_state_when_tts_idle(self, connector, mock_providers):
-        """Test tick updates state when TTS is no longer active."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.CONVERSING.value,
-            "confidence": {"overall": 0.8},
-            "silence_duration": 2.0,
-        }
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch.object(connector, "sleep"),
-        ):
-            connector.tick()
-        mock_providers["state"].update_state_without_llm.assert_called_once()
-
-    def test_tick_updates_greeting_status(self, connector, mock_providers):
-        """Test tick updates the greeting status from state machine."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.CONCLUDING.value,
-            "confidence": {"overall": 0.85},
-            "silence_duration": 3.5,
-        }
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch.object(connector, "sleep"),
-        ):
-            connector.tick()
-        assert connector.greeting_status == ConversationState.CONCLUDING.value
-
-    def test_tick_calls_publish_countdown_status(self, connector, mock_providers):
-        """Test tick calls publish_countdown_status with current state."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.CONVERSING.value,
-            "confidence": {"overall": 0.8},
-            "silence_duration": 2.0,
-        }
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch.object(connector, "sleep"),
-            patch.object(connector, "publish_countdown_status") as mock_report,
-        ):
-            connector.tick()
-            mock_report.assert_called_once_with(ConversationState.CONVERSING.value)
-
-    def test_tick_finished_updates_context(self, connector, mock_providers):
-        """Test tick updates context when state machine detects conversation finished."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.FINISHED.value,
-            "confidence": {"overall": 0.9},
-            "silence_duration": 5.0,
-        }
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch.object(connector, "sleep"),
-        ):
-            connector.tick()
-        mock_providers["ctx"].update_context.assert_called_once_with({"greeting_conversation_finished": True})
-        assert connector.conversation_finished_sent is True
-
-    def test_tick_finished_only_updates_context_once(self, connector, mock_providers):
-        """Test tick only updates context once even if called multiple times."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.FINISHED.value,
-            "confidence": {"overall": 0.9},
-            "silence_duration": 5.0,
-        }
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch.object(connector, "sleep"),
-        ):
-            connector.tick()
-            connector.tick()
-        # Should only be called once
-        mock_providers["ctx"].update_context.assert_called_once()
-
-    def test_publish_countdown_status_conversing_state(self, connector, mock_providers):
-        """Test publish_countdown_status publishes 20 seconds for CONVERSING state."""
-        # Reset mock before testing
-        mock_providers["session"].put.reset_mock()
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.uuid4") as mock_uuid,
-            patch(
-                "actions.greeting_conversation.connector.base_greeting_conversation.PersonGreetingStatus"
-            ) as mock_status_cls,
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.prepare_header") as mock_header,
-        ):
-            mock_uuid.return_value = "test-uuid"
-            mock_status = Mock()
-            mock_status.serialize.return_value = b"serialized"
-            mock_status_cls.return_value = mock_status
-            mock_header.return_value = "header"
-
-            connector.publish_countdown_status(ConversationState.CONVERSING.value)
-
-            mock_providers["session"].put.assert_called_once()
-            call_args = mock_providers["session"].put.call_args
-            assert call_args[0][0] == "om/person_greeting"
-
-    def test_publish_countdown_status_concluding_state(self, connector, mock_providers):
-        """Test publish_countdown_status publishes 10 seconds for CONCLUDING state."""
-        # Reset mock before testing
-        mock_providers["session"].put.reset_mock()
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.uuid4") as mock_uuid,
-            patch(
-                "actions.greeting_conversation.connector.base_greeting_conversation.PersonGreetingStatus"
-            ) as mock_status_cls,
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.prepare_header"),
-        ):
-            mock_uuid.return_value = "test-uuid"
-            mock_status = Mock()
-            mock_status.serialize.return_value = b"serialized"
-            mock_status_cls.return_value = mock_status
-
-            connector.publish_countdown_status(ConversationState.CONCLUDING.value)
-
-            mock_providers["session"].put.assert_called_once()
-
-    def test_publish_countdown_status_finished_state_publishes_zero(self, connector, mock_providers):
-        """Test publish_countdown_status publishes 0 seconds for FINISHED state."""
-        # Reset mock before testing
-        mock_providers["session"].put.reset_mock()
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"),
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.uuid4") as mock_uuid,
-            patch(
-                "actions.greeting_conversation.connector.base_greeting_conversation.PersonGreetingStatus"
-            ) as mock_status_cls,
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.prepare_header"),
-        ):
-            mock_uuid.return_value = "test-uuid"
-            mock_status = Mock()
-            mock_status.serialize.return_value = b"serialized"
-            mock_status_cls.return_value = mock_status
-
-            connector.publish_countdown_status(ConversationState.FINISHED.value)
-
-            mock_providers["session"].put.assert_called_once()
-
-    def test_publish_countdown_status_no_session_no_publish(self, connector, mock_providers):
-        """Test publish_countdown_status does not publish when session is None."""
-        connector.session = None
-        # Reset any previous calls
-        mock_providers["session"].put.reset_mock()
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.publish_countdown_status(ConversationState.CONVERSING.value)
-        # Should not be called since session is None
-        mock_providers["session"].put.assert_not_called()
-
-    def test_publish_countdown_status_handles_publish_error(self, connector, mock_providers):
-        """Test publish_countdown_status handles publishing errors gracefully."""
-        # Reset and configure mock to raise exception
-        mock_providers["session"].put.reset_mock()
-        mock_providers["session"].put.side_effect = Exception("Publish failed")
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging") as mock_log,
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.uuid4"),
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.PersonGreetingStatus"),
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.prepare_header"),
-        ):
-            connector.publish_countdown_status(ConversationState.CONVERSING.value)
-            # Should log error
-            assert any("Error publishing" in str(call) for call in mock_log.error.call_args_list)
-
-    def test_stop_closes_zenoh_session(self, connector, mock_providers):
-        """Test stop closes the Zenoh session."""
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.stop()
-        mock_providers["session"].close.assert_called_once()
-
-    def test_stop_handles_no_session(self, connector, mock_providers):
-        """Test stop handles missing Zenoh session gracefully."""
-        connector.session = None
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.stop()
-        # No exception should be raised
-
-    def test_greeting_status_defaults_to_conversing(self, connector):
-        """Test that greeting_status defaults to CONVERSING on init."""
-        assert connector.greeting_status == ConversationState.CONVERSING.value
-
-    def test_conversation_finished_sent_defaults_to_false(self, connector):
-        """Test that conversation_finished_sent defaults to False on init."""
-        assert connector.conversation_finished_sent is False
-
-    def test_tick_tts_timeout_prevents_freeze(self, connector, mock_providers):
-        """Test tick resets tts_playing after timeout to prevent system freeze
-        when Zenoh READY message is lost."""
-        connector.tts_playing = True
-        connector.tts_playing_start_time = time.time() - 31  # 31s ago, exceeds 30s timeout
-
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.CONVERSING.value,
-            "confidence": {"overall": 0.5},
-            "silence_duration": 31.0,
-        }
-
-        with (
-            patch("actions.greeting_conversation.connector.base_greeting_conversation.logging") as mock_logging,
-            patch.object(connector, "sleep"),
-            patch.object(connector, "publish_countdown_status"),
-        ):
-            connector.tick()
-            mock_logging.warning.assert_called()
-
-        assert connector.tts_playing is False
-        mock_providers["state"].update_state_without_llm.assert_called_once()
-
-    def test_stop_sets_session_none_before_close(self, connector, mock_providers):
-        """Test stop() sets self.session = None before calling close() to
-        prevent race condition with publish_countdown_status."""
-        session_ref = connector.session
-        session_none_during_close = []
-
-        def track_session_on_close():
-            session_none_during_close.append(connector.session is None)
-
-        session_ref.close = track_session_on_close
-
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.stop()
-
-        assert session_none_during_close == [True], "self.session should be None when close() is called"
-
-
-class TestNormalizeTTSText:
-    """Test the normalize_tts_text function."""
-
-    def test_expand_month_abbreviations(self):
-        """Test that month abbreviations are expanded correctly."""
-        assert normalize_tts_text("Meet me in Jan") == "Meet me in January"
-        assert normalize_tts_text("Due in Feb") == "Due in February"
-        assert normalize_tts_text("Start in Mar") == "Start in March"
-        assert normalize_tts_text("Born in Apr") == "Born in April"
-        assert normalize_tts_text("Leave in Jun") == "Leave in June"
-        assert normalize_tts_text("Hot in Jul") == "Hot in July"
-        assert normalize_tts_text("Summer Aug") == "Summer August"
-        assert normalize_tts_text("Fall in Sep") == "Fall in September"
-        assert normalize_tts_text("Fall in Sept") == "Fall in September"
-        assert normalize_tts_text("Leaves in Oct") == "Leaves in October"
-        assert normalize_tts_text("Cold in Nov") == "Cold in November"
-        assert normalize_tts_text("Winter Dec") == "Winter December"
-
-    def test_month_abbreviations_case_sensitive(self):
-        """Test that month abbreviations are case-sensitive."""
-        assert normalize_tts_text("meet me in jan") == "meet me in jan"
-        assert normalize_tts_text("Meet me in Jan") == "Meet me in January"
-        assert normalize_tts_text("DUE IN FEB") == "DUE IN FEB"
-
-    def test_month_abbreviations_word_boundaries(self):
-        """Test that month abbreviations only match at word boundaries."""
-        assert "January" in normalize_tts_text("Jan 1st")
-        assert "January" not in normalize_tts_text("Janitor")
-
-    def test_expand_address_abbreviations(self):
-        """Test that address abbreviations are expanded correctly."""
-        assert normalize_tts_text("123 Main St") == "123 Main Street"
-        assert normalize_tts_text("456 Park Ave") == "456 Park Avenue"
-        assert normalize_tts_text("789 Sunset Blvd") == "789 Sunset Boulevard"
-        assert normalize_tts_text("101 Oak Dr") == "101 Oak Drive"
-        assert normalize_tts_text("202 Elm Rd") == "202 Elm Road"
-        assert normalize_tts_text("303 Maple Ln") == "303 Maple Lane"
-        assert normalize_tts_text("404 Court Ct") == "404 Court Court"
-        assert normalize_tts_text("505 Central Pl") == "505 Central Place"
-        assert normalize_tts_text("606 Garden Pkwy") == "606 Garden Parkway"
-        assert normalize_tts_text("707 Pacific Hwy") == "707 Pacific Highway"
-
-    def test_address_abbreviations_with_period(self):
-        """Test that address abbreviations with periods are expanded."""
-        assert normalize_tts_text("123 Main St.") == "123 Main Street"
-        assert normalize_tts_text("456 Park Ave.") == "456 Park Avenue"
-
-    def test_expand_directional_abbreviations(self):
-        """Test that directional abbreviations are expanded correctly."""
-        assert normalize_tts_text("N Main Street") == "North Main Street"
-        assert normalize_tts_text("S Park Avenue") == "South Park Avenue"
-        # Note: Blvd is also expanded to Boulevard
-        assert normalize_tts_text("E Sunset Blvd") == "East Sunset Boulevard"
-        assert normalize_tts_text("W Oak Drive") == "West Oak Drive"
-
-    def test_directional_abbreviations_with_period(self):
-        """Test that directional abbreviations with periods are expanded."""
-        assert normalize_tts_text("N. Main Street") == "North Main Street"
-        assert normalize_tts_text("S. Park Avenue") == "South Park Avenue"
-
-    def test_directional_abbreviations_require_following_capital(self):
-        """Test that directional abbreviations only match before capitalized words."""
-        assert "North" in normalize_tts_text("N Main")
-        assert "North" not in normalize_tts_text("heading N")
-
-    def test_reformat_time_on_hour(self):
-        """Test that times on the hour are reformatted (remove :00)."""
-        assert normalize_tts_text("Meet at 11:00 a.m.") == "Meet at 11 a.m."
-        assert normalize_tts_text("Starts at 3:00 p.m.") == "Starts at 3 p.m."
-        assert normalize_tts_text("Opens at 9:00") == "Opens at 9"
-        assert normalize_tts_text("Closes at 10:00") == "Closes at 10"
-
-    def test_reformat_time_with_minutes(self):
-        """Test that times with minutes are reformatted (space instead of colon)."""
-        assert normalize_tts_text("Meet at 11:30 a.m.") == "Meet at 11 30 a.m."
-        assert normalize_tts_text("Party at 8:45 p.m.") == "Party at 8 45 p.m."
-        assert normalize_tts_text("Start at 2:15") == "Start at 2 15"
-        assert normalize_tts_text("Ends at 6:05") == "Ends at 6 05"
-
-    def test_preserve_non_ascii_characters(self):
-        """Test that non-ASCII characters are preserved."""
-        assert normalize_tts_text("Hello café") == "Hello café"
-        assert normalize_tts_text("Test 你好 text") == "Test 你好 text"
-        assert normalize_tts_text("Price: €100") == "Price: €100"
-        assert normalize_tts_text("Naïve résumé") == "Naïve résumé"
-
-    def test_mixed_transformations(self):
-        """Test text with multiple transformation types."""
-        text = "Meet at 123 Main St on Jan 15 at 3:30 p.m."
-        expected = "Meet at 123 Main Street on January 15 at 3 30 p.m."
-        assert normalize_tts_text(text) == expected
-
-    def test_address_with_directions_and_time(self):
-        """Test complex address with directions and time."""
-        text = "Go to N Main St at 11:00"
-        expected = "Go to North Main Street at 11"
-        assert normalize_tts_text(text) == expected
-
-    def test_multiple_abbreviations_same_type(self):
-        """Test text with multiple abbreviations of the same type."""
-        assert normalize_tts_text("From Jan to Feb to Mar") == "From January to February to March"
-        assert normalize_tts_text("Main St and Oak Ave") == "Main Street and Oak Avenue"
-
-    def test_empty_string(self):
-        """Test that empty string is handled correctly."""
-        assert normalize_tts_text("") == ""
-
-    def test_text_without_abbreviations(self):
-        """Test that text without abbreviations is unchanged."""
-        text = "Hello world, this is a simple sentence."
-        assert normalize_tts_text(text) == text
-
-    def test_preserve_valid_ascii_punctuation(self):
-        """Test that valid ASCII punctuation is preserved."""
-        text = "Hello! How are you? I'm fine, thanks."
-        assert normalize_tts_text(text) == text
-
-    def test_time_patterns_in_context(self):
-        """Test time patterns in realistic contexts."""
-        assert normalize_tts_text("The meeting is from 9:00 to 5:30 daily.") == "The meeting is from 9 to 5 30 daily."
-        assert normalize_tts_text("Call between 10:15 and 12:00") == "Call between 10 15 and 12"
-
-    def test_all_transformations_combined(self):
-        """Test text requiring all types of transformations."""
-        text = "Visit N Main St in Jan at 2:30 with café latte"
-        expected = "Visit North Main Street in January at 2 30 with café latte"
-        assert normalize_tts_text(text) == expected
-
-    def test_case_preservation_where_applicable(self):
-        """Test that regex patterns are case-sensitive."""
-        assert normalize_tts_text("jan") == "jan"  # No match (lowercase)
-        assert normalize_tts_text("Jan") == "January"  # Match (proper case)
-        assert normalize_tts_text("JAN") == "JAN"  # No match (uppercase)
diff --git a/tests/actions/greeting_conversation/connector/test_greeting_conversation_elevenlabs.py b/tests/actions/greeting_conversation/connector/test_greeting_conversation_elevenlabs.py
deleted file mode 100644
index 7f05692855..0000000000
--- a/tests/actions/greeting_conversation/connector/test_greeting_conversation_elevenlabs.py
+++ /dev/null
@@ -1,203 +0,0 @@
-import time
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.greeting_conversation.connector.greeting_conversation_elevenlabs import (
-    GreetingConversationConnector,
-    SpeakElevenLabsTTSConfig,
-)
-from actions.greeting_conversation.interface import ConversationState as InterfaceConversationState
-from actions.greeting_conversation.interface import (
-    GreetingConversationInput,
-)
-from providers.greeting_conversation_state_provider import ConversationState
-
-
-@pytest.fixture
-def mock_providers():
-    """Mock all external providers used by the ElevenLabs greeting connector."""
-    with (
-        patch(
-            "actions.greeting_conversation.connector.greeting_conversation_elevenlabs.ElevenLabsTTSProvider"
-        ) as mock_tts_cls,
-        patch(
-            "actions.greeting_conversation.connector.base_greeting_conversation.GreetingConversationStateMachineProvider"
-        ) as mock_state_cls,
-        patch("actions.greeting_conversation.connector.base_greeting_conversation.ContextProvider") as mock_ctx_cls,
-        patch("actions.greeting_conversation.connector.base_greeting_conversation.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_tts = Mock()
-        mock_state = Mock()
-        mock_ctx = Mock()
-        mock_session = Mock()
-        mock_tts_cls.return_value = mock_tts
-        mock_state_cls.return_value = mock_state
-        mock_ctx_cls.return_value = mock_ctx
-        mock_zenoh.return_value = mock_session
-        yield {
-            "tts_cls": mock_tts_cls,
-            "tts": mock_tts,
-            "state_cls": mock_state_cls,
-            "state": mock_state,
-            "ctx_cls": mock_ctx_cls,
-            "ctx": mock_ctx,
-            "zenoh": mock_zenoh,
-            "session": mock_session,
-            "audio_pub": mock_session.declare_publisher(),
-        }
-
-
-@pytest.fixture
-def make_connector(mock_providers):
-    """Factory to create a GreetingConversationConnector with mocked providers."""
-
-    def _make(**config_kwargs):
-        config = SpeakElevenLabsTTSConfig(**config_kwargs)
-        return GreetingConversationConnector(config)
-
-    return _make
-
-
-@pytest.fixture
-def connector(make_connector):
-    """Create a connector with default config."""
-    return make_connector()
-
-
-@pytest.fixture
-def greeting_input():
-    """Create a standard greeting conversation input."""
-    return GreetingConversationInput(
-        response="Hello! Nice to meet you.",
-        conversation_state=InterfaceConversationState.CONVERSING,
-        confidence=0.9,
-        speech_clarity=0.85,
-    )
-
-
-class TestGreetingConversationElevenLabsConnector:
-    """Test the ElevenLabs greeting conversation connector."""
-
-    def test_init_default_config(self, connector, mock_providers):
-        """Test initialization with default config creates providers and starts TTS."""
-        mock_providers["tts_cls"].assert_called_once()
-        mock_providers["tts"].start.assert_called_once()
-        mock_providers["state_cls"].assert_called_once()
-        mock_providers["ctx_cls"].assert_called_once()
-        assert connector.tts_playing is False
-
-    def test_init_custom_config(self, make_connector, mock_providers):
-        """Test initialization with custom config passes values to TTS provider."""
-        connector = make_connector(
-            elevenlabs_api_key="custom_key",
-            voice_id="custom_voice",
-            model_id="custom_model",
-            output_format="pcm_16000",
-        )
-        call_kwargs = mock_providers["tts_cls"].call_args[1]
-        assert call_kwargs["elevenlabs_api_key"] == "custom_key"
-        assert call_kwargs["voice_id"] == "custom_voice"
-        assert call_kwargs["model_id"] == "custom_model"
-        assert call_kwargs["output_format"] == "pcm_16000"
-        assert connector is not None
-
-    def test_init_sets_conversing_state(self, mock_providers, make_connector):
-        """Test initialization sets state machine to CONVERSING."""
-        make_connector()
-        mock_providers["state"].start_conversation.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_creates_pending_message(self, connector, greeting_input, mock_providers):
-        """Test connect creates a pending TTS message via Zenoh AudioStatus."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["tts"].create_pending_message.assert_called_once_with("Hello! Nice to meet you.")
-
-    @pytest.mark.asyncio
-    async def test_connect_publishes_audio_status(self, connector, greeting_input, mock_providers):
-        """Test connect publishes AudioStatus via Zenoh."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["audio_pub"].put.assert_called_once()
-        assert connector.tts_playing is True
-
-    @pytest.mark.asyncio
-    async def test_connect_processes_conversation(self, connector, greeting_input, mock_providers):
-        """Test connect calls state machine process_conversation with llm_output."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["state"].process_conversation.assert_called_once_with(
-            {
-                "conversation_state": InterfaceConversationState.CONVERSING,
-                "response": "Hello! Nice to meet you.",
-                "confidence": 0.9,
-                "speech_clarity": 0.85,
-            }
-        )
-
-    @pytest.mark.asyncio
-    async def test_connect_finished_defers_context_update(self, connector, mock_providers):
-        """Test connect sets pending flag instead of updating context directly."""
-        finished_input = GreetingConversationInput(
-            response="Goodbye!",
-            conversation_state=InterfaceConversationState.FINISHED,
-            confidence=0.95,
-            speech_clarity=0.9,
-        )
-        mock_providers["state"].process_conversation.return_value = {"current_state": ConversationState.FINISHED.value}
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Goodbye!"}
-        await connector.connect(finished_input)
-        mock_providers["ctx"].update_context.assert_not_called()
-        assert connector.pending_finished_update is True
-
-    @pytest.mark.asyncio
-    async def test_connect_not_finished_no_context_update(self, connector, greeting_input, mock_providers):
-        """Test connect does not update context when conversation is not finished."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["ctx"].update_context.assert_not_called()
-
-    def test_tick_skips_during_tts_activity(self, connector, mock_providers):
-        """Test tick skips state update when TTS is still active."""
-        connector.tts_playing = True
-        connector.tts_playing_start_time = time.time()
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.tick()
-        mock_providers["state"].update_state_without_llm.assert_not_called()
-
-    def test_tick_updates_state_when_tts_idle(self, connector, mock_providers):
-        """Test tick updates state when TTS is no longer active."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": "conversing",
-            "confidence": {"overall": 0.8},
-            "silence_duration": 2.0,
-        }
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.tick()
-        mock_providers["state"].update_state_without_llm.assert_called_once()
-
-    def test_tick_finished_updates_context(self, connector, mock_providers):
-        """Test tick updates context when state machine detects conversation finished."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.FINISHED.value,
-            "confidence": {"overall": 0.9},
-            "silence_duration": 5.0,
-        }
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.tick()
-        mock_providers["ctx"].update_context.assert_called_once_with({"greeting_conversation_finished": True})
diff --git a/tests/actions/greeting_conversation/connector/test_greeting_conversation_kokoro.py b/tests/actions/greeting_conversation/connector/test_greeting_conversation_kokoro.py
deleted file mode 100644
index 64964ffb37..0000000000
--- a/tests/actions/greeting_conversation/connector/test_greeting_conversation_kokoro.py
+++ /dev/null
@@ -1,203 +0,0 @@
-import time
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.greeting_conversation.connector.greeting_conversation_kokoro import (
-    GreetingConversationConnector,
-    SpeakKokoroTTSConfig,
-)
-from actions.greeting_conversation.interface import ConversationState as InterfaceConversationState
-from actions.greeting_conversation.interface import (
-    GreetingConversationInput,
-)
-from providers.greeting_conversation_state_provider import ConversationState
-
-
-@pytest.fixture
-def mock_providers():
-    """Mock all external providers used by the Kokoro greeting connector."""
-    with (
-        patch("actions.greeting_conversation.connector.greeting_conversation_kokoro.KokoroTTSProvider") as mock_tts_cls,
-        patch(
-            "actions.greeting_conversation.connector.base_greeting_conversation.GreetingConversationStateMachineProvider"
-        ) as mock_state_cls,
-        patch("actions.greeting_conversation.connector.base_greeting_conversation.ContextProvider") as mock_ctx_cls,
-        patch("actions.greeting_conversation.connector.base_greeting_conversation.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_tts = Mock()
-        mock_state = Mock()
-        mock_ctx = Mock()
-        mock_session = Mock()
-        mock_tts_cls.return_value = mock_tts
-        mock_state_cls.return_value = mock_state
-        mock_ctx_cls.return_value = mock_ctx
-        mock_zenoh.return_value = mock_session
-        yield {
-            "tts_cls": mock_tts_cls,
-            "tts": mock_tts,
-            "state_cls": mock_state_cls,
-            "state": mock_state,
-            "ctx_cls": mock_ctx_cls,
-            "ctx": mock_ctx,
-            "zenoh": mock_zenoh,
-            "session": mock_session,
-            "audio_pub": mock_session.declare_publisher(),
-        }
-
-
-@pytest.fixture
-def make_connector(mock_providers):
-    """Factory to create a GreetingConversationConnector with mocked providers."""
-
-    def _make(**config_kwargs):
-        config = SpeakKokoroTTSConfig(**config_kwargs)
-        return GreetingConversationConnector(config)
-
-    return _make
-
-
-@pytest.fixture
-def connector(make_connector):
-    """Create a connector with default config."""
-    return make_connector()
-
-
-@pytest.fixture
-def greeting_input():
-    """Create a standard greeting conversation input."""
-    return GreetingConversationInput(
-        response="Hello! Nice to meet you.",
-        conversation_state=InterfaceConversationState.CONVERSING,
-        confidence=0.9,
-        speech_clarity=0.85,
-    )
-
-
-class TestGreetingConversationKokoroConnector:
-    """Test the Kokoro greeting conversation connector."""
-
-    def test_init_default_config(self, connector, mock_providers):
-        """Test initialization with default config creates providers and starts TTS."""
-        mock_providers["tts_cls"].assert_called_once()
-        mock_providers["tts"].start.assert_called_once()
-        mock_providers["state_cls"].assert_called_once()
-        mock_providers["ctx_cls"].assert_called_once()
-        assert connector.tts_playing is False
-
-    def test_init_custom_config(self, make_connector, mock_providers):
-        """Test initialization with custom config passes values to TTS provider."""
-        connector = make_connector(
-            voice_id="custom_voice",
-            model_id="custom_model",
-            output_format="wav",
-            rate=16000,
-            enable_tts_interrupt=True,
-        )
-        call_kwargs = mock_providers["tts_cls"].call_args[1]
-        assert call_kwargs["voice_id"] == "custom_voice"
-        assert call_kwargs["model_id"] == "custom_model"
-        assert call_kwargs["output_format"] == "wav"
-        assert call_kwargs["rate"] == 16000
-        assert call_kwargs["enable_tts_interrupt"] is True
-        assert connector is not None
-
-    def test_init_sets_conversing_state(self, mock_providers, make_connector):
-        """Test initialization sets state machine to CONVERSING."""
-        make_connector()
-        mock_providers["state"].start_conversation.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_creates_pending_message(self, connector, greeting_input, mock_providers):
-        """Test connect creates a pending TTS message via Zenoh AudioStatus."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["tts"].create_pending_message.assert_called_once_with("Hello! Nice to meet you.")
-
-    @pytest.mark.asyncio
-    async def test_connect_publishes_audio_status(self, connector, greeting_input, mock_providers):
-        """Test connect publishes AudioStatus via Zenoh."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["audio_pub"].put.assert_called_once()
-        assert connector.tts_playing is True
-
-    @pytest.mark.asyncio
-    async def test_connect_processes_conversation(self, connector, greeting_input, mock_providers):
-        """Test connect calls state machine process_conversation with llm_output."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["state"].process_conversation.assert_called_once_with(
-            {
-                "conversation_state": InterfaceConversationState.CONVERSING,
-                "response": "Hello! Nice to meet you.",
-                "confidence": 0.9,
-                "speech_clarity": 0.85,
-            }
-        )
-
-    @pytest.mark.asyncio
-    async def test_connect_finished_defers_context_update(self, connector, mock_providers):
-        """Test connect sets pending flag instead of updating context directly."""
-        finished_input = GreetingConversationInput(
-            response="Goodbye!",
-            conversation_state=InterfaceConversationState.FINISHED,
-            confidence=0.95,
-            speech_clarity=0.9,
-        )
-        mock_providers["state"].process_conversation.return_value = {"current_state": ConversationState.FINISHED.value}
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Goodbye!"}
-        await connector.connect(finished_input)
-        mock_providers["ctx"].update_context.assert_not_called()
-        assert connector.pending_finished_update is True
-
-    @pytest.mark.asyncio
-    async def test_connect_not_finished_no_context_update(self, connector, greeting_input, mock_providers):
-        """Test connect does not update context when conversation is not finished."""
-        mock_providers["state"].process_conversation.return_value = {
-            "current_state": ConversationState.CONVERSING.value
-        }
-        mock_providers["tts"].create_pending_message.return_value = {"text": "Hello! Nice to meet you."}
-        await connector.connect(greeting_input)
-        mock_providers["ctx"].update_context.assert_not_called()
-
-    def test_tick_skips_during_tts_activity(self, connector, mock_providers):
-        """Test tick skips state update when TTS is still active."""
-        connector.tts_playing = True
-        connector.tts_playing_start_time = time.time()
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.tick()
-        mock_providers["state"].update_state_without_llm.assert_not_called()
-
-    def test_tick_updates_state_when_tts_idle(self, connector, mock_providers):
-        """Test tick updates state when TTS is no longer active."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": "conversing",
-            "confidence": {"overall": 0.8},
-            "silence_duration": 2.0,
-        }
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.tick()
-        mock_providers["state"].update_state_without_llm.assert_called_once()
-
-    def test_tick_finished_updates_context(self, connector, mock_providers):
-        """Test tick updates context when state machine detects conversation finished."""
-        connector.tts_playing = False
-        mock_providers["state"].update_state_without_llm.return_value = {
-            "current_state": ConversationState.FINISHED.value,
-            "confidence": {"overall": 0.9},
-            "silence_duration": 5.0,
-        }
-        with patch("actions.greeting_conversation.connector.base_greeting_conversation.logging"):
-            connector.tick()
-        mock_providers["ctx"].update_context.assert_called_once_with({"greeting_conversation_finished": True})
diff --git a/tests/actions/move/__init__.py b/tests/actions/move/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move/connector/__init__.py b/tests/actions/move/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move/connector/test_move_ros2.py b/tests/actions/move/connector/test_move_ros2.py
deleted file mode 100644
index 9432056d67..0000000000
--- a/tests/actions/move/connector/test_move_ros2.py
+++ /dev/null
@@ -1,109 +0,0 @@
-from unittest.mock import patch
-
-import pytest
-
-from actions.base import ActionConfig
-from actions.move.connector.ros2 import MoveUnitreeSDKConnector
-from actions.move.interface import MoveInput, MovementAction
-
-
-@pytest.fixture
-def default_config():
-    return ActionConfig()
-
-
-@pytest.fixture
-def connector(default_config):
-    return MoveUnitreeSDKConnector(default_config)
-
-
-class TestMoveUnitreeSDKConnectorInit:
-    """Test MoveUnitreeSDKConnector initialization."""
-
-    def test_init(self, default_config):
-        connector = MoveUnitreeSDKConnector(default_config)
-        assert connector.config == default_config
-
-
-class TestMoveUnitreeSDKConnectorConnect:
-    """Test connect method for each movement action."""
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector):
-        """Test stand still action maps correctly."""
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'stand still'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_sit(self, connector):
-        """Test sit action maps correctly."""
-        move_input = MoveInput(action=MovementAction.SIT)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'sit'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_dance(self, connector):
-        """Test dance action maps correctly."""
-        move_input = MoveInput(action=MovementAction.DANCE)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'dance'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_walk(self, connector):
-        """Test walk action maps correctly."""
-        move_input = MoveInput(action=MovementAction.WALK)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'walk'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_run(self, connector):
-        """Test run action maps correctly."""
-        move_input = MoveInput(action=MovementAction.RUN)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'run'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_jump(self, connector):
-        """Test jump action maps correctly."""
-        move_input = MoveInput(action=MovementAction.JUMP)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'jump'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_wag_tail(self, connector):
-        """Test wag tail action maps correctly."""
-        move_input = MoveInput(action=MovementAction.WAG_TAIL)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'wag tail'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_shake_paw(self, connector):
-        """Test shake paw action maps correctly."""
-        move_input = MoveInput(action=MovementAction.SHAKE_PAW)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'shake paw'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_walk_back(self, connector):
-        """Test walk back action maps correctly."""
-        move_input = MoveInput(action=MovementAction.WALK_BACK)
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_called_with("SendThisToROS2: {'move': 'walk back'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector):
-        """Test unknown action logs info message."""
-        move_input = MoveInput(action="unknown_action")  # type: ignore[arg-type]
-        with patch("actions.move.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("Other move type: unknown_action")
diff --git a/tests/actions/move_game_controller/__init__.py b/tests/actions/move_game_controller/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_game_controller/connector/__init__.py b/tests/actions/move_game_controller/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_game_controller/connector/test_move_game_controller_go2_game_controller.py b/tests/actions/move_game_controller/connector/test_move_game_controller_go2_game_controller.py
deleted file mode 100644
index 4bac990350..0000000000
--- a/tests/actions/move_game_controller/connector/test_move_game_controller_go2_game_controller.py
+++ /dev/null
@@ -1,203 +0,0 @@
-import importlib
-import sys
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.move_game_controller.interface import IDLEInput
-
-
-@pytest.fixture
-def mock_external_modules(monkeypatch):
-    """Mock external modules before importing the connector module."""
-    mock_zenoh = MagicMock()
-    mock_zenoh_msgs = MagicMock()
-    mock_hid = MagicMock()
-    mock_unitree = MagicMock()
-    mock_sport_client = MagicMock()
-    mock_unitree.unitree_sdk2py.go2.sport.sport_client.SportClient = mock_sport_client
-
-    monkeypatch.setitem(sys.modules, "zenoh", mock_zenoh)
-    monkeypatch.setitem(sys.modules, "zenoh_msgs", mock_zenoh_msgs)
-    monkeypatch.setitem(sys.modules, "hid", mock_hid)
-    monkeypatch.setitem(sys.modules, "unitree", mock_unitree)
-    monkeypatch.setitem(sys.modules, "unitree.unitree_sdk2py", mock_unitree.unitree_sdk2py)
-    monkeypatch.setitem(
-        sys.modules,
-        "unitree.unitree_sdk2py.go2",
-        mock_unitree.unitree_sdk2py.go2,
-    )
-    monkeypatch.setitem(
-        sys.modules,
-        "unitree.unitree_sdk2py.go2.sport",
-        mock_unitree.unitree_sdk2py.go2.sport,
-    )
-    monkeypatch.setitem(
-        sys.modules,
-        "unitree.unitree_sdk2py.go2.sport.sport_client",
-        mock_unitree.unitree_sdk2py.go2.sport.sport_client,
-    )
-
-    return {
-        "zenoh": mock_zenoh,
-        "zenoh_msgs": mock_zenoh_msgs,
-        "hid": mock_hid,
-        "sport_client": mock_sport_client,
-    }
-
-
-@pytest.fixture
-def go2_module(mock_external_modules):
-    """Import the connector module after mocking external deps."""
-    sys.modules.pop(
-        "actions.move_game_controller.connector.go2_game_controller",
-        None,
-    )
-    return importlib.import_module("actions.move_game_controller.connector.go2_game_controller")
-
-
-@pytest.fixture
-def default_config(go2_module):
-    """Create a default config for testing."""
-    return go2_module.Go2GameControllerConfig()
-
-
-@pytest.fixture
-def custom_config(go2_module):
-    """Create a custom config for testing."""
-    return go2_module.Go2GameControllerConfig(
-        speed_x=1.2,
-        speed_yaw=0.8,
-        yaw_correction=0.1,
-        lateral_correction=0.05,
-        unitree_ethernet="eth0",
-    )
-
-
-@pytest.fixture
-def idle_input():
-    """Create an IDLEInput instance."""
-    return IDLEInput(action="test_action")
-
-
-class TestGo2GameControllerConfig:
-    """Test the Go2GameController configuration class."""
-
-    def test_default_config(self, go2_module):
-        """Test default configuration values."""
-        config = go2_module.Go2GameControllerConfig()
-        assert config.speed_x == 0.9
-        assert config.speed_yaw == 0.6
-        assert config.yaw_correction == 0.0
-        assert config.lateral_correction == 0.0
-        assert config.unitree_ethernet is None
-
-    def test_custom_config(self, go2_module):
-        """Test custom configuration values."""
-        config = go2_module.Go2GameControllerConfig(
-            speed_x=1.5,
-            speed_yaw=1.0,
-            yaw_correction=0.2,
-            lateral_correction=0.1,
-            unitree_ethernet="eth1",
-        )
-        assert config.speed_x == 1.5
-        assert config.speed_yaw == 1.0
-        assert config.yaw_correction == 0.2
-        assert config.lateral_correction == 0.1
-        assert config.unitree_ethernet == "eth1"
-
-
-class TestGo2GameControllerConnector:
-    """Test the Go2GameController connector."""
-
-    def test_init(
-        self,
-        go2_module,
-        default_config,
-    ):
-        """Test initialization of Go2GameControllerConnector."""
-        with (
-            patch("actions.move_game_controller.connector.go2_game_controller.hid") as mock_hid_module,
-            patch("actions.move_game_controller.connector.go2_game_controller.SportClient") as mock_sport_client_class,
-            patch("actions.move_game_controller.connector.go2_game_controller.open_zenoh_session"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2OdomProvider"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2StateProvider"),
-        ):
-            mock_client_instance = Mock()
-            mock_sport_client_class.return_value = mock_client_instance
-            mock_hid_module.enumerate.return_value = []
-
-            connector = go2_module.Go2GameControllerConnector(default_config)
-
-            assert connector.move_speed == 0.9
-            assert connector.turn_speed == 0.6
-            mock_client_instance.SetTimeout.assert_called_once_with(10.0)
-            mock_client_instance.Init.assert_called_once()
-
-    def test_init_with_custom_config(
-        self,
-        go2_module,
-        custom_config,
-    ):
-        """Test initialization with custom configuration."""
-        with (
-            patch("actions.move_game_controller.connector.go2_game_controller.hid") as mock_hid_module,
-            patch("actions.move_game_controller.connector.go2_game_controller.SportClient") as mock_sport_client_class,
-            patch("actions.move_game_controller.connector.go2_game_controller.open_zenoh_session"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2OdomProvider"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2StateProvider"),
-        ):
-            mock_client_instance = Mock()
-            mock_sport_client_class.return_value = mock_client_instance
-            mock_hid_module.enumerate.return_value = []
-
-            connector = go2_module.Go2GameControllerConnector(custom_config)
-
-            assert connector.move_speed == 1.2
-            assert connector.turn_speed == 0.8
-            assert connector.yaw_correction == 0.1
-            assert connector.lateral_correction == 0.05
-
-    def test_init_sport_client_error(
-        self,
-        go2_module,
-        default_config,
-    ):
-        """Test initialization when SportClient fails."""
-        with (
-            patch("actions.move_game_controller.connector.go2_game_controller.hid") as mock_hid_module,
-            patch("actions.move_game_controller.connector.go2_game_controller.SportClient") as mock_sport_client_class,
-            patch("actions.move_game_controller.connector.go2_game_controller.open_zenoh_session"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2OdomProvider"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2StateProvider"),
-        ):
-            mock_sport_client_class.side_effect = Exception("Connection error")
-            mock_hid_module.enumerate.return_value = []
-
-            connector = go2_module.Go2GameControllerConnector(default_config)
-
-            assert connector.sport_client is None
-
-    @pytest.mark.asyncio
-    async def test_connect(
-        self,
-        go2_module,
-        default_config,
-        idle_input,
-    ):
-        """Test connect method (passes through)."""
-        with (
-            patch("actions.move_game_controller.connector.go2_game_controller.hid") as mock_hid_module,
-            patch("actions.move_game_controller.connector.go2_game_controller.SportClient") as mock_sport_client_class,
-            patch("actions.move_game_controller.connector.go2_game_controller.open_zenoh_session"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2OdomProvider"),
-            patch("actions.move_game_controller.connector.go2_game_controller.UnitreeGo2StateProvider"),
-        ):
-            mock_client_instance = Mock()
-            mock_sport_client_class.return_value = mock_client_instance
-            mock_hid_module.enumerate.return_value = []
-
-            connector = go2_module.Go2GameControllerConnector(default_config)
-            # connect is a pass-through, should not raise
-            await connector.connect(idle_input)
diff --git a/tests/actions/move_game_controller/test_interface.py b/tests/actions/move_game_controller/test_interface.py
deleted file mode 100644
index a35b279c5b..0000000000
--- a/tests/actions/move_game_controller/test_interface.py
+++ /dev/null
@@ -1,34 +0,0 @@
-from actions.move_game_controller.interface import GameController, IDLEInput
-
-
-class TestIDLEInput:
-    """Tests for the IDLEInput dataclass."""
-
-    def test_idle_input_creation(self):
-        """Test creating IDLEInput with action."""
-        idle_input = IDLEInput(action="test_command")
-        assert idle_input.action == "test_command"
-
-    def test_idle_input_empty_action(self):
-        """Test creating IDLEInput with empty action."""
-        idle_input = IDLEInput(action="")
-        assert idle_input.action == ""
-
-
-class TestGameController:
-    """Tests for the GameController interface."""
-
-    def test_game_controller_creation(self):
-        """Test creating GameController with input and output."""
-        idle_input = IDLEInput(action="move_forward")
-        controller = GameController(input=idle_input, output=idle_input)
-        assert controller.input == idle_input
-        assert controller.output == idle_input
-
-    def test_game_controller_different_input_output(self):
-        """Test creating GameController with different input and output."""
-        input_cmd = IDLEInput(action="input_command")
-        output_cmd = IDLEInput(action="output_command")
-        controller = GameController(input=input_cmd, output=output_cmd)
-        assert controller.input.action == "input_command"
-        assert controller.output.action == "output_command"
diff --git a/tests/actions/move_go2_action/__init__.py b/tests/actions/move_go2_action/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_go2_action/connector/__init__.py b/tests/actions/move_go2_action/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_go2_action/connector/test_move_go2_action_unitree_sdk.py b/tests/actions/move_go2_action/connector/test_move_go2_action_unitree_sdk.py
deleted file mode 100644
index 273512480f..0000000000
--- a/tests/actions/move_go2_action/connector/test_move_go2_action_unitree_sdk.py
+++ /dev/null
@@ -1,177 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.move_go2_action.connector.unitree_sdk import (
-    ActionUnitreeSDKConfig,
-    ActionUnitreeSDKConnector,
-)
-from actions.move_go2_action.interface import Action, ActionInput
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies for connector initialization."""
-
-    with (
-        patch("actions.move_go2_action.connector.unitree_sdk.UnitreeGo2RPLidarProvider") as mock_lidar,
-        patch("actions.move_go2_action.connector.unitree_sdk.UnitreeGo2StateProvider") as mock_state,
-        patch("actions.move_go2_action.connector.unitree_sdk.SportClient") as mock_sport,
-        patch("actions.move_go2_action.connector.unitree_sdk.UnitreeGo2OdomProvider") as mock_odom,
-    ):
-        mock_lidar_instance = Mock()
-        mock_lidar.return_value = mock_lidar_instance
-
-        mock_state_instance = Mock()
-        mock_state_instance.go2_action_progress = 0
-        mock_state.return_value = mock_state_instance
-
-        mock_sport_instance = Mock()
-        mock_sport.return_value = mock_sport_instance
-
-        mock_odom_instance = Mock()
-        mock_odom.return_value = mock_odom_instance
-
-        yield {
-            "lidar": mock_lidar_instance,
-            "state": mock_state_instance,
-            "sport": mock_sport_instance,
-            "odom": mock_odom_instance,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create ActionUnitreeSDKConnector with mocked dependencies."""
-    config = ActionUnitreeSDKConfig()
-    return ActionUnitreeSDKConnector(config)
-
-
-class TestActionUnitreeSDKConfig:
-    """Test ActionUnitreeSDKConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = ActionUnitreeSDKConfig()
-        assert config.unitree_ethernet is None
-
-    def test_custom_ethernet(self):
-        """Test custom ethernet configuration."""
-        config = ActionUnitreeSDKConfig(unitree_ethernet="eth0")
-        assert config.unitree_ethernet == "eth0"
-
-
-class TestActionUnitreeSDKConnectorInit:
-    """Test ActionUnitreeSDKConnector initialization."""
-
-    def test_initialization(self, connector, mock_dependencies):
-        """Test successful initialization."""
-        assert connector.turn_speed == 0.8
-        assert connector.angle_tolerance == 5.0
-        assert connector.distance_tolerance == 0.05
-        assert connector.movement_attempts == 0
-        assert connector.movement_attempt_limit == 15
-
-        mock_dependencies["sport"].SetTimeout.assert_called_once_with(10.0)
-        mock_dependencies["sport"].Init.assert_called_once()
-        mock_dependencies["sport"].StopMove.assert_called_once()
-
-    def test_initialization_sport_client_error(self):
-        """Test initialization when SportClient fails."""
-        with (
-            patch("actions.move_go2_action.connector.unitree_sdk.UnitreeGo2RPLidarProvider"),
-            patch("actions.move_go2_action.connector.unitree_sdk.UnitreeGo2StateProvider"),
-            patch("actions.move_go2_action.connector.unitree_sdk.SportClient") as mock_sport,
-            patch("actions.move_go2_action.connector.unitree_sdk.UnitreeGo2OdomProvider"),
-            patch("actions.move_go2_action.connector.unitree_sdk.logging") as mock_logging,
-        ):
-            mock_sport.side_effect = Exception("Sport client init failed")
-            config = ActionUnitreeSDKConfig()
-            connector = ActionUnitreeSDKConnector(config)
-
-            assert connector.sport_client is None
-            mock_logging.error.assert_called()
-
-
-class TestActionUnitreeSDKConnectorConnect:
-    """Test connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector, mock_dependencies):
-        """Test stand still action."""
-        action_input = ActionInput(action=Action.STAND_STILL)
-        with patch("actions.move_go2_action.connector.unitree_sdk.logging") as mock_logging:
-            await connector.connect(action_input)
-            mock_logging.info.assert_any_call("ActionUnitreeSDKConnector: Standing still")
-
-    @pytest.mark.asyncio
-    async def test_connect_shake_paw_ready(self, connector, mock_dependencies):
-        """Test shake paw when robot is ready (progress == 0)."""
-        mock_dependencies["state"].go2_action_progress = 0
-        action_input = ActionInput(action=Action.SHAKE_PAW)
-        await connector.connect(action_input)
-        mock_dependencies["sport"].Hello.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_shake_paw_busy(self, connector, mock_dependencies):
-        """Test shake paw when robot is busy (progress != 0)."""
-        mock_dependencies["state"].go2_action_progress = 50
-        action_input = ActionInput(action=Action.SHAKE_PAW)
-        with patch("actions.move_go2_action.connector.unitree_sdk.logging") as mock_logging:
-            await connector.connect(action_input)
-            mock_logging.info.assert_any_call("ActionUnitreeSDKConnector: Still performing previous action")
-            mock_dependencies["sport"].Hello.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_shake_paw_error(self, connector, mock_dependencies):
-        """Test shake paw when sport client raises exception."""
-        mock_dependencies["state"].go2_action_progress = 0
-        mock_dependencies["sport"].Hello.side_effect = Exception("Hardware error")
-        action_input = ActionInput(action=Action.SHAKE_PAW)
-        with patch("actions.move_go2_action.connector.unitree_sdk.logging") as mock_logging:
-            await connector.connect(action_input)
-            mock_logging.error.assert_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_dance_ready(self, connector, mock_dependencies):
-        """Test dance when robot is ready."""
-        mock_dependencies["state"].go2_action_progress = 0
-        action_input = ActionInput(action=Action.DANCE)
-        with patch("actions.move_go2_action.connector.unitree_sdk.random") as mock_random:
-            mock_random.choice.return_value = mock_dependencies["sport"].Dance1
-            await connector.connect(action_input)
-            mock_dependencies["sport"].Dance1.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_stretch_ready(self, connector, mock_dependencies):
-        """Test stretch when robot is ready."""
-        mock_dependencies["state"].go2_action_progress = 0
-        action_input = ActionInput(action=Action.STRETCH)
-        await connector.connect(action_input)
-        mock_dependencies["sport"].Stretch.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_stretch_busy(self, connector, mock_dependencies):
-        """Test stretch when robot is busy."""
-        mock_dependencies["state"].go2_action_progress = 75
-        action_input = ActionInput(action=Action.STRETCH)
-        with patch("actions.move_go2_action.connector.unitree_sdk.logging") as mock_logging:
-            await connector.connect(action_input)
-            mock_logging.info.assert_any_call("ActionUnitreeSDKConnector: Still performing previous action")
-            mock_dependencies["sport"].Stretch.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector, mock_dependencies):
-        """Test unknown action logs warning."""
-        action_input = ActionInput(action="fly")  # type: ignore[arg-type]
-        with patch("actions.move_go2_action.connector.unitree_sdk.logging") as mock_logging:
-            await connector.connect(action_input)
-            mock_logging.warning.assert_called_with("Action 'fly' not recognized or not implemented.")
-
-    @pytest.mark.asyncio
-    async def test_connect_no_sport_client(self, connector, mock_dependencies):
-        """Test shake paw with no sport client does not crash."""
-        mock_dependencies["state"].go2_action_progress = 0
-        connector.sport_client = None
-        action_input = ActionInput(action=Action.SHAKE_PAW)
-        await connector.connect(action_input)
diff --git a/tests/actions/move_go2_autonomy/__init__.py b/tests/actions/move_go2_autonomy/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_go2_autonomy/connector/__init__.py b/tests/actions/move_go2_autonomy/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_go2_autonomy/connector/test_move_go2_autonomy_unitree_om_path_sdk.py b/tests/actions/move_go2_autonomy/connector/test_move_go2_autonomy_unitree_om_path_sdk.py
deleted file mode 100644
index d430890a27..0000000000
--- a/tests/actions/move_go2_autonomy/connector/test_move_go2_autonomy_unitree_om_path_sdk.py
+++ /dev/null
@@ -1,1121 +0,0 @@
-from queue import Queue
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.base import MoveCommand
-from actions.move_go2_autonomy.connector.unitree_om_path_sdk import (
-    MoveUnitreeOMPathSDKConfig,
-    MoveUnitreeOMPathSDKConnector,
-)
-from actions.move_go2_autonomy.interface import MoveInput, MovementAction
-from providers.unitree_go2_odom_provider import RobotState
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-    with (
-        patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SimplePathsProvider") as mock_paths,
-        patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2StateProvider") as mock_state,
-        patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SportClient") as mock_sport,
-        patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2OdomProvider") as mock_odom,
-        patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.FacePresenceProvider") as mock_face,
-        patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.open_zenoh_session") as mock_zenoh_session,
-    ):
-        # Setup mock instances
-        mock_paths_instance = Mock()
-        mock_paths_instance.advance = [4]
-        mock_paths_instance.retreat = [1]
-        mock_paths_instance.turn_left = [2]
-        mock_paths_instance.turn_right = [6]
-        mock_paths_instance.path_angles = {1: 0, 2: 45, 4: 0, 6: -45}
-        mock_paths.return_value = mock_paths_instance
-
-        mock_state_instance = Mock()
-        mock_state_instance.state_code = None
-        mock_state_instance.state = "standing"
-        mock_state_instance.action_progress = 0
-        mock_state.return_value = mock_state_instance
-
-        mock_sport_instance = Mock()
-        mock_sport_instance.SetTimeout = Mock()
-        mock_sport_instance.Init = Mock()
-        mock_sport_instance.StopMove = Mock()
-        mock_sport_instance.Move = Mock()
-        mock_sport_instance.BalanceStand = Mock()
-        mock_sport.return_value = mock_sport_instance
-
-        mock_odom_instance = Mock()
-        mock_odom_instance.position = {
-            "moving": False,
-            "odom_x": 1.0,
-            "odom_y": 0.0,
-            "odom_yaw_m180_p180": 0.0,
-            "body_attitude": RobotState.STANDING,
-        }
-        mock_odom.return_value = mock_odom_instance
-
-        mock_face_instance = Mock()
-        mock_face_instance.unknown_faces = 0
-        mock_face.return_value = mock_face_instance
-
-        mock_session_instance = Mock()
-        mock_session_instance.declare_subscriber = Mock()
-        mock_session_instance.declare_publisher = Mock(return_value=Mock())
-        mock_zenoh_session.return_value = mock_session_instance
-
-        yield {
-            "paths": mock_paths_instance,
-            "state": mock_state_instance,
-            "sport": mock_sport_instance,
-            "odom": mock_odom_instance,
-            "face": mock_face_instance,
-            "zenoh_session": mock_session_instance,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create a MoveUnitreeOMPathSDKConnector instance with mocked dependencies."""
-    config = MoveUnitreeOMPathSDKConfig(unitree_ethernet="eth0")
-    connector = MoveUnitreeOMPathSDKConnector(config)
-    return connector
-
-
-class TestMoveUnitreeOMPathSDK:
-    """Test TestMoveUnitreeOMPathSDKConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = MoveUnitreeOMPathSDKConfig()
-        assert config.unitree_ethernet == "eth0"
-        assert config.mode is None
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = MoveUnitreeOMPathSDKConfig(unitree_ethernet="eth1", mode="guard")
-        assert config.unitree_ethernet == "eth1"
-        assert config.mode == "guard"
-
-
-class TestMoveUnitreeOMPathSDKConnectorInit:
-    """Test MoveUnitreeOMPathSDKConnector initialization."""
-
-    def test_initialization(self, connector, mock_dependencies):
-        """Test successful initialization."""
-        assert connector.dog_attitude is None
-        assert connector.move_speed == 0.5
-        assert connector.turn_speed == 0.8
-        assert connector.angle_tolerance == 5.0
-        assert connector.distance_tolerance == 0.05
-        assert isinstance(connector.pending_movements, Queue)
-        assert connector.movement_attempts == 0
-        assert connector.movement_attempt_limit == 15
-        assert connector.gap_previous == 0
-        assert connector.ai_control_enabled is True
-
-        assert connector.path_provider == mock_dependencies["paths"]
-        assert connector.unitree_go2_state == mock_dependencies["state"]
-        assert connector.sport_client == mock_dependencies["sport"]
-        assert connector.odom == mock_dependencies["odom"]
-        assert connector.face_presence_provider == mock_dependencies["face"]
-
-        mock_dependencies["sport"].SetTimeout.assert_called_once_with(10.0)
-        mock_dependencies["sport"].Init.assert_called_once()
-        mock_dependencies["sport"].StopMove.assert_called_once()
-        mock_dependencies["sport"].Move.assert_called_once_with(0.05, 0, 0)
-
-        assert connector.session is not None
-        mock_dependencies["zenoh_session"].declare_subscriber.assert_called_once()
-        mock_dependencies["zenoh_session"].declare_publisher.assert_called_once_with("om/ai/response")
-
-    def test_initialization_sport_client_error(self):
-        """Test initialization when sport client fails."""
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SimplePathsProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2StateProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SportClient") as mock_sport,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2OdomProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.FacePresenceProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.open_zenoh_session"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.logging") as mock_logging,
-        ):
-            mock_sport.side_effect = Exception("Connection failed")
-
-            config = MoveUnitreeOMPathSDKConfig()
-            connector = MoveUnitreeOMPathSDKConnector(config)
-
-            assert connector.sport_client is None
-            mock_logging.error.assert_called()
-
-    def test_initialization_zenoh_error(self):
-        """Test initialization when Zenoh session fails."""
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SimplePathsProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2StateProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SportClient"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2OdomProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.FacePresenceProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.open_zenoh_session") as mock_zenoh,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.logging") as mock_logging,
-        ):
-            mock_zenoh.side_effect = Exception("Zenoh connection failed")
-
-            config = MoveUnitreeOMPathSDKConfig()
-            connector = MoveUnitreeOMPathSDKConnector(config)
-
-            assert connector.session is None
-            mock_logging.error.assert_called()
-
-
-class TestConnect:
-    """Test the connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_guard_mode_unknown_face(self, connector, mock_dependencies):
-        """Test connect when in guard mode with unknown face detected."""
-        connector.mode = "guard"
-        mock_dependencies["face"].unknown_faces = 1
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_ai_control_disabled(self, connector, mock_dependencies):
-        """Test connect when AI control is disabled."""
-        connector.ai_control_enabled = False
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_with_joint_lock_state(self, connector, mock_dependencies):
-        """Test connect when robot is in jointLock state."""
-        mock_dependencies["state"].state_code = 1002
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        mock_dependencies["sport"].BalanceStand.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_with_action_in_progress(self, connector, mock_dependencies):
-        """Test connect when action is in progress."""
-        mock_dependencies["state"].action_progress = 50
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_robot_already_moving(self, connector, mock_dependencies):
-        """Test connect when robot is already moving."""
-        mock_dependencies["state"].state_code = None
-        mock_dependencies["odom"].position["moving"] = True
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        # Should return early without processing
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_movement_already_pending(self, connector, mock_dependencies):
-        """Test connect when movement is already pending."""
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-
-    @pytest.mark.asyncio
-    async def test_connect_waiting_for_location_data(self, connector, mock_dependencies):
-        """Test connect when waiting for location data."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_left(self, connector, mock_dependencies):
-        """Test connect with turn left command."""
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-        assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_right(self, connector, mock_dependencies):
-        """Test connect with turn right command."""
-        move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-        assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_move_forwards(self, connector, mock_dependencies):
-        """Test connect with move forwards command."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-
-    @pytest.mark.asyncio
-    async def test_connect_move_back(self, connector, mock_dependencies):
-        """Test connect with move back command."""
-        move_input = MoveInput(action=MovementAction.MOVE_BACK)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == -0.5
-        assert command.turn_complete is True
-        assert command.speed == 0.2
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector, mock_dependencies):
-        """Test connect with stand still command."""
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector, mock_dependencies):
-        """Test connect with unknown action."""
-        move_input = MoveInput(action="unknown action")  # type: ignore[arg-type]
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestMovementProcessing:
-    """Test movement processing methods."""
-
-    def test_process_turn_left_with_barrier(self, connector, mock_dependencies):
-        """Test turn left when blocked by barrier."""
-        mock_dependencies["paths"].turn_left = []
-
-        connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_turn_left_success(self, connector, mock_dependencies):
-        """Test successful turn left."""
-        connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_turn_right_with_barrier(self, connector, mock_dependencies):
-        """Test turn right when blocked by barrier."""
-        mock_dependencies["paths"].turn_right = []
-
-        connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_turn_right_success(self, connector, mock_dependencies):
-        """Test successful turn right."""
-        connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_move_forward_with_barrier(self, connector, mock_dependencies):
-        """Test move forward when blocked by barrier."""
-        mock_dependencies["paths"].advance = []
-
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_forward_success(self, connector, mock_dependencies):
-        """Test successful move forward."""
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_move_forward_angle_not_zero(self, connector, mock_dependencies):
-        """Test move forward when path angle is not zero."""
-        # Set up path with non-zero angle
-        mock_dependencies["paths"].advance = [2]
-        mock_dependencies["paths"].path_angles = {2: 30}
-
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.turn_complete is False
-
-    def test_process_move_forward_angle_zero(self, connector, mock_dependencies):
-        """Test move forward when path angle is zero."""
-        # Set up path with zero angle
-        mock_dependencies["paths"].advance = [4]
-        mock_dependencies["paths"].path_angles = {4: 0}
-
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.turn_complete is True
-
-    def test_process_move_back_with_barrier(self, connector, mock_dependencies):
-        """Test move back when blocked by barrier."""
-        mock_dependencies["paths"].retreat = []
-
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_back_success(self, connector, mock_dependencies):
-        """Test successful move back."""
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == -0.5
-
-
-class TestMoveRobot:
-    """Test _move_robot method."""
-
-    def test_move_robot_no_sport_client(self, connector, mock_dependencies):
-        """Test move robot when sport client is None."""
-        connector.sport_client = None
-
-        connector._move_robot(0.5, 0.0, 0.0)
-
-        # Should not crash
-
-    def test_move_robot_not_standing(self, connector, mock_dependencies):
-        """Test move robot when robot is not standing."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-        mock_dependencies["sport"].Move.reset_mock()
-
-        connector._move_robot(0.5, 0.0, 0.0)
-        mock_dependencies["sport"].Move.assert_not_called()
-
-    def test_move_robot_joint_lock_state(self, connector, mock_dependencies):
-        """Test move robot when in joint lock state."""
-        mock_dependencies["state"].state = "jointLock"
-
-        connector._move_robot(0.5, 0.0, 0.0)
-
-        mock_dependencies["sport"].BalanceStand.assert_called_once()
-        mock_dependencies["sport"].Move.assert_called_with(0.5, 0.0, 0.0)
-
-    def test_move_robot_success(self, connector, mock_dependencies):
-        """Test successful robot movement."""
-        connector._move_robot(0.5, 0.0, 0.3)
-
-        mock_dependencies["sport"].Move.assert_called_with(0.5, 0.0, 0.3)
-
-    def test_move_robot_error(self, connector, mock_dependencies):
-        """Test move robot when exception occurs."""
-        mock_dependencies["sport"].Move.side_effect = Exception("Movement failed")
-
-        with patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.logging") as mock_logging:
-            connector._move_robot(0.5, 0.0, 0.0)
-
-            mock_logging.error.assert_called()
-
-
-class TestCleanAbort:
-    """Test clean_abort method."""
-
-    def test_clean_abort_with_pending_movement(self, connector, mock_dependencies):
-        """Test clean abort with pending movement."""
-        connector.movement_attempts = 5
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        connector.clean_abort()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_clean_abort_empty_queue(self, connector, mock_dependencies):
-        """Test clean abort with empty queue."""
-        connector.movement_attempts = 5
-
-        connector.clean_abort()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestAngleCalculations:
-    """Test angle calculation methods."""
-
-    def test_normalize_angle_positive_overflow(self, connector, mock_dependencies):
-        """Test normalize angle with positive overflow."""
-        result = connector._normalize_angle(270.0)
-        assert result == -90.0
-
-    def test_normalize_angle_negative_overflow(self, connector, mock_dependencies):
-        """Test normalize angle with negative overflow."""
-        result = connector._normalize_angle(-270.0)
-        assert result == 90.0
-
-    def test_normalize_angle_within_range(self, connector, mock_dependencies):
-        """Test normalize angle within range."""
-        result = connector._normalize_angle(45.0)
-        assert result == 45.0
-
-    def test_calculate_angle_gap_simple(self, connector, mock_dependencies):
-        """Test calculate angle gap with simple case."""
-        result = connector._calculate_angle_gap(10.0, 5.0)
-        assert result == 5.0
-
-    def test_calculate_angle_gap_wrap_positive(self, connector, mock_dependencies):
-        """Test calculate angle gap with positive wrap."""
-        result = connector._calculate_angle_gap(170.0, -170.0)
-        assert result == -20.0
-
-    def test_calculate_angle_gap_wrap_negative(self, connector, mock_dependencies):
-        """Test calculate angle gap with negative wrap."""
-        result = connector._calculate_angle_gap(-170.0, 170.0)
-        assert result == 20.0
-
-
-class TestExecuteTurn:
-    """Test _execute_turn method."""
-
-    def test_execute_turn_left_blocked(self, connector, mock_dependencies):
-        """Test execute turn left when blocked."""
-        mock_dependencies["paths"].turn_left = []
-
-        result = connector._execute_turn(10.0)
-
-        assert result is False
-
-    def test_execute_turn_left_success(self, connector, mock_dependencies):
-        """Test successful turn left."""
-        mock_dependencies["paths"].turn_left = [2, 3]
-
-        result = connector._execute_turn(10.0)
-
-        assert result is True
-        mock_dependencies["sport"].Move.assert_called()
-
-    def test_execute_turn_right_blocked(self, connector, mock_dependencies):
-        """Test execute turn right when blocked."""
-        mock_dependencies["paths"].turn_right = []
-
-        result = connector._execute_turn(-10.0)
-
-        assert result is False
-
-    def test_execute_turn_right_success(self, connector, mock_dependencies):
-        """Test successful turn right."""
-        mock_dependencies["paths"].turn_right = [5, 6]
-
-        result = connector._execute_turn(-10.0)
-
-        assert result is True
-        mock_dependencies["sport"].Move.assert_called()
-
-
-class TestTick:
-    """Test tick method."""
-
-    def test_tick_odom_none(self, connector, mock_dependencies):
-        """Test tick when odom is None."""
-        connector.odom = None
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_waiting_for_odom_data(self, connector, mock_dependencies):
-        """Test tick when waiting for odom data."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_dog_sitting(self, connector, mock_dependencies):
-        """Test tick when dog is sitting."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_no_pending_movements(self, connector, mock_dependencies):
-        """Test tick with no pending movements."""
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.1)
-
-    def test_tick_movement_timeout(self, connector, mock_dependencies):
-        """Test tick when movement times out."""
-        connector.movement_attempts = 20
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_turn_phase_large_gap(self, connector, mock_dependencies):
-        """Test tick during turn phase with large gap."""
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "_execute_turn", return_value=True):
-            with patch.object(connector, "sleep"):
-                connector.tick()
-
-        assert connector.movement_attempts == 1
-
-    def test_tick_turn_phase_small_gap(self, connector, mock_dependencies):
-        """Test tick during turn phase with small gap (between 5 and 10 degrees)."""
-        # Gap = current - target = -38 - (-45) = 7 degrees (small gap)
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = -38.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=-45.0, start_x=1.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-        mock_dependencies["sport"].Move.assert_called()
-
-    def test_tick_turn_complete(self, connector, mock_dependencies):
-        """Test tick when turn is complete."""
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = -43.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        command = list(connector.pending_movements.queue)[0]
-        assert command.turn_complete is True
-
-    def test_tick_movement_phase_no_distance(self, connector, mock_dependencies):
-        """Test tick during movement phase with no distance required."""
-        connector.pending_movements.put(MoveCommand(dx=0, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_forward_blocked(self, connector, mock_dependencies):
-        """Test tick during movement phase when forward is blocked."""
-        mock_dependencies["paths"].advance = []
-        # odom_x must be non-zero to avoid early return in tick()
-        mock_dependencies["odom"].position["odom_x"] = 1.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=1.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_retreat_blocked(self, connector, mock_dependencies):
-        """Test tick during movement phase when retreat is blocked."""
-        mock_dependencies["paths"].retreat = []
-        # odom_x must be non-zero to avoid early return in tick()
-        mock_dependencies["odom"].position["odom_x"] = 1.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=-0.5, yaw=0.0, start_x=1.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_continue_moving(self, connector, mock_dependencies):
-        """Test tick during movement phase continuing to move."""
-        mock_dependencies["odom"].position["odom_x"] = 0.2
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-        mock_dependencies["sport"].Move.assert_called()
-
-    def test_tick_movement_phase_complete(self, connector, mock_dependencies):
-        """Test tick when movement is complete."""
-        mock_dependencies["odom"].position["odom_x"] = 0.5
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.5)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-        assert connector.movement_attempts == 0
-
-
-class TestZenohAIStatus:
-    """Test Zenoh AI status request handler."""
-
-    def test_zenoh_ai_status_request_enable(self, connector, mock_dependencies):
-        """Test AI control enable request."""
-        # Create mock Zenoh sample
-        mock_sample = Mock()
-        mock_payload = Mock()
-        mock_payload.to_bytes.return_value = b""
-        mock_sample.payload = mock_payload
-
-        # Mock AIStatusRequest with proper header
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.AIStatusRequest") as mock_request,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.AIStatusResponse") as mock_response,
-        ):
-            mock_header = Mock()
-            mock_header.frame_id = "test_frame"
-
-            mock_request_instance = Mock()
-            mock_request_instance.code = 1
-            mock_request_instance.request_id = "test-123"
-            mock_request_instance.header = mock_header
-            mock_request.deserialize.return_value = mock_request_instance
-
-            mock_response_instance = Mock()
-            mock_response_instance.serialize.return_value = b"serialized_response"
-            mock_response.return_value = mock_response_instance
-
-            connector.ai_control_enabled = False
-            connector._zenoh_ai_status_request(mock_sample)
-
-            assert connector.ai_control_enabled is True
-            connector._zenoh_ai_status_response_pub.put.assert_called_once()
-
-    def test_zenoh_ai_status_request_disable(self, connector, mock_dependencies):
-        """Test AI control disable request."""
-        # Create mock Zenoh sample
-        mock_sample = Mock()
-        mock_payload = Mock()
-        mock_payload.to_bytes.return_value = b""
-        mock_sample.payload = mock_payload
-
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.AIStatusRequest") as mock_request,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.AIStatusResponse") as mock_response,
-        ):
-            mock_header = Mock()
-            mock_header.frame_id = "test_frame"
-
-            mock_request_instance = Mock()
-            mock_request_instance.code = 0
-            mock_request_instance.request_id = "test-123"
-            mock_request_instance.header = mock_header
-            mock_request.deserialize.return_value = mock_request_instance
-
-            mock_response_instance = Mock()
-            mock_response_instance.serialize.return_value = b"serialized_response"
-            mock_response.return_value = mock_response_instance
-
-            connector.ai_control_enabled = True
-            connector._zenoh_ai_status_request(mock_sample)
-
-            assert connector.ai_control_enabled is False
-            connector._zenoh_ai_status_response_pub.put.assert_called_once()
-
-    def test_zenoh_ai_status_request_read_status(self, connector, mock_dependencies):
-        """Test AI control read status request."""
-        # Create mock Zenoh sample
-        mock_sample = Mock()
-        mock_payload = Mock()
-        mock_payload.to_bytes.return_value = b""
-        mock_sample.payload = mock_payload
-
-        # Mock AIStatusRequest with proper header
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.AIStatusRequest") as mock_request,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.AIStatusResponse") as mock_response,
-        ):
-            mock_header = Mock()
-            mock_header.frame_id = "test_frame"
-
-            mock_request_instance = Mock()
-            mock_request_instance.code = 2
-            mock_request_instance.request_id = "test-123"
-            mock_request_instance.header = mock_header
-            mock_request.deserialize.return_value = mock_request_instance
-
-            mock_response_instance = Mock()
-            mock_response_instance.serialize.return_value = b"serialized_response"
-            mock_response.return_value = mock_response_instance
-
-            connector.ai_control_enabled = True
-            connector._zenoh_ai_status_request(mock_sample)
-
-            assert connector._zenoh_ai_status_response_pub is not None
-            connector._zenoh_ai_status_response_pub.put.assert_called_once()
-
-    def test_zenoh_ai_status_request_no_publisher(self, connector, mock_dependencies):
-        """Test AI control request when publisher is None."""
-        connector._zenoh_ai_status_response_pub = None
-
-        mock_sample = Mock()
-        mock_payload = Mock()
-        mock_payload.to_bytes.return_value = b""
-        mock_sample.payload = mock_payload
-
-        with patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.logging") as mock_logging:
-            connector._zenoh_ai_status_request(mock_sample)
-            mock_logging.error.assert_called()
-
-
-class TestSimulationMode:
-    """Test simulation mode functionality."""
-
-    def test_config_with_use_sim(self):
-        """Test configuration with simulation mode enabled."""
-        config = MoveUnitreeOMPathSDKConfig(use_sim=True)
-        assert config.use_sim is True
-        assert config.unitree_ethernet == "eth0"
-
-    def test_initialization_with_sim(self):
-        """Test initialization with simulation mode."""
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SimplePathsProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2StateZenohProvider") as mock_state,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2OdomZenohProvider") as mock_odom,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.FacePresenceProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.open_zenoh_session") as mock_zenoh,
-        ):
-            mock_session = Mock()
-            mock_session.declare_subscriber = Mock()
-            mock_session.declare_publisher = Mock(return_value=Mock())
-            mock_zenoh.return_value = mock_session
-
-            config = MoveUnitreeOMPathSDKConfig(use_sim=True)
-            connector = MoveUnitreeOMPathSDKConnector(config)
-
-            assert connector.sport_client is None
-            mock_odom.assert_called_once()
-            mock_state.assert_called_once()
-
-    def test_move_robot_sim_mode(self):
-        """Test _move_robot in simulation mode."""
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SimplePathsProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2StateZenohProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2OdomZenohProvider") as mock_odom,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.FacePresenceProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.open_zenoh_session"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeRequest") as mock_request,
-        ):
-            mock_odom_instance = Mock()
-            mock_odom_instance.position = {
-                "odom_x": 1.0,
-                "odom_y": 0.0,
-                "odom_yaw_m180_p180": 0.0,
-                "body_attitude": RobotState.STANDING,
-                "moving": False,
-            }
-            mock_odom.return_value = mock_odom_instance
-
-            mock_request_instance = Mock()
-            mock_request_instance.serialize.return_value = b"serialized_request"
-            mock_request.return_value = mock_request_instance
-
-            config = MoveUnitreeOMPathSDKConfig(use_sim=True)
-            connector = MoveUnitreeOMPathSDKConnector(config)
-            connector.session_sport_pub = Mock()
-
-            connector._move_robot(0.5, 0.0, 0.3)
-
-            mock_request.assert_called_once()
-            connector.session_sport_pub.put.assert_called_once_with(b"serialized_request")
-
-    def test_move_robot_sim_mode_no_publisher(self):
-        """Test _move_robot in simulation mode when publisher is None."""
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SimplePathsProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2StateZenohProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2OdomZenohProvider") as mock_odom,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.FacePresenceProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.open_zenoh_session"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.logging") as mock_logging,
-        ):
-            mock_odom_instance = Mock()
-            mock_odom_instance.position = {
-                "odom_x": 1.0,
-                "odom_y": 0.0,
-                "odom_yaw_m180_p180": 0.0,
-                "body_attitude": RobotState.STANDING,
-                "moving": False,
-            }
-            mock_odom.return_value = mock_odom_instance
-
-            config = MoveUnitreeOMPathSDKConfig(use_sim=True)
-            connector = MoveUnitreeOMPathSDKConnector(config)
-            connector.session_sport_pub = None
-
-            connector._move_robot(0.5, 0.0, 0.3)
-
-            mock_logging.warning.assert_called()
-
-
-class TestAdvancedMovementScenarios:
-    """Test advanced movement scenarios."""
-
-    def test_tick_movement_overshoot(self, connector, mock_dependencies):
-        """Test tick when robot overshoots the target distance."""
-        mock_dependencies["odom"].position["odom_x"] = 0.6
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.5)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        mock_dependencies["sport"].Move.assert_called()
-        call_args = mock_dependencies["sport"].Move.call_args[0]
-        assert call_args[0] < 0
-
-    def test_tick_movement_with_custom_speed(self, connector, mock_dependencies):
-        """Test tick with custom movement speed."""
-        mock_dependencies["odom"].position["odom_x"] = 0.2
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.3)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-        mock_dependencies["sport"].Move.assert_called()
-        call_args = mock_dependencies["sport"].Move.call_args[0]
-        assert call_args[0] == 0.3  # Custom speed applied
-
-    def test_normalize_angle_exactly_180(self, connector, mock_dependencies):
-        """Test normalize angle with exactly 180 degrees."""
-        result = connector._normalize_angle(180.0)
-        assert result == 180.0
-
-    def test_normalize_angle_exactly_minus_180(self, connector, mock_dependencies):
-        """Test normalize angle with exactly -180 degrees."""
-        result = connector._normalize_angle(-180.0)
-        assert result == -180.0
-
-    def test_normalize_angle_large_positive(self, connector, mock_dependencies):
-        """Test normalize angle with large positive angle."""
-        result = connector._normalize_angle(540.0)
-        assert result == 180.0  # 540 - 360 = 180
-
-    def test_normalize_angle_large_negative(self, connector, mock_dependencies):
-        """Test normalize angle with large negative angle."""
-        result = connector._normalize_angle(-540.0)
-        assert result == -180.0  # -540 + 360 = -180
-
-    def test_calculate_angle_gap_exactly_180(self, connector, mock_dependencies):
-        """Test calculate angle gap with exactly 180 degree difference."""
-        result = connector._calculate_angle_gap(180.0, 0.0)
-        assert result == 180.0
-
-    def test_calculate_angle_gap_exactly_minus_180(self, connector, mock_dependencies):
-        """Test calculate angle gap with exactly -180 degree difference."""
-        result = connector._calculate_angle_gap(-180.0, 0.0)
-        assert result == -180.0
-
-    def test_tick_turn_gap_exactly_at_tolerance(self, connector, mock_dependencies):
-        """Test tick when turn gap is exactly at angle tolerance."""
-        # Gap = 5.0 degrees (exactly at tolerance)
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = 40.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=-45.0, start_x=1.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        command = list(connector.pending_movements.queue)[0]
-        assert command.turn_complete is True
-
-    def test_tick_distance_exactly_at_tolerance(self, connector, mock_dependencies):
-        """Test tick when distance is exactly at distance tolerance."""
-        mock_dependencies["odom"].position["odom_x"] = 0.45
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.5)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-        assert connector.movement_attempts == 0
-
-    def test_process_multiple_turn_left_paths(self, connector, mock_dependencies):
-        """Test turn left with multiple available paths."""
-        mock_dependencies["paths"].turn_left = [2, 3, 5]
-        mock_dependencies["paths"].path_angles = {2: 45, 3: 30, 5: 60}
-
-        with patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.random.choice", return_value=3):
-            connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.yaw == 30.0
-
-    def test_process_multiple_turn_right_paths(self, connector, mock_dependencies):
-        """Test turn right with multiple available paths."""
-        mock_dependencies["paths"].turn_right = [6, 7, 8]
-        mock_dependencies["paths"].path_angles = {6: -45, 7: -30, 8: -60}
-
-        with patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.random.choice", return_value=7):
-            connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.yaw == -30.0
-
-    def test_process_multiple_advance_paths(self, connector, mock_dependencies):
-        """Test move forward with multiple available paths."""
-        mock_dependencies["paths"].advance = [4, 9, 10]
-        mock_dependencies["paths"].path_angles = {4: 0, 9: 15, 10: -15}
-
-        with patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.random.choice", return_value=9):
-            connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.yaw == 15.0
-        assert command.turn_complete is False
-
-    def test_tick_distance_calculation_diagonal(self, connector, mock_dependencies):
-        """Test distance calculation when robot moves diagonally."""
-        mock_dependencies["odom"].position["odom_x"] = 0.3
-        mock_dependencies["odom"].position["odom_y"] = 0.4
-        connector.pending_movements.put(
-            MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.5)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-        assert connector.movement_attempts == 0
-
-    def test_tick_negative_movement_overshoot(self, connector, mock_dependencies):
-        """Test tick when robot overshoots during backward movement."""
-        mock_dependencies["odom"].position["odom_x"] = -0.6
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=-0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.2)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        mock_dependencies["sport"].Move.assert_called()
-        call_args = mock_dependencies["sport"].Move.call_args[0]
-        assert call_args[0] > 0
-
-
-class TestEdgeCasesAndErrors:
-    """Test edge cases and error conditions."""
-
-    @pytest.mark.asyncio
-    async def test_connect_with_none_mode(self, connector, mock_dependencies):
-        """Test connect when mode is None (default)."""
-        connector.mode = None
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_multiple_pending_movements(self, connector, mock_dependencies):
-        """Test behavior with multiple pending movements in queue."""
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-        connector.pending_movements.put(MoveCommand(dx=0.3, yaw=45.0, start_x=0.5, start_y=0.0, turn_complete=False))
-        connector.pending_movements.put(MoveCommand(dx=0.2, yaw=-30.0, start_x=0.8, start_y=0.0, turn_complete=False))
-
-        assert connector.pending_movements.qsize() == 3
-
-        mock_dependencies["paths"].turn_left = [2]
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 3
-        assert connector.movement_attempts == 1
-
-    def test_clean_abort_multiple_times(self, connector, mock_dependencies):
-        """Test calling clean_abort multiple times."""
-        connector.movement_attempts = 5
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        connector.clean_abort()
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-        connector.clean_abort()
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_initialization_with_custom_ethernet(self):
-        """Test initialization with custom ethernet channel."""
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SimplePathsProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2StateProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.SportClient"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.UnitreeGo2OdomProvider") as mock_odom,
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.FacePresenceProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_om_path_sdk.open_zenoh_session"),
-        ):
-            config = MoveUnitreeOMPathSDKConfig(unitree_ethernet="eth1")
-            MoveUnitreeOMPathSDKConnector(config)
-
-            mock_odom.assert_called_once_with(channel="eth1")
-
-    def test_tick_with_zero_movement_attempts_limit(self, connector, mock_dependencies):
-        """Test tick behavior when movement_attempt_limit is very low."""
-        connector.movement_attempt_limit = 1
-        connector.movement_attempts = 0
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        mock_dependencies["paths"].turn_left = [2]
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 2
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
diff --git a/tests/actions/move_go2_autonomy/connector/test_move_go2_autonomy_unitree_rplidar_sdk.py b/tests/actions/move_go2_autonomy/connector/test_move_go2_autonomy_unitree_rplidar_sdk.py
deleted file mode 100644
index 5395313a98..0000000000
--- a/tests/actions/move_go2_autonomy/connector/test_move_go2_autonomy_unitree_rplidar_sdk.py
+++ /dev/null
@@ -1,590 +0,0 @@
-from queue import Queue
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.base import MoveCommand
-from actions.move_go2_autonomy.connector.unitree_rplidar_sdk import (
-    MoveUnitreeRPLidarSDKConfig,
-    MoveUnitreeRPLidarSDKConnector,
-)
-from actions.move_go2_autonomy.interface import MoveInput, MovementAction
-from providers.unitree_go2_odom_provider import RobotState
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-    with (
-        patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.UnitreeGo2RPLidarProvider") as mock_lidar,
-        patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.UnitreeGo2StateProvider") as mock_state,
-        patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.SportClient") as mock_sport,
-        patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.UnitreeGo2OdomProvider") as mock_odom,
-    ):
-        # Setup mock instances
-        mock_lidar_instance = Mock()
-        mock_lidar_instance.advance = [4]
-        mock_lidar_instance.retreat = [1]
-        mock_lidar_instance.turn_left = [2]
-        mock_lidar_instance.turn_right = [6]
-        mock_lidar_instance.path_angles = {1: 0, 2: 45, 4: 0, 6: -45}
-        mock_lidar.return_value = mock_lidar_instance
-
-        mock_state_instance = Mock()
-        mock_state_instance.state_code = None
-        mock_state_instance.state = "standing"
-        mock_state_instance.action_progress = 0
-        mock_state.return_value = mock_state_instance
-
-        mock_sport_instance = Mock()
-        mock_sport_instance.SetTimeout = Mock()
-        mock_sport_instance.Init = Mock()
-        mock_sport_instance.StopMove = Mock()
-        mock_sport_instance.Move = Mock()
-        mock_sport_instance.BalanceStand = Mock()
-        mock_sport.return_value = mock_sport_instance
-
-        mock_odom_instance = Mock()
-        mock_odom_instance.position = {
-            "moving": False,
-            "odom_x": 1.0,
-            "odom_y": 0.0,
-            "odom_yaw_m180_p180": 0.0,
-            "body_attitude": RobotState.STANDING,
-        }
-        mock_odom.return_value = mock_odom_instance
-
-        yield {
-            "lidar": mock_lidar_instance,
-            "state": mock_state_instance,
-            "sport": mock_sport_instance,
-            "odom": mock_odom_instance,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create a MoveUnitreeRPLidarSDKConnector instance with mocked dependencies."""
-    config = MoveUnitreeRPLidarSDKConfig(unitree_ethernet="eth0")
-    connector = MoveUnitreeRPLidarSDKConnector(config)
-    return connector
-
-
-class TestMoveUnitreeRPLidarSDKConfig:
-    """Test MoveUnitreeRPLidarSDKConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = MoveUnitreeRPLidarSDKConfig()
-        assert config.unitree_ethernet == "eth0"
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = MoveUnitreeRPLidarSDKConfig(unitree_ethernet="eth1")
-        assert config.unitree_ethernet == "eth1"
-
-
-class TestMoveUnitreeRPLidarSDKConnectorInit:
-    """Test MoveUnitreeRPLidarSDKConnector initialization."""
-
-    def test_initialization(self, connector, mock_dependencies):
-        """Test successful initialization."""
-        assert connector.dog_attitude is None
-        assert connector.turn_speed == 0.8
-        assert connector.angle_tolerance == 5.0
-        assert connector.distance_tolerance == 0.05
-        assert isinstance(connector.pending_movements, Queue)
-        assert connector.movement_attempts == 0
-        assert connector.movement_attempt_limit == 15
-        assert connector.gap_previous == 0
-
-        # Verify providers are initialized
-        assert connector.lidar == mock_dependencies["lidar"]
-        assert connector.unitree_go2_state == mock_dependencies["state"]
-        assert connector.sport_client == mock_dependencies["sport"]
-        assert connector.odom == mock_dependencies["odom"]
-
-        # Verify sport client initialization
-        mock_dependencies["sport"].SetTimeout.assert_called_once_with(10.0)
-        mock_dependencies["sport"].Init.assert_called_once()
-        mock_dependencies["sport"].StopMove.assert_called_once()
-        mock_dependencies["sport"].Move.assert_called_once_with(0.05, 0, 0)
-
-    def test_initialization_sport_client_error(self):
-        """Test initialization when sport client fails."""
-        with (
-            patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.UnitreeGo2RPLidarProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.UnitreeGo2StateProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.SportClient") as mock_sport,
-            patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.UnitreeGo2OdomProvider"),
-            patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.logging") as mock_logging,
-        ):
-            mock_sport.side_effect = Exception("Connection failed")
-
-            config = MoveUnitreeRPLidarSDKConfig()
-            connector = MoveUnitreeRPLidarSDKConnector(config)
-
-            assert connector.sport_client is None
-            mock_logging.error.assert_called()
-
-
-class TestConnect:
-    """Test the connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_with_joint_lock_state(self, connector, mock_dependencies):
-        """Test connect when robot is in jointLock state."""
-        mock_dependencies["state"].state_code = 1002
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        mock_dependencies["sport"].BalanceStand.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_with_action_in_progress(self, connector, mock_dependencies):
-        """Test connect when action is in progress."""
-        mock_dependencies["state"].action_progress = 50
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        # Should return early without processing
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_robot_already_moving(self, connector, mock_dependencies):
-        """Test connect when robot is already moving."""
-        mock_dependencies["odom"].position["moving"] = True
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        # Should return early without processing
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_movement_already_pending(self, connector, mock_dependencies):
-        """Test connect when movement is already pending."""
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        # Should still have only one movement
-        assert connector.pending_movements.qsize() == 1
-
-    @pytest.mark.asyncio
-    async def test_connect_waiting_for_location_data(self, connector, mock_dependencies):
-        """Test connect when waiting for location data."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_left(self, connector, mock_dependencies):
-        """Test connect with turn left command."""
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-        assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_right(self, connector, mock_dependencies):
-        """Test connect with turn right command."""
-        move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-        assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_move_forwards(self, connector, mock_dependencies):
-        """Test connect with move forwards command."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-
-    @pytest.mark.asyncio
-    async def test_connect_move_back(self, connector, mock_dependencies):
-        """Test connect with move back command."""
-        move_input = MoveInput(action=MovementAction.MOVE_BACK)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == -0.5
-        assert command.turn_complete is True
-        assert command.speed == 0.3
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector, mock_dependencies):
-        """Test connect with stand still command."""
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector, mock_dependencies):
-        """Test connect with unknown action."""
-        move_input = MoveInput(action="unknown action")  # type: ignore[arg-type]
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestMovementProcessing:
-    """Test movement processing methods."""
-
-    def test_process_turn_left_with_barrier(self, connector, mock_dependencies):
-        """Test turn left when blocked by barrier."""
-        mock_dependencies["lidar"].turn_left = []
-
-        connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_turn_left_success(self, connector, mock_dependencies):
-        """Test successful turn left."""
-        connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_turn_right_with_barrier(self, connector, mock_dependencies):
-        """Test turn right when blocked by barrier."""
-        mock_dependencies["lidar"].turn_right = []
-
-        connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_turn_right_success(self, connector, mock_dependencies):
-        """Test successful turn right."""
-        connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_move_forward_with_barrier(self, connector, mock_dependencies):
-        """Test move forward when blocked by barrier."""
-        mock_dependencies["lidar"].advance = []
-
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_forward_success(self, connector, mock_dependencies):
-        """Test successful move forward."""
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_move_back_with_barrier(self, connector, mock_dependencies):
-        """Test move back when blocked by barrier."""
-        mock_dependencies["lidar"].retreat = []
-
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_back_success(self, connector, mock_dependencies):
-        """Test successful move back."""
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == -0.5
-
-
-class TestMoveRobot:
-    """Test _move_robot method."""
-
-    def test_move_robot_no_sport_client(self, connector, mock_dependencies):
-        """Test move robot when sport client is None."""
-        connector.sport_client = None
-
-        connector._move_robot(0.5, 0.0, 0.0)
-
-        # Should not crash
-
-    def test_move_robot_not_standing(self, connector, mock_dependencies):
-        """Test move robot when robot is not standing."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-        mock_dependencies["sport"].Move.reset_mock()
-
-        connector._move_robot(0.5, 0.0, 0.0)
-        mock_dependencies["sport"].Move.assert_not_called()
-
-    def test_move_robot_joint_lock_state(self, connector, mock_dependencies):
-        """Test move robot when in joint lock state."""
-        mock_dependencies["state"].state = "jointLock"
-
-        connector._move_robot(0.5, 0.0, 0.0)
-
-        mock_dependencies["sport"].BalanceStand.assert_called_once()
-        mock_dependencies["sport"].Move.assert_called_with(0.5, 0.0, 0.0)
-
-    def test_move_robot_success(self, connector, mock_dependencies):
-        """Test successful robot movement."""
-        connector._move_robot(0.5, 0.0, 0.3)
-
-        mock_dependencies["sport"].Move.assert_called_with(0.5, 0.0, 0.3)
-
-    def test_move_robot_error(self, connector, mock_dependencies):
-        """Test move robot when exception occurs."""
-        mock_dependencies["sport"].Move.side_effect = Exception("Movement failed")
-
-        with patch("actions.move_go2_autonomy.connector.unitree_rplidar_sdk.logging") as mock_logging:
-            connector._move_robot(0.5, 0.0, 0.0)
-
-            mock_logging.error.assert_called()
-
-
-class TestCleanAbort:
-    """Test clean_abort method."""
-
-    def test_clean_abort_with_pending_movement(self, connector, mock_dependencies):
-        """Test clean abort with pending movement."""
-        connector.movement_attempts = 5
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        connector.clean_abort()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_clean_abort_empty_queue(self, connector, mock_dependencies):
-        """Test clean abort with empty queue."""
-        connector.movement_attempts = 5
-
-        connector.clean_abort()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestAngleCalculations:
-    """Test angle calculation methods."""
-
-    def test_normalize_angle_positive_overflow(self, connector, mock_dependencies):
-        """Test normalize angle with positive overflow."""
-        result = connector._normalize_angle(270.0)
-        assert result == -90.0
-
-    def test_normalize_angle_negative_overflow(self, connector, mock_dependencies):
-        """Test normalize angle with negative overflow."""
-        result = connector._normalize_angle(-270.0)
-        assert result == 90.0
-
-    def test_normalize_angle_within_range(self, connector, mock_dependencies):
-        """Test normalize angle within range."""
-        result = connector._normalize_angle(45.0)
-        assert result == 45.0
-
-    def test_calculate_angle_gap_simple(self, connector, mock_dependencies):
-        """Test calculate angle gap with simple case."""
-        result = connector._calculate_angle_gap(10.0, 5.0)
-        assert result == 5.0
-
-    def test_calculate_angle_gap_wrap_positive(self, connector, mock_dependencies):
-        """Test calculate angle gap with positive wrap."""
-        result = connector._calculate_angle_gap(170.0, -170.0)
-        assert result == -20.0
-
-    def test_calculate_angle_gap_wrap_negative(self, connector, mock_dependencies):
-        """Test calculate angle gap with negative wrap."""
-        result = connector._calculate_angle_gap(-170.0, 170.0)
-        assert result == 20.0
-
-
-class TestExecuteTurn:
-    """Test _execute_turn method."""
-
-    def test_execute_turn_left_blocked(self, connector, mock_dependencies):
-        """Test execute turn left when blocked."""
-        mock_dependencies["lidar"].turn_left = []
-
-        result = connector._execute_turn(10.0)
-
-        assert result is False
-
-    def test_execute_turn_left_success(self, connector, mock_dependencies):
-        """Test successful turn left."""
-        mock_dependencies["lidar"].turn_left = [2, 3]
-
-        result = connector._execute_turn(10.0)
-
-        assert result is True
-        mock_dependencies["sport"].Move.assert_called()
-
-    def test_execute_turn_right_blocked(self, connector, mock_dependencies):
-        """Test execute turn right when blocked."""
-        mock_dependencies["lidar"].turn_right = []
-
-        result = connector._execute_turn(-10.0)
-
-        assert result is False
-
-    def test_execute_turn_right_success(self, connector, mock_dependencies):
-        """Test successful turn right."""
-        mock_dependencies["lidar"].turn_right = [5, 6]
-
-        result = connector._execute_turn(-10.0)
-
-        assert result is True
-        mock_dependencies["sport"].Move.assert_called()
-
-
-class TestTick:
-    """Test tick method."""
-
-    def test_tick_odom_none(self, connector, mock_dependencies):
-        """Test tick when odom is None."""
-        connector.odom = None
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_waiting_for_odom_data(self, connector, mock_dependencies):
-        """Test tick when waiting for odom data."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_dog_sitting(self, connector, mock_dependencies):
-        """Test tick when dog is sitting."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_no_pending_movements(self, connector, mock_dependencies):
-        """Test tick with no pending movements."""
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.1)
-
-    def test_tick_movement_timeout(self, connector, mock_dependencies):
-        """Test tick when movement times out."""
-        connector.movement_attempts = 20
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_turn_phase_large_gap(self, connector, mock_dependencies):
-        """Test tick during turn phase with large gap."""
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "_execute_turn", return_value=True):
-            with patch.object(connector, "sleep"):
-                connector.tick()
-
-        assert connector.movement_attempts == 1
-
-    def test_tick_turn_phase_small_gap(self, connector, mock_dependencies):
-        """Test tick during turn phase with small gap (between 5 and 10 degrees)."""
-        # Gap = current - target = -38 - (-45) = 7 degrees (small gap)
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = -38.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=-45.0, start_x=1.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-        mock_dependencies["sport"].Move.assert_called()
-
-    def test_tick_turn_complete(self, connector, mock_dependencies):
-        """Test tick when turn is complete."""
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = -43.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        command = list(connector.pending_movements.queue)[0]
-        assert command.turn_complete is True
-
-    def test_tick_movement_phase_no_distance(self, connector, mock_dependencies):
-        """Test tick during movement phase with no distance required."""
-        connector.pending_movements.put(MoveCommand(dx=0, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_forward_blocked(self, connector, mock_dependencies):
-        """Test tick during movement phase when forward is blocked."""
-        mock_dependencies["lidar"].advance = []
-        mock_dependencies["odom"].position["odom_x"] = 1.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=1.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_retreat_blocked(self, connector, mock_dependencies):
-        """Test tick during movement phase when retreat is blocked."""
-        mock_dependencies["lidar"].retreat = []
-        mock_dependencies["odom"].position["odom_x"] = 1.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=-0.5, yaw=0.0, start_x=1.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_continue_moving(self, connector, mock_dependencies):
-        """Test tick during movement phase continuing to move."""
-        mock_dependencies["odom"].position["odom_x"] = 0.2
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-        mock_dependencies["sport"].Move.assert_called()
-
-    def test_tick_movement_phase_complete(self, connector, mock_dependencies):
-        """Test tick when movement is complete."""
-        mock_dependencies["odom"].position["odom_x"] = 0.5
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.5)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-        assert connector.movement_attempts == 0
diff --git a/tests/actions/move_go2_teleops/__init__.py b/tests/actions/move_go2_teleops/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_go2_teleops/connector/__init__.py b/tests/actions/move_go2_teleops/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_go2_teleops/connector/test_move_go2_teleops_remote.py b/tests/actions/move_go2_teleops/connector/test_move_go2_teleops_remote.py
deleted file mode 100644
index 24e30aef0f..0000000000
--- a/tests/actions/move_go2_teleops/connector/test_move_go2_teleops_remote.py
+++ /dev/null
@@ -1,175 +0,0 @@
-import importlib
-import sys
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.move_go2_teleops.interface import MoveInput, MovementAction
-
-
-@pytest.fixture
-def mock_external_modules(monkeypatch):
-    """Mock external modules before importing the connector module."""
-    mock_zenoh = MagicMock()
-    mock_zenoh_msgs = MagicMock()
-    mock_om1_utils = MagicMock()
-    mock_unitree = MagicMock()
-    mock_sport_client = MagicMock()
-    mock_unitree.unitree_sdk2py.go2.sport.sport_client.SportClient = mock_sport_client
-
-    monkeypatch.setitem(sys.modules, "zenoh", mock_zenoh)
-    monkeypatch.setitem(sys.modules, "zenoh_msgs", mock_zenoh_msgs)
-    monkeypatch.setitem(sys.modules, "om1_utils", mock_om1_utils)
-    monkeypatch.setitem(sys.modules, "om1_utils.ws", mock_om1_utils.ws)
-    monkeypatch.setitem(sys.modules, "unitree", mock_unitree)
-    monkeypatch.setitem(sys.modules, "unitree.unitree_sdk2py", mock_unitree.unitree_sdk2py)
-    monkeypatch.setitem(
-        sys.modules,
-        "unitree.unitree_sdk2py.go2",
-        mock_unitree.unitree_sdk2py.go2,
-    )
-    monkeypatch.setitem(
-        sys.modules,
-        "unitree.unitree_sdk2py.go2.sport",
-        mock_unitree.unitree_sdk2py.go2.sport,
-    )
-    monkeypatch.setitem(
-        sys.modules,
-        "unitree.unitree_sdk2py.go2.sport.sport_client",
-        mock_unitree.unitree_sdk2py.go2.sport.sport_client,
-    )
-
-    return {
-        "zenoh": mock_zenoh,
-        "zenoh_msgs": mock_zenoh_msgs,
-        "om1_utils": mock_om1_utils,
-        "sport_client": mock_sport_client,
-    }
-
-
-@pytest.fixture
-def remote_module(mock_external_modules):
-    """Import the connector module after mocking external deps."""
-    sys.modules.pop(
-        "actions.move_go2_teleops.connector.remote",
-        None,
-    )
-    return importlib.import_module("actions.move_go2_teleops.connector.remote")
-
-
-@pytest.fixture
-def default_config(remote_module):
-    """Create a default config for testing."""
-    return remote_module.MoveGo2RemoteConfig()
-
-
-@pytest.fixture
-def config_with_api_key(remote_module):
-    """Create a config with API key for testing."""
-    return remote_module.MoveGo2RemoteConfig(api_key="test_api_key_123")
-
-
-@pytest.fixture
-def move_input_stand():
-    """Create a MoveInput instance with stand up action."""
-    return MoveInput(action=MovementAction.STAND_UP)
-
-
-@pytest.fixture
-def move_input_sit():
-    """Create a MoveInput instance with sit action."""
-    return MoveInput(action=MovementAction.SIT)
-
-
-class TestMoveGo2RemoteConfig:
-    """Test the MoveGo2Remote configuration class."""
-
-    def test_default_config(self, remote_module):
-        """Test default configuration values."""
-        config = remote_module.MoveGo2RemoteConfig()
-        assert config.api_key == ""
-
-    def test_custom_config(self, remote_module):
-        """Test custom configuration values."""
-        config = remote_module.MoveGo2RemoteConfig(api_key="my_api_key")
-        assert config.api_key == "my_api_key"
-
-
-class TestMoveGo2RemoteConnector:
-    """Test the MoveGo2Remote connector."""
-
-    def test_init(self, remote_module, default_config):
-        """Test initialization of MoveGo2RemoteConnector."""
-        with (
-            patch("actions.move_go2_teleops.connector.remote.ws") as mock_ws,
-            patch("actions.move_go2_teleops.connector.remote.SportClient") as mock_sport_client_class,
-            patch("actions.move_go2_teleops.connector.remote.UnitreeGo2StateProvider"),
-        ):
-            mock_client_instance = Mock()
-            mock_sport_client_class.return_value = mock_client_instance
-
-            mock_ws_client = Mock()
-            mock_ws.Client.return_value = mock_ws_client
-
-            connector = remote_module.MoveGo2RemoteConnector(default_config)
-
-            assert connector.sport_client is not None
-            mock_client_instance.SetTimeout.assert_called_once_with(10.0)
-            mock_client_instance.Init.assert_called_once()
-
-    def test_init_with_api_key(self, remote_module, config_with_api_key):
-        """Test initialization with API key."""
-        with (
-            patch("actions.move_go2_teleops.connector.remote.ws") as mock_ws,
-            patch("actions.move_go2_teleops.connector.remote.SportClient") as mock_sport_client_class,
-            patch("actions.move_go2_teleops.connector.remote.UnitreeGo2StateProvider"),
-        ):
-            mock_client_instance = Mock()
-            mock_sport_client_class.return_value = mock_client_instance
-
-            mock_ws_client = Mock()
-            mock_ws.Client.return_value = mock_ws_client
-
-            remote_module.MoveGo2RemoteConnector(config_with_api_key)
-
-            mock_ws.Client.assert_called_once()
-            call_args = mock_ws.Client.call_args
-            assert "test_api_key_123" in call_args[1]["url"]
-
-    def test_init_sport_client_error(self, remote_module, default_config):
-        """Test initialization when SportClient fails."""
-        with (
-            patch("actions.move_go2_teleops.connector.remote.ws") as mock_ws,
-            patch("actions.move_go2_teleops.connector.remote.SportClient") as mock_sport_client_class,
-            patch("actions.move_go2_teleops.connector.remote.UnitreeGo2StateProvider"),
-        ):
-            mock_sport_client_class.side_effect = Exception("Connection error")
-
-            mock_ws_client = Mock()
-            mock_ws.Client.return_value = mock_ws_client
-
-            connector = remote_module.MoveGo2RemoteConnector(default_config)
-
-            assert connector.sport_client is None
-
-    @pytest.mark.asyncio
-    async def test_connect(
-        self,
-        remote_module,
-        default_config,
-        move_input_stand,
-    ):
-        """Test connect method (passes through)."""
-        with (
-            patch("actions.move_go2_teleops.connector.remote.ws") as mock_ws,
-            patch("actions.move_go2_teleops.connector.remote.SportClient") as mock_sport_client_class,
-            patch("actions.move_go2_teleops.connector.remote.UnitreeGo2StateProvider"),
-        ):
-            mock_client_instance = Mock()
-            mock_sport_client_class.return_value = mock_client_instance
-
-            mock_ws_client = Mock()
-            mock_ws.Client.return_value = mock_ws_client
-
-            connector = remote_module.MoveGo2RemoteConnector(default_config)
-            await connector.connect(move_input_stand)
diff --git a/tests/actions/move_go2_teleops/test_interface.py b/tests/actions/move_go2_teleops/test_interface.py
deleted file mode 100644
index d8d7b97614..0000000000
--- a/tests/actions/move_go2_teleops/test_interface.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from actions.move_go2_teleops.interface import Move, MoveInput, MovementAction
-
-
-class TestMovementAction:
-    """Tests for the MovementAction enum."""
-
-    def test_movement_action_values(self):
-        """Test that MovementAction enum has correct values."""
-        assert MovementAction.STAND_UP.value == "stand up"
-        assert MovementAction.SIT.value == "sit"
-        assert MovementAction.SHAKE_PAW.value == "shake paw"
-        assert MovementAction.DANCE.value == "dance"
-        assert MovementAction.STRETCH.value == "stretch"
-        assert MovementAction.STAND_STILL.value == "stand still"
-        assert MovementAction.DO_NOTHING.value == "stand still"
-
-    def test_movement_action_is_string_enum(self):
-        """Test that MovementAction values are strings."""
-        for action in MovementAction:
-            assert isinstance(action.value, str)
-
-    def test_movement_action_count(self):
-        """Test that MovementAction has expected number of actions."""
-        assert len(MovementAction) == 6
-
-
-class TestMoveInput:
-    """Tests for the MoveInput dataclass."""
-
-    def test_move_input_creation(self):
-        """Test creating MoveInput with valid action."""
-        move_input = MoveInput(action=MovementAction.STAND_UP)
-        assert move_input.action == MovementAction.STAND_UP
-
-    def test_move_input_all_actions(self):
-        """Test creating MoveInput with all possible actions."""
-        for action in MovementAction:
-            move_input = MoveInput(action=action)
-            assert move_input.action == action
-
-
-class TestMove:
-    """Tests for the Move interface."""
-
-    def test_move_creation(self):
-        """Test creating Move with input and output."""
-        move_input = MoveInput(action=MovementAction.DANCE)
-        move = Move(input=move_input, output=move_input)
-        assert move.input == move_input
-        assert move.output == move_input
-
-    def test_move_different_input_output(self):
-        """Test creating Move with different input and output."""
-        input_move = MoveInput(action=MovementAction.STAND_UP)
-        output_move = MoveInput(action=MovementAction.SIT)
-        move = Move(input=input_move, output=output_move)
-        assert move.input.action == MovementAction.STAND_UP
-        assert move.output.action == MovementAction.SIT
diff --git a/tests/actions/move_k1_autonomy/__init__.py b/tests/actions/move_k1_autonomy/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_k1_autonomy/connector/__init__.py b/tests/actions/move_k1_autonomy/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_k1_autonomy/connector/test_k1_sdk.py b/tests/actions/move_k1_autonomy/connector/test_k1_sdk.py
deleted file mode 100644
index 941b882238..0000000000
--- a/tests/actions/move_k1_autonomy/connector/test_k1_sdk.py
+++ /dev/null
@@ -1,795 +0,0 @@
-from queue import Queue
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from actions.base import MoveCommand
-from actions.move_k1_autonomy.connector.k1_sdk import (
-    MoveBoosterZenohConfig,
-    MoveBoosterZenohConnector,
-)
-from actions.move_k1_autonomy.interface import MoveInput, MovementAction
-from providers.k1_odom_provider import RobotState
-
-
-@pytest.fixture
-def mock_dependencies():
-    """
-    Mock all external dependencies.
-
-    Returns
-    -------
-    dict
-        Dictionary containing mock instances for all dependencies.
-    """
-    with (
-        patch("actions.move_k1_autonomy.connector.k1_sdk.open_zenoh_session") as mock_zenoh,
-        patch("actions.move_k1_autonomy.connector.k1_sdk.K1OdomProvider") as mock_odom,
-        patch("actions.move_k1_autonomy.connector.k1_sdk.SimplePathsProvider") as mock_paths,
-    ):
-        # Setup mock zenoh session
-        mock_zenoh_instance = Mock()
-        mock_zenoh_instance.get = Mock()
-        mock_zenoh.return_value = mock_zenoh_instance
-
-        # Setup mock odom provider
-        mock_odom_instance = Mock()
-        mock_odom_instance.position = {
-            "moving": False,
-            "odom_x": 1.0,
-            "odom_y": 0.0,
-            "odom_yaw_m180_p180": 0.0,
-            "body_attitude": RobotState.STANDING,
-            "odom_subscriber_ts": 1234567890.0,
-        }
-        mock_odom.return_value = mock_odom_instance
-
-        # Setup mock paths provider
-        mock_paths_instance = Mock()
-        mock_paths_instance.advance = [4]
-        mock_paths_instance.retreat = [1]
-        mock_paths_instance.turn_left = [2, 3]
-        mock_paths_instance.turn_right = [5, 6]
-        mock_paths_instance.path_angles = {1: 0, 2: 45, 3: 90, 4: 0, 5: -45, 6: -90}
-        mock_paths.return_value = mock_paths_instance
-
-        yield {
-            "zenoh": mock_zenoh_instance,
-            "odom": mock_odom_instance,
-            "paths": mock_paths_instance,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """
-    Create a MoveBoosterZenohConnector instance with mocked dependencies.
-
-    Parameters
-    ----------
-    mock_dependencies : dict
-        Dictionary containing mock instances.
-
-    Returns
-    -------
-    MoveBoosterZenohConnector
-        Configured connector instance with _move_robot mocked to prevent warnings.
-    """
-    config = MoveBoosterZenohConfig()
-    connector_instance = MoveBoosterZenohConnector(config)
-
-    connector_instance._original_move_robot = connector_instance._move_robot  # type: ignore
-    connector_instance._move_robot = AsyncMock()
-
-    return connector_instance
-
-
-@pytest.fixture
-def connector_with_real_move_robot(mock_dependencies):
-    """
-    Create a MoveBoosterZenohConnector instance without mocking _move_robot.
-    Use this for tests that need to test the actual _move_robot implementation.
-
-    Parameters
-    ----------
-    mock_dependencies : dict
-        Dictionary containing mock instances.
-
-    Returns
-    -------
-    MoveBoosterZenohConnector
-        Configured connector instance with real _move_robot.
-    """
-    config = MoveBoosterZenohConfig()
-    return MoveBoosterZenohConnector(config)
-
-
-class TestMoveBoosterZenohConfig:
-    """Test MoveBoosterZenohConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = MoveBoosterZenohConfig()
-        assert config.odom_topic == "odometer_state"
-        assert config.rpc_service_name == "booster_rpc_service"
-        assert config.cmd_vel_topic is None
-        assert config.allow_move_without_odom is False
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = MoveBoosterZenohConfig(
-            odom_topic="custom_odom",
-            rpc_service_name="custom_rpc",
-            allow_move_without_odom=True,
-        )
-        assert config.odom_topic == "custom_odom"
-        assert config.rpc_service_name == "custom_rpc"
-        assert config.allow_move_without_odom is True
-
-    def test_backward_compat_cmd_vel_topic(self):
-        """Test backward compatibility with cmd_vel_topic."""
-        config = MoveBoosterZenohConfig(cmd_vel_topic="legacy_topic")
-        assert config.cmd_vel_topic == "legacy_topic"
-
-
-class TestMoveBoosterZenohConnectorInit:
-    """Test MoveBoosterZenohConnector initialization."""
-
-    def test_initialization(self, connector, mock_dependencies):
-        """Test successful initialization."""
-        assert connector.move_speed == 0.1
-        assert connector.turn_speed == 0.5
-        assert connector.angle_tolerance == 5.0
-        assert connector.distance_tolerance == 0.05
-        assert isinstance(connector.pending_movements, Queue)
-        assert connector.movement_attempts == 0
-        assert connector.movement_attempt_limit == 15
-        assert connector.gap_previous == 0
-        assert connector._consecutive_retreat_cmds == 0
-
-        # Verify providers are initialized
-        assert connector.odom == mock_dependencies["odom"]
-        assert connector.path_provider == mock_dependencies["paths"]
-        assert connector.session == mock_dependencies["zenoh"]
-
-    def test_initialization_zenoh_error(self):
-        """Test initialization when Zenoh session fails."""
-        with (
-            patch("actions.move_k1_autonomy.connector.k1_sdk.open_zenoh_session") as mock_zenoh,
-            patch("actions.move_k1_autonomy.connector.k1_sdk.K1OdomProvider"),
-            patch("actions.move_k1_autonomy.connector.k1_sdk.SimplePathsProvider"),
-            patch("actions.move_k1_autonomy.connector.k1_sdk.logging") as mock_logging,
-        ):
-            mock_zenoh.side_effect = Exception("Connection failed")
-
-            config = MoveBoosterZenohConfig()
-            connector = MoveBoosterZenohConnector(config)
-
-            assert connector.session is None
-            mock_logging.error.assert_called()
-
-    def test_initialization_with_backward_compat_topic(self):
-        """Test initialization uses cmd_vel_topic as rpc_service_name for backward compatibility."""
-        with (
-            patch("actions.move_k1_autonomy.connector.k1_sdk.open_zenoh_session"),
-            patch("actions.move_k1_autonomy.connector.k1_sdk.K1OdomProvider"),
-            patch("actions.move_k1_autonomy.connector.k1_sdk.SimplePathsProvider"),
-        ):
-            # When cmd_vel_topic is provided, it should be used as fallback for rpc_service_name
-            config = MoveBoosterZenohConfig(cmd_vel_topic="legacy_service")
-            connector = MoveBoosterZenohConnector(config)
-
-            # Either cmd_vel_topic or default rpc_service_name should be used
-            assert connector.rpc_service_name in ["legacy_service", "booster_rpc_service"]
-
-
-class TestHasFreshOdom:
-    """Test _has_fresh_odom method."""
-
-    def test_fresh_odom_valid(self, connector, mock_dependencies):
-        """Test _has_fresh_odom with valid recent data."""
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567891.0):
-            # odom_subscriber_ts is 1234567890.0 (1 second ago)
-            assert connector._has_fresh_odom() is True
-
-    def test_fresh_odom_stale(self, connector, mock_dependencies):
-        """Test _has_fresh_odom with stale data."""
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567895.0):
-            # odom_subscriber_ts is 1234567890.0 (5 seconds ago, exceeds 2.0s default)
-            assert connector._has_fresh_odom() is False
-
-    def test_fresh_odom_no_timestamp(self, connector, mock_dependencies):
-        """Test _has_fresh_odom when no timestamp available."""
-        mock_dependencies["odom"].position["odom_subscriber_ts"] = 0.0
-        assert connector._has_fresh_odom() is False
-
-    def test_fresh_odom_negative_timestamp(self, connector, mock_dependencies):
-        """Test _has_fresh_odom with negative timestamp."""
-        mock_dependencies["odom"].position["odom_subscriber_ts"] = -1.0
-        assert connector._has_fresh_odom() is False
-
-    def test_fresh_odom_custom_max_age(self, connector, mock_dependencies):
-        """Test _has_fresh_odom with custom max_age parameter."""
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567895.0):
-            # odom_subscriber_ts is 1234567890.0 (5 seconds ago)
-            assert connector._has_fresh_odom(max_age_s=10.0) is True
-            assert connector._has_fresh_odom(max_age_s=4.0) is False
-
-
-class TestStopRobot:
-    """Test _stop_robot method."""
-
-    def test_stop_robot(self, connector):
-        """Test _stop_robot calls _run_move_robot with zero velocities."""
-        with patch.object(connector, "_run_move_robot") as mock_run_move:
-            connector._stop_robot()
-            mock_run_move.assert_called_once_with(0.0, 0.0, 0.0)
-
-    def test_stop_robot_with_exception(self, connector):
-        """Test _stop_robot handles exceptions gracefully."""
-        with (
-            patch.object(connector, "_run_move_robot") as mock_run_move,
-            patch("actions.move_k1_autonomy.connector.k1_sdk.logging"),
-        ):
-            mock_run_move.side_effect = Exception("Stop failed")
-            connector._stop_robot()
-            # Should not raise exception
-
-
-class TestMoveRobot:
-    """Test _move_robot async method."""
-
-    @pytest.mark.asyncio
-    async def test_move_robot_success(self, connector_with_real_move_robot, mock_dependencies):
-        """Test _move_robot sends movement command successfully."""
-        mock_reply = Mock()
-        mock_reply.ok = Mock()
-        mock_reply.ok.payload.to_bytes.return_value = b'{"status": 0, "body": ""}'
-
-        mock_dependencies["zenoh"].get.return_value = [mock_reply]
-
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.RpcServiceResponse.deserialize") as mock_deserialize:
-            mock_response = Mock()
-            mock_response.msg.status = 0
-            mock_response.msg.body = ""
-            mock_deserialize.return_value = mock_response
-
-            await connector_with_real_move_robot._move_robot(0.1, 0.0, 0.0)
-
-            mock_dependencies["zenoh"].get.assert_called_once()
-            args, kwargs = mock_dependencies["zenoh"].get.call_args
-            assert args[0] == "booster_rpc_service"
-            assert kwargs["timeout"] == 5.0
-
-    @pytest.mark.asyncio
-    async def test_move_robot_no_session(self, connector_with_real_move_robot, mock_dependencies):
-        """Test _move_robot returns early when session is None."""
-        connector_with_real_move_robot.session = None
-
-        await connector_with_real_move_robot._move_robot(0.1, 0.0, 0.0)
-
-        mock_dependencies["zenoh"].get.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_move_robot_not_standing(self, connector_with_real_move_robot, mock_dependencies):
-        """Test _move_robot returns early when robot is not standing."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-
-        await connector_with_real_move_robot._move_robot(0.1, 0.0, 0.0)
-
-        mock_dependencies["zenoh"].get.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_move_robot_allow_without_odom(self, connector_with_real_move_robot, mock_dependencies):
-        """Test _move_robot bypasses odom check when allow_move_without_odom is True."""
-        connector_with_real_move_robot.config.allow_move_without_odom = True
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-
-        mock_reply = Mock()
-        mock_reply.ok = Mock()
-        mock_reply.ok.payload.to_bytes.return_value = b'{"status": 0, "body": ""}'
-        mock_dependencies["zenoh"].get.return_value = [mock_reply]
-
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.RpcServiceResponse.deserialize"):
-            await connector_with_real_move_robot._move_robot(0.1, 0.0, 0.0)
-
-            mock_dependencies["zenoh"].get.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_move_robot_service_error(self, connector_with_real_move_robot, mock_dependencies):
-        """Test _move_robot handles service errors."""
-        mock_reply = Mock()
-        mock_reply.ok = None
-        mock_reply.err = "Service unavailable"
-        mock_dependencies["zenoh"].get.return_value = [mock_reply]
-
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.logging") as mock_logging:
-            await connector_with_real_move_robot._move_robot(0.1, 0.0, 0.0)
-
-            mock_logging.error.assert_called()
-
-    @pytest.mark.asyncio
-    async def test_move_robot_exception(self, connector_with_real_move_robot, mock_dependencies):
-        """Test _move_robot handles exceptions during service call."""
-        mock_dependencies["zenoh"].get.side_effect = Exception("Connection timeout")
-
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.logging") as mock_logging:
-            await connector_with_real_move_robot._move_robot(0.1, 0.0, 0.0)
-
-            mock_logging.error.assert_called()
-
-
-class TestRunMoveRobot:
-    """Test _run_move_robot method."""
-
-    def test_run_move_robot_no_event_loop(self, connector):
-        """Test _run_move_robot creates event loop when none exists."""
-        with (
-            patch("actions.move_k1_autonomy.connector.k1_sdk.asyncio.get_running_loop") as mock_get_loop,
-            patch("actions.move_k1_autonomy.connector.k1_sdk.asyncio.run") as mock_run,
-        ):
-            mock_get_loop.side_effect = RuntimeError("No running loop")
-
-            connector._run_move_robot(0.1, 0.0, 0.0)
-
-            mock_run.assert_called_once()
-
-    @pytest.mark.filterwarnings("ignore::RuntimeWarning")
-    def test_run_move_robot_with_event_loop(self, connector):
-        """Test _run_move_robot creates task when event loop exists."""
-        mock_loop = Mock()
-
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.asyncio.get_running_loop", return_value=mock_loop):
-            connector._run_move_robot(0.1, 0.0, 0.0)
-
-            mock_loop.create_task.assert_called_once()
-
-
-class TestConnect:
-    """Test the connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_robot_already_moving(self, connector, mock_dependencies):
-        """Test connect when robot is already moving."""
-        mock_dependencies["odom"].position["moving"] = True
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    @pytest.mark.filterwarnings("ignore::RuntimeWarning")
-    async def test_connect_movement_already_pending(self, connector, mock_dependencies):
-        """Test connect when movement is already pending."""
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-
-    @pytest.mark.asyncio
-    async def test_connect_no_fresh_odom_test_mode(self, connector, mock_dependencies):
-        """Test connect sends direct test command when allow_move_without_odom is True."""
-        connector.config.allow_move_without_odom = True
-        mock_dependencies["odom"].position["odom_subscriber_ts"] = 0.0
-
-        with patch.object(connector, "_run_move_robot") as mock_run_move:
-            move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-            await connector.connect(move_input)
-
-            mock_run_move.assert_called_once_with(0.1, 0.0, 0.0)
-
-    @pytest.mark.asyncio
-    async def test_connect_no_fresh_odom_normal_mode(self, connector, mock_dependencies):
-        """Test connect returns early when no fresh odom in normal mode."""
-        mock_dependencies["odom"].position["odom_subscriber_ts"] = 0.0
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_left(self, connector, mock_dependencies):
-        """Test connect with turn left command."""
-        with (
-            patch("actions.move_k1_autonomy.connector.k1_sdk.random.choice", return_value=2),
-            patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567890.5),
-        ):
-            move_input = MoveInput(action=MovementAction.TURN_LEFT)
-
-            await connector.connect(move_input)
-
-            assert connector.pending_movements.qsize() == 1
-            command = connector.pending_movements.get()
-            assert command.dx == 0.0
-            assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_right(self, connector, mock_dependencies):
-        """Test connect with turn right command."""
-        with (
-            patch("actions.move_k1_autonomy.connector.k1_sdk.random.choice", return_value=5),
-            patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567890.5),
-        ):
-            move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-
-            await connector.connect(move_input)
-
-            assert connector.pending_movements.qsize() == 1
-            command = connector.pending_movements.get()
-            assert command.dx == 0.0
-            assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_move_forwards(self, connector, mock_dependencies):
-        """Test connect with move forwards command."""
-        with (
-            patch("actions.move_k1_autonomy.connector.k1_sdk.random.choice", return_value=4),
-            patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567890.5),
-        ):
-            move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-            await connector.connect(move_input)
-
-            assert connector.pending_movements.qsize() == 1
-            command = connector.pending_movements.get()
-            assert command.dx == 0.1
-
-    @pytest.mark.asyncio
-    async def test_connect_move_back(self, connector, mock_dependencies):
-        """Test connect with move back command."""
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567890.5):
-            move_input = MoveInput(action=MovementAction.MOVE_BACK)
-
-            await connector.connect(move_input)
-
-            assert connector.pending_movements.qsize() == 1
-            command = connector.pending_movements.get()
-            assert command.dx == -0.15
-            assert command.turn_complete is True
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector, mock_dependencies):
-        """Test connect with stand still command."""
-        with (
-            patch.object(connector, "_stop_robot") as mock_stop,
-            patch("actions.move_k1_autonomy.connector.k1_sdk.time.time", return_value=1234567890.5),
-        ):
-            move_input = MoveInput(action=MovementAction.STAND_STILL)
-
-            await connector.connect(move_input)
-
-            mock_stop.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector, mock_dependencies):
-        """Test connect with unknown action."""
-        move_input = MoveInput(action="unknown_action")  # type: ignore
-
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.logging") as mock_logging:
-            await connector.connect(move_input)
-
-            mock_logging.info.assert_called()
-
-
-class TestCleanAbort:
-    """Test clean_abort method."""
-
-    def test_clean_abort(self, connector):
-        """Test clean_abort resets state and stops robot."""
-        connector.movement_attempts = 10
-        connector._consecutive_retreat_cmds = 3
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "_stop_robot") as mock_stop:
-            connector.clean_abort()
-
-            mock_stop.assert_called_once()
-            assert connector.movement_attempts == 0
-            assert connector._consecutive_retreat_cmds == 0
-            assert connector.pending_movements.empty()
-
-
-class TestNormalizeAngle:
-    """Test _normalize_angle method."""
-
-    def test_normalize_angle_in_range(self, connector):
-        """Test _normalize_angle with angle already in range."""
-        assert connector._normalize_angle(45.0) == 45.0
-        assert connector._normalize_angle(-90.0) == -90.0
-        assert connector._normalize_angle(180.0) == 180.0
-        assert connector._normalize_angle(-180.0) == -180.0
-
-    def test_normalize_angle_above_range(self, connector):
-        """Test _normalize_angle with angle above 180."""
-        assert connector._normalize_angle(270.0) == -90.0
-        assert connector._normalize_angle(190.0) == -170.0
-
-    def test_normalize_angle_below_range(self, connector):
-        """Test _normalize_angle with angle below -180."""
-        assert connector._normalize_angle(-270.0) == 90.0
-        assert connector._normalize_angle(-190.0) == 170.0
-
-
-class TestCalculateAngleGap:
-    """Test _calculate_angle_gap method."""
-
-    def test_calculate_angle_gap_positive(self, connector):
-        """Test _calculate_angle_gap with positive gap."""
-        assert connector._calculate_angle_gap(45.0, 0.0) == 45.0
-        assert connector._calculate_angle_gap(90.0, 45.0) == 45.0
-
-    def test_calculate_angle_gap_negative(self, connector):
-        """Test _calculate_angle_gap with negative gap."""
-        assert connector._calculate_angle_gap(0.0, 45.0) == -45.0
-        assert connector._calculate_angle_gap(45.0, 90.0) == -45.0
-
-    def test_calculate_angle_gap_wrap_positive(self, connector):
-        """Test _calculate_angle_gap wraps correctly for positive wrap."""
-        # current=170, target=-170 should give 340->-20
-        assert connector._calculate_angle_gap(170.0, -170.0) == -20.0
-
-    def test_calculate_angle_gap_wrap_negative(self, connector):
-        """Test _calculate_angle_gap wraps correctly for negative wrap."""
-        # current=-170, target=170 should give -340->20
-        assert connector._calculate_angle_gap(-170.0, 170.0) == 20.0
-
-
-class TestExecuteTurn:
-    """Test _execute_turn method."""
-
-    def test_execute_turn_left_success(self, connector, mock_dependencies):
-        """Test _execute_turn with successful left turn."""
-        with patch.object(connector, "_run_move_robot") as mock_run_move:
-            result = connector._execute_turn(45.0)
-
-            assert result is True
-            mock_run_move.assert_called_once()
-
-    def test_execute_turn_left_blocked(self, connector, mock_dependencies):
-        """Test _execute_turn with left turn blocked by barrier."""
-        mock_dependencies["paths"].turn_left = []
-
-        result = connector._execute_turn(45.0)
-
-        assert result is False
-
-    def test_execute_turn_right_success(self, connector, mock_dependencies):
-        """Test _execute_turn with successful right turn."""
-        with patch.object(connector, "_run_move_robot") as mock_run_move:
-            result = connector._execute_turn(-45.0)
-
-            assert result is True
-            mock_run_move.assert_called_once()
-
-    def test_execute_turn_right_blocked(self, connector, mock_dependencies):
-        """Test _execute_turn with right turn blocked by barrier."""
-        mock_dependencies["paths"].turn_right = []
-
-        result = connector._execute_turn(-45.0)
-
-        assert result is False
-
-
-class TestProcessMovementCommands:
-    """Test process movement command methods."""
-
-    def test_process_turn_left_success(self, connector, mock_dependencies):
-        """Test _process_turn_left enqueues turn command."""
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.random.choice", return_value=2):
-            connector._process_turn_left()
-
-            assert connector.pending_movements.qsize() == 1
-            command = connector.pending_movements.get()
-            assert command.dx == 0.0
-            assert command.turn_complete is False
-
-    def test_process_turn_left_blocked(self, connector, mock_dependencies):
-        """Test _process_turn_left when blocked by barrier."""
-        mock_dependencies["paths"].turn_left = []
-
-        connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_turn_right_success(self, connector, mock_dependencies):
-        """Test _process_turn_right enqueues turn command."""
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.random.choice", return_value=5):
-            connector._process_turn_right()
-
-            assert connector.pending_movements.qsize() == 1
-
-    def test_process_turn_right_blocked(self, connector, mock_dependencies):
-        """Test _process_turn_right when blocked by barrier."""
-        mock_dependencies["paths"].turn_right = []
-
-        connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_forward_success(self, connector, mock_dependencies):
-        """Test _process_move_forward enqueues move command."""
-        with patch("actions.move_k1_autonomy.connector.k1_sdk.random.choice", return_value=4):
-            connector._process_move_forward()
-
-            assert connector.pending_movements.qsize() == 1
-            command = connector.pending_movements.get()
-            assert command.dx == 0.1
-
-    def test_process_move_forward_blocked(self, connector, mock_dependencies):
-        """Test _process_move_forward when blocked by barrier."""
-        mock_dependencies["paths"].advance = []
-
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_back_success(self, connector, mock_dependencies):
-        """Test _process_move_back enqueues retreat command."""
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == -0.15
-        assert command.turn_complete is True
-
-    def test_process_move_back_blocked(self, connector, mock_dependencies):
-        """Test _process_move_back when blocked by barrier."""
-        mock_dependencies["paths"].retreat = []
-
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestEnqueueForwardIfFrontClear:
-    """Test _enqueue_forward_if_front_clear method."""
-
-    def test_enqueue_forward_front_clear(self, connector, mock_dependencies):
-        """Test _enqueue_forward_if_front_clear when front is clear."""
-        result = connector._enqueue_forward_if_front_clear(dx=0.1)
-
-        assert result is True
-        assert connector.pending_movements.qsize() == 1
-
-    def test_enqueue_forward_front_blocked(self, connector, mock_dependencies):
-        """Test _enqueue_forward_if_front_clear when front is blocked."""
-        mock_dependencies["paths"].advance = [1, 2, 3]  # No path 4 (straight)
-
-        result = connector._enqueue_forward_if_front_clear(dx=0.1)
-
-        assert result is False
-        assert connector.pending_movements.qsize() == 0
-
-    def test_enqueue_forward_custom_dx(self, connector, mock_dependencies):
-        """Test _enqueue_forward_if_front_clear with custom distance."""
-        result = connector._enqueue_forward_if_front_clear(dx=0.5)
-
-        assert result is True
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-
-
-class TestTick:
-    """Test the tick method."""
-
-    def test_tick_no_odom(self, connector):
-        """Test tick when odom is None."""
-        connector.odom = None
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_no_fresh_odom(self, connector, mock_dependencies):
-        """Test tick when odom data is stale."""
-        mock_dependencies["odom"].position["odom_subscriber_ts"] = 0.0
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_robot_not_standing(self, connector, mock_dependencies):
-        """Test tick when robot is not standing."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-
-        with (
-            patch.object(connector, "_has_fresh_odom", return_value=True),
-            patch.object(connector, "sleep") as mock_sleep,
-        ):
-            connector.tick()
-
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_no_pending_movements(self, connector, mock_dependencies):
-        """Test tick when no movements are pending."""
-        with (
-            patch.object(connector, "_has_fresh_odom", return_value=True),
-            patch.object(connector, "sleep") as mock_sleep,
-        ):
-            connector.tick()
-
-            mock_sleep.assert_called_once_with(0.1)
-
-    def test_tick_timeout_exceeded(self, connector, mock_dependencies):
-        """Test tick aborts when movement attempts exceed limit."""
-        connector.pending_movements.put(MoveCommand(dx=0.1, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-        connector.movement_attempts = 20
-
-        with (
-            patch.object(connector, "_has_fresh_odom", return_value=True),
-            patch.object(connector, "clean_abort") as mock_abort,
-        ):
-            connector.tick()
-
-            mock_abort.assert_called_once()
-
-    def test_tick_phase1_turning(self, connector, mock_dependencies):
-        """Test tick Phase 1 - turning to target yaw."""
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.1, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with (
-            patch.object(connector, "_has_fresh_odom", return_value=True),
-            patch.object(connector, "_execute_turn", return_value=True) as mock_turn,
-        ):
-            connector.tick()
-
-            mock_turn.assert_called_once()
-            assert connector.movement_attempts == 1
-
-    def test_tick_phase2_moving_forward(self, connector, mock_dependencies):
-        """Test tick Phase 2 - moving forward to target."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.1, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.1)
-        )
-
-        with (
-            patch.object(connector, "_has_fresh_odom", return_value=True),
-            patch.object(connector, "_run_move_robot") as mock_move,
-        ):
-            connector.tick()
-
-            mock_move.assert_called_once()
-            assert connector.movement_attempts == 1
-
-    def test_tick_phase2_retreat_limit(self, connector, mock_dependencies):
-        """Test tick Phase 2 - abort after 5 consecutive retreat commands."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=-0.1, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.1)
-        )
-        connector._consecutive_retreat_cmds = 5
-
-        with (
-            patch.object(connector, "_has_fresh_odom", return_value=True),
-            patch.object(connector, "clean_abort") as mock_abort,
-            patch.object(connector, "_enqueue_forward_if_front_clear", return_value=False),
-        ):
-            connector.tick()
-
-            mock_abort.assert_called_once()
-
-    def test_tick_phase2_movement_complete(self, connector, mock_dependencies):
-        """Test tick Phase 2 - movement completes when within tolerance."""
-        mock_dependencies["odom"].position["odom_x"] = 0.09  # Close to target
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.1, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.1)
-        )
-
-        with (
-            patch.object(connector, "_has_fresh_odom", return_value=True),
-            patch.object(connector, "clean_abort") as mock_abort,
-        ):
-            connector.tick()
-
-            mock_abort.assert_called_once()
diff --git a/tests/actions/move_k1_autonomy/test_interface.py b/tests/actions/move_k1_autonomy/test_interface.py
deleted file mode 100644
index 766af87d5c..0000000000
--- a/tests/actions/move_k1_autonomy/test_interface.py
+++ /dev/null
@@ -1,193 +0,0 @@
-from actions.move_k1_autonomy.interface import Move, MoveInput, MovementAction
-
-
-class TestMovementAction:
-    """Test MovementAction enum."""
-
-    def test_movement_action_values(self):
-        """Test that all movement actions have correct string values."""
-        assert MovementAction.TURN_LEFT == "turn left"
-        assert MovementAction.TURN_RIGHT == "turn right"
-        assert MovementAction.MOVE_FORWARDS == "move forwards"
-        assert MovementAction.MOVE_BACK == "move back"
-        assert MovementAction.STAND_STILL == "stand still"
-        assert MovementAction.DO_NOTHING == "stand still"
-
-    def test_movement_action_enum_members(self):
-        """Test that all expected enum members exist."""
-        actions = [action.value for action in MovementAction]
-        assert "turn left" in actions
-        assert "turn right" in actions
-        assert "move forwards" in actions
-        assert "move back" in actions
-        assert "stand still" in actions
-
-    def test_movement_action_is_string_enum(self):
-        """Test that MovementAction values are strings."""
-        for action in MovementAction:
-            assert isinstance(action.value, str)
-
-    def test_movement_action_aliases(self):
-        """Test that DO_NOTHING is an alias for STAND_STILL."""
-        assert MovementAction.DO_NOTHING == MovementAction.STAND_STILL
-        assert MovementAction.DO_NOTHING.value == MovementAction.STAND_STILL.value
-
-
-class TestMoveInput:
-    """Test MoveInput dataclass."""
-
-    def test_move_input_creation_turn_left(self):
-        """Test creating MoveInput with turn left action."""
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-        assert move_input.action == MovementAction.TURN_LEFT
-        assert move_input.action == "turn left"
-
-    def test_move_input_creation_turn_right(self):
-        """Test creating MoveInput with turn right action."""
-        move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-        assert move_input.action == MovementAction.TURN_RIGHT
-        assert move_input.action == "turn right"
-
-    def test_move_input_creation_move_forwards(self):
-        """Test creating MoveInput with move forwards action."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        assert move_input.action == MovementAction.MOVE_FORWARDS
-        assert move_input.action == "move forwards"
-
-    def test_move_input_creation_move_back(self):
-        """Test creating MoveInput with move back action."""
-        move_input = MoveInput(action=MovementAction.MOVE_BACK)
-        assert move_input.action == MovementAction.MOVE_BACK
-        assert move_input.action == "move back"
-
-    def test_move_input_creation_stand_still(self):
-        """Test creating MoveInput with stand still action."""
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-        assert move_input.action == MovementAction.STAND_STILL
-        assert move_input.action == "stand still"
-
-    def test_move_input_creation_do_nothing(self):
-        """Test creating MoveInput with do nothing action."""
-        move_input = MoveInput(action=MovementAction.DO_NOTHING)
-        assert move_input.action == MovementAction.DO_NOTHING
-        assert move_input.action == "stand still"
-
-    def test_move_input_with_string_value(self):
-        """Test creating MoveInput with string value directly."""
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-        assert move_input.action == "turn left"
-
-    def test_move_input_equality(self):
-        """Test MoveInput equality comparison."""
-        input1 = MoveInput(action=MovementAction.TURN_LEFT)
-        input2 = MoveInput(action=MovementAction.TURN_LEFT)
-        input3 = MoveInput(action=MovementAction.TURN_RIGHT)
-
-        assert input1 == input2
-        assert input1 != input3
-
-    def test_move_input_is_dataclass(self):
-        """Test that MoveInput is a dataclass."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        assert hasattr(move_input, "__dataclass_fields__")
-
-
-class TestMove:
-    """Test Move interface."""
-
-    def test_move_creation_same_input_output(self):
-        """Test creating Move with same input and output."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        move = Move(input=move_input, output=move_input)
-
-        assert move.input == move_input
-        assert move.output == move_input
-        assert move.input.action == MovementAction.MOVE_FORWARDS
-        assert move.output.action == MovementAction.MOVE_FORWARDS
-
-    def test_move_creation_different_input_output(self):
-        """Test creating Move with different input and output."""
-        input_cmd = MoveInput(action=MovementAction.TURN_LEFT)
-        output_cmd = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        move = Move(input=input_cmd, output=output_cmd)
-
-        assert move.input == input_cmd
-        assert move.output == output_cmd
-        assert move.input.action == MovementAction.TURN_LEFT
-        assert move.output.action == MovementAction.MOVE_FORWARDS
-
-    def test_move_with_all_actions(self):
-        """Test creating Move with all possible actions."""
-        actions = [
-            MovementAction.TURN_LEFT,
-            MovementAction.TURN_RIGHT,
-            MovementAction.MOVE_FORWARDS,
-            MovementAction.MOVE_BACK,
-            MovementAction.STAND_STILL,
-        ]
-
-        for action in actions:
-            move_input = MoveInput(action=action)
-            move = Move(input=move_input, output=move_input)
-            assert move.input.action == action
-            assert move.output.action == action
-
-    def test_move_equality(self):
-        """Test Move equality comparison."""
-        input1 = MoveInput(action=MovementAction.TURN_LEFT)
-        input2 = MoveInput(action=MovementAction.TURN_LEFT)
-        input3 = MoveInput(action=MovementAction.TURN_RIGHT)
-
-        move1 = Move(input=input1, output=input1)
-        move2 = Move(input=input2, output=input2)
-        move3 = Move(input=input3, output=input3)
-
-        assert move1 == move2
-        assert move1 != move3
-
-    def test_move_is_dataclass(self):
-        """Test that Move is a dataclass."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        move = Move(input=move_input, output=move_input)
-        assert hasattr(move, "__dataclass_fields__")
-
-    def test_move_has_docstring(self):
-        """Test that Move has a descriptive docstring."""
-        assert Move.__doc__ is not None
-        assert len(Move.__doc__.strip()) > 0
-        # Check for key phrases in docstring
-        docstring_lower = Move.__doc__.lower()
-        assert "move" in docstring_lower or "action" in docstring_lower
-
-
-class TestMovementActionIntegration:
-    """Integration tests for movement actions."""
-
-    def test_all_actions_can_create_move_input(self):
-        """Test that all MovementAction values can create valid MoveInput."""
-        for action in MovementAction:
-            move_input = MoveInput(action=action)
-            assert move_input.action == action.value
-
-    def test_all_actions_can_create_move_interface(self):
-        """Test that all MovementAction values can create valid Move interface."""
-        for action in MovementAction:
-            move_input = MoveInput(action=action)
-            move = Move(input=move_input, output=move_input)
-            assert move.input.action == action.value
-            assert move.output.action == action.value
-
-    def test_string_action_values_match_enum(self):
-        """Test that string action values correctly match enum values."""
-        string_actions = {
-            "turn left": MovementAction.TURN_LEFT,
-            "turn right": MovementAction.TURN_RIGHT,
-            "move forwards": MovementAction.MOVE_FORWARDS,
-            "move back": MovementAction.MOVE_BACK,
-            "stand still": MovementAction.STAND_STILL,
-        }
-
-        for string_val, enum_val in string_actions.items():
-            assert enum_val.value == string_val
-            move_input = MoveInput(action=string_val)  # type: ignore
-            assert move_input.action == string_val
diff --git a/tests/actions/move_serial_arduino/__init__.py b/tests/actions/move_serial_arduino/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_serial_arduino/connector/__init__.py b/tests/actions/move_serial_arduino/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_serial_arduino/connector/test_move_serial_arduino_serial_arduino.py b/tests/actions/move_serial_arduino/connector/test_move_serial_arduino_serial_arduino.py
deleted file mode 100644
index fd7736376a..0000000000
--- a/tests/actions/move_serial_arduino/connector/test_move_serial_arduino_serial_arduino.py
+++ /dev/null
@@ -1,138 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.move.interface import MoveInput
-from actions.move_serial_arduino.connector.serial_arduino import (
-    MoveSerialConfig,
-    MoveSerialConnector,
-)
-
-
-class TestMoveSerialConfig:
-    """Test MoveSerialConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration has empty port."""
-        config = MoveSerialConfig()
-        assert config.port == ""
-
-    def test_custom_port(self):
-        """Test custom port configuration."""
-        config = MoveSerialConfig(port="/dev/cu.usbmodem14101")
-        assert config.port == "/dev/cu.usbmodem14101"
-
-
-class TestMoveSerialConnectorInit:
-    """Test MoveSerialConnector initialization."""
-
-    def test_init_without_port(self):
-        """Test initialization without port (simulation mode)."""
-        config = MoveSerialConfig()
-        connector = MoveSerialConnector(config)
-        assert connector.port == ""
-        assert connector.ser is None
-
-    def test_init_with_port(self):
-        """Test initialization with port creates serial connection."""
-        with patch("actions.move_serial_arduino.connector.serial_arduino.serial.Serial") as mock_serial:
-            mock_serial_instance = Mock()
-            mock_serial.return_value = mock_serial_instance
-
-            config = MoveSerialConfig(port="/dev/ttyUSB0")
-            connector = MoveSerialConnector(config)
-
-            assert connector.port == "/dev/ttyUSB0"
-            mock_serial.assert_called_once_with("/dev/ttyUSB0", 9600)
-            assert connector.ser == mock_serial_instance
-
-
-class TestMoveSerialConnectorConnect:
-    """Test connect method for each movement action."""
-
-    @pytest.fixture
-    def connector_no_serial(self):
-        """Create connector without serial port (simulation mode)."""
-        config = MoveSerialConfig()
-        return MoveSerialConnector(config)
-
-    @pytest.fixture
-    def connector_with_serial(self):
-        """Create connector with mocked serial port."""
-        with patch("actions.move_serial_arduino.connector.serial_arduino.serial.Serial") as mock_serial:
-            mock_serial_instance = Mock()
-            mock_serial_instance.is_open = True
-            mock_serial.return_value = mock_serial_instance
-
-            config = MoveSerialConfig(port="/dev/ttyUSB0")
-            connector = MoveSerialConnector(config)
-            return connector
-
-    @pytest.mark.asyncio
-    async def test_connect_be_still_simulation(self, connector_no_serial):
-        """Test be still action in simulation mode."""
-        move_input = MoveInput(action="be still")  # type: ignore[arg-type]
-        with patch("actions.move_serial_arduino.connector.serial_arduino.logging") as mock_logging:
-            await connector_no_serial.connect(move_input)
-            mock_logging.info.assert_called_with("SerialNotOpen - Simulating transmit: actuator:0\r\n")
-
-    @pytest.mark.asyncio
-    async def test_connect_small_jump_simulation(self, connector_no_serial):
-        """Test small jump action in simulation mode."""
-        move_input = MoveInput(action="small jump")  # type: ignore[arg-type]
-        with patch("actions.move_serial_arduino.connector.serial_arduino.logging") as mock_logging:
-            await connector_no_serial.connect(move_input)
-            mock_logging.info.assert_called_with("SerialNotOpen - Simulating transmit: actuator:1\r\n")
-
-    @pytest.mark.asyncio
-    async def test_connect_medium_jump_simulation(self, connector_no_serial):
-        """Test medium jump action in simulation mode."""
-        move_input = MoveInput(action="medium jump")  # type: ignore[arg-type]
-        with patch("actions.move_serial_arduino.connector.serial_arduino.logging") as mock_logging:
-            await connector_no_serial.connect(move_input)
-            mock_logging.info.assert_called_with("SerialNotOpen - Simulating transmit: actuator:2\r\n")
-
-    @pytest.mark.asyncio
-    async def test_connect_big_jump_simulation(self, connector_no_serial):
-        """Test big jump action in simulation mode."""
-        move_input = MoveInput(action="big jump")  # type: ignore[arg-type]
-        with patch("actions.move_serial_arduino.connector.serial_arduino.logging") as mock_logging:
-            await connector_no_serial.connect(move_input)
-            mock_logging.info.assert_called_with("SerialNotOpen - Simulating transmit: actuator:3\r\n")
-
-    @pytest.mark.asyncio
-    async def test_connect_be_still_with_serial(self, connector_with_serial):
-        """Test be still action with actual serial connection."""
-        move_input = MoveInput(action="be still")  # type: ignore[arg-type]
-        with patch("actions.move_serial_arduino.connector.serial_arduino.logging") as mock_logging:
-            await connector_with_serial.connect(move_input)
-            mock_logging.info.assert_called_with("SendToArduinoSerial: actuator:0\r\n")
-            connector_with_serial.ser.write.assert_called_once_with(b"actuator:0\r\n")
-
-    @pytest.mark.asyncio
-    async def test_connect_small_jump_with_serial(self, connector_with_serial):
-        """Test small jump action writes correct bytes to serial."""
-        move_input = MoveInput(action="small jump")  # type: ignore[arg-type]
-        with patch("actions.move_serial_arduino.connector.serial_arduino.logging"):
-            await connector_with_serial.connect(move_input)
-            connector_with_serial.ser.write.assert_called_once_with(b"actuator:1\r\n")
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector_no_serial):
-        """Test unknown action logs info and simulates."""
-        move_input = MoveInput(action="unknown")  # type: ignore[arg-type]
-        with patch("actions.move_serial_arduino.connector.serial_arduino.logging") as mock_logging:
-            await connector_no_serial.connect(move_input)
-            mock_logging.info.assert_any_call("Other move type: unknown")
-
-
-class TestMoveSerialConnectorTick:
-    """Test tick method."""
-
-    def test_tick_calls_sleep(self):
-        """Test tick calls sleep with 0.1 seconds."""
-        config = MoveSerialConfig()
-        connector = MoveSerialConnector(config)
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.1)
diff --git a/tests/actions/move_to_peer/__init__.py b/tests/actions/move_to_peer/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_to_peer/connector/__init__.py b/tests/actions/move_to_peer/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_to_peer/connector/test_move_to_peer_ros2.py b/tests/actions/move_to_peer/connector/test_move_to_peer_ros2.py
deleted file mode 100644
index afadbec606..0000000000
--- a/tests/actions/move_to_peer/connector/test_move_to_peer_ros2.py
+++ /dev/null
@@ -1,180 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, Mock, patch
-
-import pytest
-
-from actions.base import ActionConfig
-from actions.move_to_peer.connector.ros2 import MoveToPeerRos2Connector
-from actions.move_to_peer.interface import MoveToPeerAction, MoveToPeerInput
-
-_mock_unitree = MagicMock()
-_mock_sport_client_class = Mock()
-_mock_unitree.unitree_sdk2py.go2.sport.sport_client.SportClient = _mock_sport_client_class
-_unitree_mocks = {
-    "unitree": _mock_unitree,
-    "unitree.unitree_sdk2py": _mock_unitree.unitree_sdk2py,
-    "unitree.unitree_sdk2py.go2": _mock_unitree.unitree_sdk2py.go2,
-    "unitree.unitree_sdk2py.go2.sport": _mock_unitree.unitree_sdk2py.go2.sport,
-    "unitree.unitree_sdk2py.go2.sport.sport_client": (_mock_unitree.unitree_sdk2py.go2.sport.sport_client),
-}
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-    with (
-        patch.dict("sys.modules", _unitree_mocks),
-        patch("actions.move_to_peer.connector.ros2.IOProvider") as mock_io_class,
-    ):
-        mock_io = Mock()
-        mock_io_class.return_value = mock_io
-
-        mock_sport = Mock()
-        _mock_sport_client_class.return_value = mock_sport
-
-        config = ActionConfig()
-        connector = MoveToPeerRos2Connector(config)
-
-        yield connector, mock_io, mock_sport
-
-
-class TestMoveToPeerRos2ConnectorInit:
-    """Test MoveToPeerRos2Connector initialization."""
-
-    def test_init(self, mock_dependencies):
-        """Test successful initialization."""
-        connector, mock_io, mock_sport = mock_dependencies
-        assert connector.MAX_ROT_SPEED == 0.2
-        assert connector.FWD_SPEED == 0.4
-        assert connector.ANG_TOL_DEG == 5.0
-        assert connector.STOP_DIST == 4.0
-        mock_sport.SetTimeout.assert_called_once_with(10.0)
-        mock_sport.Init.assert_called_once()
-
-
-class TestMoveToPeerRos2ConnectorConnect:
-    """Test connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_idle(self, mock_dependencies):
-        """Test idle action returns without movement."""
-        connector, mock_io, mock_sport = mock_dependencies
-        move_input = MoveToPeerInput(action=MoveToPeerAction.IDLE)
-        with patch("actions.move_to_peer.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("MoveToPeer: idle, no movement commanded.")
-
-    @pytest.mark.asyncio
-    async def test_connect_no_own_location(self, mock_dependencies):
-        """Test navigate when own GPS location is not available."""
-        connector, mock_io, mock_sport = mock_dependencies
-        mock_io.get_dynamic_variable.return_value = None
-        move_input = MoveToPeerInput(action=MoveToPeerAction.NAVIGATE)
-        with patch("actions.move_to_peer.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("MoveToPeer: own location not available, not moving.")
-
-    @pytest.mark.asyncio
-    async def test_connect_no_peer_location(self, mock_dependencies):
-        """Test navigate when peer GPS location is not available."""
-        connector, mock_io, mock_sport = mock_dependencies
-
-        def get_var(name):
-            if name in ("latitude", "longitude"):
-                return 40.0
-            return None
-
-        mock_io.get_dynamic_variable.side_effect = get_var
-        move_input = MoveToPeerInput(action=MoveToPeerAction.NAVIGATE)
-        with patch("actions.move_to_peer.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("MoveToPeer: peer location not available, not moving.")
-
-    @pytest.mark.asyncio
-    async def test_connect_already_near_peer(self, mock_dependencies):
-        """Test navigate when already near the peer."""
-        connector, mock_io, mock_sport = mock_dependencies
-
-        def get_var(name):
-            mapping = {
-                "latitude": 40.0,
-                "longitude": -74.0,
-                "closest_peer_lat": 40.0,
-                "closest_peer_lon": -74.0,
-                "yaw_deg": 0.0,
-            }
-            return mapping.get(name)
-
-        mock_io.get_dynamic_variable.side_effect = get_var
-        move_input = MoveToPeerInput(action=MoveToPeerAction.NAVIGATE)
-        with patch("actions.move_to_peer.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("MoveToPeer: already near peer (d=0.0\u00a0m < 4.0\u00a0m).")
-
-    @pytest.mark.asyncio
-    async def test_connect_no_yaw_drives_body_frame(self, mock_dependencies):
-        """Test navigate without yaw uses body-frame vector."""
-        connector, mock_io, mock_sport = mock_dependencies
-        mock_sport.reset_mock()
-
-        def get_var(name):
-            mapping = {
-                "latitude": 40.0,
-                "longitude": -74.0,
-                "closest_peer_lat": 40.001,
-                "closest_peer_lon": -74.0,
-                "yaw_deg": None,
-            }
-            return mapping.get(name)
-
-        mock_io.get_dynamic_variable.side_effect = get_var
-        move_input = MoveToPeerInput(action=MoveToPeerAction.NAVIGATE)
-        with patch("actions.move_to_peer.connector.ros2.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("MoveToPeer: yaw unknown \u2192 driving body\u2011frame vector instead.")
-            mock_sport.Move.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_aligned_drives_forward(self, mock_dependencies):
-        """Test navigate when already aligned drives forward."""
-        connector, mock_io, mock_sport = mock_dependencies
-        mock_sport.reset_mock()
-
-        def get_var(name):
-            mapping = {
-                "latitude": 40.0,
-                "longitude": -74.0,
-                "closest_peer_lat": 40.001,
-                "closest_peer_lon": -74.0,
-                "yaw_deg": 0.0,
-            }
-            return mapping.get(name)
-
-        mock_io.get_dynamic_variable.side_effect = get_var
-        move_input = MoveToPeerInput(action=MoveToPeerAction.NAVIGATE)
-        await connector.connect(move_input)
-        mock_sport.Move.assert_called_once_with(0.4, 0.0, 0.0)
-
-    @pytest.mark.asyncio
-    async def test_connect_misaligned_rotates(self, mock_dependencies):
-        """Test navigate when misaligned rotates in place."""
-        connector, mock_io, mock_sport = mock_dependencies
-        mock_sport.reset_mock()
-
-        def get_var(name):
-            mapping = {
-                "latitude": 40.0,
-                "longitude": -74.0,
-                "closest_peer_lat": 40.0,
-                "closest_peer_lon": -73.999,  # East of current
-                "yaw_deg": 180.0,  # Facing south
-            }
-            return mapping.get(name)
-
-        mock_io.get_dynamic_variable.side_effect = get_var
-        move_input = MoveToPeerInput(action=MoveToPeerAction.NAVIGATE)
-        with patch("actions.move_to_peer.connector.ros2.asyncio") as mock_asyncio:
-            mock_asyncio.sleep = AsyncMock()
-            await connector.connect(move_input)
-            mock_sport.Move.assert_called_once()
-            call_args = mock_sport.Move.call_args[0]
-            assert call_args[0] == 0.0  # vx should be 0 (rotating in place)
diff --git a/tests/actions/move_tron/__init__.py b/tests/actions/move_tron/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_tron/connector/__init__.py b/tests/actions/move_tron/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_tron/connector/test_move_tron_tron_sdk.py b/tests/actions/move_tron/connector/test_move_tron_tron_sdk.py
deleted file mode 100644
index 881767d44c..0000000000
--- a/tests/actions/move_tron/connector/test_move_tron_tron_sdk.py
+++ /dev/null
@@ -1,147 +0,0 @@
-import json
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.move_go2_autonomy.interface import MoveInput, MovementAction
-from actions.move_tron.connector.tron_sdk import (
-    MoveTronSDKConfig,
-    MoveTronSDKConnector,
-)
-
-
-class TestMoveTronSDKConfig:
-    """Test MoveTronSDKConfig configuration."""
-
-    def test_default_config(self):
-        """Test default base_url value."""
-        config = MoveTronSDKConfig(accid="robot123")
-        assert config.base_url == "ws://10.192.1.2:5000"
-        assert config.accid == "robot123"
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = MoveTronSDKConfig(
-            base_url="ws://custom:8080",
-            accid="custom_robot",
-        )
-        assert config.base_url == "ws://custom:8080"
-        assert config.accid == "custom_robot"
-
-
-class TestMoveTronSDKConnectorInit:
-    """Test MoveTronSDKConnector initialization."""
-
-    def test_init_creates_ws_client(self):
-        """Test that init creates and starts a WebSocket client."""
-        with patch("actions.move_tron.connector.tron_sdk.ws.Client") as mock_ws_client:
-            mock_client = Mock()
-            mock_ws_client.return_value = mock_client
-
-            config = MoveTronSDKConfig(accid="robot123")
-            connector = MoveTronSDKConnector(config)
-
-            mock_ws_client.assert_called_once_with("ws://10.192.1.2:5000")
-            mock_client.start.assert_called_once()
-            assert connector.client == mock_client
-
-
-class TestMoveTronSDKConnectorConnect:
-    """Test connect method for each movement action."""
-
-    @pytest.fixture
-    def connector(self):
-        """Create connector with mocked WebSocket client."""
-        with patch("actions.move_tron.connector.tron_sdk.ws.Client") as mock_ws_client:
-            mock_client = Mock()
-            mock_client.connected = True
-            mock_ws_client.return_value = mock_client
-
-            config = MoveTronSDKConfig(accid="robot123")
-            connector = MoveTronSDKConnector(config)
-            return connector
-
-    @pytest.fixture
-    def disconnected_connector(self):
-        """Create connector with disconnected WebSocket client."""
-        with patch("actions.move_tron.connector.tron_sdk.ws.Client") as mock_ws_client:
-            mock_client = Mock()
-            mock_client.connected = False
-            mock_ws_client.return_value = mock_client
-
-            config = MoveTronSDKConfig(accid="robot123")
-            connector = MoveTronSDKConnector(config)
-            return connector
-
-    @pytest.mark.asyncio
-    async def test_connect_move_forwards(self, connector):
-        """Test move forwards sends correct x velocity."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
-
-        connector.client.send_message.assert_called_once()
-        sent_data = json.loads(connector.client.send_message.call_args[0][0])
-        assert sent_data["accid"] == "robot123"
-        assert sent_data["title"] == "request_twist"
-        assert sent_data["data"]["x"] == 0.5
-        assert sent_data["data"]["y"] == 0.0
-        assert sent_data["data"]["z"] == 0.0
-
-    @pytest.mark.asyncio
-    async def test_connect_move_back(self, connector):
-        """Test move back sends negative x velocity."""
-        move_input = MoveInput(action=MovementAction.MOVE_BACK)
-        await connector.connect(move_input)
-
-        sent_data = json.loads(connector.client.send_message.call_args[0][0])
-        assert sent_data["data"]["x"] == -0.5
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_left(self, connector):
-        """Test turn left sends positive z velocity."""
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-        await connector.connect(move_input)
-
-        sent_data = json.loads(connector.client.send_message.call_args[0][0])
-        assert sent_data["data"]["z"] == 0.5
-        assert sent_data["data"]["x"] == 0.0
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_right(self, connector):
-        """Test turn right sends negative z velocity."""
-        move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-        await connector.connect(move_input)
-
-        sent_data = json.loads(connector.client.send_message.call_args[0][0])
-        assert sent_data["data"]["z"] == -0.5
-        assert sent_data["data"]["x"] == 0.0
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector):
-        """Test stand still sends zero velocities."""
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-        await connector.connect(move_input)
-
-        sent_data = json.loads(connector.client.send_message.call_args[0][0])
-        assert sent_data["data"]["x"] == 0.0
-        assert sent_data["data"]["y"] == 0.0
-        assert sent_data["data"]["z"] == 0.0
-
-    @pytest.mark.asyncio
-    async def test_connect_disconnected_logs_error(self, disconnected_connector):
-        """Test that disconnected client logs error instead of sending."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        with patch("actions.move_tron.connector.tron_sdk.logging") as mock_logging:
-            await disconnected_connector.connect(move_input)
-            mock_logging.error.assert_called_with("Tron webSocket client is not connected.")
-            disconnected_connector.client.send_message.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_message_has_guid(self, connector):
-        """Test that each message has a unique guid."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
-
-        sent_data = json.loads(connector.client.send_message.call_args[0][0])
-        assert "guid" in sent_data
-        assert len(sent_data["guid"]) > 0
diff --git a/tests/actions/move_tron_autonomy/__init__.py b/tests/actions/move_tron_autonomy/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_tron_autonomy/connector/__init__.py b/tests/actions/move_tron_autonomy/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_tron_autonomy/connector/test_move_tron_autonomy_limx_sdk.py b/tests/actions/move_tron_autonomy/connector/test_move_tron_autonomy_limx_sdk.py
deleted file mode 100644
index 46b6613130..0000000000
--- a/tests/actions/move_tron_autonomy/connector/test_move_tron_autonomy_limx_sdk.py
+++ /dev/null
@@ -1,535 +0,0 @@
-from queue import Queue
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.base import MoveCommand
-from actions.move_tron_autonomy.connector.limx_sdk import (
-    MoveTronZenohConfig,
-    MoveTronZenohConnector,
-)
-from actions.move_tron_autonomy.interface import MoveInput, MovementAction
-from providers.tron_odom_provider import RobotState
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-    with (
-        patch("actions.move_tron_autonomy.connector.limx_sdk.SimplePathsProvider") as mock_paths,
-        patch("actions.move_tron_autonomy.connector.limx_sdk.TronOdomProvider") as mock_odom,
-        patch("actions.move_tron_autonomy.connector.limx_sdk.open_zenoh_session") as mock_zenoh,
-    ):
-        # Setup mock instances
-        mock_paths_instance = Mock()
-        mock_paths_instance.advance = [4]
-        mock_paths_instance.retreat = [1]
-        mock_paths_instance.turn_left = [2]
-        mock_paths_instance.turn_right = [6]
-        mock_paths_instance.path_angles = {1: 0, 2: 45, 4: 0, 6: -45}
-        mock_paths.return_value = mock_paths_instance
-
-        mock_odom_instance = Mock()
-        mock_odom_instance.position = {
-            "moving": False,
-            "odom_x": 1.0,
-            "odom_y": 0.0,
-            "odom_yaw_m180_p180": 0.0,
-            "body_attitude": RobotState.STANDING,
-        }
-        mock_odom.return_value = mock_odom_instance
-
-        mock_session = Mock()
-        mock_session.put = Mock()
-        mock_zenoh.return_value = mock_session
-
-        yield {
-            "paths": mock_paths_instance,
-            "odom": mock_odom_instance,
-            "session": mock_session,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create a MoveTronZenohConnector instance with mocked dependencies."""
-    config = MoveTronZenohConfig()
-    connector = MoveTronZenohConnector(config)
-    return connector
-
-
-class TestMoveTronZenohConfig:
-    """Test MoveTronZenohConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = MoveTronZenohConfig()
-        assert config.odom_topic == "odom"
-        assert config.cmd_vel_topic == "cmd_vel"
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = MoveTronZenohConfig(odom_topic="custom_odom", cmd_vel_topic="custom_cmd_vel")
-        assert config.odom_topic == "custom_odom"
-        assert config.cmd_vel_topic == "custom_cmd_vel"
-
-
-class TestMoveTronZenohConnectorInit:
-    """Test MoveTronZenohConnector initialization."""
-
-    def test_initialization(self, connector, mock_dependencies):
-        """Test successful initialization."""
-        assert connector.move_speed == 0.25
-        assert connector.turn_speed == 0.35
-        assert connector.angle_tolerance == 5.0
-        assert connector.distance_tolerance == 0.05
-        assert isinstance(connector.pending_movements, Queue)
-        assert connector.movement_attempts == 0
-        assert connector.movement_attempt_limit == 15
-        assert connector.gap_previous == 0
-
-        # Verify providers are initialized
-        assert connector.path_provider == mock_dependencies["paths"]
-        assert connector.odom == mock_dependencies["odom"]
-        assert connector.session == mock_dependencies["session"]
-
-    def test_initialization_zenoh_error(self):
-        """Test initialization when Zenoh session fails."""
-        with (
-            patch("actions.move_tron_autonomy.connector.limx_sdk.SimplePathsProvider"),
-            patch("actions.move_tron_autonomy.connector.limx_sdk.TronOdomProvider"),
-            patch("actions.move_tron_autonomy.connector.limx_sdk.open_zenoh_session") as mock_zenoh,
-            patch("actions.move_tron_autonomy.connector.limx_sdk.logging") as mock_logging,
-        ):
-            mock_zenoh.side_effect = Exception("Connection failed")
-
-            config = MoveTronZenohConfig()
-            connector = MoveTronZenohConnector(config)
-
-            assert connector.session is None
-            mock_logging.error.assert_called()
-
-
-class TestConnect:
-    """Test the connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_robot_already_moving(self, connector, mock_dependencies):
-        """Test connect when robot is already moving."""
-        mock_dependencies["odom"].position["moving"] = True
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        # Should return early without processing
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_movement_already_pending(self, connector, mock_dependencies):
-        """Test connect when movement is already pending."""
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        # Should still have only one movement
-        assert connector.pending_movements.qsize() == 1
-
-    @pytest.mark.asyncio
-    async def test_connect_waiting_for_location_data(self, connector, mock_dependencies):
-        """Test connect when waiting for location data."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_left(self, connector, mock_dependencies):
-        """Test connect with turn left command."""
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-        assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_right(self, connector, mock_dependencies):
-        """Test connect with turn right command."""
-        move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-        assert command.turn_complete is False
-
-    @pytest.mark.asyncio
-    async def test_connect_move_forwards(self, connector, mock_dependencies):
-        """Test connect with move forwards command."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == 0.5
-
-    @pytest.mark.asyncio
-    async def test_connect_move_back(self, connector, mock_dependencies):
-        """Test connect with move back command."""
-        move_input = MoveInput(action=MovementAction.MOVE_BACK)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == -0.5
-        assert command.turn_complete is True
-        assert command.speed == 0.25
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector, mock_dependencies):
-        """Test connect with stand still command."""
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector, mock_dependencies):
-        """Test connect with unknown action."""
-        move_input = MoveInput(action="unknown action")  # type: ignore[arg-type]
-
-        await connector.connect(move_input)
-
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestMovementProcessing:
-    """Test movement processing methods."""
-
-    def test_process_turn_left_with_barrier(self, connector, mock_dependencies):
-        """Test turn left when blocked by barrier."""
-        mock_dependencies["paths"].turn_left = []
-
-        connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_turn_left_success(self, connector, mock_dependencies):
-        """Test successful turn left."""
-        connector._process_turn_left()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_turn_right_with_barrier(self, connector, mock_dependencies):
-        """Test turn right when blocked by barrier."""
-        mock_dependencies["paths"].turn_right = []
-
-        connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_turn_right_success(self, connector, mock_dependencies):
-        """Test successful turn right."""
-        connector._process_turn_right()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_move_forward_with_barrier(self, connector, mock_dependencies):
-        """Test move forward when blocked by barrier."""
-        mock_dependencies["paths"].advance = []
-
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_forward_success(self, connector, mock_dependencies):
-        """Test successful move forward."""
-        connector._process_move_forward()
-
-        assert connector.pending_movements.qsize() == 1
-
-    def test_process_move_back_with_barrier(self, connector, mock_dependencies):
-        """Test move back when blocked by barrier."""
-        mock_dependencies["paths"].retreat = []
-
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_process_move_back_success(self, connector, mock_dependencies):
-        """Test successful move back."""
-        connector._process_move_back()
-
-        assert connector.pending_movements.qsize() == 1
-        command = connector.pending_movements.get()
-        assert command.dx == -0.5
-
-
-class TestMoveRobot:
-    """Test _move_robot method."""
-
-    def test_move_robot_no_session(self, connector, mock_dependencies):
-        """Test move robot when session is None."""
-        connector.session = None
-
-        connector._move_robot(0.5, 0.0, 0.0)
-
-        # Should not crash
-
-    def test_move_robot_not_standing(self, connector, mock_dependencies):
-        """Test move robot when robot is not standing."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-
-        connector._move_robot(0.5, 0.0, 0.0)
-
-        mock_dependencies["session"].put.assert_not_called()
-
-    def test_move_robot_success(self, connector, mock_dependencies):
-        """Test successful robot movement."""
-        connector._move_robot(0.5, 0.0, 0.3)
-
-        mock_dependencies["session"].put.assert_called_once()
-        call_args = mock_dependencies["session"].put.call_args
-        assert call_args[0][0] == "cmd_vel"
-
-
-class TestCleanAbort:
-    """Test clean_abort method."""
-
-    def test_clean_abort_with_pending_movement(self, connector, mock_dependencies):
-        """Test clean abort with pending movement."""
-        connector.movement_attempts = 5
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        connector.clean_abort()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_clean_abort_empty_queue(self, connector, mock_dependencies):
-        """Test clean abort with empty queue."""
-        connector.movement_attempts = 5
-
-        connector.clean_abort()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestAngleCalculations:
-    """Test angle calculation methods."""
-
-    def test_normalize_angle_positive_overflow(self, connector, mock_dependencies):
-        """Test normalize angle with positive overflow."""
-        result = connector._normalize_angle(270.0)
-        assert result == -90.0
-
-    def test_normalize_angle_negative_overflow(self, connector, mock_dependencies):
-        """Test normalize angle with negative overflow."""
-        result = connector._normalize_angle(-270.0)
-        assert result == 90.0
-
-    def test_normalize_angle_within_range(self, connector, mock_dependencies):
-        """Test normalize angle within range."""
-        result = connector._normalize_angle(45.0)
-        assert result == 45.0
-
-    def test_calculate_angle_gap_simple(self, connector, mock_dependencies):
-        """Test calculate angle gap with simple case."""
-        result = connector._calculate_angle_gap(10.0, 5.0)
-        assert result == 5.0
-
-    def test_calculate_angle_gap_wrap_positive(self, connector, mock_dependencies):
-        """Test calculate angle gap with positive wrap."""
-        result = connector._calculate_angle_gap(170.0, -170.0)
-        assert result == -20.0
-
-    def test_calculate_angle_gap_wrap_negative(self, connector, mock_dependencies):
-        """Test calculate angle gap with negative wrap."""
-        result = connector._calculate_angle_gap(-170.0, 170.0)
-        assert result == 20.0
-
-
-class TestExecuteTurn:
-    """Test _execute_turn method."""
-
-    def test_execute_turn_left_blocked(self, connector, mock_dependencies):
-        """Test execute turn left when blocked."""
-        mock_dependencies["paths"].turn_left = []
-
-        result = connector._execute_turn(10.0)
-
-        assert result is False
-
-    def test_execute_turn_left_success(self, connector, mock_dependencies):
-        """Test successful turn left."""
-        mock_dependencies["paths"].turn_left = [2, 3]
-
-        result = connector._execute_turn(10.0)
-
-        assert result is True
-        mock_dependencies["session"].put.assert_called()
-
-    def test_execute_turn_right_blocked(self, connector, mock_dependencies):
-        """Test execute turn right when blocked."""
-        mock_dependencies["paths"].turn_right = []
-
-        result = connector._execute_turn(-10.0)
-
-        assert result is False
-
-    def test_execute_turn_right_success(self, connector, mock_dependencies):
-        """Test successful turn right."""
-        mock_dependencies["paths"].turn_right = [5, 6]
-
-        result = connector._execute_turn(-10.0)
-
-        assert result is True
-        mock_dependencies["session"].put.assert_called()
-
-
-class TestTick:
-    """Test tick method."""
-
-    def test_tick_odom_none(self, connector, mock_dependencies):
-        """Test tick when odom is None."""
-        connector.odom = None
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_waiting_for_odom_data(self, connector, mock_dependencies):
-        """Test tick when waiting for odom data."""
-        mock_dependencies["odom"].position["odom_x"] = 0.0
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_robot_sitting(self, connector, mock_dependencies):
-        """Test tick when robot is sitting."""
-        mock_dependencies["odom"].position["body_attitude"] = RobotState.SITTING
-
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.5)
-
-    def test_tick_no_pending_movements(self, connector, mock_dependencies):
-        """Test tick with no pending movements."""
-        with patch.object(connector, "sleep") as mock_sleep:
-            connector.tick()
-            mock_sleep.assert_called_once_with(0.1)
-
-    def test_tick_movement_timeout(self, connector, mock_dependencies):
-        """Test tick when movement times out."""
-        connector.movement_attempts = 20
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_turn_phase_large_gap(self, connector, mock_dependencies):
-        """Test tick during turn phase with large gap."""
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "_execute_turn", return_value=True):
-            with patch.object(connector, "sleep"):
-                connector.tick()
-
-        assert connector.movement_attempts == 1
-
-    def test_tick_turn_phase_small_gap(self, connector, mock_dependencies):
-        """Test tick during turn phase with small gap (between 5 and 10 degrees)."""
-        # Gap = current - target = -38 - (-45) = 7 degrees (small gap)
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = -38.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=-45.0, start_x=1.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-        mock_dependencies["session"].put.assert_called()
-
-    def test_tick_turn_complete(self, connector, mock_dependencies):
-        """Test tick when turn is complete."""
-        mock_dependencies["odom"].position["odom_yaw_m180_p180"] = -43.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=45.0, start_x=0.0, start_y=0.0, turn_complete=False))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        command = list(connector.pending_movements.queue)[0]
-        assert command.turn_complete is True
-
-    def test_tick_movement_phase_no_distance(self, connector, mock_dependencies):
-        """Test tick during movement phase with no distance required."""
-        connector.pending_movements.put(MoveCommand(dx=0, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_forward_blocked(self, connector, mock_dependencies):
-        """Test tick during movement phase when forward is blocked."""
-        mock_dependencies["paths"].advance = []
-        mock_dependencies["odom"].position["odom_x"] = 1.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=1.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_retreat_blocked(self, connector, mock_dependencies):
-        """Test tick during movement phase when retreat is blocked."""
-        mock_dependencies["paths"].retreat = []
-        mock_dependencies["odom"].position["odom_x"] = 1.0
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=-0.5, yaw=0.0, start_x=1.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-
-    def test_tick_movement_phase_continue_moving(self, connector, mock_dependencies):
-        """Test tick during movement phase continuing to move."""
-        mock_dependencies["odom"].position["odom_x"] = 0.2
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True))
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.movement_attempts == 1
-        mock_dependencies["session"].put.assert_called()
-
-    def test_tick_movement_phase_complete(self, connector, mock_dependencies):
-        """Test tick when movement is complete."""
-        mock_dependencies["odom"].position["odom_x"] = 0.5
-        mock_dependencies["odom"].position["odom_y"] = 0.0
-        connector.pending_movements.put(
-            MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0, turn_complete=True, speed=0.5)
-        )
-
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-        assert connector.pending_movements.qsize() == 0
-        assert connector.movement_attempts == 0
diff --git a/tests/actions/move_turtle/__init__.py b/tests/actions/move_turtle/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_turtle/connector/__init__.py b/tests/actions/move_turtle/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_turtle/connector/test_move_turtle_zenoh.py b/tests/actions/move_turtle/connector/test_move_turtle_zenoh.py
deleted file mode 100644
index 82afcce4f0..0000000000
--- a/tests/actions/move_turtle/connector/test_move_turtle_zenoh.py
+++ /dev/null
@@ -1,249 +0,0 @@
-from queue import Queue
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.base import MoveCommand
-from actions.move_turtle.connector.zenoh import MoveZenohConfig, MoveZenohConnector
-from actions.move_turtle.interface import MoveInput, MovementAction
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-
-    with (
-        patch("actions.move_turtle.connector.zenoh.open_zenoh_session") as mock_open_session,
-        patch("actions.move_turtle.connector.zenoh.TurtleBot4RPLidarProvider") as mock_lidar,
-        patch("actions.move_turtle.connector.zenoh.TurtleBot4OdomProvider") as mock_odom,
-    ):
-        mock_session = Mock()
-        mock_open_session.return_value = mock_session
-
-        mock_lidar_instance = Mock()
-        mock_lidar_instance.valid_paths = [4, 9]
-        mock_lidar_instance.turn_left = [2, 3]
-        mock_lidar_instance.turn_right = [5, 6]
-        mock_lidar.return_value = mock_lidar_instance
-
-        mock_odom_instance = Mock()
-        mock_odom_instance.x = 1.0
-        mock_odom_instance.y = 0.0
-        mock_odom_instance.odom_yaw_m180_p180 = 0.0
-        mock_odom_instance.position = {"odom_yaw_m180_p180": 0.0}
-        mock_odom.return_value = mock_odom_instance
-
-        yield {
-            "session": mock_session,
-            "lidar": mock_lidar_instance,
-            "odom": mock_odom_instance,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create MoveZenohConnector with mocked dependencies."""
-    config = MoveZenohConfig(URID="test_robot")
-    return MoveZenohConnector(config)
-
-
-class TestMoveZenohConfig:
-    """Test MoveZenohConfig configuration."""
-
-    def test_default_config(self):
-        config = MoveZenohConfig()
-        assert config.URID is None
-
-    def test_custom_config(self):
-        config = MoveZenohConfig(URID="my_robot")
-        assert config.URID == "my_robot"
-
-
-class TestMoveZenohConnectorInit:
-    """Test MoveZenohConnector initialization."""
-
-    def test_init_with_urid(self, connector, mock_dependencies):
-        assert connector.turn_speed == 0.8
-        assert connector.angle_tolerance == 5.0
-        assert connector.distance_tolerance == 0.05
-        assert isinstance(connector.pending_movements, Queue)
-        assert connector.session == mock_dependencies["session"]
-        assert connector.cmd_vel == "test_robot/c3/cmd_vel"
-
-    def test_init_without_urid(self):
-        """Test initialization without URID aborts."""
-        with (
-            patch("actions.move_turtle.connector.zenoh.open_zenoh_session"),
-            patch("actions.move_turtle.connector.zenoh.TurtleBot4RPLidarProvider"),
-            patch("actions.move_turtle.connector.zenoh.TurtleBot4OdomProvider"),
-            patch("actions.move_turtle.connector.zenoh.logging") as mock_logging,
-        ):
-            config = MoveZenohConfig(URID=None)
-            connector = MoveZenohConnector(config)
-            mock_logging.warning.assert_called_with("Aborting TurtleBot4 Move system, no URID provided")
-            assert connector.session is None
-
-    def test_init_zenoh_error(self):
-        """Test initialization when Zenoh fails."""
-        with (
-            patch("actions.move_turtle.connector.zenoh.open_zenoh_session") as mock_session,
-            patch("actions.move_turtle.connector.zenoh.TurtleBot4RPLidarProvider"),
-            patch("actions.move_turtle.connector.zenoh.TurtleBot4OdomProvider"),
-            patch("actions.move_turtle.connector.zenoh.logging") as mock_logging,
-        ):
-            mock_session.side_effect = Exception("Connection failed")
-            config = MoveZenohConfig(URID="test")
-            connector = MoveZenohConnector(config)
-            assert connector.session is None
-            mock_logging.error.assert_called()
-
-
-class TestMoveZenohConnectorConnect:
-    """Test connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_stand_still(self, connector, mock_dependencies):
-        """Test stand still does nothing."""
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_left(self, connector, mock_dependencies):
-        """Test turn left adds pending movement."""
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 1
-        cmd = connector.pending_movements.get()
-        assert cmd.dx == 0.0
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_right(self, connector, mock_dependencies):
-        """Test turn right adds pending movement."""
-        move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 1
-
-    @pytest.mark.asyncio
-    async def test_connect_move_forwards(self, connector, mock_dependencies):
-        """Test move forwards adds pending movement."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 1
-        cmd = connector.pending_movements.get()
-        assert cmd.dx == 0.5
-
-    @pytest.mark.asyncio
-    async def test_connect_move_forwards_blocked(self, connector, mock_dependencies):
-        """Test move forwards when path is blocked."""
-        mock_dependencies["lidar"].valid_paths = []
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_pending_movement_queued(self, connector, mock_dependencies):
-        """Test connect when movement is already pending."""
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0))
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 1
-
-    @pytest.mark.asyncio
-    async def test_connect_emergency_active(self, connector, mock_dependencies):
-        """Test connect when emergency is active."""
-        connector.emergency = 90.0
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 0
-
-    @pytest.mark.asyncio
-    async def test_connect_waiting_odom(self, connector, mock_dependencies):
-        """Test connect when waiting for odom data."""
-        mock_dependencies["odom"].x = 0.0
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
-        assert connector.pending_movements.qsize() == 0
-
-
-class TestMoveZenohConnectorMove:
-    """Test move method."""
-
-    def test_move_no_session(self, connector, mock_dependencies):
-        """Test move when session is None."""
-        connector.session = None
-        connector.move(0.5, 0.0)
-
-    def test_move_success(self, connector, mock_dependencies):
-        """Test successful move publishes Zenoh message."""
-        connector.move(0.5, 0.3)
-        mock_dependencies["session"].put.assert_called_once()
-
-
-class TestMoveZenohConnectorAngle:
-    """Test angle calculation methods."""
-
-    def test_calculate_angle_gap_simple(self, connector, mock_dependencies):
-        result = connector._calculate_angle_gap(10.0, 5.0)
-        assert result == 5.0
-
-    def test_calculate_angle_gap_wrap_positive(self, connector, mock_dependencies):
-        result = connector._calculate_angle_gap(170.0, -170.0)
-        assert result == -20.0
-
-    def test_calculate_angle_gap_wrap_negative(self, connector, mock_dependencies):
-        result = connector._calculate_angle_gap(-170.0, 170.0)
-        assert result == 20.0
-
-
-class TestMoveZenohConnectorTick:
-    """Test tick method."""
-
-    def test_tick_waiting_for_odom(self, connector, mock_dependencies):
-        """Test tick when waiting for odom data."""
-        mock_dependencies["odom"].x = 0.0
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-    def test_tick_no_pending(self, connector, mock_dependencies):
-        """Test tick with no pending movements."""
-        with patch.object(connector, "sleep"):
-            connector.tick()
-
-
-class TestMoveZenohConnectorCleanAbort:
-    """Test clean_abort method."""
-
-    def test_clean_abort(self, connector, mock_dependencies):
-        connector.movement_attempts = 5
-        connector.pending_movements.put(MoveCommand(dx=0.5, yaw=0.0, start_x=0.0, start_y=0.0))
-        connector.clean_abort()
-        assert connector.movement_attempts == 0
-        assert connector.pending_movements.qsize() == 0
-
-    def test_clean_abort_empty_queue(self, connector, mock_dependencies):
-        connector.movement_attempts = 3
-        connector.clean_abort()
-        assert connector.movement_attempts == 0
-
-
-class TestExecuteTurn:
-    """Test _execute_turn method."""
-
-    def test_execute_turn_left_blocked(self, connector, mock_dependencies):
-        mock_dependencies["lidar"].turn_left = []
-        result = connector._execute_turn(10.0)
-        assert result is False
-
-    def test_execute_turn_left_success(self, connector, mock_dependencies):
-        result = connector._execute_turn(10.0)
-        assert result is True
-
-    def test_execute_turn_right_blocked(self, connector, mock_dependencies):
-        mock_dependencies["lidar"].turn_right = []
-        result = connector._execute_turn(-10.0)
-        assert result is False
-
-    def test_execute_turn_right_success(self, connector, mock_dependencies):
-        result = connector._execute_turn(-10.0)
-        assert result is True
diff --git a/tests/actions/move_turtle/connector/test_move_turtle_zenoh_remote.py b/tests/actions/move_turtle/connector/test_move_turtle_zenoh_remote.py
deleted file mode 100644
index 5c927b5f25..0000000000
--- a/tests/actions/move_turtle/connector/test_move_turtle_zenoh_remote.py
+++ /dev/null
@@ -1,135 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.move_turtle.connector.zenoh_remote import (
-    MoveZenohRemoteConfig,
-    MoveZenohRemoteConnector,
-)
-from actions.move_turtle.interface import MoveInput, MovementAction
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-
-    with (
-        patch("actions.move_turtle.connector.zenoh_remote.open_zenoh_session") as mock_open_session,
-        patch("actions.move_turtle.connector.zenoh_remote.ws.Client") as mock_ws,
-    ):
-        mock_session = Mock()
-        mock_open_session.return_value = mock_session
-
-        mock_ws_instance = Mock()
-        mock_ws.return_value = mock_ws_instance
-
-        yield {
-            "session": mock_session,
-            "ws": mock_ws_instance,
-        }
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create MoveZenohRemoteConnector."""
-    config = MoveZenohRemoteConfig(api_key="test_key", URID="test_robot")
-    return MoveZenohRemoteConnector(config)
-
-
-class TestMoveZenohRemoteConfig:
-    """Test MoveZenohRemoteConfig configuration."""
-
-    def test_default_config(self):
-        config = MoveZenohRemoteConfig()
-        assert config.api_key is None
-        assert config.URID is None
-
-    def test_custom_config(self):
-        config = MoveZenohRemoteConfig(api_key="my_key", URID="my_robot")
-        assert config.api_key == "my_key"
-        assert config.URID == "my_robot"
-
-
-class TestMoveZenohRemoteConnectorInit:
-    """Test initialization."""
-
-    def test_init(self, connector, mock_dependencies):
-        assert connector.cmd_vel == "test_robot/c3/cmd_vel"
-        assert connector.session == mock_dependencies["session"]
-        mock_dependencies["ws"].start.assert_called_once()
-        mock_dependencies["ws"].register_message_callback.assert_called_once_with(connector._on_message)
-
-    def test_init_ws_url_contains_api_key(self):
-        """Test WebSocket URL is constructed with api_key."""
-        with (
-            patch("actions.move_turtle.connector.zenoh_remote.open_zenoh_session"),
-            patch("actions.move_turtle.connector.zenoh_remote.ws.Client") as mock_ws,
-        ):
-            config = MoveZenohRemoteConfig(api_key="secret123", URID="bot")
-            MoveZenohRemoteConnector(config)
-            mock_ws.assert_called_once_with(url="wss://api.openmind.com/api/core/teleops/action?api_key=secret123")
-
-    def test_init_cmd_vel_without_urid(self):
-        """Test cmd_vel topic when URID is None."""
-        with (
-            patch("actions.move_turtle.connector.zenoh_remote.open_zenoh_session"),
-            patch("actions.move_turtle.connector.zenoh_remote.ws.Client"),
-        ):
-            config = MoveZenohRemoteConfig(URID=None)
-            connector = MoveZenohRemoteConnector(config)
-            assert connector.cmd_vel == "None/c3/cmd_vel"
-
-    def test_init_zenoh_error(self):
-        """Test initialization when Zenoh fails."""
-        with (
-            patch("actions.move_turtle.connector.zenoh_remote.open_zenoh_session") as mock_session,
-            patch("actions.move_turtle.connector.zenoh_remote.ws.Client"),
-            patch("actions.move_turtle.connector.zenoh_remote.logging") as mock_logging,
-        ):
-            mock_session.side_effect = Exception("Failed")
-            config = MoveZenohRemoteConfig(URID="test")
-            connector = MoveZenohRemoteConnector(config)
-            assert connector.session is None
-            mock_logging.error.assert_called()
-
-
-class TestMoveZenohRemoteConnectorOnMessage:
-    """Test _on_message callback."""
-
-    def test_on_message_no_session(self, connector, mock_dependencies):
-        """Test on_message when session is None."""
-        connector.session = None
-        with patch("actions.move_turtle.connector.zenoh_remote.logging") as mock_logging:
-            connector._on_message('{"vx": 0.5, "vyaw": 0.0}')
-            mock_logging.info.assert_any_call("No open Zenoh session, returning")
-
-    def test_on_message_valid(self, connector, mock_dependencies):
-        """Test on_message with valid command."""
-        with patch("actions.move_turtle.connector.zenoh_remote.CommandStatus") as mock_cmd:
-            mock_status = Mock()
-            mock_status.vx = 0.5
-            mock_status.vyaw = 0.0
-            mock_status.to_dict.return_value = {"vx": 0.5, "vyaw": 0.0}
-            mock_status.timestamp = "0.0"
-            mock_cmd.from_dict.return_value = mock_status
-
-            connector._on_message('{"vx": 0.5, "vyaw": 0.0}')
-            mock_dependencies["session"].put.assert_called_once()
-            call_args = mock_dependencies["session"].put.call_args
-            assert call_args[0][0] == "test_robot/c3/cmd_vel"
-
-    def test_on_message_error(self, connector, mock_dependencies):
-        """Test on_message with invalid message."""
-        with patch("actions.move_turtle.connector.zenoh_remote.logging") as mock_logging:
-            connector._on_message("invalid json{{{")
-            mock_logging.error.assert_called()
-
-
-class TestMoveZenohRemoteConnectorConnect:
-    """Test connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_is_noop(self, connector, mock_dependencies):
-        """Test connect is a no-op (pass)."""
-        move_input = MoveInput(action=MovementAction.MOVE_FORWARDS)
-        await connector.connect(move_input)
diff --git a/tests/actions/move_ub/__init__.py b/tests/actions/move_ub/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/move_ub/connector/test_move_ub_yanshee_motion.py b/tests/actions/move_ub/connector/test_move_ub_yanshee_motion.py
deleted file mode 100644
index 0864bdbba5..0000000000
--- a/tests/actions/move_ub/connector/test_move_ub_yanshee_motion.py
+++ /dev/null
@@ -1,291 +0,0 @@
-import concurrent.futures
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from actions.move_ub.connector.yanshee_motion import (
-    Motion,
-    MoveYansheeConfig,
-    MoveYansheeConnector,
-)
-from actions.move_ub.interface import MoveInput, MovementAction
-
-
-class TestMotion:
-    """Test Motion dataclass."""
-
-    def test_reset_defaults(self):
-        m = Motion("reset")
-        assert m.direction == ""
-        assert m.speed == "normal"
-        assert m.repeat == 1
-        assert m.version == "v1"
-
-    def test_wave_defaults(self):
-        m = Motion("wave")
-        assert m.direction == "both"
-
-    def test_walk_defaults(self):
-        m = Motion("walk")
-        assert m.direction == "forward"
-
-    def test_custom_override(self):
-        m = Motion("walk", direction="backward", repeat=3)
-        assert m.direction == "backward"
-        assert m.repeat == 3
-
-    def test_unknown_motion_raises(self):
-        with pytest.raises(ValueError, match="Unknown motion name"):
-            Motion("fly")
-
-    def test_all_known_motions(self):
-        """Test all known motion names don't raise."""
-        known = [
-            "reset",
-            "wave",
-            "bow",
-            "crouch",
-            "come on",
-            "walk",
-            "head",
-            "turn around",
-            "WakaWaka",
-            "Hug",
-            "RaiseRightHand",
-            "PushUp",
-        ]
-        for name in known:
-            m = Motion(name)
-            assert m.name == name
-
-
-class TestMoveYansheeConfig:
-    """Test MoveYansheeConfig configuration."""
-
-    def test_default_config(self):
-        config = MoveYansheeConfig()
-        assert config.robot_ip == "127.0.0.1"
-
-    def test_custom_ip(self):
-        config = MoveYansheeConfig(robot_ip="192.168.1.100")
-        assert config.robot_ip == "192.168.1.100"
-
-
-class TestMoveYansheeConnectorInit:
-    """Test MoveYansheeConnector initialization."""
-
-    def test_init(self):
-        with patch("actions.move_ub.connector.yanshee_motion.YanAPI") as mock_api:
-            config = MoveYansheeConfig()
-            connector = MoveYansheeConnector(config)
-
-            mock_api.yan_api_init.assert_called_once_with("127.0.0.1")
-            assert connector.move_speed == 0.7
-            assert connector.turn_speed == 0.6
-            assert connector.timeout == 8.0
-
-    def test_init_api_error(self):
-        with (
-            patch("actions.move_ub.connector.yanshee_motion.YanAPI") as mock_api,
-            patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging,
-        ):
-            mock_api.yan_api_init.side_effect = Exception("Robot not found")
-            config = MoveYansheeConfig()
-            MoveYansheeConnector(config)
-            mock_logging.error.assert_called()
-
-
-class TestMoveYansheeConnectorSendCommand:
-    """Test _send_command method."""
-
-    @pytest.fixture
-    def connector(self):
-        with patch("actions.move_ub.connector.yanshee_motion.YanAPI") as mock_api:
-            self.mock_api = mock_api
-            config = MoveYansheeConfig()
-            connector = MoveYansheeConnector(config)
-            return connector
-
-    def test_send_command_success_reset(self, connector):
-        with patch("actions.move_ub.connector.yanshee_motion.YanAPI") as mock_api:
-            mock_api.sync_play_motion.return_value = "ok"
-            result = connector._send_command(Motion("reset"))
-            assert result == "ok"
-            mock_api.sync_play_motion.assert_called_once()
-
-    def test_send_command_non_reset_sends_reset_after(self, connector):
-        with patch("actions.move_ub.connector.yanshee_motion.YanAPI") as mock_api:
-            mock_api.sync_play_motion.return_value = "ok"
-            connector._send_command(Motion("wave"))
-            assert mock_api.sync_play_motion.call_count == 2
-
-    def test_send_command_value_error(self, connector):
-        with (
-            patch("actions.move_ub.connector.yanshee_motion.YanAPI") as mock_api,
-            patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging,
-        ):
-            mock_api.sync_play_motion.side_effect = ValueError("bad param")
-            result = connector._send_command(Motion("wave"))
-            assert result is False
-            mock_logging.error.assert_called()
-
-    def test_send_command_timeout(self, connector):
-        """Test _send_command with timeout."""
-        with patch("actions.move_ub.connector.yanshee_motion.concurrent.futures.ThreadPoolExecutor") as mock_executor:
-            mock_future = Mock()
-            mock_future.result.side_effect = concurrent.futures.TimeoutError()
-            mock_executor.return_value.__enter__ = Mock(return_value=Mock(submit=Mock(return_value=mock_future)))
-            mock_executor.return_value.__exit__ = Mock(return_value=False)
-
-            result = connector._send_command(Motion("wave"))
-            assert result is False
-
-
-class TestMoveYansheeConnectorConnect:
-    """Test connect method."""
-
-    @pytest.fixture
-    def connector(self):
-        with patch("actions.move_ub.connector.yanshee_motion.YanAPI"):
-            config = MoveYansheeConfig()
-            connector = MoveYansheeConnector(config)
-            connector._execute_sport_command = AsyncMock()
-            return connector
-
-    @pytest.mark.asyncio
-    async def test_connect_wave(self, connector):
-        move_input = MoveInput(action=MovementAction.WAVE)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: wave")
-
-    @pytest.mark.asyncio
-    async def test_connect_walk_forward(self, connector):
-        move_input = MoveInput(action=MovementAction.WALK_FORWARD)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: walk forward")
-
-    @pytest.mark.asyncio
-    async def test_connect_walk_backward(self, connector):
-        move_input = MoveInput(action=MovementAction.WALK_BACKWARD)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: walk backward")
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_left(self, connector):
-        move_input = MoveInput(action=MovementAction.TURN_LEFT)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: turn left")
-
-    @pytest.mark.asyncio
-    async def test_connect_turn_right(self, connector):
-        move_input = MoveInput(action=MovementAction.TURN_RIGHT)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: turn right")
-
-    @pytest.mark.asyncio
-    async def test_connect_bow(self, connector):
-        move_input = MoveInput(action=MovementAction.BOW)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: bow")
-
-    @pytest.mark.asyncio
-    async def test_connect_reset(self, connector):
-        move_input = MoveInput(action=MovementAction.STAND_STILL)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: stand still")
-
-    @pytest.mark.asyncio
-    async def test_connect_hug(self, connector):
-        move_input = MoveInput(action=MovementAction.HUG)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: hug")
-
-    @pytest.mark.asyncio
-    async def test_connect_walk_left(self, connector):
-        move_input = MoveInput(action=MovementAction.WALK_LEFT)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: walk left")
-
-    @pytest.mark.asyncio
-    async def test_connect_walk_right(self, connector):
-        move_input = MoveInput(action=MovementAction.WALK_RIGHT)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: walk right")
-
-    @pytest.mark.asyncio
-    async def test_connect_look_left(self, connector):
-        move_input = MoveInput(action=MovementAction.LOOK_LEFT)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: look left")
-
-    @pytest.mark.asyncio
-    async def test_connect_look_right(self, connector):
-        move_input = MoveInput(action=MovementAction.LOOK_RIGHT)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: look right")
-
-    @pytest.mark.asyncio
-    async def test_connect_crouch(self, connector):
-        move_input = MoveInput(action=MovementAction.CROUCH)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: crouch")
-
-    @pytest.mark.asyncio
-    async def test_connect_come_on(self, connector):
-        move_input = MoveInput(action=MovementAction.COME)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: come on")
-
-    @pytest.mark.asyncio
-    async def test_connect_waka_waka(self, connector):
-        move_input = MoveInput(action=MovementAction.WAKAWAKA)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: waka waka")
-
-    @pytest.mark.asyncio
-    async def test_connect_raise_right_hand(self, connector):
-        move_input = MoveInput(action=MovementAction.RAISE_RIGHT_HAND)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: raise right hand")
-
-    @pytest.mark.asyncio
-    async def test_connect_push_up(self, connector):
-        move_input = MoveInput(action=MovementAction.PUSH_UP)
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("UB command: push up")
-
-    @pytest.mark.asyncio
-    async def test_connect_unknown_action(self, connector):
-        move_input = MoveInput(action="fly")  # type: ignore[arg-type]
-        with patch("actions.move_ub.connector.yanshee_motion.logging") as mock_logging:
-            await connector.connect(move_input)
-            mock_logging.info.assert_any_call("Unknown move type: fly")
-
-
-class TestMoveYansheeConnectorTick:
-    """Test tick method."""
-
-    def test_tick_calls_sleep(self):
-        with patch("actions.move_ub.connector.yanshee_motion.YanAPI"):
-            config = MoveYansheeConfig()
-            connector = MoveYansheeConnector(config)
-            with patch.object(connector, "sleep") as mock_sleep:
-                connector.tick()
-                mock_sleep.assert_called_once_with(0.1)
diff --git a/tests/actions/navigate_location/__init__.py b/tests/actions/navigate_location/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/navigate_location/connector/__init__.py b/tests/actions/navigate_location/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/navigate_location/connector/test_navigate_location_unitree_nav.py b/tests/actions/navigate_location/connector/test_navigate_location_unitree_nav.py
deleted file mode 100644
index 139249fa79..0000000000
--- a/tests/actions/navigate_location/connector/test_navigate_location_unitree_nav.py
+++ /dev/null
@@ -1,272 +0,0 @@
-import sys
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.navigate_location.interface import NavigateLocationInput
-
-sys.modules["om1_speech"] = MagicMock()
-
-from actions.navigate_location.connector.unitree_g1_nav import (  # noqa: E402
-    UnitreeG1NavConfig,
-    UnitreeG1NavConnector,
-)
-from actions.navigate_location.connector.unitree_go2_nav import (  # noqa: E402
-    UnitreeGo2NavConfig,
-    UnitreeGo2NavConnector,
-)
-
-
-class TestUnitreeG1NavConfig:
-    """Test UnitreeG1NavConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeG1NavConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.timeout == 5
-        assert config.refresh_interval == 30
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = UnitreeG1NavConfig(
-            base_url="http://custom:8080/locations",
-            timeout=10,
-            refresh_interval=60,
-        )
-        assert config.base_url == "http://custom:8080/locations"
-        assert config.timeout == 10
-        assert config.refresh_interval == 60
-
-
-class TestUnitreeG1NavConnectorInit:
-    """Test UnitreeG1NavConnector initialization."""
-
-    def test_init(self):
-        """Test successful initialization."""
-        with (
-            patch("actions.navigate_location.connector.unitree_g1_nav.UnitreeG1LocationsProvider") as mock_loc,
-            patch("actions.navigate_location.connector.unitree_g1_nav.UnitreeG1NavigationProvider") as mock_nav,
-            patch("actions.navigate_location.connector.unitree_g1_nav.IOProvider") as mock_io,
-        ):
-            config = UnitreeG1NavConfig()
-            connector = UnitreeG1NavConnector(config)
-
-            mock_loc.assert_called_once_with("http://localhost:5000/maps/locations/list", 5, 30)
-            mock_nav.assert_called_once()
-            mock_io.assert_called_once()
-            assert connector.location_provider == mock_loc.return_value
-            assert connector.navigation_provider == mock_nav.return_value
-
-
-class TestUnitreeG1NavConnectorConnect:
-    """Test G1 connect method."""
-
-    @pytest.fixture
-    def g1_connector(self):
-        """Create G1 nav connector with mocked dependencies."""
-        with (
-            patch("actions.navigate_location.connector.unitree_g1_nav.UnitreeG1LocationsProvider") as mock_loc,
-            patch("actions.navigate_location.connector.unitree_g1_nav.UnitreeG1NavigationProvider") as mock_nav,
-            patch("actions.navigate_location.connector.unitree_g1_nav.IOProvider"),
-        ):
-            mock_loc_instance = Mock()
-            mock_loc.return_value = mock_loc_instance
-
-            mock_nav_instance = Mock()
-            mock_nav.return_value = mock_nav_instance
-
-            config = UnitreeG1NavConfig()
-            connector = UnitreeG1NavConnector(config)
-            yield connector, mock_loc_instance, mock_nav_instance
-
-    @pytest.mark.asyncio
-    async def test_connect_location_not_found_no_locations(self, g1_connector):
-        """Test connect when location is not found and no locations available."""
-        connector, mock_loc, mock_nav = g1_connector
-        mock_loc.get_location.return_value = None
-        mock_loc.get_all_locations.return_value = {}
-
-        nav_input = NavigateLocationInput(action="unknown_place")
-        with patch("actions.navigate_location.connector.unitree_g1_nav.logging") as mock_logging:
-            await connector.connect(nav_input)
-            mock_logging.warning.assert_called_with("Location 'unknown_place' not found. No locations available.")
-            mock_nav.publish_goal_pose.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_location_not_found_with_available(self, g1_connector):
-        """Test connect when location is not found but others are available."""
-        connector, mock_loc, mock_nav = g1_connector
-        mock_loc.get_location.return_value = None
-        mock_loc.get_all_locations.return_value = {
-            "kitchen": {"name": "kitchen"},
-            "office": {"name": "office"},
-        }
-
-        nav_input = NavigateLocationInput(action="bedroom")
-        with patch("actions.navigate_location.connector.unitree_g1_nav.logging") as mock_logging:
-            await connector.connect(nav_input)
-            warning_msg = mock_logging.warning.call_args[0][0]
-            assert "bedroom" in warning_msg
-            assert "kitchen" in warning_msg
-
-    @pytest.mark.asyncio
-    async def test_connect_location_found(self, g1_connector):
-        """Test connect when location is found."""
-        connector, mock_loc, mock_nav = g1_connector
-        mock_loc.get_location.return_value = {
-            "pose": {
-                "position": {"x": 1.0, "y": 2.0, "z": 0.0},
-                "orientation": {"x": 0.0, "y": 0.0, "z": 0.5, "w": 0.866},
-            }
-        }
-
-        nav_input = NavigateLocationInput(action="kitchen")
-        with patch("actions.navigate_location.connector.unitree_g1_nav.logging") as mock_logging:
-            await connector.connect(nav_input)
-            mock_nav.publish_goal_pose.assert_called_once()
-            mock_logging.info.assert_any_call("Navigation to 'kitchen' initiated")
-
-    @pytest.mark.asyncio
-    async def test_connect_strips_prefix(self, g1_connector):
-        """Test connect strips 'go to' prefix from action."""
-        connector, mock_loc, mock_nav = g1_connector
-        mock_loc.get_location.return_value = None
-        mock_loc.get_all_locations.return_value = {}
-
-        nav_input = NavigateLocationInput(action="Go to the kitchen")
-        with patch("actions.navigate_location.connector.unitree_g1_nav.logging"):
-            await connector.connect(nav_input)
-            mock_loc.get_location.assert_called_with("kitchen")
-
-    @pytest.mark.asyncio
-    async def test_connect_publish_error(self, g1_connector):
-        """Test connect handles publish error."""
-        connector, mock_loc, mock_nav = g1_connector
-        mock_loc.get_location.return_value = {
-            "pose": {
-                "position": {"x": 0.0, "y": 0.0, "z": 0.0},
-                "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0},
-            }
-        }
-        mock_nav.publish_goal_pose.side_effect = Exception("Publish failed")
-
-        nav_input = NavigateLocationInput(action="kitchen")
-        with patch("actions.navigate_location.connector.unitree_g1_nav.logging") as mock_logging:
-            await connector.connect(nav_input)
-            mock_logging.error.assert_called()
-
-
-class TestUnitreeGo2NavConfig:
-    """Test UnitreeGo2NavConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2NavConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.timeout == 5
-        assert config.refresh_interval == 30
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = UnitreeGo2NavConfig(
-            base_url="http://go2:9090/locations",
-            timeout=15,
-            refresh_interval=45,
-        )
-        assert config.base_url == "http://go2:9090/locations"
-        assert config.timeout == 15
-        assert config.refresh_interval == 45
-
-
-class TestUnitreeGo2NavConnectorInit:
-    """Test UnitreeGo2NavConnector initialization."""
-
-    def test_init(self):
-        """Test successful initialization."""
-        with (
-            patch("actions.navigate_location.connector.unitree_go2_nav.UnitreeGo2LocationsProvider") as mock_loc,
-            patch("actions.navigate_location.connector.unitree_go2_nav.UnitreeGo2NavigationProvider") as mock_nav,
-            patch("actions.navigate_location.connector.unitree_go2_nav.IOProvider") as mock_io,
-        ):
-            config = UnitreeGo2NavConfig()
-            connector = UnitreeGo2NavConnector(config)
-
-            mock_loc.assert_called_once_with("http://localhost:5000/maps/locations/list", "", 5, 30)
-            mock_nav.assert_called_once()
-            mock_io.assert_called_once()
-            assert connector.location_provider == mock_loc.return_value
-
-
-class TestUnitreeGo2NavConnectorConnect:
-    """Test Go2 connect method."""
-
-    @pytest.fixture
-    def go2_connector(self):
-        """Create Go2 nav connector with mocked dependencies."""
-        with (
-            patch("actions.navigate_location.connector.unitree_go2_nav.UnitreeGo2LocationsProvider") as mock_loc,
-            patch("actions.navigate_location.connector.unitree_go2_nav.UnitreeGo2NavigationProvider") as mock_nav,
-            patch("actions.navigate_location.connector.unitree_go2_nav.IOProvider"),
-        ):
-            mock_loc_instance = Mock()
-            mock_loc.return_value = mock_loc_instance
-
-            mock_nav_instance = Mock()
-            mock_nav.return_value = mock_nav_instance
-
-            config = UnitreeGo2NavConfig()
-            connector = UnitreeGo2NavConnector(config)
-            yield connector, mock_loc_instance, mock_nav_instance
-
-    @pytest.mark.asyncio
-    async def test_connect_location_found(self, go2_connector):
-        """Test connect when location is found."""
-        connector, mock_loc, mock_nav = go2_connector
-        mock_loc.get_location.return_value = {
-            "pose": {
-                "position": {"x": 3.0, "y": 4.0, "z": 0.0},
-                "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0},
-            }
-        }
-
-        nav_input = NavigateLocationInput(action="sofa")
-        with patch("actions.navigate_location.connector.unitree_go2_nav.logging") as mock_logging:
-            await connector.connect(nav_input)
-            mock_nav.publish_goal_pose.assert_called_once()
-            mock_logging.info.assert_any_call("Navigation to 'sofa' initiated")
-
-    @pytest.mark.asyncio
-    async def test_connect_location_not_found(self, go2_connector):
-        """Test connect when location is not found."""
-        connector, mock_loc, mock_nav = go2_connector
-        mock_loc.get_location.return_value = None
-        mock_loc.get_all_locations.return_value = {"table": {"name": "table"}}
-
-        nav_input = NavigateLocationInput(action="garden")
-        with patch("actions.navigate_location.connector.unitree_go2_nav.logging") as mock_logging:
-            await connector.connect(nav_input)
-            warning_msg = mock_logging.warning.call_args[0][0]
-            assert "garden" in warning_msg
-            assert "table" in warning_msg
-
-    @pytest.mark.asyncio
-    async def test_connect_strips_navigate_prefix(self, go2_connector):
-        """Test connect strips 'navigate to' prefix."""
-        connector, mock_loc, mock_nav = go2_connector
-        mock_loc.get_location.return_value = None
-        mock_loc.get_all_locations.return_value = {}
-
-        nav_input = NavigateLocationInput(action="Navigate to the bedroom")
-        await connector.connect(nav_input)
-        mock_loc.get_location.assert_called_with("bedroom")
-
-    @pytest.mark.asyncio
-    async def test_connect_location_with_empty_pose(self, go2_connector):
-        """Test connect with location that has empty/no pose data."""
-        connector, mock_loc, mock_nav = go2_connector
-        mock_loc.get_location.return_value = {"pose": None}
-
-        nav_input = NavigateLocationInput(action="hall")
-        await connector.connect(nav_input)
-        mock_nav.publish_goal_pose.assert_called_once()
diff --git a/tests/actions/navigate_location/test_interface.py b/tests/actions/navigate_location/test_interface.py
deleted file mode 100644
index aa12dc5527..0000000000
--- a/tests/actions/navigate_location/test_interface.py
+++ /dev/null
@@ -1,11 +0,0 @@
-from actions.navigate_location.interface import NavigateLocation, NavigateLocationInput
-
-
-def test_interface_instantiation():
-    """Test that NavigateLocation can be instantiated with input/output."""
-    action = NavigateLocation(
-        input=NavigateLocationInput(action="kitchen"),
-        output=NavigateLocationInput(action="kitchen"),
-    )
-    assert action.input.action == "kitchen"
-    assert action.output.action == "kitchen"
diff --git a/tests/actions/remember_location/__init__.py b/tests/actions/remember_location/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/remember_location/connector/__init__.py b/tests/actions/remember_location/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/remember_location/connector/test_remember_location_unitree_location.py b/tests/actions/remember_location/connector/test_remember_location_unitree_location.py
deleted file mode 100644
index 29552711a5..0000000000
--- a/tests/actions/remember_location/connector/test_remember_location_unitree_location.py
+++ /dev/null
@@ -1,309 +0,0 @@
-import asyncio
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from actions.remember_location.connector.unitree_g1_location import (
-    UnitreeG1RememberLocationConfig,
-    UnitreeG1RememberLocationConnector,
-)
-from actions.remember_location.connector.unitree_go2_location import (
-    UnitreeGo2RememberLocationConfig,
-    UnitreeGo2RememberLocationConnector,
-)
-from actions.remember_location.interface import RememberLocationInput
-
-
-def create_aiohttp_mock(status=200, text="OK"):
-    """Create aiohttp ClientSession mock with proper async context managers."""
-    mock_response = Mock()
-    mock_response.status = status
-    mock_response.text = AsyncMock(return_value=text)
-
-    mock_post_cm = Mock()
-    mock_post_cm.__aenter__ = AsyncMock(return_value=mock_response)
-    mock_post_cm.__aexit__ = AsyncMock(return_value=None)
-
-    mock_session = Mock()
-    mock_session.post = Mock(return_value=mock_post_cm)
-
-    mock_session_cm = Mock()
-    mock_session_cm.__aenter__ = AsyncMock(return_value=mock_session)
-    mock_session_cm.__aexit__ = AsyncMock(return_value=None)
-
-    return mock_session_cm, mock_session
-
-
-class TestUnitreeG1RememberLocationConfig:
-    """Test UnitreeG1RememberLocationConfig."""
-
-    def test_default_config(self):
-        config = UnitreeG1RememberLocationConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/add/slam"
-        assert config.timeout == 5
-        assert config.map_name == "map"
-        assert config.use_sim is False
-
-    def test_custom_config(self):
-        config = UnitreeG1RememberLocationConfig(
-            base_url="http://custom:8080",
-            timeout=10,
-            map_name="custom_map",
-        )
-        assert config.base_url == "http://custom:8080"
-        assert config.timeout == 10
-        assert config.map_name == "custom_map"
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        config = UnitreeG1RememberLocationConfig(use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/add/slam"
-        assert config.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        config = UnitreeG1RememberLocationConfig(use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/add/slam"
-        assert config.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        config = UnitreeG1RememberLocationConfig(
-            base_url="http://custom:8080/api",
-            use_sim=True,
-        )
-        assert config.base_url == "http://custom:8080/api"
-        assert config.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        config = UnitreeG1RememberLocationConfig(base_url=None, use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/add/slam"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        config = UnitreeG1RememberLocationConfig(base_url=None, use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/add/slam"
-
-
-class TestUnitreeG1RememberLocationConnector:
-    """Test UnitreeG1RememberLocationConnector."""
-
-    @pytest.fixture
-    def g1_connector(self):
-        with patch("actions.remember_location.connector.unitree_g1_location.ElevenLabsTTSProvider") as mock_tts:
-            mock_tts_instance = Mock()
-            mock_tts.return_value = mock_tts_instance
-            config = UnitreeG1RememberLocationConfig()
-            connector = UnitreeG1RememberLocationConnector(config)
-            yield connector, mock_tts_instance
-
-    def test_init(self, g1_connector):
-        connector, mock_tts = g1_connector
-        assert connector.base_url == "http://localhost:5000/maps/locations/add/slam"
-        assert connector.timeout == 5
-        assert connector.map_name == "map"
-
-    @pytest.mark.asyncio
-    async def test_connect_success(self, g1_connector):
-        connector, mock_tts = g1_connector
-        mock_session_cm, mock_session = create_aiohttp_mock(status=200, text="saved")
-
-        with (
-            patch(
-                "actions.remember_location.connector.unitree_g1_location.aiohttp.ClientSession",
-                return_value=mock_session_cm,
-            ),
-            patch("actions.remember_location.connector.unitree_g1_location.logging") as mock_logging,
-        ):
-            loc_input = RememberLocationInput(action="kitchen")
-            await connector.connect(loc_input)
-
-            mock_session.post.assert_called_once()
-            call_kwargs = mock_session.post.call_args[1]
-            assert call_kwargs["json"]["label"] == "kitchen"
-            assert call_kwargs["json"]["map_name"] == "map"
-            mock_logging.info.assert_called()
-            mock_tts.add_pending_message.assert_called_once_with("Location kitchen remembered !")
-
-    @pytest.mark.asyncio
-    async def test_connect_api_error(self, g1_connector):
-        connector, mock_tts = g1_connector
-        mock_session_cm, mock_session = create_aiohttp_mock(status=500, text="Internal Server Error")
-
-        with (
-            patch(
-                "actions.remember_location.connector.unitree_g1_location.aiohttp.ClientSession",
-                return_value=mock_session_cm,
-            ),
-            patch("actions.remember_location.connector.unitree_g1_location.logging") as mock_logging,
-        ):
-            loc_input = RememberLocationInput(action="office")
-            await connector.connect(loc_input)
-
-            mock_logging.error.assert_called()
-            mock_tts.add_pending_message.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_no_base_url(self, g1_connector):
-        connector, mock_tts = g1_connector
-        connector.base_url = ""
-
-        with patch("actions.remember_location.connector.unitree_g1_location.logging") as mock_logging:
-            loc_input = RememberLocationInput(action="somewhere")
-            await connector.connect(loc_input)
-            mock_logging.error.assert_called_with("RememberLocationG1 connector missing 'base_url' in config")
-
-    @pytest.mark.asyncio
-    async def test_connect_timeout_error(self, g1_connector):
-        connector, mock_tts = g1_connector
-
-        with (
-            patch("actions.remember_location.connector.unitree_g1_location.aiohttp.ClientSession") as mock_cls,
-            patch("actions.remember_location.connector.unitree_g1_location.logging") as mock_logging,
-        ):
-            mock_cm = Mock()
-            mock_cm.__aenter__ = AsyncMock(side_effect=asyncio.TimeoutError())
-            mock_cm.__aexit__ = AsyncMock(return_value=None)
-            mock_cls.return_value = mock_cm
-
-            loc_input = RememberLocationInput(action="garden")
-            await connector.connect(loc_input)
-            mock_logging.error.assert_called_with("RememberLocationG1 API request timed out")
-
-
-class TestUnitreeGo2RememberLocationConfig:
-    """Test UnitreeGo2RememberLocationConfig."""
-
-    def test_default_config(self):
-        config = UnitreeGo2RememberLocationConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/add/slam"
-        assert config.timeout == 5
-        assert config.map_name == "map"
-        assert config.use_sim is False
-
-    def test_custom_config(self):
-        config = UnitreeGo2RememberLocationConfig(
-            base_url="http://go2:9090",
-            timeout=20,
-            map_name="go2_map",
-        )
-        assert config.base_url == "http://go2:9090"
-        assert config.timeout == 20
-        assert config.map_name == "go2_map"
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        config = UnitreeGo2RememberLocationConfig(use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/add/slam"
-        assert config.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        config = UnitreeGo2RememberLocationConfig(use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/add/slam"
-        assert config.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        config = UnitreeGo2RememberLocationConfig(
-            base_url="http://custom:8080/api",
-            use_sim=True,
-        )
-        assert config.base_url == "http://custom:8080/api"
-        assert config.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        config = UnitreeGo2RememberLocationConfig(base_url=None, use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/add/slam"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        config = UnitreeGo2RememberLocationConfig(base_url=None, use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/add/slam"
-
-
-class TestUnitreeGo2RememberLocationConnector:
-    """Test UnitreeGo2RememberLocationConnector."""
-
-    @pytest.fixture
-    def go2_connector(self):
-        with patch("actions.remember_location.connector.unitree_go2_location.ElevenLabsTTSProvider") as mock_tts:
-            mock_tts_instance = Mock()
-            mock_tts.return_value = mock_tts_instance
-            config = UnitreeGo2RememberLocationConfig()
-            connector = UnitreeGo2RememberLocationConnector(config)
-            yield connector, mock_tts_instance
-
-    def test_init(self, go2_connector):
-        connector, mock_tts = go2_connector
-        assert connector.base_url == "http://localhost:5000/maps/locations/add/slam"
-        assert connector.timeout == 5
-        assert connector.map_name == "map"
-
-    @pytest.mark.asyncio
-    async def test_connect_success(self, go2_connector):
-        connector, mock_tts = go2_connector
-        mock_session_cm, mock_session = create_aiohttp_mock(status=200, text="saved")
-
-        with (
-            patch(
-                "actions.remember_location.connector.unitree_go2_location.aiohttp.ClientSession",
-                return_value=mock_session_cm,
-            ),
-            patch("actions.remember_location.connector.unitree_go2_location.logging") as mock_logging,
-        ):
-            loc_input = RememberLocationInput(action="charging_station")
-            await connector.connect(loc_input)
-
-            mock_session.post.assert_called_once()
-            call_kwargs = mock_session.post.call_args[1]
-            assert call_kwargs["json"]["label"] == "charging_station"
-            mock_logging.info.assert_called()
-            mock_tts.add_pending_message.assert_called_once_with(
-                "Location charging_station remembered for Go2. Woof! Woof!"
-            )
-
-    @pytest.mark.asyncio
-    async def test_connect_api_error(self, go2_connector):
-        connector, mock_tts = go2_connector
-        mock_session_cm, mock_session = create_aiohttp_mock(status=404, text="Not Found")
-
-        with (
-            patch(
-                "actions.remember_location.connector.unitree_go2_location.aiohttp.ClientSession",
-                return_value=mock_session_cm,
-            ),
-            patch("actions.remember_location.connector.unitree_go2_location.logging") as mock_logging,
-        ):
-            loc_input = RememberLocationInput(action="hall")
-            await connector.connect(loc_input)
-            mock_logging.error.assert_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_no_base_url(self, go2_connector):
-        connector, mock_tts = go2_connector
-        connector.base_url = ""
-
-        with patch("actions.remember_location.connector.unitree_go2_location.logging") as mock_logging:
-            loc_input = RememberLocationInput(action="somewhere")
-            await connector.connect(loc_input)
-            mock_logging.error.assert_called_with("RememberLocationGo2 connector missing 'base_url' in config")
-
-    @pytest.mark.asyncio
-    async def test_connect_exception(self, go2_connector):
-        connector, mock_tts = go2_connector
-
-        with (
-            patch("actions.remember_location.connector.unitree_go2_location.aiohttp.ClientSession") as mock_cls,
-            patch("actions.remember_location.connector.unitree_go2_location.logging") as mock_logging,
-        ):
-            mock_cm = Mock()
-            mock_cm.__aenter__ = AsyncMock(side_effect=ConnectionError("Connection refused"))
-            mock_cm.__aexit__ = AsyncMock(return_value=None)
-            mock_cls.return_value = mock_cm
-
-            loc_input = RememberLocationInput(action="unknown")
-            await connector.connect(loc_input)
-            mock_logging.error.assert_called()
diff --git a/tests/actions/schedule_cron_job/__init__.py b/tests/actions/schedule_cron_job/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/schedule_cron_job/connector/__init__.py b/tests/actions/schedule_cron_job/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/schedule_cron_job/connector/test_schedule_cron_job_json.py b/tests/actions/schedule_cron_job/connector/test_schedule_cron_job_json.py
deleted file mode 100644
index f5f616bb3d..0000000000
--- a/tests/actions/schedule_cron_job/connector/test_schedule_cron_job_json.py
+++ /dev/null
@@ -1,152 +0,0 @@
-import json
-import os
-
-import pytest
-
-from actions.schedule_cron_job.connector.schedule_cron_job_json import (
-    ScheduleCronJobConfig,
-    ScheduleCronJobJSONConnector,
-)
-from actions.schedule_cron_job.interface import ScheduleCronJobInput
-
-
-@pytest.fixture
-def config(tmp_path):
-    return ScheduleCronJobConfig(schedule_file=str(tmp_path / "cron.json"))
-
-
-@pytest.fixture
-def connector(config):
-    return ScheduleCronJobJSONConnector(config)
-
-
-class TestScheduleCronJobConfig:
-    def test_default_schedule_file(self):
-        cfg = ScheduleCronJobConfig()
-        assert cfg.schedule_file == "config/cron_job/cron.json"
-
-    def test_custom_schedule_file(self):
-        cfg = ScheduleCronJobConfig(schedule_file="/tmp/test_cron.json")
-        assert cfg.schedule_file == "/tmp/test_cron.json"
-
-
-class TestScheduleCronJobJSONConnectorInit:
-    def test_schedule_file_set(self):
-        cfg = ScheduleCronJobConfig()
-        connector = ScheduleCronJobJSONConnector(cfg)
-        assert connector.schedule_file == "config/cron_job/cron.json"
-
-    def test_custom_schedule_file(self):
-        cfg = ScheduleCronJobConfig(schedule_file="/tmp/custom.json")
-        connector = ScheduleCronJobJSONConnector(cfg)
-        assert connector.schedule_file == "/tmp/custom.json"
-
-
-class TestParseScheduleTime:
-    def test_format_space_with_seconds(self, connector):
-        ts = connector._parse_schedule_time("2026-04-07 10:30:00")
-        assert ts > 0
-
-    def test_format_T_with_seconds(self, connector):
-        ts = connector._parse_schedule_time("2026-04-07T10:30:00")
-        assert ts > 0
-
-    def test_format_space_without_seconds(self, connector):
-        ts = connector._parse_schedule_time("2026-04-07 10:30")
-        assert ts > 0
-
-    def test_format_T_without_seconds(self, connector):
-        ts = connector._parse_schedule_time("2026-04-07T10:30")
-        assert ts > 0
-
-    def test_strips_whitespace(self, connector):
-        ts = connector._parse_schedule_time("  2026-04-07 10:30:00  ")
-        assert ts > 0
-
-    def test_invalid_format_raises(self, connector):
-        with pytest.raises(ValueError, match="Could not parse schedule_time"):
-            connector._parse_schedule_time("not-a-date")
-
-
-class TestReadWriteEntries:
-    def test_read_empty_returns_empty_list(self, connector):
-        assert connector._read_entries() == []
-
-    def test_write_and_read_round_trip(self, connector):
-        entries = [{"function": "foo", "timestamp": 1000.0}]
-        connector._write_entries(entries)
-        result = connector._read_entries()
-        assert result == entries
-
-    def test_read_invalid_json_returns_empty(self, connector):
-        with open(connector.schedule_file, "w") as f:
-            f.write("not json")
-        assert connector._read_entries() == []
-
-    def test_read_non_list_returns_empty(self, connector):
-        with open(connector.schedule_file, "w") as f:
-            json.dump({"key": "value"}, f)
-        assert connector._read_entries() == []
-
-
-class TestLockedAppend:
-    def test_locked_append_creates_file(self, connector):
-        entry = {"function": "speak", "timestamp": 1000.0}
-        connector._locked_append(entry)
-        assert os.path.exists(connector.schedule_file)
-        with open(connector.schedule_file) as f:
-            data = json.load(f)
-        assert len(data) == 1
-        assert data[0]["function"] == "speak"
-
-    def test_locked_append_sorts_by_timestamp(self, connector):
-        connector._locked_append({"function": "b", "timestamp": 200.0})
-        connector._locked_append({"function": "a", "timestamp": 100.0})
-        with open(connector.schedule_file) as f:
-            data = json.load(f)
-        assert data[0]["function"] == "a"
-        assert data[1]["function"] == "b"
-
-
-class TestConnect:
-    @pytest.mark.asyncio
-    async def test_connect_persists_entry_to_file(self, connector):
-        inp = ScheduleCronJobInput(
-            schedule_time="2026-04-07 10:00:00",
-            function="speak",
-            recurrence="daily",
-        )
-        await connector.connect(inp)
-
-        with open(connector.schedule_file) as f:
-            data = json.load(f)
-        assert len(data) == 1
-        entry = data[0]
-        assert entry["function"] == "speak"
-        assert entry["args"] == {}
-        assert entry["recurrence"] == "daily"
-        assert entry["schedule_time"] == "2026-04-07 10:00:00"
-        assert "timestamp" in entry
-        assert "registered_at" in entry
-
-    @pytest.mark.asyncio
-    async def test_connect_invalid_schedule_time_logs_and_returns(self, connector):
-        inp = ScheduleCronJobInput(
-            schedule_time="not-a-date",
-            function="speak",
-        )
-        await connector.connect(inp)
-
-        assert not os.path.exists(connector.schedule_file)
-
-    @pytest.mark.asyncio
-    async def test_connect_default_recurrence_is_empty(self, connector):
-        inp = ScheduleCronJobInput(
-            schedule_time="2026-04-07 10:00:00",
-            function="speak",
-        )
-        await connector.connect(inp)
-
-        with open(connector.schedule_file) as f:
-            data = json.load(f)
-        assert data[0]["recurrence"] == ""
diff --git a/tests/actions/schedule_cron_job/test_interface.py b/tests/actions/schedule_cron_job/test_interface.py
deleted file mode 100644
index 0e9d850adc..0000000000
--- a/tests/actions/schedule_cron_job/test_interface.py
+++ /dev/null
@@ -1,28 +0,0 @@
-from actions.schedule_cron_job.interface import ScheduleCronJob, ScheduleCronJobInput
-
-
-class TestScheduleCronJobInput:
-    def test_required_fields(self):
-        inp = ScheduleCronJobInput(schedule_time="2026-01-01 10:00:00", function="speak")
-        assert inp.schedule_time == "2026-01-01 10:00:00"
-        assert inp.function == "speak"
-
-    def test_default_recurrence(self):
-        inp = ScheduleCronJobInput(schedule_time="2026-01-01 10:00:00", function="speak")
-        assert inp.recurrence == ""
-
-    def test_custom_recurrence(self):
-        inp = ScheduleCronJobInput(
-            schedule_time="2026-01-01 10:00:00",
-            function="speak",
-            recurrence="daily",
-        )
-        assert inp.recurrence == "daily"
-
-
-class TestScheduleCronJob:
-    def test_creation(self):
-        inp = ScheduleCronJobInput(schedule_time="2026-01-01 10:00:00", function="speak")
-        job = ScheduleCronJob(input=inp, output=inp)
-        assert job.input is inp
-        assert job.output is inp
diff --git a/tests/actions/selfie/__init__.py b/tests/actions/selfie/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/selfie/connector/__init__.py b/tests/actions/selfie/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/selfie/connector/test_selfie.py b/tests/actions/selfie/connector/test_selfie.py
deleted file mode 100644
index f2ea087929..0000000000
--- a/tests/actions/selfie/connector/test_selfie.py
+++ /dev/null
@@ -1,207 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.selfie.connector.selfie import SelfieConfig, SelfieConnector
-from actions.selfie.interface import SelfieInput
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock all external dependencies."""
-
-    with (
-        patch("actions.selfie.connector.selfie.ElevenLabsTTSProvider") as mock_tts,
-        patch("actions.selfie.connector.selfie.IOProvider") as mock_io,
-    ):
-        mock_tts_instance = Mock()
-        mock_tts.return_value = mock_tts_instance
-
-        mock_io_instance = Mock()
-        mock_io.return_value = mock_io_instance
-
-        yield mock_tts_instance, mock_io_instance
-
-
-@pytest.fixture
-def connector(mock_dependencies):
-    """Create SelfieConnector with mocked dependencies."""
-    config = SelfieConfig()
-    return SelfieConnector(config)
-
-
-class TestSelfieConfig:
-    """Test SelfieConfig configuration."""
-
-    def test_default_config(self):
-        config = SelfieConfig()
-        assert config.face_http_base_url == "http://127.0.0.1:6793"
-        assert config.face_recent_sec == 1.0
-        assert config.poll_ms == 200
-        assert config.timeout_sec == 15
-        assert config.http_timeout_sec == 5.0
-
-    def test_custom_config(self):
-        config = SelfieConfig(
-            face_http_base_url="http://custom:9999",
-            face_recent_sec=2.0,
-            poll_ms=500,
-            timeout_sec=30,
-            http_timeout_sec=10.0,
-        )
-        assert config.face_http_base_url == "http://custom:9999"
-        assert config.face_recent_sec == 2.0
-        assert config.poll_ms == 500
-        assert config.timeout_sec == 30
-        assert config.http_timeout_sec == 10.0
-
-
-class TestSelfieConnectorInit:
-    """Test SelfieConnector initialization."""
-
-    def test_init(self, connector, mock_dependencies):
-        assert connector.base_url == "http://127.0.0.1:6793"
-        assert connector.recent_sec == 1.0
-        assert connector.poll_ms == 200
-        assert connector.default_timeout == 15
-        assert connector.http_timeout == 5.0
-
-
-class TestSelfieConnectorHelpers:
-    """Test helper methods."""
-
-    def test_post_json_success(self, connector, mock_dependencies):
-        with patch("actions.selfie.connector.selfie.requests") as mock_requests:
-            mock_response = Mock()
-            mock_response.json.return_value = {"ok": True}
-            mock_requests.post.return_value = mock_response
-
-            result = connector._post_json("/selfie", {"id": "wendy"})
-            assert result == {"ok": True}
-            mock_requests.post.assert_called_once_with(
-                "http://127.0.0.1:6793/selfie",
-                json={"id": "wendy"},
-                timeout=5.0,
-            )
-
-    def test_post_json_failure(self, connector, mock_dependencies):
-        with patch("actions.selfie.connector.selfie.requests") as mock_requests:
-            mock_requests.post.side_effect = Exception("Connection refused")
-            result = connector._post_json("/selfie", {"id": "test"})
-            assert result is None
-
-    def test_get_config(self, connector, mock_dependencies):
-        with patch.object(connector, "_post_json") as mock_post:
-            mock_post.return_value = {"config": {"blur": True}}
-            result = connector._get_config()
-            assert result == {"config": {"blur": True}}
-            mock_post.assert_called_once_with("/config", {"get": True})
-
-    def test_get_config_none(self, connector, mock_dependencies):
-        with patch.object(connector, "_post_json") as mock_post:
-            mock_post.return_value = None
-            result = connector._get_config()
-            assert result == {}
-
-    def test_set_blur(self, connector, mock_dependencies):
-        with patch.object(connector, "_post_json") as mock_post:
-            connector._set_blur(True)
-            mock_post.assert_called_once_with("/config", {"set": {"blur": True}})
-
-    def test_who_snapshot(self, connector, mock_dependencies):
-        with patch.object(connector, "_post_json") as mock_post:
-            mock_post.return_value = {"now": ["wendy"], "unknown_now": 0}
-            result = connector._who_snapshot()
-            assert result == {"now": ["wendy"], "unknown_now": 0}
-
-    def test_wait_single_face_success(self, connector, mock_dependencies):
-        with (
-            patch.object(connector, "_who_snapshot") as mock_who,
-            patch.object(connector, "sleep"),
-        ):
-            mock_who.return_value = {"now": ["wendy"], "unknown_now": 0}
-            result = connector._wait_single_face(5)
-            assert result is True
-
-    def test_wait_single_face_timeout(self, connector, mock_dependencies):
-        with (
-            patch.object(connector, "_who_snapshot") as mock_who,
-            patch.object(connector, "sleep"),
-        ):
-            mock_who.return_value = {"now": [], "unknown_now": 0}
-            result = connector._wait_single_face(1)
-            assert result is False
-
-    def test_write_status(self, connector, mock_dependencies):
-        _, mock_io = mock_dependencies
-        connector._write_status("ok id=wendy")
-        mock_io.add_input.assert_called_once()
-
-
-class TestSelfieConnectorConnect:
-    """Test connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_empty_name(self, connector, mock_dependencies):
-        """Test connect with empty name returns early."""
-        _, mock_io = mock_dependencies
-        selfie_input = SelfieInput(action="")
-        with patch("actions.selfie.connector.selfie.logging") as mock_logging:
-            await connector.connect(selfie_input)
-            mock_logging.error.assert_called_with("Selfie requires a non-empty `id` (e.g., 'wendy').")
-
-    @pytest.mark.asyncio
-    async def test_connect_successful_enrollment(self, connector, mock_dependencies):
-        """Test successful selfie enrollment."""
-        mock_tts, mock_io = mock_dependencies
-        selfie_input = SelfieInput(action="wendy", timeout_sec=5)
-
-        with (
-            patch.object(connector, "_get_config", return_value={"config": {"blur": True}}),
-            patch.object(connector, "_set_blur") as mock_blur,
-            patch.object(connector, "_wait_single_face", return_value=True),
-            patch.object(connector, "_post_json", return_value={"ok": True}) as mock_post,
-        ):
-            await connector.connect(selfie_input)
-            mock_post.assert_called_with("/selfie", {"id": "wendy"})
-            mock_tts.add_pending_message.assert_called_once_with(
-                "Woof! Woof! I remember you, wendy! You are now enrolled."
-            )
-            assert mock_blur.call_count == 2  # once off, once restore
-
-    @pytest.mark.asyncio
-    async def test_connect_no_face_detected(self, connector, mock_dependencies):
-        """Test connect when no face is detected."""
-        mock_tts, mock_io = mock_dependencies
-        selfie_input = SelfieInput(action="wendy", timeout_sec=5)
-
-        with (
-            patch.object(connector, "_get_config", return_value={"config": {"blur": False}}),
-            patch.object(connector, "_set_blur"),
-            patch.object(connector, "_wait_single_face", return_value=False),
-            patch.object(
-                connector,
-                "_who_snapshot",
-                return_value={"now": [], "unknown_now": 0},
-            ),
-        ):
-            await connector.connect(selfie_input)
-            mock_tts.add_pending_message.assert_called_once()
-            assert "0 faces" in mock_tts.add_pending_message.call_args[0][0]
-
-    @pytest.mark.asyncio
-    async def test_connect_selfie_api_fails(self, connector, mock_dependencies):
-        """Test connect when selfie API returns non-ok."""
-        mock_tts, mock_io = mock_dependencies
-        selfie_input = SelfieInput(action="wendy", timeout_sec=5)
-
-        with (
-            patch.object(connector, "_get_config", return_value={"config": {"blur": True}}),
-            patch.object(connector, "_set_blur"),
-            patch.object(connector, "_wait_single_face", return_value=True),
-            patch.object(connector, "_post_json", return_value={"ok": False}),
-        ):
-            await connector.connect(selfie_input)
-            mock_tts.add_pending_message.assert_called_once_with(
-                "Woof! Woof! I couldn't see you clearly. Please try again."
-            )
diff --git a/tests/actions/speak/__init__.py b/tests/actions/speak/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/speak/connector/__init__.py b/tests/actions/speak/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/speak/connector/test_base_elevenlabs_tts.py b/tests/actions/speak/connector/test_base_elevenlabs_tts.py
deleted file mode 100644
index de091803f7..0000000000
--- a/tests/actions/speak/connector/test_base_elevenlabs_tts.py
+++ /dev/null
@@ -1,370 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.speak.connector.base_elevenlabs_tts import (
-    BaseElevenLabsTTSConfig,
-    BaseElevenLabsTTSConnector,
-)
-from actions.speak.interface import SpeakInput
-from zenoh_msgs import AudioStatus, TTSStatusRequest
-from zenoh_msgs.idl.std_msgs import String
-
-
-class ConcreteElevenLabsTTSConnector(BaseElevenLabsTTSConnector):
-    """Concrete implementation for testing."""
-
-    def _get_voice_id(self, output_interface: SpeakInput) -> str:
-        return self.config.voice_id
-
-
-@pytest.fixture
-def mock_config():
-    """Create a mock config with default values."""
-    config = Mock(spec=BaseElevenLabsTTSConfig)
-    config.api_key = "test_api_key"
-    config.elevenlabs_api_key = "test_elevenlabs_key"
-    config.voice_id = "test_voice_id"
-    config.model_id = "eleven_flash_v2_5"
-    config.output_format = "pcm_16000"
-    config.silence_rate = 0
-    config.enable_tts_interrupt = False
-    return config
-
-
-@pytest.fixture
-def speak_input():
-    """Create a SpeakInput instance for testing."""
-    return SpeakInput(action="Hello, world!")
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-def test_init_with_full_config(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-):
-    """Test initialization with full configuration."""
-    mock_session = Mock()
-    mock_pub = Mock()
-    mock_open_zenoh_session.return_value = mock_session
-    mock_session.declare_publisher.return_value = mock_pub
-    mock_session.declare_subscriber.return_value = Mock()
-
-    mock_tts_instance = Mock()
-    mock_tts_provider.return_value = mock_tts_instance
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-
-    mock_open_zenoh_session.assert_called_once()
-    assert mock_session.declare_publisher.call_count == 2
-    mock_session.declare_publisher.assert_any_call("robot/status/audio")
-    mock_session.declare_publisher.assert_any_call("om/tts/response")
-
-    assert mock_session.declare_subscriber.call_count == 2
-    mock_pub.put.assert_called_once()
-
-    mock_tts_provider.assert_called_once_with(
-        url="https://api.openmind.com/api/core/elevenlabs/tts",
-        api_key="test_api_key",
-        elevenlabs_api_key="test_elevenlabs_key",
-        voice_id="test_voice_id",
-        model_id="eleven_flash_v2_5",
-        output_format="pcm_16000",
-        enable_tts_interrupt=False,
-    )
-
-    mock_tts_instance.start.assert_called_once()
-    mock_tts_instance.configure.assert_called_once()
-
-    assert connector.silence_rate == 0
-    assert connector.silence_counter == 0
-    assert connector.tts_enabled is True
-    assert connector.audio_topic == "robot/status/audio"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-def test_zenoh_audio_message(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-):
-    """Test Zenoh audio message handling."""
-    mock_open_zenoh_session.return_value = Mock()
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-
-    mock_audio_status = Mock(spec=AudioStatus)
-    mock_data = Mock()
-    mock_data.payload.to_bytes.return_value = b"serialized_data"
-
-    with patch.object(AudioStatus, "deserialize", return_value=mock_audio_status) as mock_deserialize:
-        connector.zenoh_audio_message(mock_data)
-
-    mock_deserialize.assert_called_once_with(b"serialized_data")
-    assert connector.audio_status == mock_audio_status
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_connect_normal_flow(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test normal connect flow."""
-    mock_tts_instance = Mock()
-    mock_tts_instance.create_pending_message.return_value = {"text": "processed_message"}
-    mock_tts_provider.return_value = mock_tts_instance
-
-    mock_io_instance = Mock()
-    mock_io_instance.llm_prompt = "Some prompt without voice input"
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-    connector.audio_pub = None
-
-    await connector.connect(speak_input)
-
-    mock_tts_instance.create_pending_message.assert_called_once_with("Hello, world!", "test_voice_id")
-    mock_tts_instance.add_pending_message.assert_called_once_with({"text": "processed_message"})
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_connect_with_disabled_tts(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test connect when TTS is disabled."""
-    mock_tts_instance = Mock()
-    mock_tts_provider.return_value = mock_tts_instance
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-    connector.tts_enabled = False
-    connector.audio_pub = None
-
-    await connector.connect(speak_input)
-
-    mock_tts_instance.create_pending_message.assert_not_called()
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_connect_with_silence_rate_skip(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test connect flow with silence rate causing skip."""
-    mock_config.silence_rate = 2
-
-    mock_tts_instance = Mock()
-    mock_tts_provider.return_value = mock_tts_instance
-
-    mock_io_instance = Mock()
-    mock_io_instance.llm_prompt = "Some prompt without voice"
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-    connector.audio_pub = None
-
-    await connector.connect(speak_input)
-
-    assert connector.silence_counter == 1
-    mock_tts_instance.create_pending_message.assert_not_called()
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_connect_with_silence_rate_voice_input(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test connect flow with silence rate but voice input present."""
-    mock_config.silence_rate = 2
-
-    mock_tts_instance = Mock()
-    mock_tts_instance.create_pending_message.return_value = {"text": "processed_message"}
-    mock_tts_provider.return_value = mock_tts_instance
-
-    mock_io_instance = Mock()
-    mock_io_instance.llm_prompt = "Some prompt with Voice: data"
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-    connector.audio_pub = None
-
-    await connector.connect(speak_input)
-
-    assert connector.silence_counter == 0
-    mock_tts_instance.create_pending_message.assert_called_once()
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-def test_zenoh_tts_status_request_read(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-):
-    """Test TTS status request for reading current status."""
-    mock_session = Mock()
-    mock_pub = Mock()
-    mock_open_zenoh_session.return_value = mock_session
-    mock_session.declare_publisher.return_value = mock_pub
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-
-    mock_pub.reset_mock()
-
-    mock_data = Mock()
-    mock_tts_status = Mock(spec=TTSStatusRequest)
-    mock_tts_status.code = 2
-    mock_tts_status.request_id = String(data="test_request_id")
-    mock_header = Mock()
-    mock_header.frame_id = "test_frame_id"
-    mock_tts_status.header = mock_header
-
-    mock_data.payload.to_bytes.return_value = b"serialized_data"
-
-    with patch.object(TTSStatusRequest, "deserialize", return_value=mock_tts_status):
-        connector._zenoh_tts_status_request(mock_data)
-
-    mock_pub.put.assert_called_once()
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-def test_zenoh_tts_status_request_enable(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-):
-    """Test TTS status request for enabling TTS."""
-    mock_session = Mock()
-    mock_pub = Mock()
-    mock_open_zenoh_session.return_value = mock_session
-    mock_session.declare_publisher.return_value = mock_pub
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-    connector.tts_enabled = False
-
-    # Reset the mock to ignore the initialization call
-    mock_pub.reset_mock()
-
-    mock_data = Mock()
-    mock_tts_status = Mock(spec=TTSStatusRequest)
-    mock_tts_status.code = 1
-    mock_tts_status.request_id = String(data="test_request_id")
-    mock_header = Mock()
-    mock_header.frame_id = "test_frame_id"
-    mock_tts_status.header = mock_header
-
-    mock_data.payload.to_bytes.return_value = b"serialized_data"
-
-    with patch.object(TTSStatusRequest, "deserialize", return_value=mock_tts_status):
-        connector._zenoh_tts_status_request(mock_data)
-
-    assert connector.tts_enabled is True
-    mock_pub.put.assert_called_once()
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-def test_zenoh_tts_status_request_disable(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-):
-    """Test TTS status request for disabling TTS."""
-    mock_session = Mock()
-    mock_pub = Mock()
-    mock_open_zenoh_session.return_value = mock_session
-    mock_session.declare_publisher.return_value = mock_pub
-
-    connector = ConcreteElevenLabsTTSConnector(mock_config)
-
-    mock_pub.reset_mock()
-
-    mock_data = Mock()
-    mock_tts_status = Mock(spec=TTSStatusRequest)
-    mock_tts_status.code = 0
-    mock_tts_status.request_id = String(data="test_request_id")
-    mock_header = Mock()
-    mock_header.frame_id = "test_frame_id"
-    mock_tts_status.header = mock_header
-
-    mock_data.payload.to_bytes.return_value = b"serialized_data"
-
-    with patch.object(TTSStatusRequest, "deserialize", return_value=mock_tts_status):
-        connector._zenoh_tts_status_request(mock_data)
-
-    assert connector.tts_enabled is False
-    mock_pub.put.assert_called_once()
-
-    connector.stop()
diff --git a/tests/actions/speak/connector/test_speak_elevenlabs_people_tts.py b/tests/actions/speak/connector/test_speak_elevenlabs_people_tts.py
deleted file mode 100644
index 329df6eb09..0000000000
--- a/tests/actions/speak/connector/test_speak_elevenlabs_people_tts.py
+++ /dev/null
@@ -1,387 +0,0 @@
-from unittest.mock import Mock, PropertyMock, patch
-
-import pytest
-
-from actions.speak.connector.elevenlabs_people_tts import (
-    SpeakElevenLabsTTSConfig,
-    SpeakElevenLabsTTSConnector,
-)
-from actions.speak.interface import SpeakInput
-
-
-@pytest.fixture
-def mock_config():
-    """Create a mock config with default values."""
-    config = Mock(spec=SpeakElevenLabsTTSConfig)
-    config.api_key = "test_api_key"
-    config.elevenlabs_api_key = "test_elevenlabs_key"
-    config.voice_id = "default_voice_id"
-    config.model_id = "eleven_flash_v2_5"
-    config.output_format = "pcm_16000"
-    config.silence_rate = 0
-    config.enable_tts_interrupt = False
-    config.voice_ids = {
-        "John": "john_voice_id",
-        "Jane": "jane_voice_id",
-    }
-    return config
-
-
-@pytest.fixture
-def mock_config_no_voice_ids():
-    """Create a mock config without voice_ids mapping."""
-    config = Mock(spec=SpeakElevenLabsTTSConfig)
-    config.api_key = "test_api_key"
-    config.elevenlabs_api_key = "test_elevenlabs_key"
-    config.voice_id = "default_voice_id"
-    config.model_id = "eleven_flash_v2_5"
-    config.output_format = "pcm_16000"
-    config.silence_rate = 0
-    config.enable_tts_interrupt = False
-    config.voice_ids = None
-    return config
-
-
-@pytest.fixture
-def speak_input():
-    """Create a SpeakInput instance for testing."""
-    return SpeakInput(action="Hello, world!")
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-def test_init_with_voice_ids(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-):
-    """Test initialization with voice_ids mapping."""
-    mock_session = Mock()
-    mock_pub = Mock()
-    mock_open_zenoh_session.return_value = mock_session
-    mock_session.declare_publisher.return_value = mock_pub
-    mock_session.declare_subscriber.return_value = Mock()
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_open_zenoh_session.assert_called_once()
-    mock_tts_provider.assert_called_once_with(
-        url="https://api.openmind.com/api/core/elevenlabs/tts",
-        api_key="test_api_key",
-        elevenlabs_api_key="test_elevenlabs_key",
-        voice_id="default_voice_id",
-        model_id="eleven_flash_v2_5",
-        output_format="pcm_16000",
-        enable_tts_interrupt=False,
-    )
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_with_face_presence_match(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id returns mapped voice when face presence matches."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "In Camera View: 1 known (John). Closest: John."
-    mock_face_presence.tick = 123
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "john_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_with_face_presence_no_match(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id returns default voice when face presence doesn't match."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "Unknown"
-    mock_face_presence.tick = 123
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "default_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_without_face_presence(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id returns default voice when no face presence input."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock(return_value=None)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "default_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_without_voice_ids_mapping(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config_no_voice_ids,
-    speak_input,
-):
-    """Test that _get_voice_id returns default voice when voice_ids is None."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config_no_voice_ids)
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "John"
-    mock_face_presence.tick = 123
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "default_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_with_stale_face_presence(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id ignores stale face presence data."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "John"
-    mock_face_presence.tick = 100
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "default_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_with_single_known_face_camera_format(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id extracts name from camera format with single known face."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "In Camera View: 1 known (John) and 1 unknown face. Closest: John."
-    mock_face_presence.tick = 123
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "john_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_with_multiple_known_faces_picks_first(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id picks the first name when multiple faces are detected."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "In Camera View: 2 known (John and Jane) and 2 unknown faces. Closest: John."
-    mock_face_presence.tick = 123
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "john_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_with_multiple_known_faces_no_match_for_first(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id returns default when first name doesn't match voice_ids."""
-    mock_io_instance = Mock()
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "In Camera View: 2 known (shicai and Jane) and 2 unknown faces."
-    mock_face_presence.tick = 123
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "default_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_connect_uses_mapped_voice_id(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that connect uses the mapped voice_id from face presence."""
-    mock_tts_instance = Mock()
-    mock_tts_instance.create_pending_message.return_value = {"text": "processed_message"}
-    mock_tts_provider.return_value = mock_tts_instance
-
-    mock_io_instance = Mock()
-    mock_io_instance.llm_prompt = "Some prompt"
-    mock_io_instance.get_input = Mock()
-    type(mock_io_instance).tick_counter = PropertyMock(return_value=123)
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-    connector.audio_pub = None
-
-    mock_face_presence = Mock()
-    mock_face_presence.input = "In Camera View: 1 known (Jane). Closest: Jane."
-    mock_face_presence.tick = 123
-
-    mock_io_instance.get_input.return_value = mock_face_presence
-
-    await connector.connect(speak_input)
-
-    mock_tts_instance.create_pending_message.assert_called_once_with("Hello, world!", "jane_voice_id")
-
-    connector.stop()
diff --git a/tests/actions/speak/connector/test_speak_elevenlabs_tts.py b/tests/actions/speak/connector/test_speak_elevenlabs_tts.py
deleted file mode 100644
index 9b53d3f3bb..0000000000
--- a/tests/actions/speak/connector/test_speak_elevenlabs_tts.py
+++ /dev/null
@@ -1,454 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.speak.connector.elevenlabs_tts import (
-    SpeakElevenLabsTTSConfig,
-    SpeakElevenLabsTTSConnector,
-)
-from actions.speak.interface import SpeakInput
-
-
-@pytest.fixture
-def mock_config():
-    """Create a mock config with default values."""
-    config = Mock(spec=SpeakElevenLabsTTSConfig)
-    config.api_key = "test_api_key"
-    config.elevenlabs_api_key = "test_elevenlabs_key"
-    config.voice_id = "test_voice_id"
-    config.model_id = "eleven_flash_v2_5"
-    config.output_format = "pcm_16000"
-    config.silence_rate = 0
-    config.enable_tts_interrupt = False
-    return config
-
-
-@pytest.fixture
-def speak_input():
-    """Create a SpeakInput instance for testing."""
-    return SpeakInput(action="Hello, world!")
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-def test_init_with_full_config(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-):
-    """Test initialization with full configuration."""
-    mock_session = Mock()
-    mock_pub = Mock()
-    mock_open_zenoh_session.return_value = mock_session
-    mock_session.declare_publisher.return_value = mock_pub
-    mock_session.declare_subscriber.return_value = Mock()
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    mock_open_zenoh_session.assert_called_once()
-    mock_tts_provider.assert_called_once_with(
-        url="https://api.openmind.com/api/core/elevenlabs/tts",
-        api_key="test_api_key",
-        elevenlabs_api_key="test_elevenlabs_key",
-        voice_id="test_voice_id",
-        model_id="eleven_flash_v2_5",
-        output_format="pcm_16000",
-        enable_tts_interrupt=False,
-    )
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_get_voice_id_returns_config_voice(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that _get_voice_id always returns the configured voice_id."""
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-
-    voice_id = connector._get_voice_id(speak_input)
-
-    assert voice_id == "test_voice_id"
-
-    connector.stop()
-
-
-@patch("actions.speak.connector.base_elevenlabs_tts.open_zenoh_session")
-@patch("actions.speak.connector.base_elevenlabs_tts.ElevenLabsTTSProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.IOProvider")
-@patch("actions.speak.connector.base_elevenlabs_tts.TeleopsConversationProvider")
-@pytest.mark.asyncio
-async def test_connect_uses_config_voice_id(
-    mock_conversation_provider,
-    mock_io_provider,
-    mock_tts_provider,
-    mock_open_zenoh_session,
-    mock_config,
-    speak_input,
-):
-    """Test that connect uses the configured voice_id."""
-    mock_tts_instance = Mock()
-    mock_tts_instance.create_pending_message.return_value = {"text": "processed_message"}
-    mock_tts_provider.return_value = mock_tts_instance
-
-    mock_io_instance = Mock()
-    mock_io_instance.llm_prompt = "Some prompt"
-    mock_io_provider.return_value = mock_io_instance
-
-    connector = SpeakElevenLabsTTSConnector(mock_config)
-    connector.audio_pub = None
-
-    await connector.connect(speak_input)
-
-    # Verify that create_pending_message was called with the config voice_id
-    mock_tts_instance.create_pending_message.assert_called_once_with("Hello, world!", "test_voice_id")
-
-    connector.stop()
-
-
-# @pytest.fixture
-# def mock_config():
-#     """Create a mock ActionConfig with default values."""
-#     config = Mock(spec=ActionConfig)
-#     config.microphone_device_id = "test_mic_id"
-#     config.microphone_name = "test_microphone"
-#     config.api_key = "test_api_key"
-#     config.elevenlabs_api_key = "test_elevenlabs_key"
-#     config.voice_id = "test_voice_id"
-#     config.model_id = "eleven_flash_v2_5"
-#     config.output_format = "mp3_44100_128"
-#     config.silence_rate = 0
-#     config.auto_sleep_mode = False
-#     return config
-
-
-# @pytest.fixture
-# def mock_minimal_config():
-#     """Create a mock ActionConfig with minimal values (using defaults)."""
-#     config = Mock(spec=ActionConfig)
-#     return config
-
-
-# @pytest.fixture
-# def speak_input():
-#     """Create a SpeakInput instance for testing."""
-#     return SpeakInput(action="Hello, world!")
-
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# def test_init_with_full_config(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_config,
-# ):
-#     """Test initialization with full configuration."""
-#     mock_session = Mock()
-#     mock_pub = Mock()
-#     mock_open_zenoh_session.return_value = mock_session
-#     mock_session.declare_publisher.return_value = mock_pub
-#     mock_session.declare_subscriber.return_value = Mock()
-
-#     connector = SpeakElevenLabsTTSConnector(mock_config)
-
-#     mock_open_zenoh_session.assert_called_once()
-#     assert mock_session.declare_publisher.call_count == 2
-#     mock_session.declare_publisher.assert_any_call("robot/status/audio")
-#     mock_session.declare_publisher.assert_any_call("om/tts/response")
-
-#     assert mock_session.declare_subscriber.call_count == 2
-#     mock_session.declare_subscriber.assert_any_call(
-#         "robot/status/audio", connector.zenoh_audio_message
-#     )
-#     mock_session.declare_subscriber.assert_any_call(
-#         "om/tts/request", connector._zenoh_tts_status_request
-#     )
-#     mock_pub.put.assert_called_once()
-
-#     mock_asr_provider.assert_called_once_with(
-#         ws_url="wss://api.openmind.com/api/core/google/asr?api_key=test_api_key"
-#     )
-
-#     mock_tts_provider.assert_called_once_with(
-#         url="https://api.openmind.com/api/core/elevenlabs/tts",
-#         api_key="test_api_key",
-#         elevenlabs_api_key="test_elevenlabs_key",
-#         voice_id="test_voice_id",
-#         model_id="eleven_flash_v2_5",
-#         output_format="mp3_44100_128",
-#     )
-
-#     connector.tts.start.assert_called_once()
-
-#     assert connector.silence_rate == 0
-#     assert connector.silence_counter == 0
-#     assert connector.audio_topic == "robot/status/audio"
-#     assert connector.session == mock_session
-#     assert connector.audio_pub == mock_pub
-
-#     connector.stop()
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# def test_init_with_minimal_config(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_minimal_config,
-# ):
-#     """Test initialization with minimal configuration using defaults."""
-#     mock_session = Mock()
-#     mock_pub = Mock()
-#     mock_open_zenoh_session.return_value = mock_session
-#     mock_session.declare_publisher.return_value = mock_pub
-#     mock_session.declare_subscriber.return_value = Mock()
-
-#     connector = SpeakElevenLabsTTSConnector(mock_minimal_config)
-
-#     mock_tts_provider.assert_called_once_with(
-#         url="https://api.openmind.com/api/core/elevenlabs/tts",
-#         api_key=None,
-#         elevenlabs_api_key=None,
-#         voice_id="JBFqnCBsd6RMkjVDRZzb",  # default
-#         model_id="eleven_flash_v2_5",  # default
-#         output_format="mp3_44100_128",  # default
-#     )
-
-#     mock_asr_provider.assert_called_once_with(
-#         ws_url="wss://api.openmind.com/api/core/google/asr?api_key=None"
-#     )
-
-#     connector.stop()
-
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# def test_zenoh_audio_message(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_config,
-# ):
-#     """Test Zenoh audio message handling."""
-#     mock_open_zenoh_session.return_value = Mock()
-
-#     connector = SpeakElevenLabsTTSConnector(mock_config)
-
-#     mock_audio_status = Mock(spec=AudioStatus)
-#     mock_data = Mock()
-#     mock_data.payload.to_bytes.return_value = b"serialized_data"
-
-#     with patch.object(
-#         AudioStatus, "deserialize", return_value=mock_audio_status
-#     ) as mock_deserialize:
-#         connector.zenoh_audio_message(mock_data)
-
-#     mock_deserialize.assert_called_once_with(b"serialized_data")
-#     assert connector.audio_status == mock_audio_status
-
-#     connector.stop()
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# @pytest.mark.asyncio
-# async def test_connect_normal_flow(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_config,
-#     speak_input,
-# ):
-#     """Test normal connect flow without silence rate."""
-
-#     connector = SpeakElevenLabsTTSConnector(mock_config)
-#     # Set audio_pub to None so connect goes through full flow instead of returning early
-#     connector.audio_pub = None
-#     connector.tts.create_pending_message.return_value = "processed_message"
-
-#     connector.io_provider.llm_prompt = "Some prompt without voice input"
-
-#     await connector.connect(speak_input)
-
-#     connector.tts.create_pending_message.assert_called_once_with("Hello, world!")
-#     connector.tts.register_tts_state_callback.assert_called_once()
-#     connector.tts.add_pending_message.assert_called_once_with("processed_message")
-
-#     connector.stop()
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# @pytest.mark.asyncio
-# async def test_connect_with_silence_rate_skip(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_config,
-#     speak_input,
-# ):
-#     """Test connect flow with silence rate causing skip."""
-#     # Setup config with silence rate
-#     mock_config.silence_rate = 2
-
-#     connector = SpeakElevenLabsTTSConnector(mock_config)
-#     connector.audio_pub = None
-
-#     connector.io_provider.llm_prompt = "Some prompt without voice"
-
-#     with patch("actions.speak.connector.elevenlabs_tts.logging") as mock_logging:
-#         await connector.connect(speak_input)
-
-#     mock_logging.info.assert_called_with(
-#         "Skipping TTS due to silence_rate 2, counter 1"
-#     )
-#     assert connector.silence_counter == 1
-
-#     connector.tts.create_pending_message.assert_not_called()
-
-#     connector.stop()
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# @pytest.mark.asyncio
-# async def test_connect_with_silence_rate_voice_input(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_config,
-#     speak_input,
-# ):
-#     """Test connect flow with silence rate but voice input present (should not skip)."""
-#     mock_config.silence_rate = 2
-
-#     connector = SpeakElevenLabsTTSConnector(mock_config)
-#     connector.audio_pub = None
-#     connector.tts.create_pending_message.return_value = "processed_message"
-
-#     connector.io_provider.llm_prompt = "Some prompt with INPUT: Voice data"
-
-#     await connector.connect(speak_input)
-
-#     assert connector.silence_counter == 0
-#     connector.tts.create_pending_message.assert_called_once_with("Hello, world!")
-#     connector.tts.add_pending_message.assert_called_once_with("processed_message")
-
-#     connector.stop()
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# @pytest.mark.asyncio
-# async def test_connect_with_silence_rate_counter_reached(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_config,
-#     speak_input,
-# ):
-#     """Test connect flow when silence counter reaches the rate (should process)."""
-#     mock_config.silence_rate = 2
-
-#     connector = SpeakElevenLabsTTSConnector(mock_config)
-#     connector.audio_pub = None
-#     connector.tts.create_pending_message.return_value = "processed_message"
-
-#     connector.io_provider.llm_prompt = "Some prompt without voice"
-
-#     connector.silence_counter = 2
-
-#     await connector.connect(speak_input)
-
-#     assert connector.silence_counter == 0
-#     connector.tts.create_pending_message.assert_called_once_with("Hello, world!")
-#     connector.tts.add_pending_message.assert_called_once_with("processed_message")
-
-#     connector.stop()
-
-# def test_audio_status_initial_state():
-#     """Test that the initial audio status is set correctly."""
-#     with (
-#         patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session"),
-#         patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider"),
-#         patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider"),
-#         patch("actions.speak.connector.elevenlabs_tts.IOProvider"),
-#     ):
-
-#         config = Mock(spec=ActionConfig)
-#         connector = SpeakElevenLabsTTSConnector(config)
-
-#         assert connector.audio_status.status_mic == AudioStatus.STATUS_MIC.UNKNOWN.value
-#         assert (
-#             connector.audio_status.status_speaker
-#             == AudioStatus.STATUS_SPEAKER.READY.value
-#         )
-#         assert connector.audio_status.sentence_to_speak.data == ""
-
-#         connector.stop()
-
-# @patch("actions.speak.connector.elevenlabs_tts.open_zenoh_session")
-# @patch("actions.speak.connector.elevenlabs_tts.ASRRTSPProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.ElevenLabsTTSProvider")
-# @patch("actions.speak.connector.elevenlabs_tts.IOProvider")
-# @pytest.mark.asyncio
-# async def test_connect_audio_status_update(
-#     mock_io_provider,
-#     mock_tts_provider,
-#     mock_asr_provider,
-#     mock_open_zenoh_session,
-#     mock_config,
-#     speak_input,
-# ):
-#     """Test that audio status is updated correctly during connect."""
-#     mock_session = Mock()
-#     mock_pub = Mock()
-#     mock_open_zenoh_session.return_value = mock_session
-#     mock_session.declare_publisher.return_value = mock_pub
-#     mock_session.declare_subscriber.return_value = Mock()
-
-#     connector = SpeakElevenLabsTTSConnector(mock_config)
-#     connector.audio_pub = None
-#     connector.tts.create_pending_message.return_value = "processed_message"
-
-#     connector.io_provider.llm_prompt = "Some prompt"
-
-#     initial_mic_status = AudioStatus.STATUS_MIC.ACTIVE.value
-#     connector.audio_status.status_mic = initial_mic_status
-
-#     await connector.connect(speak_input)
-
-#     mock_pub.put.assert_called_once()
-
-#     connector.stop()
diff --git a/tests/actions/speak/connector/test_speak_kokoro_tts.py b/tests/actions/speak/connector/test_speak_kokoro_tts.py
deleted file mode 100644
index fcd2e237f9..0000000000
--- a/tests/actions/speak/connector/test_speak_kokoro_tts.py
+++ /dev/null
@@ -1,455 +0,0 @@
-import sys
-import time
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.speak.connector.kokoro_tts import (  # noqa: E402
-    SpeakKokoroTTSConfig,
-    SpeakKokoroTTSConnector,
-)
-from actions.speak.interface import SpeakInput  # noqa: E402
-from zenoh_msgs import AudioStatus, String  # noqa: E402
-
-
-@pytest.fixture(autouse=True, scope="session")
-def mock_zenoh_module():
-    """Mock the zenoh module before any imports."""
-    mock_zenoh = MagicMock()
-    mock_zenoh.Sample = MagicMock
-    sys.modules["zenoh"] = mock_zenoh
-    yield mock_zenoh
-    if "zenoh" in sys.modules:
-        del sys.modules["zenoh"]
-
-
-@pytest.fixture(autouse=True, scope="session")
-def mock_om1_speech_module():
-    """Mock the om1_speech module before any imports."""
-    mock_om1_speech = MagicMock()
-    mock_om1_speech.AudioOutputLiveStream = MagicMock()
-    sys.modules["om1_speech"] = mock_om1_speech
-    yield mock_om1_speech
-    if "om1_speech" in sys.modules:
-        del sys.modules["om1_speech"]
-
-
-@pytest.fixture
-def default_config():
-    """Create a default config for testing."""
-    return SpeakKokoroTTSConfig()
-
-
-@pytest.fixture
-def custom_config():
-    """Create a custom config for testing."""
-    return SpeakKokoroTTSConfig(
-        voice_id="custom_voice",
-        model_id="custom_model",
-        output_format="wav",
-        rate=48000,
-        enable_tts_interrupt=True,
-        silence_rate=2,
-        api_key="test_api_key",  # type: ignore
-    )
-
-
-@pytest.fixture
-def speak_input():
-    """Create a SpeakInput instance for testing."""
-    return SpeakInput(action="Hello, world!")
-
-
-@pytest.fixture
-def mock_zenoh_session():
-    """Create a mock Zenoh session."""
-    session = Mock()
-    session.declare_publisher.return_value = Mock()
-    session.declare_subscriber.return_value = Mock()
-    session.close = Mock()
-    return session
-
-
-@pytest.fixture
-def mock_zenoh_sample():
-    """Create a mock Zenoh sample."""
-    sample = Mock()
-    sample.payload.to_bytes.return_value = b"test_data"
-    return sample
-
-
-@pytest.fixture
-def mock_tts_status_header():
-    """Create a mock TTS status header."""
-    header = Mock()
-    header.frame_id = "test_frame"
-    return header
-
-
-@pytest.fixture(autouse=True)
-def reset_mocks(mock_om1_speech_module, mock_zenoh_module):
-    """Reset all mock objects between tests."""
-    mock_om1_speech_module.AudioOutputLiveStream.reset_mock()
-    mock_om1_speech_module.AudioOutputLiveStream.return_value = MagicMock()
-    mock_zenoh_module.reset_mock()
-    yield
-
-
-@pytest.fixture
-def common_mocks(mock_zenoh_session):
-    """Provide commonly used mocks for connector tests."""
-    with (
-        patch("actions.speak.connector.kokoro_tts.open_zenoh_session") as mock_open_zenoh,
-        patch("actions.speak.connector.kokoro_tts.KokoroTTSProvider") as mock_tts,
-        patch("actions.speak.connector.kokoro_tts.IOProvider") as mock_io,
-        patch("actions.speak.connector.kokoro_tts.TeleopsConversationProvider") as mock_conv,
-    ):
-
-        mock_open_zenoh.return_value = mock_zenoh_session
-        mock_tts_instance = Mock()
-        mock_tts.return_value = mock_tts_instance
-
-        yield {
-            "open_zenoh_session": mock_open_zenoh,
-            "tts_provider": mock_tts,
-            "tts_instance": mock_tts_instance,
-            "io_provider": mock_io,
-            "conversation_provider": mock_conv,
-            "zenoh_session": mock_zenoh_session,
-        }
-
-
-def create_tts_status_mock(code, request_id="test_request_id", frame_id="test_frame"):
-    """Helper to create TTS status mock objects."""
-    header = Mock()
-    header.frame_id = frame_id
-
-    tts_status = Mock()
-    tts_status.code = code
-    tts_status.request_id = String(request_id)
-    tts_status.header = header
-
-    return tts_status
-
-
-class TestSpeakKokoroTTSConfig:
-    """Test the configuration class."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = SpeakKokoroTTSConfig()
-
-        assert config.voice_id == "af_bella"
-        assert config.model_id == "kokoro"
-        assert config.output_format == "pcm"
-        assert config.rate == 24000
-        assert config.enable_tts_interrupt is False
-        assert config.silence_rate == 0
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = SpeakKokoroTTSConfig(
-            voice_id="test_voice",
-            model_id="test_model",
-            output_format="wav",
-            rate=48000,
-            enable_tts_interrupt=True,
-            silence_rate=5,
-        )
-
-        assert config.voice_id == "test_voice"
-        assert config.model_id == "test_model"
-        assert config.output_format == "wav"
-        assert config.rate == 48000
-        assert config.enable_tts_interrupt is True
-        assert config.silence_rate == 5
-
-
-class TestSpeakKokoroTTSConnector:
-    """Test the Kokoro TTS connector."""
-
-    def test_init_with_default_config(self, default_config, common_mocks):
-        """Test initialization with default configuration."""
-        connector = SpeakKokoroTTSConnector(default_config)
-
-        common_mocks["open_zenoh_session"].assert_called_once()
-        assert common_mocks["zenoh_session"].declare_publisher.call_count == 2
-        assert common_mocks["zenoh_session"].declare_subscriber.call_count == 2
-
-        common_mocks["tts_provider"].assert_called_once_with(
-            url="http://127.0.0.1:8880/v1",
-            api_key=None,
-            voice_id="af_bella",
-            model_id="kokoro",
-            output_format="pcm",
-            rate=24000,
-            enable_tts_interrupt=False,
-        )
-
-        common_mocks["tts_instance"].start.assert_called_once()
-        common_mocks["tts_instance"].configure.assert_called_once()
-
-        assert connector.silence_rate == 0
-        assert connector.silence_counter == 0
-        assert connector.tts_enabled is True
-        assert connector.session == common_mocks["zenoh_session"]
-
-    def test_init_with_custom_config(self, custom_config, common_mocks):
-        """Test initialization with custom configuration."""
-        connector = SpeakKokoroTTSConnector(custom_config)
-
-        common_mocks["tts_provider"].assert_called_once_with(
-            url="http://127.0.0.1:8880/v1",
-            api_key="test_api_key",
-            voice_id="custom_voice",
-            model_id="custom_model",
-            output_format="wav",
-            rate=48000,
-            enable_tts_interrupt=True,
-        )
-
-        assert connector.silence_rate == 2
-
-    def test_init_zenoh_failure(self, default_config, common_mocks):
-        """Test initialization when Zenoh session fails to open."""
-        common_mocks["open_zenoh_session"].side_effect = Exception("Zenoh connection failed")
-
-        connector = SpeakKokoroTTSConnector(default_config)
-
-        assert connector.session is None
-        assert connector.audio_pub is None
-
-    @pytest.mark.asyncio
-    async def test_connect_tts_enabled(self, default_config, common_mocks, speak_input):
-        """Test connect method when TTS is enabled."""
-        common_mocks["tts_instance"].create_pending_message.return_value = {
-            "id": "test_id",
-            "text": "Hello, world!",
-        }
-        mock_audio_pub = Mock()
-        common_mocks["zenoh_session"].declare_publisher.return_value = mock_audio_pub
-
-        mock_io_instance = Mock()
-        mock_io_instance.llm_prompt = 'Voice: "Hello"'
-        common_mocks["io_provider"].return_value = mock_io_instance
-
-        mock_conversation_instance = Mock()
-        common_mocks["conversation_provider"].return_value = mock_conversation_instance
-
-        connector = SpeakKokoroTTSConnector(default_config)
-        connector.io_provider = mock_io_instance
-        connector.conversation_provider = mock_conversation_instance
-
-        await connector.connect(speak_input)
-
-        common_mocks["tts_instance"].create_pending_message.assert_called_once_with("Hello, world!")
-        mock_conversation_instance.store_robot_message.assert_called_once_with("Hello, world!")
-        mock_audio_pub.put.assert_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_tts_disabled(self, default_config, common_mocks, speak_input):
-        """Test connect method when TTS is disabled."""
-        connector = SpeakKokoroTTSConnector(default_config)
-        connector.tts_enabled = False
-
-        await connector.connect(speak_input)
-
-        common_mocks["tts_instance"].create_pending_message.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_silence_rate_skip(self, common_mocks, speak_input):
-        """Test connect method with silence rate causing skip."""
-        config = SpeakKokoroTTSConfig(silence_rate=2)
-        common_mocks["tts_instance"].create_pending_message.return_value = {
-            "id": "test_id",
-            "text": "Hello, world!",
-        }
-
-        mock_io_instance = Mock()
-        mock_io_instance.llm_prompt = "INPUT: Text: Hello"
-        common_mocks["io_provider"].return_value = mock_io_instance
-
-        connector = SpeakKokoroTTSConnector(config)
-        connector.io_provider = mock_io_instance
-
-        await connector.connect(speak_input)
-        assert connector.silence_counter == 1
-        common_mocks["tts_instance"].create_pending_message.assert_not_called()
-
-        await connector.connect(speak_input)
-        assert connector.silence_counter == 2
-        common_mocks["tts_instance"].create_pending_message.assert_not_called()
-
-        await connector.connect(speak_input)
-        assert connector.silence_counter == 0
-        common_mocks["tts_instance"].create_pending_message.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_without_audio_publisher(self, default_config, common_mocks, speak_input):
-        """Test connect method when audio publisher is None."""
-        common_mocks["tts_instance"].create_pending_message.return_value = {
-            "id": "test_id",
-            "text": "Hello, world!",
-        }
-
-        connector = SpeakKokoroTTSConnector(default_config)
-        connector.audio_pub = None
-
-        await connector.connect(speak_input)
-
-        common_mocks["tts_instance"].add_pending_message.assert_called_once_with(
-            {"id": "test_id", "text": "Hello, world!"}
-        )
-
-    def test_zenoh_audio_message(self, default_config, common_mocks, mock_zenoh_sample):
-        """Test processing of Zenoh audio status messages."""
-        connector = SpeakKokoroTTSConnector(default_config)
-
-        mock_audio_status = Mock()
-
-        with patch("actions.speak.connector.kokoro_tts.AudioStatus") as mock_audio_status_class:
-            mock_audio_status_class.deserialize.return_value = mock_audio_status
-
-            connector.zenoh_audio_message(mock_zenoh_sample)
-
-            mock_audio_status_class.deserialize.assert_called_once_with(b"test_data")
-            assert connector.audio_status == mock_audio_status
-
-    def test_zenoh_audio_message_error_handling(self, default_config, common_mocks, mock_zenoh_sample):
-        """Test error handling in zenoh_audio_message."""
-        connector = SpeakKokoroTTSConnector(default_config)
-        original_audio_status = connector.audio_status
-
-        with patch("actions.speak.connector.kokoro_tts.AudioStatus") as mock_audio_status_class:
-            mock_audio_status_class.deserialize.side_effect = Exception("Deserialization error")
-
-            connector.zenoh_audio_message(mock_zenoh_sample)
-
-            assert connector.audio_status == original_audio_status
-
-    @pytest.mark.parametrize(
-        "code,expected_enabled",
-        [
-            (1, True),  # Enable TTS
-            (0, False),  # Disable TTS
-        ],
-    )
-    def test_zenoh_tts_status_request_enable_disable(
-        self, default_config, common_mocks, mock_zenoh_sample, code, expected_enabled
-    ):
-        """Test TTS status request to enable/disable TTS."""
-        mock_response_pub = Mock()
-        connector = SpeakKokoroTTSConnector(default_config)
-        connector._zenoh_tts_status_response_pub = mock_response_pub
-        connector.tts_enabled = not expected_enabled
-
-        tts_status = create_tts_status_mock(code)
-
-        with (
-            patch("actions.speak.connector.kokoro_tts.TTSStatusRequest") as mock_request_class,
-            patch("actions.speak.connector.kokoro_tts.TTSStatusResponse"),
-        ):
-            mock_request_class.deserialize.return_value = tts_status
-
-            connector._zenoh_tts_status_request(mock_zenoh_sample)
-
-            assert connector.tts_enabled is expected_enabled
-            mock_response_pub.put.assert_called_once()
-
-    def test_zenoh_tts_status_request_read(self, default_config, common_mocks, mock_zenoh_sample):
-        """Test TTS status request to read current status."""
-        mock_response_pub = Mock()
-        connector = SpeakKokoroTTSConnector(default_config)
-        connector._zenoh_tts_status_response_pub = mock_response_pub
-        connector.tts_enabled = True
-
-        tts_status = create_tts_status_mock(2)  # Read status
-
-        with (
-            patch("actions.speak.connector.kokoro_tts.TTSStatusRequest") as mock_request_class,
-            patch("actions.speak.connector.kokoro_tts.TTSStatusResponse"),
-        ):
-            mock_request_class.deserialize.return_value = tts_status
-
-            connector._zenoh_tts_status_request(mock_zenoh_sample)
-
-            assert connector.tts_enabled is True
-            mock_response_pub.put.assert_called_once()
-
-    def test_zenoh_tts_status_request_null_publisher(self, default_config, common_mocks, mock_zenoh_sample):
-        """Test TTS status request when response publisher is None."""
-        connector = SpeakKokoroTTSConnector(default_config)
-        connector._zenoh_tts_status_response_pub = None
-
-        tts_status = create_tts_status_mock(1)  # Enable TTS
-
-        with (
-            patch("actions.speak.connector.kokoro_tts.TTSStatusRequest") as mock_request_class,
-            patch("actions.speak.connector.kokoro_tts.TTSStatusResponse"),
-        ):
-            mock_request_class.deserialize.return_value = tts_status
-
-            connector._zenoh_tts_status_request(mock_zenoh_sample)
-
-            assert connector.tts_enabled is True
-
-    def test_zenoh_tts_status_request_error_handling(self, default_config, common_mocks, mock_zenoh_sample):
-        """Test error handling in _zenoh_tts_status_request."""
-        connector = SpeakKokoroTTSConnector(default_config)
-        original_tts_enabled = connector.tts_enabled
-
-        with patch("actions.speak.connector.kokoro_tts.TTSStatusRequest") as mock_request_class:
-            mock_request_class.deserialize.side_effect = Exception("Deserialization error")
-
-            connector._zenoh_tts_status_request(mock_zenoh_sample)
-
-            assert connector.tts_enabled == original_tts_enabled
-
-    def test_stop(self, default_config, common_mocks):
-        """Test stopping the connector."""
-        connector = SpeakKokoroTTSConnector(default_config)
-
-        connector.stop()
-
-        common_mocks["zenoh_session"].close.assert_called_once()
-        common_mocks["tts_instance"].stop.assert_called_once()
-
-    def test_stop_no_session(self, default_config, common_mocks):
-        """Test stopping the connector when session is None."""
-        common_mocks["open_zenoh_session"].side_effect = Exception("Failed to open session")
-        connector = SpeakKokoroTTSConnector(default_config)
-
-        connector.stop()
-
-        common_mocks["tts_instance"].stop.assert_called_once()
-
-    def test_stop_no_tts(self, default_config, common_mocks):
-        """Test stopping the connector when TTS is None."""
-        connector = SpeakKokoroTTSConnector(default_config)
-        connector.tts = None  # type: ignore
-
-        connector.stop()
-
-        common_mocks["zenoh_session"].close.assert_called_once()
-
-    def test_last_voice_command_time_initialization(self, default_config, common_mocks):
-        """Test that last_voice_command_time is initialized."""
-        start_time = time.time()
-        connector = SpeakKokoroTTSConnector(default_config)
-        end_time = time.time()
-
-        assert start_time <= connector.last_voice_command_time <= end_time
-
-    @patch("actions.speak.connector.kokoro_tts.uuid4")
-    def test_audio_status_initialization(self, mock_uuid4, default_config, common_mocks):
-        """Test that audio status is properly initialized."""
-        mock_uuid4.return_value = "test-uuid"
-
-        with patch("actions.speak.connector.kokoro_tts.prepare_header") as mock_prepare_header:
-            mock_prepare_header.return_value = "test-header"
-
-            connector = SpeakKokoroTTSConnector(default_config)
-
-            assert connector.audio_status is not None
-            assert connector.audio_status.status_speaker == AudioStatus.STATUS_SPEAKER.READY.value
-            mock_prepare_header.assert_called_with("test-uuid")
diff --git a/tests/actions/speak/connector/test_speak_riva_tts.py b/tests/actions/speak/connector/test_speak_riva_tts.py
deleted file mode 100644
index 23e7c86173..0000000000
--- a/tests/actions/speak/connector/test_speak_riva_tts.py
+++ /dev/null
@@ -1,297 +0,0 @@
-import sys
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.speak.connector.riva_tts import SpeakRivaTTSConfig, SpeakRivaTTSConnector
-from actions.speak.interface import SpeakInput
-
-
-@pytest.fixture(autouse=True, scope="session")
-def mock_zenoh_module():
-    """Mock the zenoh module before any imports."""
-    mock_zenoh = MagicMock()
-    mock_zenoh.Sample = MagicMock
-    sys.modules["zenoh"] = mock_zenoh
-    yield mock_zenoh
-    if "zenoh" in sys.modules:
-        del sys.modules["zenoh"]
-
-
-@pytest.fixture(autouse=True, scope="session")
-def mock_om1_speech_module():
-    """Mock the om1_speech module before any imports."""
-    mock_om1_speech = MagicMock()
-    mock_om1_speech.AudioInputStream = MagicMock()
-    mock_om1_speech.AudioOutputStream = MagicMock()
-    sys.modules["om1_speech"] = mock_om1_speech
-    yield mock_om1_speech
-    if "om1_speech" in sys.modules:
-        del sys.modules["om1_speech"]
-
-
-@pytest.fixture(autouse=True, scope="session")
-def mock_om1_utils_module():
-    """Mock the om1_utils module before any imports."""
-    mock_om1_utils = MagicMock()
-    sys.modules["om1_utils"] = mock_om1_utils
-    sys.modules["om1_utils.ws"] = MagicMock()
-    yield mock_om1_utils
-    if "om1_utils" in sys.modules:
-        del sys.modules["om1_utils"]
-    if "om1_utils.ws" in sys.modules:
-        del sys.modules["om1_utils.ws"]
-
-
-@pytest.fixture
-def default_config():
-    """Create a default config for testing."""
-    return SpeakRivaTTSConfig()
-
-
-@pytest.fixture
-def custom_config():
-    """Create a custom config for testing."""
-    return SpeakRivaTTSConfig(
-        api_key="test_api_key",
-        microphone_device_id=2,
-        microphone_name="test_mic",
-    )
-
-
-@pytest.fixture
-def speak_input():
-    """Create a SpeakInput instance for testing."""
-    return SpeakInput(action="Hello, world!")
-
-
-@pytest.fixture
-def mock_zenoh_session():
-    """Create a mock Zenoh session."""
-    session = Mock()
-    session.declare_publisher.return_value = Mock()
-    session.declare_subscriber.return_value = Mock()
-    return session
-
-
-@pytest.fixture
-def mock_zenoh_sample():
-    """Create a mock Zenoh sample."""
-    sample = Mock()
-    sample.payload.to_bytes.return_value = b"test_data"
-    return sample
-
-
-@pytest.fixture(autouse=True)
-def reset_mocks(mock_om1_speech_module, mock_zenoh_module, mock_om1_utils_module):
-    """Reset all mock objects between tests."""
-    mock_om1_speech_module.AudioInputStream.reset_mock()
-    mock_om1_speech_module.AudioInputStream.return_value = MagicMock()
-    mock_om1_speech_module.AudioOutputStream.reset_mock()
-    mock_om1_speech_module.AudioOutputStream.return_value = MagicMock()
-    mock_zenoh_module.reset_mock()
-    mock_om1_utils_module.reset_mock()
-    yield
-
-
-@pytest.fixture
-def common_mocks(mock_zenoh_session):
-    """Provide commonly used mocks for connector tests."""
-    with (
-        patch("actions.speak.connector.riva_tts.open_zenoh_session") as mock_open_zenoh,
-        patch("actions.speak.connector.riva_tts.ASRProvider") as mock_asr,
-        patch("actions.speak.connector.riva_tts.RivaTTSProvider") as mock_tts,
-    ):
-        mock_open_zenoh.return_value = mock_zenoh_session
-
-        mock_asr_instance = Mock()
-        mock_asr_instance.audio_stream = Mock()
-        mock_asr_instance.audio_stream.on_tts_state_change = Mock()
-        mock_asr.return_value = mock_asr_instance
-
-        mock_tts_instance = Mock()
-        mock_tts.return_value = mock_tts_instance
-
-        yield {
-            "open_zenoh_session": mock_open_zenoh,
-            "asr_provider": mock_asr,
-            "asr_instance": mock_asr_instance,
-            "tts_provider": mock_tts,
-            "tts_instance": mock_tts_instance,
-            "zenoh_session": mock_zenoh_session,
-        }
-
-
-def create_tts_status_mock(code, request_id="test_request_id", frame_id="test_frame"):
-    """Helper to create TTS status mock objects."""
-    header = Mock()
-    header.frame_id = frame_id
-
-    tts_status = Mock()
-    tts_status.code = code
-    tts_status.request_id = request_id
-    tts_status.header = header
-
-    return tts_status
-
-
-class TestSpeakRivaTTSConfig:
-    """Test the configuration class."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = SpeakRivaTTSConfig()
-
-        assert config.api_key is None
-        assert config.microphone_device_id is None
-        assert config.microphone_name is None
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = SpeakRivaTTSConfig(
-            api_key="my_key",
-            microphone_device_id=3,
-            microphone_name="my_mic",
-        )
-
-        assert config.api_key == "my_key"
-        assert config.microphone_device_id == 3
-        assert config.microphone_name == "my_mic"
-
-
-class TestSpeakRivaTTSConnector:
-    """Test the Riva TTS connector."""
-
-    def test_init_with_default_config(self, default_config, common_mocks):
-        """Test initialization with default configuration."""
-        connector = SpeakRivaTTSConnector(default_config)
-
-        common_mocks["open_zenoh_session"].assert_called_once()
-        common_mocks["zenoh_session"].declare_subscriber.assert_called_once()
-        common_mocks["zenoh_session"].declare_publisher.assert_called_once()
-
-        common_mocks["asr_provider"].assert_called_once_with(
-            ws_url="wss://api-asr.openmind.com",
-            device_id=None,
-            microphone_name=None,
-        )
-        common_mocks["tts_provider"].assert_called_once_with(
-            url="https://api.openmind.com/api/core/riva/tts",
-            api_key=None,
-        )
-
-        common_mocks["tts_instance"].start.assert_called_once()
-        assert connector.tts_enabled is True
-        assert connector.session == common_mocks["zenoh_session"]
-
-    def test_init_with_custom_config(self, custom_config, common_mocks):
-        """Test initialization with custom configuration."""
-        SpeakRivaTTSConnector(custom_config)
-
-        common_mocks["asr_provider"].assert_called_once_with(
-            ws_url="wss://api-asr.openmind.com",
-            device_id=2,
-            microphone_name="test_mic",
-        )
-        common_mocks["tts_provider"].assert_called_once_with(
-            url="https://api.openmind.com/api/core/riva/tts",
-            api_key="test_api_key",
-        )
-
-    def test_init_zenoh_failure(self, default_config, common_mocks):
-        """Test initialization when Zenoh session fails to open."""
-        common_mocks["open_zenoh_session"].side_effect = Exception("Zenoh connection failed")
-
-        connector = SpeakRivaTTSConnector(default_config)
-
-        assert connector.session is None
-        # ASR and TTS should still be initialized
-        common_mocks["asr_provider"].assert_called_once()
-        common_mocks["tts_provider"].assert_called_once()
-        common_mocks["tts_instance"].start.assert_called_once()
-
-
-class TestConnect:
-    """Test the connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_valid_input(self, default_config, common_mocks, speak_input):
-        """Test connect method with valid input when TTS is enabled."""
-        connector = SpeakRivaTTSConnector(default_config)
-
-        await connector.connect(speak_input)
-
-        common_mocks["tts_instance"].register_tts_state_callback.assert_called_once_with(
-            common_mocks["asr_instance"].audio_stream.on_tts_state_change
-        )
-        common_mocks["tts_instance"].add_pending_message.assert_called_once_with("Hello, world!")
-
-    @pytest.mark.asyncio
-    async def test_connect_tts_disabled(self, default_config, common_mocks, speak_input):
-        """Test connect method when TTS is disabled."""
-        connector = SpeakRivaTTSConnector(default_config)
-        connector.tts_enabled = False
-
-        await connector.connect(speak_input)
-
-        common_mocks["tts_instance"].register_tts_state_callback.assert_not_called()
-        common_mocks["tts_instance"].add_pending_message.assert_not_called()
-
-
-class TestZenohTTSStatusRequest:
-    """Test the _zenoh_tts_status_request method."""
-
-    @pytest.mark.parametrize(
-        "code,expected_enabled",
-        [
-            (1, True),  # Enable TTS
-            (0, False),  # Disable TTS
-        ],
-    )
-    def test_enable_disable_tts(
-        self,
-        default_config,
-        common_mocks,
-        mock_zenoh_sample,
-        code,
-        expected_enabled,
-    ):
-        """Test TTS status request to enable/disable TTS."""
-        mock_response_pub = Mock()
-        connector = SpeakRivaTTSConnector(default_config)
-        connector._zenoh_tts_status_response_pub = mock_response_pub
-        connector.tts_enabled = not expected_enabled
-
-        tts_status = create_tts_status_mock(code)
-
-        with (
-            patch("actions.speak.connector.riva_tts.TTSStatusRequest") as mock_request_class,
-            patch("actions.speak.connector.riva_tts.TTSStatusResponse"),
-        ):
-            mock_request_class.deserialize.return_value = tts_status
-
-            connector._zenoh_tts_status_request(mock_zenoh_sample)
-
-            assert connector.tts_enabled is expected_enabled
-            mock_response_pub.put.assert_called_once()
-
-    def test_read_status(self, default_config, common_mocks, mock_zenoh_sample):
-        """Test TTS status request to read current status (code=2)."""
-        mock_response_pub = Mock()
-        connector = SpeakRivaTTSConnector(default_config)
-        connector._zenoh_tts_status_response_pub = mock_response_pub
-        connector.tts_enabled = True
-
-        tts_status = create_tts_status_mock(2)
-
-        with (
-            patch("actions.speak.connector.riva_tts.TTSStatusRequest") as mock_request_class,
-            patch("actions.speak.connector.riva_tts.TTSStatusResponse"),
-        ):
-            mock_request_class.deserialize.return_value = tts_status
-
-            connector._zenoh_tts_status_request(mock_zenoh_sample)
-
-            # tts_enabled should remain unchanged
-            assert connector.tts_enabled is True
-            mock_response_pub.put.assert_called_once()
diff --git a/tests/actions/speak/connector/test_speak_ros2.py b/tests/actions/speak/connector/test_speak_ros2.py
deleted file mode 100644
index 85f4fe18e9..0000000000
--- a/tests/actions/speak/connector/test_speak_ros2.py
+++ /dev/null
@@ -1,39 +0,0 @@
-from unittest.mock import patch
-
-import pytest
-
-from actions.base import ActionConfig
-from actions.speak.connector.ros2 import SpeakRos2Connector
-from actions.speak.interface import SpeakInput
-
-
-@pytest.fixture
-def connector():
-    """Create a SpeakRos2Connector with default config."""
-    return SpeakRos2Connector(ActionConfig())
-
-
-class TestSpeakRos2Connector:
-    """Test the Speak ROS2 connector."""
-
-    def test_init(self):
-        """Test initialization of SpeakRos2Connector."""
-        config = ActionConfig()
-        connector = SpeakRos2Connector(config)
-        assert connector.config == config
-
-    @pytest.mark.asyncio
-    async def test_connect(self, connector):
-        """Test connect sends speak dict to ROS2."""
-        speak_input = SpeakInput(action="Hello, world!")
-        with patch("actions.speak.connector.ros2.logging") as mock_logging:
-            await connector.connect(speak_input)
-            mock_logging.info.assert_called_once_with("SendThisToROS2: {'speak': 'Hello, world!'}")
-
-    @pytest.mark.asyncio
-    async def test_connect_empty_text(self, connector):
-        """Test connect with empty text."""
-        speak_input = SpeakInput(action="")
-        with patch("actions.speak.connector.ros2.logging") as mock_logging:
-            await connector.connect(speak_input)
-            mock_logging.info.assert_called_once_with("SendThisToROS2: {'speak': ''}")
diff --git a/tests/actions/speak/connector/test_speak_ub_tts.py b/tests/actions/speak/connector/test_speak_ub_tts.py
deleted file mode 100644
index f0b25c72cb..0000000000
--- a/tests/actions/speak/connector/test_speak_ub_tts.py
+++ /dev/null
@@ -1,199 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.speak.connector.ub_tts import UbTtsConfig, UbTtsConnector
-from actions.speak.interface import SpeakInput
-
-
-@pytest.fixture
-def mock_zenoh_session():
-    """Mock zenoh session creation and its methods."""
-    mock_session = Mock()
-    with patch(
-        "actions.speak.connector.ub_tts.open_zenoh_session",
-        return_value=mock_session,
-    ):
-        yield mock_session
-
-
-@pytest.fixture
-def mock_tts_provider():
-    """Mock the UbTtsProvider."""
-    with patch("actions.speak.connector.ub_tts.UbTtsProvider") as mock_cls:
-        mock_instance = Mock()
-        mock_cls.return_value = mock_instance
-        yield {"cls": mock_cls, "instance": mock_instance}
-
-
-@pytest.fixture
-def connector(mock_zenoh_session, mock_tts_provider):
-    """Create a UbTtsConnector with mocked dependencies."""
-    config = UbTtsConfig(robot_ip="192.168.1.100", base_url="http://192.168.1.100:9090/v1/")
-    return UbTtsConnector(config)
-
-
-class TestUbTtsConfig:
-    """Test UbTtsConfig configuration."""
-
-    def test_default_config(self):
-        """Test default config values."""
-        config = UbTtsConfig()
-        assert config.robot_ip is None
-
-    def test_custom_config(self):
-        """Test custom config values."""
-        config = UbTtsConfig(
-            robot_ip="10.0.0.1",
-            base_url="http://10.0.0.1:8080/v1/",
-        )
-        assert config.robot_ip == "10.0.0.1"
-        assert config.base_url == "http://10.0.0.1:8080/v1/"
-
-
-class TestUbTtsConnector:
-    """Test the UB TTS connector."""
-
-    def test_init_creates_zenoh_session(self, mock_zenoh_session, mock_tts_provider):
-        """Test initialization opens zenoh session and declares subscriber/publisher."""
-        config = UbTtsConfig(robot_ip="192.168.1.1", base_url="http://192.168.1.1:9090/v1/")
-        connector = UbTtsConnector(config)
-
-        mock_zenoh_session.declare_subscriber.assert_called_once_with(
-            "om/tts/request", connector._zenoh_tts_status_request
-        )
-        mock_zenoh_session.declare_publisher.assert_called_once_with("om/tts/response")
-
-    def test_init_creates_tts_provider(self, mock_zenoh_session, mock_tts_provider):
-        """Test initialization creates UbTtsProvider with correct URL."""
-        config = UbTtsConfig(robot_ip="192.168.1.1", base_url="http://192.168.1.1:9090/v1/")
-        UbTtsConnector(config)
-
-        mock_tts_provider["cls"].assert_called_once_with(url="http://192.168.1.1:9090/v1/voice/tts")
-
-    def test_init_zenoh_failure(self, mock_tts_provider):
-        """Test initialization handles zenoh session failure gracefully."""
-        with patch(
-            "actions.speak.connector.ub_tts.open_zenoh_session",
-            side_effect=Exception("Connection refused"),
-        ):
-            config = UbTtsConfig(robot_ip="192.168.1.1", base_url="http://192.168.1.1:9090/v1/")
-            connector = UbTtsConnector(config)
-            assert connector.session is None
-
-    @pytest.mark.asyncio
-    async def test_connect_tts_enabled(self, connector, mock_tts_provider):
-        """Test connect passes message to TTS provider when enabled."""
-        connector.tts_enabled = True
-        speak_input = SpeakInput(action="Hello!")
-
-        with patch("actions.speak.connector.ub_tts.time") as mock_time:
-            mock_time.time.return_value = 1000
-            await connector.connect(speak_input)
-
-        mock_tts_provider["instance"].adding_pending_message.assert_called_once_with(
-            message="Hello!",
-            interrupt=True,
-            timestamp=1000,
-        )
-
-    @pytest.mark.asyncio
-    async def test_connect_tts_disabled(self, connector, mock_tts_provider):
-        """Test connect skips when TTS is disabled."""
-        connector.tts_enabled = False
-        speak_input = SpeakInput(action="Hello!")
-
-        await connector.connect(speak_input)
-
-        mock_tts_provider["instance"].adding_pending_message.assert_not_called()
-
-    def test_zenoh_tts_status_request_read(self, connector, mock_zenoh_session):
-        """Test status request with code 2 (read status) responds with current state."""
-        connector.tts_enabled = True
-
-        mock_data = Mock()
-        mock_tts_status = Mock()
-        mock_tts_status.code = 2
-        mock_tts_status.request_id = "req-001"
-        mock_tts_status.header.frame_id = "frame-001"
-
-        with (
-            patch("actions.speak.connector.ub_tts.TTSStatusRequest") as mock_request_cls,
-            patch("actions.speak.connector.ub_tts.TTSStatusResponse") as mock_response_cls,
-            patch("actions.speak.connector.ub_tts.prepare_header") as mock_header,
-            patch("actions.speak.connector.ub_tts.String") as mock_string,
-        ):
-            mock_request_cls.deserialize.return_value = mock_tts_status
-            mock_header.return_value = "prepared_header"
-
-            connector._zenoh_tts_status_request(mock_data)
-
-            mock_header.assert_called_once_with("frame-001")
-            mock_string.assert_called_with(data="TTS Enabled")
-            call_kwargs = mock_response_cls.call_args[1]
-            assert call_kwargs["header"] == "prepared_header"
-            assert call_kwargs["request_id"] == "req-001"
-            assert call_kwargs["code"] == 1
-
-    def test_zenoh_tts_status_request_enable(self, connector, mock_zenoh_session):
-        """Test status request with code 1 enables TTS."""
-        connector.tts_enabled = False
-
-        mock_data = Mock()
-        mock_tts_status = Mock()
-        mock_tts_status.code = 1
-        mock_tts_status.request_id = "req-002"
-        mock_tts_status.header.frame_id = "frame-002"
-
-        with (
-            patch("actions.speak.connector.ub_tts.TTSStatusRequest") as mock_request_cls,
-            patch("actions.speak.connector.ub_tts.TTSStatusResponse"),
-            patch("actions.speak.connector.ub_tts.prepare_header"),
-            patch("actions.speak.connector.ub_tts.String"),
-        ):
-            mock_request_cls.deserialize.return_value = mock_tts_status
-
-            connector._zenoh_tts_status_request(mock_data)
-
-            assert connector.tts_enabled is True
-
-    def test_zenoh_tts_status_request_disable(self, connector, mock_zenoh_session):
-        """Test status request with code 0 disables TTS."""
-        connector.tts_enabled = True
-
-        mock_data = Mock()
-        mock_tts_status = Mock()
-        mock_tts_status.code = 0
-        mock_tts_status.request_id = "req-003"
-        mock_tts_status.header.frame_id = "frame-003"
-
-        with (
-            patch("actions.speak.connector.ub_tts.TTSStatusRequest") as mock_request_cls,
-            patch("actions.speak.connector.ub_tts.TTSStatusResponse"),
-            patch("actions.speak.connector.ub_tts.prepare_header"),
-            patch("actions.speak.connector.ub_tts.String"),
-        ):
-            mock_request_cls.deserialize.return_value = mock_tts_status
-
-            connector._zenoh_tts_status_request(mock_data)
-
-            assert connector.tts_enabled is False
-
-    def test_stop_closes_session_and_tts(self, connector, mock_zenoh_session, mock_tts_provider):
-        """Test stop closes zenoh session and stops TTS provider."""
-        connector.stop()
-
-        mock_zenoh_session.close.assert_called_once()
-        mock_tts_provider["instance"].stop.assert_called_once()
-
-    def test_stop_no_session(self, mock_tts_provider):
-        """Test stop handles missing session gracefully."""
-        with patch(
-            "actions.speak.connector.ub_tts.open_zenoh_session",
-            side_effect=Exception("Connection refused"),
-        ):
-            config = UbTtsConfig(robot_ip="192.168.1.1", base_url="http://192.168.1.1:9090/v1/")
-            connector = UbTtsConnector(config)
-            connector.stop()
-            # Should not raise - session is None
-            mock_tts_provider["instance"].stop.assert_called_once()
diff --git a/tests/actions/speak/connector/test_speak_zenoh.py b/tests/actions/speak/connector/test_speak_zenoh.py
deleted file mode 100644
index 4f4191ee5f..0000000000
--- a/tests/actions/speak/connector/test_speak_zenoh.py
+++ /dev/null
@@ -1,55 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from actions.base import ActionConfig
-from actions.speak.connector.zenoh import SpeakZenohConnector
-from actions.speak.interface import SpeakInput
-
-
-@pytest.fixture
-def mock_publisher():
-    """Mock the ZenohPublisherProvider."""
-    with patch("actions.speak.connector.zenoh.ZenohPublisherProvider") as mock_cls:
-        mock_instance = Mock()
-        mock_cls.return_value = mock_instance
-        yield {"cls": mock_cls, "instance": mock_instance}
-
-
-@pytest.fixture
-def connector(mock_publisher):
-    """Create a SpeakZenohConnector with mocked publisher."""
-    return SpeakZenohConnector(ActionConfig())
-
-
-class TestSpeakZenohConnector:
-    """Test the Speak Zenoh connector."""
-
-    def test_init_default_topic(self, mock_publisher):
-        """Test initialization uses default 'speech' topic when not configured."""
-        SpeakZenohConnector(ActionConfig())
-
-        mock_publisher["cls"].assert_called_once_with("speech")
-        mock_publisher["instance"].start.assert_called_once()
-
-    def test_init_custom_topic(self, mock_publisher):
-        """Test initialization uses custom topic from config."""
-        config = ActionConfig(speak_topic="custom/topic")  # type: ignore[call-arg]
-        SpeakZenohConnector(config)
-
-        mock_publisher["cls"].assert_called_once_with("custom/topic")
-        mock_publisher["instance"].start.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_connect_adds_pending_message(self, connector, mock_publisher):
-        """Test connect queues the speak message via publisher."""
-        speak_input = SpeakInput(action="Hello from Zenoh!")
-        await connector.connect(speak_input)
-        mock_publisher["instance"].add_pending_message.assert_called_once_with("Hello from Zenoh!")
-
-    @pytest.mark.asyncio
-    async def test_connect_empty_message(self, connector, mock_publisher):
-        """Test connect handles empty message."""
-        speak_input = SpeakInput(action="")
-        await connector.connect(speak_input)
-        mock_publisher["instance"].add_pending_message.assert_called_once_with("")
diff --git a/tests/actions/telegram_message/__init__.py b/tests/actions/telegram_message/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/telegram_message/connector/__init__.py b/tests/actions/telegram_message/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/telegram_message/connector/test_telegram_message_telegramAPI.py b/tests/actions/telegram_message/connector/test_telegram_message_telegramAPI.py
deleted file mode 100644
index 6b999968b1..0000000000
--- a/tests/actions/telegram_message/connector/test_telegram_message_telegramAPI.py
+++ /dev/null
@@ -1,144 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from actions.telegram.connector.telegramAPI import (
-    TelegramAPIConfig,
-    TelegramAPIConnector,
-)
-from actions.telegram.interface import Telegram, TelegramInput
-
-
-def test_telegram_input_default():
-    """Test TelegramInput with default values."""
-    input_obj = TelegramInput()
-    assert input_obj.action == ""
-
-
-def test_telegram_input_with_value():
-    """Test TelegramInput with custom value."""
-    input_obj = TelegramInput(action="Hello from robot!")
-    assert input_obj.action == "Hello from robot!"
-
-
-def test_telegram_input_with_emoji():
-    """Test TelegramInput with emoji."""
-    input_obj = TelegramInput(action="Battery low! Please charge.")
-    assert "Battery" in input_obj.action
-
-
-def test_telegram_interface():
-    """Test Telegram interface creation."""
-    input_obj = TelegramInput(action="Test message")
-    output_obj = TelegramInput(action="Test message")
-    message = Telegram(input=input_obj, output=output_obj)
-    assert message.input.action == "Test message"
-    assert message.output.action == "Test message"
-
-
-def test_init_with_credentials():
-    """Test initialization with credentials."""
-    config = TelegramAPIConfig(bot_token="test-bot-token", chat_id="test-chat-id")
-    connector = TelegramAPIConnector(config)
-    assert connector.config.bot_token == "test-bot-token"
-    assert connector.config.chat_id == "test-chat-id"
-
-
-def test_init_without_bot_token():
-    """Test initialization without bot token logs warning."""
-    with patch("actions.telegram.connector.telegramAPI.logging.warning") as mock_warning:
-        config = TelegramAPIConfig(bot_token="", chat_id="test-chat-id")
-        connector = TelegramAPIConnector(config)
-        assert connector.config.bot_token == ""
-        mock_warning.assert_any_call("Telegram Bot Token not provided in configuration")
-
-
-def test_init_without_chat_id():
-    """Test initialization without chat id logs warning."""
-    with patch("actions.telegram.connector.telegramAPI.logging.warning") as mock_warning:
-        config = TelegramAPIConfig(bot_token="test-token", chat_id="")
-        connector = TelegramAPIConnector(config)
-        assert connector.config.chat_id == ""
-        mock_warning.assert_any_call("Telegram Chat ID not provided in configuration")
-
-
-def test_init_without_any_credentials():
-    """Test initialization without any credentials logs both warnings."""
-    with patch("actions.telegram.connector.telegramAPI.logging.warning") as mock_warning:
-        config = TelegramAPIConfig(bot_token="", chat_id="")
-        connector = TelegramAPIConnector(config)
-        assert connector.config.bot_token == ""
-        assert connector.config.chat_id == ""
-        assert mock_warning.call_count >= 2
-
-
-@pytest.fixture
-def connector_with_credentials():
-    """Create a connector with mocked credentials."""
-    config = TelegramAPIConfig(bot_token="test-bot-token", chat_id="123456789")
-    return TelegramAPIConnector(config)
-
-
-@pytest.mark.asyncio
-async def test_connect_without_credentials_returns_early():
-    """Test that connect returns early without credentials."""
-    config = TelegramAPIConfig(bot_token="", chat_id="")
-    connector = TelegramAPIConnector(config)
-
-    with patch("actions.telegram.connector.telegramAPI.logging.error") as mock_error:
-        input_obj = TelegramInput(action="Test")
-        await connector.connect(input_obj)
-        mock_error.assert_called_with("Telegram credentials not configured")
-
-
-@pytest.mark.asyncio
-async def test_connect_logs_message(connector_with_credentials):
-    """Test that connect logs the message being sent."""
-    with patch("actions.telegram.connector.telegramAPI.aiohttp.ClientSession") as mock_session:
-        mock_response = AsyncMock()
-        mock_response.status = 200
-        mock_response.json = AsyncMock(return_value={"result": {"message_id": 12345}})
-
-        mock_post = AsyncMock(return_value=mock_response)
-        mock_post.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_post.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session_instance = MagicMock()
-        mock_session_instance.post = MagicMock(return_value=mock_post)
-        mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-        mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session.return_value = mock_session_instance
-
-        with patch("actions.telegram.connector.telegramAPI.logging.info") as mock_info:
-            input_obj = TelegramInput(action="Test notification")
-            await connector_with_credentials.connect(input_obj)
-            mock_info.assert_any_call("SendThisToTelegram: Test notification")
-
-
-@pytest.mark.asyncio
-async def test_connect_uses_correct_api_url(connector_with_credentials):
-    """Test that connect calls correct Telegram API URL."""
-    with patch("actions.telegram.connector.telegramAPI.aiohttp.ClientSession") as mock_session:
-        mock_response = AsyncMock()
-        mock_response.status = 200
-        mock_response.json = AsyncMock(return_value={"result": {"message_id": 12345}})
-
-        mock_post = AsyncMock(return_value=mock_response)
-        mock_post.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_post.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session_instance = MagicMock()
-        mock_session_instance.post = MagicMock(return_value=mock_post)
-        mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-        mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session.return_value = mock_session_instance
-
-        input_obj = TelegramInput(action="Test")
-        await connector_with_credentials.connect(input_obj)
-
-        mock_session_instance.post.assert_called_once()
-        call_args = mock_session_instance.post.call_args
-        assert "api.telegram.org" in call_args[0][0]
-        assert "test-bot-token" in call_args[0][0]
diff --git a/tests/actions/tesla_dimo/__init__.py b/tests/actions/tesla_dimo/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/tesla_dimo/connector/__init__.py b/tests/actions/tesla_dimo/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/tesla_dimo/connector/test_tesla_dimo_tesla.py b/tests/actions/tesla_dimo/connector/test_tesla_dimo_tesla.py
deleted file mode 100644
index 865c6ce424..0000000000
--- a/tests/actions/tesla_dimo/connector/test_tesla_dimo_tesla.py
+++ /dev/null
@@ -1,320 +0,0 @@
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from actions.tesla_dimo.connector.tesla import DIMOTeslaConfig, DIMOTeslaConnector
-
-
-@pytest.fixture
-def mock_dimo():
-    """Mock DIMO SDK."""
-    with patch("actions.tesla_dimo.connector.tesla.DIMO") as mock:
-        mock_instance = Mock()
-        mock_instance.auth.get_token.return_value = {"access_token": "test_dev_jwt"}
-        mock_instance.token_exchange.exchange.return_value = {"token": "test_vehicle_jwt"}
-        mock.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def tesla_connector(mock_dimo):
-    """Create DIMOTeslaConnector with mocked dependencies."""
-    config = DIMOTeslaConfig(
-        client_id="test_client_id",
-        domain="test_domain",
-        private_key="test_private_key",
-        token_id=123456,
-    )
-    connector = DIMOTeslaConnector(config)
-    connector.vehicle_jwt = "test_jwt"
-    connector.token_id = "123456"
-    return connector
-
-
-def create_aiohttp_mock(status=200):
-    """Create aiohttp ClientSession mock with proper async context managers."""
-    mock_response = Mock()
-    mock_response.status = status
-    mock_response.text = AsyncMock(return_value="OK")
-
-    mock_post_cm = Mock()
-    mock_post_cm.__aenter__ = AsyncMock(return_value=mock_response)
-    mock_post_cm.__aexit__ = AsyncMock(return_value=None)
-
-    mock_session = Mock()
-    mock_session.post = Mock(return_value=mock_post_cm)
-
-    mock_session_cm = Mock()
-    mock_session_cm.__aenter__ = AsyncMock(return_value=mock_session)
-    mock_session_cm.__aexit__ = AsyncMock(return_value=None)
-
-    return mock_session_cm, mock_session
-
-
-@pytest.mark.asyncio
-@pytest.mark.parametrize(
-    "action_input,expected_endpoint",
-    [
-        ("lock doors", "/commands/doors/lock"),
-        ("Lock Doors", "/commands/doors/lock"),
-        ("LOCK DOORS", "/commands/doors/lock"),
-        ("Lock doors", "/commands/doors/lock"),
-        ("lOcK dOoRs", "/commands/doors/lock"),
-    ],
-)
-async def test_lock_doors_case_insensitive(tesla_connector, action_input, expected_endpoint):
-    """Test that 'lock doors' command works regardless of case."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout"),
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-    ):
-        input_interface = Mock()
-        input_interface.action = action_input
-
-        await tesla_connector.connect(input_interface)
-
-        mock_session.post.assert_called_once()
-        call_url = mock_session.post.call_args[0][0]
-        assert expected_endpoint in call_url
-
-
-@pytest.mark.asyncio
-@pytest.mark.parametrize(
-    "action_input,expected_endpoint",
-    [
-        ("unlock doors", "/commands/doors/unlock"),
-        ("Unlock Doors", "/commands/doors/unlock"),
-        ("UNLOCK DOORS", "/commands/doors/unlock"),
-    ],
-)
-async def test_unlock_doors_case_insensitive(tesla_connector, action_input, expected_endpoint):
-    """Test that 'unlock doors' command works regardless of case."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout"),
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-    ):
-        input_interface = Mock()
-        input_interface.action = action_input
-
-        await tesla_connector.connect(input_interface)
-
-        mock_session.post.assert_called_once()
-        call_url = mock_session.post.call_args[0][0]
-        assert expected_endpoint in call_url
-
-
-@pytest.mark.asyncio
-@pytest.mark.parametrize(
-    "action_input,expected_endpoint",
-    [
-        ("open frunk", "/commands/frunk/open"),
-        ("Open Frunk", "/commands/frunk/open"),
-        ("OPEN FRUNK", "/commands/frunk/open"),
-    ],
-)
-async def test_open_frunk_case_insensitive(tesla_connector, action_input, expected_endpoint):
-    """Test that 'open frunk' command works regardless of case."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout"),
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-    ):
-        input_interface = Mock()
-        input_interface.action = action_input
-
-        await tesla_connector.connect(input_interface)
-
-        mock_session.post.assert_called_once()
-        call_url = mock_session.post.call_args[0][0]
-        assert expected_endpoint in call_url
-
-
-@pytest.mark.asyncio
-@pytest.mark.parametrize(
-    "action_input,expected_endpoint",
-    [
-        ("open trunk", "/commands/trunk/open"),
-        ("Open Trunk", "/commands/trunk/open"),
-        ("OPEN TRUNK", "/commands/trunk/open"),
-    ],
-)
-async def test_open_trunk_case_insensitive(tesla_connector, action_input, expected_endpoint):
-    """Test that 'open trunk' command works regardless of case."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout"),
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-    ):
-        input_interface = Mock()
-        input_interface.action = action_input
-
-        await tesla_connector.connect(input_interface)
-
-        mock_session.post.assert_called_once()
-        call_url = mock_session.post.call_args[0][0]
-        assert expected_endpoint in call_url
-
-
-@pytest.mark.asyncio
-@pytest.mark.parametrize(
-    "action_input",
-    [
-        "idle",
-        "Idle",
-        "IDLE",
-    ],
-)
-async def test_idle_case_insensitive(tesla_connector, action_input):
-    """Test that 'idle' command works regardless of case and makes no HTTP call."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout"),
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ) as mock_client_session,
-    ):
-        input_interface = Mock()
-        input_interface.action = action_input
-
-        await tesla_connector.connect(input_interface)
-
-        mock_client_session.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_unknown_action_logs_error(tesla_connector):
-    """Test that unknown actions are logged as errors."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout"),
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ) as mock_client_session,
-        patch("actions.tesla_dimo.connector.tesla.logging") as mock_logging,
-    ):
-        input_interface = Mock()
-        input_interface.action = "invalid_action"
-
-        await tesla_connector.connect(input_interface)
-
-        mock_client_session.assert_not_called()
-        mock_logging.error.assert_called()
-
-
-@pytest.mark.asyncio
-async def test_no_jwt_logs_error(mock_dimo):
-    """Test that missing JWT is logged as error."""
-    with patch("actions.tesla_dimo.connector.tesla.logging") as mock_logging:
-        config = DIMOTeslaConfig(
-            client_id="test_client_id",
-            domain="test_domain",
-            private_key="test_private_key",
-            token_id=123456,
-        )
-        connector = DIMOTeslaConnector(config)
-        connector.vehicle_jwt = None
-
-        input_interface = Mock()
-        input_interface.action = "lock doors"
-
-        await connector.connect(input_interface)
-
-        mock_logging.error.assert_called_with("No vehicle jwt")
-
-
-@pytest.mark.asyncio
-async def test_uses_aiohttp_not_requests(tesla_connector):
-    """Test that aiohttp is used for non-blocking HTTP calls."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout") as mock_timeout,
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ) as mock_client_session,
-    ):
-        input_interface = Mock()
-        input_interface.action = "lock doors"
-
-        await tesla_connector.connect(input_interface)
-
-        mock_timeout.assert_called_once_with(total=10)
-        mock_client_session.assert_called_once()
-
-
-def test_requests_not_imported():
-    """Verify blocking requests library is not imported in tesla module."""
-    from actions.tesla_dimo.connector import tesla
-
-    module_source = open(tesla.__file__).read()
-    assert "import requests" not in module_source
-    assert "from requests" not in module_source
-
-
-@pytest.mark.asyncio
-async def test_http_error_status_logs_error(tesla_connector):
-    """Test that HTTP error status (non-200) is logged as error."""
-    mock_session_cm, mock_session = create_aiohttp_mock(status=500)
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout"),
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-        patch("actions.tesla_dimo.connector.tesla.logging") as mock_logging,
-    ):
-        input_interface = Mock()
-        input_interface.action = "lock doors"
-
-        await tesla_connector.connect(input_interface)
-
-        mock_logging.error.assert_called()
-        error_call = mock_logging.error.call_args[0][0]
-        assert "500" in error_call
-
-
-@pytest.mark.asyncio
-async def test_timeout_is_configured(tesla_connector):
-    """Test that aiohttp timeout is properly configured to 10 seconds."""
-    mock_session_cm, mock_session = create_aiohttp_mock()
-
-    with (
-        patch("actions.tesla_dimo.connector.tesla.aiohttp.ClientTimeout") as mock_timeout,
-        patch(
-            "actions.tesla_dimo.connector.tesla.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ) as mock_client_session,
-    ):
-        input_interface = Mock()
-        input_interface.action = "lock doors"
-
-        await tesla_connector.connect(input_interface)
-
-        mock_timeout.assert_called_once_with(total=10)
-        mock_client_session.assert_called_once()
-        call_kwargs = mock_client_session.call_args[1]
-        assert "timeout" in call_kwargs
diff --git a/tests/actions/test_base.py b/tests/actions/test_base.py
deleted file mode 100644
index d4036737a1..0000000000
--- a/tests/actions/test_base.py
+++ /dev/null
@@ -1,174 +0,0 @@
-import threading
-import time
-from dataclasses import dataclass
-from typing import Optional
-
-import pytest
-
-from actions.base import ActionConfig, ActionConnector, AgentAction, Interface
-
-
-@dataclass
-class SampleInput:
-    value: str
-
-
-@dataclass
-class SampleOutput:
-    result: str
-
-
-# Test implementation of Interface
-@dataclass
-class SampleInterface(Interface[SampleInput, SampleOutput]):
-    input: SampleInput
-    output: SampleOutput
-
-
-# Test implementation of ActionConnector
-class SampleConnector(ActionConnector[ActionConfig, SampleOutput]):
-    def __init__(self, config: ActionConfig):
-        super().__init__(config)
-        self.last_output: Optional[SampleOutput] = None
-
-    async def connect(self, output_interface: SampleOutput) -> None:
-        self.last_output = output_interface
-
-
-@pytest.fixture
-def action_config():
-    return ActionConfig()
-
-
-@pytest.fixture
-def test_connector(action_config):
-    return SampleConnector(action_config)
-
-
-@pytest.fixture
-def agent_action(test_connector):
-    return AgentAction(
-        name="test_action",
-        llm_label="test_llm_label",
-        interface=SampleInterface,
-        connector=test_connector,
-        exclude_from_prompt=True,
-    )
-
-
-@pytest.mark.asyncio
-async def test_connector_connect():
-    config = ActionConfig()
-    connector = SampleConnector(config)
-    test_output = SampleOutput(result="test_result")
-
-    await connector.connect(test_output)
-
-    assert connector.last_output == test_output
-
-
-@pytest.mark.asyncio
-async def test_full_action_flow(agent_action):
-    test_input = SampleInput(value="test_data")
-
-    # Connect the output
-    await agent_action.connector.connect(test_input)
-    assert isinstance(agent_action.connector, SampleConnector)
-    assert agent_action.connector.last_output == test_input
-
-
-def test_action_config():
-    config = ActionConfig()
-
-    assert config is not None
-    assert isinstance(config, ActionConfig)
-
-
-def test_agent_action_structure(agent_action):
-    assert agent_action.name == "test_action"
-    assert agent_action.interface == SampleInterface
-    assert isinstance(agent_action.connector, SampleConnector)
-
-
-def test_sleep_without_stop_event(test_connector):
-    """Test that sleep works normally when no stop event is set."""
-    start_time = time.time()
-    result = test_connector.sleep(0.1)
-    duration = time.time() - start_time
-
-    assert result is True
-    assert duration >= 0.1
-
-
-def test_sleep_with_stop_event_not_triggered(test_connector):
-    """Test that sleep completes normally when stop event is set but not triggered."""
-    stop_event = threading.Event()
-    test_connector.set_stop_event(stop_event)
-
-    start_time = time.time()
-    result = test_connector.sleep(0.1)
-    duration = time.time() - start_time
-
-    assert result is True
-    assert duration >= 0.1
-
-
-def test_sleep_interrupted_by_stop_event(test_connector):
-    """Test that sleep is interrupted when stop event is set during sleep."""
-    stop_event = threading.Event()
-    test_connector.set_stop_event(stop_event)
-
-    def trigger_stop():
-        time.sleep(0.05)
-        stop_event.set()
-
-    # Start a thread to trigger the stop event
-    stop_thread = threading.Thread(target=trigger_stop)
-    stop_thread.start()
-
-    start_time = time.time()
-    result = test_connector.sleep(1.0)
-    duration = time.time() - start_time
-
-    stop_thread.join()
-
-    assert result is False
-    assert duration < 0.2
-    assert test_connector.should_stop() is True
-
-
-def test_sleep_already_stopped(test_connector):
-    """Test that sleep returns immediately when stop event is already set."""
-    stop_event = threading.Event()
-    stop_event.set()
-    test_connector.set_stop_event(stop_event)
-
-    start_time = time.time()
-    result = test_connector.sleep(1.0)
-    duration = time.time() - start_time
-
-    assert result is False
-    assert duration < 0.1
-    assert test_connector.should_stop() is True
-
-
-def test_should_stop_without_event(test_connector):
-    """Test that should_stop returns False when no stop event is set."""
-    assert test_connector.should_stop() is False
-
-
-def test_should_stop_with_event_not_set(test_connector):
-    """Test that should_stop returns False when stop event exists but is not set."""
-    stop_event = threading.Event()
-    test_connector.set_stop_event(stop_event)
-
-    assert test_connector.should_stop() is False
-
-
-def test_should_stop_with_event_set(test_connector):
-    """Test that should_stop returns True when stop event is set."""
-    stop_event = threading.Event()
-    test_connector.set_stop_event(stop_event)
-    stop_event.set()
-
-    assert test_connector.should_stop() is True
diff --git a/tests/actions/test_orchestrator.py b/tests/actions/test_orchestrator.py
deleted file mode 100644
index f61c77c148..0000000000
--- a/tests/actions/test_orchestrator.py
+++ /dev/null
@@ -1,869 +0,0 @@
-import asyncio
-import json
-from dataclasses import dataclass
-from enum import Enum
-from typing import Dict, List
-from unittest.mock import MagicMock
-
-import pytest
-
-from actions.base import ActionConfig, ActionConnector, AgentAction, Interface
-from actions.orchestrator import ActionOrchestrator
-from llm.output_model import Action
-from runtime.config import RuntimeConfig
-
-
-@dataclass
-class MockInput:
-    action: str
-
-
-@dataclass
-class MockOutput:
-    result: str
-
-
-@dataclass
-class MockInterface(Interface[MockInput, MockOutput]):
-    input: MockInput
-    output: MockOutput
-
-
-class MockConnector(ActionConnector[ActionConfig, MockInput]):
-    """
-    Mock connector that tracks execution order and timing.
-    """
-
-    execution_order: List[str] = []
-    execution_times: Dict[str, float] = {}
-
-    def __init__(self, config: ActionConfig, action_name: str):
-        super().__init__(config)
-        self.action_name = action_name
-        self.connected_values: List[str] = []
-        self.tick_count = 0
-
-    async def connect(self, output_interface: MockInput) -> None:
-        """Record when this action executes."""
-        MockConnector.execution_order.append(self.action_name)
-        MockConnector.execution_times[self.action_name] = asyncio.get_event_loop().time()
-
-        self.connected_values.append(output_interface.action)
-
-        await asyncio.sleep(0.01)
-
-    def tick(self):
-        """Background connector tick."""
-        self.tick_count += 1
-
-    @classmethod
-    def reset(cls):
-        """Reset class-level tracking."""
-        cls.execution_order = []
-        cls.execution_times = {}
-
-
-@pytest.fixture
-def mock_runtime_config():
-    """Create a mock RuntimeConfig for testing."""
-    config = MagicMock(spec=RuntimeConfig)
-    config.action_execution_mode = "concurrent"
-    config.action_dependencies = {}
-    config.agent_actions = []
-    return config
-
-
-@pytest.fixture
-def create_agent_action():
-    """Factory to create test agent actions."""
-
-    def _create(name: str, llm_label: str) -> AgentAction:
-        connector = MockConnector(ActionConfig(), name)
-        return AgentAction(
-            name=name,
-            llm_label=llm_label,
-            interface=MockInterface,
-            connector=connector,
-            exclude_from_prompt=False,
-        )
-
-    return _create
-
-
-class TestActionOrchestratorConcurrent:
-    """Test concurrent execution mode (default)."""
-
-    @pytest.fixture(autouse=True)
-    def setup(self):
-        """Reset mock connector state before each test."""
-        MockConnector.reset()
-
-    @pytest.mark.asyncio
-    async def test_concurrent_execution_all_start_together(self, mock_runtime_config, create_agent_action):
-        """Test that concurrent mode starts all actions at the same time."""
-        action1 = create_agent_action("move", "move")
-        action2 = create_agent_action("speak", "speak")
-        action3 = create_agent_action("gesture", "gesture")
-
-        mock_runtime_config.agent_actions = [action1, action2, action3]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="move", value="forward"),
-            Action(type="speak", value="hello"),
-            Action(type="gesture", value="wave"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 3
-        assert set(MockConnector.execution_order) == {"move", "speak", "gesture"}
-
-    @pytest.mark.asyncio
-    async def test_concurrent_execution_timing(self, mock_runtime_config, create_agent_action):
-        """Test that concurrent actions start almost simultaneously."""
-        action1 = create_agent_action("action1", "action1")
-        action2 = create_agent_action("action2", "action2")
-
-        mock_runtime_config.agent_actions = [action1, action2]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="action1", value="test1"),
-            Action(type="action2", value="test2"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        times = list(MockConnector.execution_times.values())
-        assert len(times) == 2
-        time_diff = abs(times[1] - times[0])
-        assert time_diff < 0.001
-
-
-class TestActionOrchestratorSequential:
-    """Test sequential execution mode."""
-
-    @pytest.fixture(autouse=True)
-    def setup(self):
-        """Reset mock connector state before each test."""
-        MockConnector.reset()
-
-    @pytest.mark.asyncio
-    async def test_sequential_execution_order(self, mock_runtime_config, create_agent_action):
-        """Test that sequential mode executes actions in order."""
-        action1 = create_agent_action("first", "first")
-        action2 = create_agent_action("second", "second")
-        action3 = create_agent_action("third", "third")
-
-        mock_runtime_config.agent_actions = [action1, action2, action3]
-        mock_runtime_config.action_execution_mode = "sequential"
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="first", value="1"),
-            Action(type="second", value="2"),
-            Action(type="third", value="3"),
-        ]
-
-        await orchestrator.promise(actions)
-
-        assert MockConnector.execution_order == ["first", "second", "third"]
-
-    @pytest.mark.asyncio
-    async def test_sequential_execution_timing(self, mock_runtime_config, create_agent_action):
-        """Test that sequential actions execute one after another."""
-        action1 = create_agent_action("action1", "action1")
-        action2 = create_agent_action("action2", "action2")
-
-        mock_runtime_config.agent_actions = [action1, action2]
-        mock_runtime_config.action_execution_mode = "sequential"
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="action1", value="test1"),
-            Action(type="action2", value="test2"),
-        ]
-
-        await orchestrator.promise(actions)
-
-        time1 = MockConnector.execution_times["action1"]
-        time2 = MockConnector.execution_times["action2"]
-        assert time2 > time1 + 0.009
-
-    @pytest.mark.asyncio
-    async def test_sequential_with_single_action(self, mock_runtime_config, create_agent_action):
-        """Test sequential mode with just one action."""
-        action = create_agent_action("solo", "solo")
-
-        mock_runtime_config.agent_actions = [action]
-        mock_runtime_config.action_execution_mode = "sequential"
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [Action(type="solo", value="alone")]
-        await orchestrator.promise(actions)
-
-        assert MockConnector.execution_order == ["solo"]
-
-
-class TestActionOrchestratorDependencies:
-    """Test dependency-based execution mode."""
-
-    @pytest.fixture(autouse=True)
-    def setup(self):
-        """Reset mock connector state before each test."""
-        MockConnector.reset()
-
-    @pytest.mark.asyncio
-    async def test_simple_dependency_chain(self, mock_runtime_config, create_agent_action):
-        """Test simple dependency: B depends on A."""
-        action_a = create_agent_action("action_a", "action_a")
-        action_b = create_agent_action("action_b", "action_b")
-
-        mock_runtime_config.agent_actions = [action_a, action_b]
-        mock_runtime_config.action_execution_mode = "dependencies"
-        mock_runtime_config.action_dependencies = {"action_b": ["action_a"]}
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="action_b", value="second"),
-            Action(type="action_a", value="first"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert MockConnector.execution_order.index("action_a") < MockConnector.execution_order.index("action_b")
-
-    @pytest.mark.asyncio
-    async def test_multiple_dependencies(self, mock_runtime_config, create_agent_action):
-        """Test action waiting for multiple dependencies."""
-        action_a = create_agent_action("action_a", "action_a")
-        action_b = create_agent_action("action_b", "action_b")
-        action_c = create_agent_action("action_c", "action_c")
-
-        mock_runtime_config.agent_actions = [action_a, action_b, action_c]
-        mock_runtime_config.action_execution_mode = "dependencies"
-        mock_runtime_config.action_dependencies = {"action_c": ["action_a", "action_b"]}
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="action_c", value="last"),
-            Action(type="action_b", value="middle"),
-            Action(type="action_a", value="first"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        c_index = MockConnector.execution_order.index("action_c")
-        a_index = MockConnector.execution_order.index("action_a")
-        b_index = MockConnector.execution_order.index("action_b")
-
-        assert c_index > a_index
-        assert c_index > b_index
-
-    @pytest.mark.asyncio
-    async def test_parallel_with_dependencies(self, mock_runtime_config, create_agent_action):
-        """Test that independent actions can run in parallel while respecting dependencies."""
-        action_a = create_agent_action("action_a", "action_a")
-        action_b = create_agent_action("action_b", "action_b")
-        action_c = create_agent_action("action_c", "action_c")
-
-        mock_runtime_config.agent_actions = [action_a, action_b, action_c]
-        mock_runtime_config.action_execution_mode = "dependencies"
-        mock_runtime_config.action_dependencies = {"action_c": ["action_b"]}
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="action_a", value="independent"),
-            Action(type="action_b", value="prerequisite"),
-            Action(type="action_c", value="dependent"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        time_a = MockConnector.execution_times["action_a"]
-        time_b = MockConnector.execution_times["action_b"]
-        time_c = MockConnector.execution_times["action_c"]
-
-        assert abs(time_a - time_b) < 0.001
-        assert time_c > time_b + 0.009
-
-    @pytest.mark.asyncio
-    async def test_complex_dependency_graph(self, mock_runtime_config, create_agent_action):
-        """Test complex dependency graph: finale depends on gesture, gesture depends on speak."""
-        speak = create_agent_action("speak", "speak")
-        gesture = create_agent_action("gesture", "gesture")
-        move = create_agent_action("move", "move")
-        finale = create_agent_action("finale", "finale")
-
-        mock_runtime_config.agent_actions = [speak, gesture, move, finale]
-        mock_runtime_config.action_execution_mode = "dependencies"
-        mock_runtime_config.action_dependencies = {
-            "gesture": ["speak"],
-            "finale": ["gesture", "move"],
-        }
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="finale", value="end"),
-            Action(type="gesture", value="wave"),
-            Action(type="move", value="forward"),
-            Action(type="speak", value="hello"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        order = MockConnector.execution_order
-        assert order.index("speak") < order.index("gesture")
-        assert order.index("gesture") < order.index("finale")
-        assert order.index("move") < order.index("finale")
-
-    @pytest.mark.asyncio
-    async def test_no_dependencies_acts_like_concurrent(self, mock_runtime_config, create_agent_action):
-        """Test that dependency mode with no dependencies acts like concurrent mode."""
-        action1 = create_agent_action("action1", "action1")
-        action2 = create_agent_action("action2", "action2")
-
-        mock_runtime_config.agent_actions = [action1, action2]
-        mock_runtime_config.action_execution_mode = "dependencies"
-        mock_runtime_config.action_dependencies = {}  # No dependencies
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="action1", value="test1"),
-            Action(type="action2", value="test2"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        times = list(MockConnector.execution_times.values())
-        time_diff = abs(times[1] - times[0])
-        assert time_diff < 0.001
-
-
-class TestActionOrchestratorEdgeCases:
-    """Test edge cases and error handling."""
-
-    @pytest.fixture(autouse=True)
-    def setup(self):
-        """Reset mock connector state before each test."""
-        MockConnector.reset()
-
-    @pytest.mark.asyncio
-    async def test_nonexistent_action(self, mock_runtime_config, create_agent_action):
-        """Test that nonexistent actions are handled gracefully."""
-        action = create_agent_action("real_action", "real_action")
-
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="real_action", value="exists"),
-            Action(type="fake_action", value="does not exist"),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert MockConnector.execution_order == ["real_action"]
-
-    @pytest.mark.asyncio
-    async def test_action_normalization(self, mock_runtime_config, create_agent_action):
-        """Test that action shortcuts are normalized correctly."""
-        move_action = create_agent_action("move", "move")
-
-        mock_runtime_config.agent_actions = [move_action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [
-            Action(type="stand still", value=""),
-            Action(type="turn left", value=""),
-            Action(type="move forwards", value=""),
-        ]
-
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        connector = move_action.connector
-        assert "stand still" in connector.connected_values
-        assert "turn left" in connector.connected_values
-        assert "move forwards" in connector.connected_values
-
-    @pytest.mark.asyncio
-    async def test_empty_action_list(self, mock_runtime_config):
-        """Test handling of empty action list."""
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        await orchestrator.promise([])
-        done, pending = await orchestrator.flush_promises()
-
-        assert len(done) == 0
-        assert len(pending) == 0
-
-    @pytest.mark.asyncio
-    async def test_promise_queue_tracking(self, mock_runtime_config, create_agent_action):
-        """Test that promise queue correctly tracks pending and completed actions."""
-        action = create_agent_action("test", "test")
-        mock_runtime_config.agent_actions = [action]
-
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [Action(type="test", value=f"action{i}") for i in range(3)]
-        await orchestrator.promise(actions)
-
-        assert len(orchestrator.promise_queue) == 3
-
-        done, pending = await orchestrator.flush_promises()
-        assert len(done) == 3
-        assert len(pending) == 0
-
-    def test_orchestrator_stop(self, mock_runtime_config):
-        """Test that orchestrator stops cleanly."""
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-        orchestrator.start()
-        orchestrator.stop()
-
-        assert orchestrator._stop_event.is_set()
-
-
-class TestActionOrchestratorModeComparison:
-    """Compare behavior across different execution modes."""
-
-    @pytest.fixture(autouse=True)
-    def setup(self):
-        """Reset mock connector state before each test."""
-        MockConnector.reset()
-
-    @pytest.mark.asyncio
-    async def test_same_result_different_order(self, create_agent_action):
-        """Test that all modes produce the same result, just in different order."""
-        config_concurrent = MagicMock(spec=RuntimeConfig)
-        action1 = create_agent_action("action1", "action1")
-        action2 = create_agent_action("action2", "action2")
-        config_concurrent.agent_actions = [action1, action2]
-        config_concurrent.action_execution_mode = "concurrent"
-        config_concurrent.action_dependencies = {}
-
-        orchestrator = ActionOrchestrator(config_concurrent)
-        actions = [
-            Action(type="action1", value="test1"),
-            Action(type="action2", value="test2"),
-        ]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        concurrent_executed = set(MockConnector.execution_order)
-
-        MockConnector.reset()
-        config_sequential = MagicMock(spec=RuntimeConfig)
-        action1 = create_agent_action("action1", "action1")
-        action2 = create_agent_action("action2", "action2")
-        config_sequential.agent_actions = [action1, action2]
-        config_sequential.action_execution_mode = "sequential"
-        config_sequential.action_dependencies = {}
-
-        orchestrator = ActionOrchestrator(config_sequential)
-        await orchestrator.promise(actions)
-
-        sequential_executed = set(MockConnector.execution_order)
-
-        assert concurrent_executed == sequential_executed == {"action1", "action2"}
-
-
-class TestLLMResultParser:
-    """Test the LLM result parser in _promise_action."""
-
-    @pytest.fixture(autouse=True)
-    def setup(self):
-        """Reset mock connector state before each test."""
-        MockConnector.reset()
-
-    @pytest.fixture
-    def mock_runtime_config(self):
-        """Create a mock RuntimeConfig for testing."""
-        config = MagicMock(spec=RuntimeConfig)
-        config.action_execution_mode = "concurrent"
-        config.action_dependencies = {}
-        config.agent_actions = []
-        return config
-
-    @pytest.fixture
-    def create_typed_action(self):
-        """Factory to create test agent actions with different input types."""
-
-        def _create(name: str, llm_label: str, input_type) -> AgentAction:
-            connector = MockConnector(ActionConfig(), name)
-
-            @dataclass
-            class CustomOutput:
-                result: str
-
-            CustomInterface = type(
-                "CustomInterface",
-                (Interface,),
-                {
-                    "__annotations__": {"input": input_type, "output": CustomOutput},
-                    "__dataclass_fields__": {},
-                },
-            )
-            CustomInterface = dataclass(CustomInterface)
-
-            return AgentAction(
-                name=name,
-                llm_label=llm_label,
-                interface=CustomInterface,
-                connector=connector,
-                exclude_from_prompt=False,
-            )
-
-        return _create
-
-    @pytest.mark.asyncio
-    async def test_parse_simple_string_value(self, mock_runtime_config, create_typed_action):
-        """Test parsing a simple string value (non-JSON)."""
-
-        @dataclass
-        class StringInput:
-            action: str
-
-        action = create_typed_action("move", "move", StringInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [Action(type="move", value="forward")]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(action.connector.connected_values) == 1
-        assert action.connector.connected_values[0] == "forward"
-
-    @pytest.mark.asyncio
-    async def test_parse_json_string_value(self, mock_runtime_config, create_typed_action):
-        """Test parsing a JSON string value."""
-
-        @dataclass
-        class JsonInput:
-            action: str
-
-        action = create_typed_action("move", "move", JsonInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [Action(type="move", value='{"action": "turn left"}')]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(action.connector.connected_values) == 1
-        assert action.connector.connected_values[0] == "turn left"
-
-    @pytest.mark.asyncio
-    async def test_parse_json_non_dict_value(self, mock_runtime_config, create_typed_action):
-        """Test parsing a JSON value that's not a dictionary."""
-
-        @dataclass
-        class SimpleInput:
-            action: str
-
-        action = create_typed_action("move", "move", SimpleInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [Action(type="move", value='["item1", "item2"]')]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(action.connector.connected_values) == 1
-        assert action.connector.connected_values[0] == '["item1", "item2"]'
-
-    @pytest.mark.asyncio
-    async def test_parse_multiple_parameters(self, mock_runtime_config, create_typed_action):
-        """Test parsing multiple parameters from JSON."""
-
-        @dataclass
-        class MultiParamInput:
-            speed: float
-            direction: str
-            distance: int
-
-        action = create_typed_action("move", "move", MultiParamInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps({"speed": 1.5, "direction": "north", "distance": 10})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_float_conversion(self, mock_runtime_config, create_typed_action):
-        """Test automatic type conversion for float."""
-
-        @dataclass
-        class FloatInput:
-            speed: float
-
-        action = create_typed_action("move", "move", FloatInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps({"speed": "2.5"})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_int_conversion(self, mock_runtime_config, create_typed_action):
-        """Test automatic type conversion for int."""
-
-        @dataclass
-        class IntInput:
-            count: int
-
-        action = create_typed_action("move", "move", IntInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps({"count": "42"})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_bool_conversion_true(self, mock_runtime_config, create_typed_action):
-        """Test automatic type conversion for bool (true values)."""
-
-        @dataclass
-        class BoolInput:
-            enabled: bool
-
-        action = create_typed_action("move", "move", BoolInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        # Test various true representations
-        for true_val in ["true", "True", "1", "yes", "YES"]:
-            MockConnector.reset()
-            json_value = json.dumps({"enabled": true_val})
-            actions = [Action(type="move", value=json_value)]
-            await orchestrator.promise(actions)
-            await orchestrator.flush_promises()
-            assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_bool_conversion_false(self, mock_runtime_config, create_typed_action):
-        """Test automatic type conversion for bool (false values)."""
-
-        @dataclass
-        class BoolInput:
-            enabled: bool
-
-        action = create_typed_action("move", "move", BoolInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        for false_val in ["false", "False", "0", "no"]:
-            MockConnector.reset()
-            json_value = json.dumps({"enabled": false_val})
-            actions = [Action(type="move", value=json_value)]
-            await orchestrator.promise(actions)
-            await orchestrator.flush_promises()
-            assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_enum_conversion(self, mock_runtime_config, create_typed_action):
-        """Test automatic type conversion for Enum."""
-
-        class Direction(Enum):
-            NORTH = "north"
-            SOUTH = "south"
-            EAST = "east"
-            WEST = "west"
-
-        @dataclass
-        class EnumInput:
-            direction: Direction
-
-        action = create_typed_action("move", "move", EnumInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps({"direction": "north"})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_mixed_types(self, mock_runtime_config, create_typed_action):
-        """Test parsing mixed parameter types."""
-
-        class Mode(Enum):
-            FAST = "fast"
-            SLOW = "slow"
-
-        @dataclass
-        class MixedInput:
-            speed: float
-            count: int
-            enabled: bool
-            mode: Mode
-            description: str
-
-        action = create_typed_action("move", "move", MixedInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps(
-            {
-                "speed": "3.14",
-                "count": "7",
-                "enabled": "true",
-                "mode": "fast",
-                "description": "test action",
-            }
-        )
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_invalid_json(self, mock_runtime_config, create_typed_action):
-        """Test handling of invalid JSON (should fall back to simple string)."""
-
-        @dataclass
-        class StringInput:
-            action: str
-
-        action = create_typed_action("move", "move", StringInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [Action(type="move", value="{not valid json}")]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(action.connector.connected_values) == 1
-        assert action.connector.connected_values[0] == "{not valid json}"
-
-    @pytest.mark.asyncio
-    async def test_parse_empty_string(self, mock_runtime_config, create_typed_action):
-        """Test handling of empty string value."""
-
-        @dataclass
-        class StringInput:
-            action: str
-
-        action = create_typed_action("move", "move", StringInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        actions = [Action(type="move", value="")]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(action.connector.connected_values) == 1
-        assert action.connector.connected_values[0] == ""
-
-    @pytest.mark.asyncio
-    async def test_parse_extra_parameters_ignored(self, mock_runtime_config, create_typed_action):
-        """Test that extra parameters not in type hints are safely ignored."""
-
-        @dataclass
-        class SimpleInput:
-            action: str
-
-        action = create_typed_action("move", "move", SimpleInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps({"action": "forward", "speed": "fast"})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(action.connector.connected_values) == 1
-        assert action.connector.connected_values[0] == "forward"
-        assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_only_valid_parameters(self, mock_runtime_config, create_typed_action):
-        """Test that when only valid parameters are provided, parsing succeeds."""
-
-        @dataclass
-        class SimpleInput:
-            action: str
-
-        action = create_typed_action("move", "move", SimpleInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps({"action": "forward"})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(action.connector.connected_values) == 1
-        assert action.connector.connected_values[0] == "forward"
-
-    @pytest.mark.asyncio
-    async def test_parse_none_value(self, mock_runtime_config, create_typed_action):
-        """Test handling of None/null values."""
-
-        @dataclass
-        class StringInput:
-            action: str
-
-        action = create_typed_action("move", "move", StringInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        json_value = json.dumps({"action": None})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 1
-
-    @pytest.mark.asyncio
-    async def test_parse_nested_json(self, mock_runtime_config, create_typed_action):
-        """Test handling of nested JSON structures."""
-
-        @dataclass
-        class NestedInput:
-            config: str  # Will receive JSON string
-
-        action = create_typed_action("move", "move", NestedInput)
-        mock_runtime_config.agent_actions = [action]
-        orchestrator = ActionOrchestrator(mock_runtime_config)
-
-        nested_config = {"speed": 1.5, "mode": "auto"}
-        json_value = json.dumps({"config": json.dumps(nested_config)})
-        actions = [Action(type="move", value=json_value)]
-        await orchestrator.promise(actions)
-        await orchestrator.flush_promises()
-
-        assert len(MockConnector.execution_order) == 1
diff --git a/tests/actions/tweet/__init__.py b/tests/actions/tweet/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/tweet/connector/__init__.py b/tests/actions/tweet/connector/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/actions/tweet/connector/test_tweet_twitterAPI.py b/tests/actions/tweet/connector/test_tweet_twitterAPI.py
deleted file mode 100644
index 293f8436d0..0000000000
--- a/tests/actions/tweet/connector/test_tweet_twitterAPI.py
+++ /dev/null
@@ -1,103 +0,0 @@
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from actions.base import ActionConfig
-from actions.tweet.connector.twitterAPI import TweetAPIConnector
-from actions.tweet.interface import TweetInput
-
-_mock_tweepy = MagicMock()
-
-
-@pytest.fixture
-def mock_env_vars():
-    """Mock Twitter API environment variables."""
-    env = {
-        "TWITTER_API_KEY": "test_api_key",
-        "TWITTER_API_SECRET": "test_api_secret",
-        "TWITTER_ACCESS_TOKEN": "test_access_token",
-        "TWITTER_ACCESS_TOKEN_SECRET": "test_access_token_secret",
-    }
-    with patch.dict("os.environ", env):
-        yield env
-
-
-@pytest.fixture
-def twitter_connector(mock_env_vars):
-    """Create TweetAPIConnector with mocked dependencies."""
-    with (
-        patch.dict("sys.modules", {"tweepy": _mock_tweepy}),
-        patch("actions.tweet.connector.twitterAPI.load_dotenv"),
-    ):
-        mock_client = Mock()
-        _mock_tweepy.Client.return_value = mock_client
-
-        connector = TweetAPIConnector(ActionConfig())
-        connector.client = mock_client
-        return connector
-
-
-class TestTweetAPIConnectorInit:
-    """Test TweetAPIConnector initialization."""
-
-    def test_init_creates_tweepy_client(self, mock_env_vars):
-        """Test that init creates a tweepy Client with env vars."""
-        with (
-            patch.dict("sys.modules", {"tweepy": _mock_tweepy}),
-            patch("actions.tweet.connector.twitterAPI.load_dotenv"),
-        ):
-            mock_client = Mock()
-            _mock_tweepy.Client.return_value = mock_client
-
-            connector = TweetAPIConnector(ActionConfig())
-            assert connector.client == mock_client
-
-
-class TestTweetAPIConnectorConnect:
-    """Test connect method."""
-
-    @pytest.mark.asyncio
-    async def test_connect_sends_tweet(self, twitter_connector):
-        """Test that connect sends a tweet via Twitter API."""
-        twitter_connector.client.create_tweet.return_value = Mock(data={"id": "12345"})
-
-        tweet_input = TweetInput(action="Hello world!")
-        with patch("actions.tweet.connector.twitterAPI.logging") as mock_logging:
-            await twitter_connector.connect(tweet_input)
-
-            twitter_connector.client.create_tweet.assert_called_once_with(text="Hello world!")
-            mock_logging.info.assert_any_call("SendThisToTwitterAPI: {'action': 'Hello world!'}")
-            mock_logging.info.assert_any_call("Tweet sent successfully! URL: https://twitter.com/user/status/12345")
-
-    @pytest.mark.asyncio
-    async def test_connect_empty_tweet(self, twitter_connector):
-        """Test sending an empty tweet."""
-        twitter_connector.client.create_tweet.return_value = Mock(data={"id": "99999"})
-
-        tweet_input = TweetInput(action="")
-        await twitter_connector.connect(tweet_input)
-
-        twitter_connector.client.create_tweet.assert_called_once_with(text="")
-
-    @pytest.mark.asyncio
-    async def test_connect_api_error_raises(self, twitter_connector):
-        """Test that API errors are re-raised after logging."""
-        twitter_connector.client.create_tweet.side_effect = Exception("API Error")
-
-        tweet_input = TweetInput(action="Test tweet")
-        with (
-            patch("actions.tweet.connector.twitterAPI.logging") as mock_logging,
-            pytest.raises(Exception, match="API Error"),
-        ):
-            await twitter_connector.connect(tweet_input)
-            mock_logging.error.assert_called()
-
-    @pytest.mark.asyncio
-    async def test_connect_logs_tweet_content(self, twitter_connector):
-        """Test that the tweet content is logged before sending."""
-        twitter_connector.client.create_tweet.return_value = Mock(data={"id": "11111"})
-
-        tweet_input = TweetInput(action="Logging test")
-        with patch("actions.tweet.connector.twitterAPI.logging") as mock_logging:
-            await twitter_connector.connect(tweet_input)
-            mock_logging.info.assert_any_call("SendThisToTwitterAPI: {'action': 'Logging test'}")
diff --git a/tests/backgrounds/__init__.py b/tests/backgrounds/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/backgrounds/plugins/__init__.py b/tests/backgrounds/plugins/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/backgrounds/plugins/test_agent_teleops_status.py b/tests/backgrounds/plugins/test_agent_teleops_status.py
deleted file mode 100644
index 9814880277..0000000000
--- a/tests/backgrounds/plugins/test_agent_teleops_status.py
+++ /dev/null
@@ -1,132 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from backgrounds.plugins.agent_teleops_status import (
-    AgentTeleopsStatusBackground,
-    AgentTeleopsStatusConfig,
-)
-from providers import BatteryStatus, TeleopsStatus
-
-
-class TestAgentTeleopsStatusConfig:
-    """Test cases for AgentTeleopsStatusConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = AgentTeleopsStatusConfig()
-        assert config.machine_name == "agent_teleops_status_reporter"
-
-    def test_custom_machine_name(self):
-        """Test custom machine name configuration."""
-        config = AgentTeleopsStatusConfig(machine_name="custom_machine")
-        assert config.machine_name == "custom_machine"
-
-
-class TestAgentTeleopsStatusBackground:
-    """Test cases for AgentTeleopsStatusBackground."""
-
-    @patch("backgrounds.plugins.agent_teleops_status.TeleopsStatusProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = AgentTeleopsStatusConfig(machine_name="test_machine")
-        background = AgentTeleopsStatusBackground(config)
-
-        assert background.config == config
-        assert background.teleops_status_provider == mock_provider
-        mock_provider_class.assert_called_once()
-
-    @patch("backgrounds.plugins.agent_teleops_status.TeleopsStatusProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = AgentTeleopsStatusConfig()
-        with caplog.at_level("INFO"):
-            AgentTeleopsStatusBackground(config)
-
-        assert "Initiated Teleops Status Provider in background" in caplog.text
-
-    @patch("backgrounds.plugins.agent_teleops_status.time.sleep")
-    @patch("backgrounds.plugins.agent_teleops_status.time.time")
-    @patch("backgrounds.plugins.agent_teleops_status.TeleopsStatusProvider")
-    def test_run_shares_status(self, mock_provider_class, mock_time, mock_sleep):
-        """Test that run method shares status with correct parameters."""
-        mock_time.return_value = 1234567890.0
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = AgentTeleopsStatusConfig(machine_name="test_machine")
-        background = AgentTeleopsStatusBackground(config)
-
-        background.run()
-
-        mock_provider.share_status.assert_called_once()
-
-        call_args = mock_provider.share_status.call_args
-        status = call_args[0][0]
-
-        assert isinstance(status, TeleopsStatus)
-        assert status.machine_name == "test_machine"
-        assert status.update_time == str(mock_time.return_value)
-        assert isinstance(status.battery_status, BatteryStatus)
-
-        mock_sleep.assert_called_once_with(60)
-
-    @patch("backgrounds.plugins.agent_teleops_status.time.sleep")
-    @patch("backgrounds.plugins.agent_teleops_status.time.time")
-    @patch("backgrounds.plugins.agent_teleops_status.TeleopsStatusProvider")
-    def test_run_battery_status_from_empty_dict(self, mock_provider_class, mock_time, mock_sleep):
-        """Test that battery status is created from empty dict."""
-        mock_time.return_value = 1234567890.0
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = AgentTeleopsStatusConfig()
-        background = AgentTeleopsStatusBackground(config)
-        background.run()
-
-        call_args = mock_provider.share_status.call_args
-        status = call_args[0][0]
-
-        assert status.battery_status.battery_level == 0.0
-        assert status.battery_status.charging_status is False
-        assert status.battery_status.temperature == 0.0
-        assert status.battery_status.voltage == 0.0
-
-    @patch("backgrounds.plugins.agent_teleops_status.time.sleep")
-    @patch("backgrounds.plugins.agent_teleops_status.TeleopsStatusProvider")
-    def test_run_provider_exception_handling(self, mock_provider_class, mock_sleep):
-        """Test that exceptions from provider are propagated."""
-        mock_provider = MagicMock()
-        mock_provider.share_status.side_effect = Exception("Provider error")
-        mock_provider_class.return_value = mock_provider
-
-        config = AgentTeleopsStatusConfig()
-        background = AgentTeleopsStatusBackground(config)
-
-        with pytest.raises(Exception, match="Provider error"):
-            background.run()
-
-    @patch("backgrounds.plugins.agent_teleops_status.TeleopsStatusProvider")
-    def test_inherits_from_background(self, mock_provider_class):
-        """Test that AgentTeleopsStatusBackground inherits from Background."""
-        from backgrounds.base import Background
-
-        config = AgentTeleopsStatusConfig()
-        background = AgentTeleopsStatusBackground(config)
-
-        assert isinstance(background, Background)
-
-    @patch("backgrounds.plugins.agent_teleops_status.TeleopsStatusProvider")
-    def test_config_type_annotation(self, mock_provider_class):
-        """Test that the class correctly uses AgentTeleopsStatusConfig."""
-        config = AgentTeleopsStatusConfig(machine_name="typed_test")
-        background = AgentTeleopsStatusBackground(config)
-
-        assert type(background.config) is AgentTeleopsStatusConfig
-        assert background.config.machine_name == "typed_test"
diff --git a/tests/backgrounds/plugins/test_approaching_person.py b/tests/backgrounds/plugins/test_approaching_person.py
deleted file mode 100644
index a5e343dd95..0000000000
--- a/tests/backgrounds/plugins/test_approaching_person.py
+++ /dev/null
@@ -1,246 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.base import BackgroundConfig
-from backgrounds.plugins.approaching_person import ApproachingPerson
-from providers.greeting_conversation_state_provider import ConversationState
-from zenoh_msgs import Header, PersonGreetingStatus, String, Time
-
-
-def test_initialization_success(caplog):
-    """Test successful initialization of ApproachingPerson background."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-    ):
-
-        mock_session = MagicMock()
-        mock_zenoh_session.return_value = mock_session
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-
-        config = BackgroundConfig()
-
-        with caplog.at_level("INFO"):
-            background = ApproachingPerson(config)
-
-        mock_zenoh_session.assert_called_once()
-        mock_session.declare_subscriber.assert_called_once_with("om/person_greeting", background._on_person_greeting)
-
-        mock_state_provider_class.assert_called_once()
-        assert background.greeting_state_provider == mock_state_provider
-        assert "ApproachingPerson background task initialized." in caplog.text
-
-
-def test_initialization_zenoh_error(caplog):
-    """Test initialization when Zenoh session fails to open."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-    ):
-
-        mock_zenoh_session.side_effect = Exception("Zenoh connection failed")
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-
-        config = BackgroundConfig()
-
-        with caplog.at_level("ERROR"):
-            ApproachingPerson(config)
-
-        assert "Error opening Zenoh session in ApproachingPerson" in caplog.text
-        assert "Zenoh connection failed" in caplog.text
-
-
-def test_on_person_greeting_approached(caplog):
-    """Test callback when person is approaching (APPROACHED status)."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-        patch("backgrounds.plugins.approaching_person.ContextProvider") as mock_context_provider_class,
-    ):
-
-        mock_session = MagicMock()
-        mock_zenoh_session.return_value = mock_session
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-        mock_context_provider = MagicMock()
-        mock_context_provider_class.return_value = mock_context_provider
-
-        config = BackgroundConfig()
-        background = ApproachingPerson(config)
-
-        mock_sample = MagicMock()
-        mock_payload = MagicMock()
-
-        test_header = Header(stamp=Time(sec=0, nanosec=0), frame_id="test-frame")
-        person_greeting_status = PersonGreetingStatus(
-            header=test_header,
-            request_id=String(data="test-request-id"),
-            status=PersonGreetingStatus.STATUS.APPROACHED.value,
-            message=String(data="Person is approaching"),
-        )
-
-        mock_payload.to_bytes.return_value = person_greeting_status.serialize()
-        mock_sample.payload = mock_payload
-
-        with caplog.at_level("DEBUG"):
-            with patch.object(PersonGreetingStatus, "deserialize", return_value=person_greeting_status):
-                background._on_person_greeting(mock_sample)
-
-        assert "Person is approaching. Triggering greeting mode." in caplog.text
-
-        mock_context_provider.update_context.assert_called_once_with({"approaching_detected": True})
-
-        mock_state_provider.reset_state.assert_called_once_with(ConversationState.ENGAGING)
-
-
-def test_on_person_greeting_not_approached(caplog):
-    """Test callback when person greeting status is not APPROACHED."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-        patch("backgrounds.plugins.approaching_person.ContextProvider") as mock_context_provider_class,
-    ):
-
-        mock_session = MagicMock()
-        mock_zenoh_session.return_value = mock_session
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-        mock_context_provider = MagicMock()
-        mock_context_provider_class.return_value = mock_context_provider
-
-        config = BackgroundConfig()
-        background = ApproachingPerson(config)
-
-        mock_sample = MagicMock()
-        mock_payload = MagicMock()
-
-        test_header = Header(stamp=Time(sec=0, nanosec=0), frame_id="test-frame")
-        person_greeting_status = PersonGreetingStatus(
-            header=test_header,
-            request_id=String(data="test-request-id"),
-            status=PersonGreetingStatus.STATUS.SWITCH.value,  # Not APPROACHED
-            message=String(data="Switching state"),
-        )
-
-        mock_payload.to_bytes.return_value = person_greeting_status.serialize()
-        mock_sample.payload = mock_payload
-
-        with caplog.at_level("INFO"):
-            with patch.object(PersonGreetingStatus, "deserialize", return_value=person_greeting_status):
-                background._on_person_greeting(mock_sample)
-
-        mock_context_provider.update_context.assert_not_called()
-        mock_state_provider.reset_state.assert_not_called()
-
-
-def test_run_publishes_switch_status():
-    """Test that run method publishes SWITCH status to person greeting topic."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-        patch("backgrounds.plugins.approaching_person.uuid4") as mock_uuid4,
-        patch("backgrounds.plugins.approaching_person.prepare_header") as mock_prepare_header,
-    ):
-
-        mock_session = MagicMock()
-        mock_zenoh_session.return_value = mock_session
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-
-        test_uuid = "test-uuid-1234"
-        mock_uuid4.return_value = test_uuid
-        test_header = Header(stamp=Time(sec=0, nanosec=0), frame_id="test-uuid-1234")
-        mock_prepare_header.return_value = test_header
-
-        config = BackgroundConfig()
-        background = ApproachingPerson(config)
-
-        with patch.object(background, "sleep") as mock_sleep:
-            background.run()
-
-        assert mock_session.put.call_count == 1
-        call_args = mock_session.put.call_args
-
-        assert call_args[0][0] == "om/person_greeting"
-        published_data = call_args[0][1]
-        assert isinstance(published_data, bytes)
-
-        mock_sleep.assert_called_once_with(5)
-
-
-def test_stop_closes_session(caplog):
-    """Test that stop method closes the Zenoh session."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-    ):
-
-        mock_session = MagicMock()
-        mock_zenoh_session.return_value = mock_session
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-
-        config = BackgroundConfig()
-        background = ApproachingPerson(config)
-
-        with caplog.at_level("INFO"):
-            background.stop()
-
-        mock_session.close.assert_called_once()
-        assert "Stopping ApproachingPerson background task." in caplog.text
-
-
-def test_stop_without_session(caplog):
-    """Test that stop method handles missing session gracefully."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-    ):
-
-        mock_zenoh_session.side_effect = Exception("No session")
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-
-        config = BackgroundConfig()
-        background = ApproachingPerson(config)
-        background.session = None  # type: ignore
-
-        with caplog.at_level("INFO"):
-            background.stop()
-
-        assert "Stopping ApproachingPerson background task." in caplog.text
-
-
-def test_person_greeting_topic_constant():
-    """Test that person greeting topic is set correctly."""
-    with (
-        patch("backgrounds.plugins.approaching_person.open_zenoh_session") as mock_zenoh_session,
-        patch(
-            "backgrounds.plugins.approaching_person.GreetingConversationStateMachineProvider"
-        ) as mock_state_provider_class,
-    ):
-
-        mock_session = MagicMock()
-        mock_zenoh_session.return_value = mock_session
-        mock_state_provider = MagicMock()
-        mock_state_provider_class.return_value = mock_state_provider
-
-        config = BackgroundConfig()
-        background = ApproachingPerson(config)
-
-        assert background.person_greeting_topic == "om/person_greeting"
diff --git a/tests/backgrounds/plugins/test_d435.py b/tests/backgrounds/plugins/test_d435.py
deleted file mode 100644
index d1d820c328..0000000000
--- a/tests/backgrounds/plugins/test_d435.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.base import BackgroundConfig
-from backgrounds.plugins.d435 import D435
-
-
-class TestD435:
-    """Test cases for D435 background plugin."""
-
-    @patch("backgrounds.plugins.d435.D435Provider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider and starts it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = D435(config)
-
-        assert background.config is config
-        assert background.d435_provider == mock_provider
-        mock_provider_class.assert_called_once()
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.d435.D435Provider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        with caplog.at_level("INFO"):
-            D435(config)
-
-        assert "Initiated D435 Provider in background" in caplog.text
-
-    @patch("backgrounds.plugins.d435.D435Provider")
-    def test_provider_attribute(self, mock_provider_class):
-        """Test that d435_provider attribute is set correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = D435(config)
-
-        assert background.d435_provider is mock_provider
-
-    @patch("backgrounds.plugins.d435.D435Provider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = D435(config)
-
-        assert background.config is config
diff --git a/tests/backgrounds/plugins/test_elevenlabs_tts.py b/tests/backgrounds/plugins/test_elevenlabs_tts.py
deleted file mode 100644
index cd9b69f1f9..0000000000
--- a/tests/backgrounds/plugins/test_elevenlabs_tts.py
+++ /dev/null
@@ -1,179 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.elevenlabs_tts import ElevenLabsTTS, ElevenLabsTTSConfig
-
-
-class TestElevenLabsTTSConfig:
-    """Test cases for ElevenLabsTTSConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = ElevenLabsTTSConfig()
-        assert config.api_key is None
-        assert config.elevenlabs_api_key is None
-        assert config.voice_id == "JBFqnCBsd6RMkjVDRZzb"
-        assert config.model_id == "eleven_flash_v2_5"
-        assert config.output_format == "pcm_16000"
-
-    def test_custom_api_key(self):
-        """Test custom api_key configuration."""
-        config = ElevenLabsTTSConfig(api_key="test-om-key")
-        assert config.api_key == "test-om-key"
-
-    def test_custom_elevenlabs_api_key(self):
-        """Test custom elevenlabs_api_key configuration."""
-        config = ElevenLabsTTSConfig(elevenlabs_api_key="test-el-key")
-        assert config.elevenlabs_api_key == "test-el-key"
-
-    def test_custom_voice_id(self):
-        """Test custom voice_id configuration."""
-        config = ElevenLabsTTSConfig(voice_id="custom_voice")
-        assert config.voice_id == "custom_voice"
-
-    def test_custom_model_id(self):
-        """Test custom model_id configuration."""
-        config = ElevenLabsTTSConfig(model_id="eleven_turbo_v2")
-        assert config.model_id == "eleven_turbo_v2"
-
-    def test_custom_output_format(self):
-        """Test custom output_format configuration."""
-        config = ElevenLabsTTSConfig(output_format="pcm_16000")
-        assert config.output_format == "pcm_16000"
-
-    def test_all_custom_values(self):
-        """Test configuration with all custom values."""
-        config = ElevenLabsTTSConfig(
-            api_key="om-key",
-            elevenlabs_api_key="el-key",
-            voice_id="voice123",
-            model_id="model456",
-            output_format="wav_44100",
-        )
-        assert config.api_key == "om-key"
-        assert config.elevenlabs_api_key == "el-key"
-        assert config.voice_id == "voice123"
-        assert config.model_id == "model456"
-        assert config.output_format == "wav_44100"
-
-
-class TestElevenLabsTTS:
-    """Test cases for ElevenLabsTTS background plugin."""
-
-    @patch("backgrounds.plugins.elevenlabs_tts.ElevenLabsTTSProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider, starts, and configures it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = ElevenLabsTTSConfig()
-        background = ElevenLabsTTS(config)
-
-        assert background.config is config
-        assert background.tts == mock_provider
-        mock_provider_class.assert_called_once()
-        mock_provider.start.assert_called_once()
-        mock_provider.configure.assert_called_once()
-
-    @patch("backgrounds.plugins.elevenlabs_tts.ElevenLabsTTSProvider")
-    def test_provider_initialized_with_correct_params(self, mock_provider_class):
-        """Test that provider is initialized with correct parameters."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = ElevenLabsTTSConfig(
-            api_key="om-key",
-            elevenlabs_api_key="el-key",
-            voice_id="voice123",
-            model_id="model456",
-            output_format="wav_44100",
-        )
-        ElevenLabsTTS(config)
-
-        mock_provider_class.assert_called_once_with(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key="om-key",
-            elevenlabs_api_key="el-key",
-            voice_id="voice123",
-            model_id="model456",
-            output_format="wav_44100",
-        )
-
-    @patch("backgrounds.plugins.elevenlabs_tts.ElevenLabsTTSProvider")
-    def test_provider_configure_called_with_correct_params(self, mock_provider_class):
-        """Test that provider.configure() is called with correct parameters."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = ElevenLabsTTSConfig(
-            api_key="om-key",
-            elevenlabs_api_key="el-key",
-            voice_id="voice123",
-            model_id="model456",
-            output_format="wav_44100",
-        )
-        ElevenLabsTTS(config)
-
-        mock_provider.configure.assert_called_once_with(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key="om-key",
-            elevenlabs_api_key="el-key",
-            voice_id="voice123",
-            model_id="model456",
-            output_format="wav_44100",
-        )
-
-    @patch("backgrounds.plugins.elevenlabs_tts.ElevenLabsTTSProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = ElevenLabsTTSConfig()
-        with caplog.at_level("INFO"):
-            ElevenLabsTTS(config)
-
-        assert "Eleven Labs TTS Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.elevenlabs_tts.ElevenLabsTTSProvider")
-    def test_start_called_before_configure(self, mock_provider_class):
-        """Test that start() is called before configure()."""
-        call_order = []
-        mock_provider = MagicMock()
-        mock_provider.start.side_effect = lambda: call_order.append("start")
-        mock_provider.configure.side_effect = lambda **kwargs: call_order.append("configure")
-        mock_provider_class.return_value = mock_provider
-
-        config = ElevenLabsTTSConfig()
-        ElevenLabsTTS(config)
-
-        assert call_order == ["start", "configure"]
-
-    @patch("backgrounds.plugins.elevenlabs_tts.ElevenLabsTTSProvider")
-    def test_default_config_params_passed_to_provider(self, mock_provider_class):
-        """Test that default config params are passed to provider."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = ElevenLabsTTSConfig()
-        ElevenLabsTTS(config)
-
-        mock_provider_class.assert_called_once_with(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=None,
-            elevenlabs_api_key=None,
-            voice_id="JBFqnCBsd6RMkjVDRZzb",
-            model_id="eleven_flash_v2_5",
-            output_format="pcm_16000",
-        )
-
-    @patch("backgrounds.plugins.elevenlabs_tts.ElevenLabsTTSProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = ElevenLabsTTSConfig(api_key="test-key")
-        background = ElevenLabsTTS(config)
-
-        assert background.config is config
-        assert background.config.api_key == "test-key"
diff --git a/tests/backgrounds/plugins/test_gps.py b/tests/backgrounds/plugins/test_gps.py
deleted file mode 100644
index 89ea043d82..0000000000
--- a/tests/backgrounds/plugins/test_gps.py
+++ /dev/null
@@ -1,87 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.gps import Gps, GpsConfig
-
-
-class TestGpsConfig:
-    """Test cases for GpsConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = GpsConfig()
-        assert config.serial_port is None
-
-    def test_custom_serial_port(self):
-        """Test custom serial port configuration."""
-        config = GpsConfig(serial_port="/dev/ttyUSB0")
-        assert config.serial_port == "/dev/ttyUSB0"
-
-
-class TestGps:
-    """Test cases for Gps background plugin."""
-
-    @patch("backgrounds.plugins.gps.GpsProvider")
-    def test_initialization_with_port(self, mock_provider_class):
-        """Test background initialization with valid serial port."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = GpsConfig(serial_port="/dev/ttyUSB0")
-        background = Gps(config)
-
-        assert background.config is config
-        assert background.gps_provider == mock_provider
-        mock_provider_class.assert_called_once_with(serial_port="/dev/ttyUSB0")
-
-    @patch("backgrounds.plugins.gps.GpsProvider")
-    def test_initialization_logging_with_port(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message with port."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = GpsConfig(serial_port="/dev/ttyUSB0")
-        with caplog.at_level("INFO"):
-            Gps(config)
-
-        assert "Initiated GPS Provider with serial port: /dev/ttyUSB0 in background" in caplog.text
-
-    @patch("backgrounds.plugins.gps.GpsProvider")
-    def test_initialization_with_none_port_early_return(self, mock_provider_class):
-        """Test that None port causes early return without creating provider."""
-        config = GpsConfig()
-        background = Gps(config)
-
-        mock_provider_class.assert_not_called()
-        assert not hasattr(background, "gps_provider")
-
-    @patch("backgrounds.plugins.gps.GpsProvider")
-    def test_initialization_with_none_port_error_log(self, mock_provider_class, caplog):
-        """Test that None port logs an error message."""
-        config = GpsConfig()
-        with caplog.at_level("ERROR"):
-            Gps(config)
-
-        assert "GPS serial port not specified in config" in caplog.text
-
-    @patch("backgrounds.plugins.gps.GpsProvider")
-    def test_no_start_called(self, mock_provider_class):
-        """Test that start() is NOT called on provider (GPS has no start)."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = GpsConfig(serial_port="/dev/ttyUSB0")
-        Gps(config)
-
-        mock_provider.start.assert_not_called()
-
-    @patch("backgrounds.plugins.gps.GpsProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = GpsConfig(serial_port="/dev/ttyUSB1")
-        background = Gps(config)
-
-        assert background.config is config
-        assert background.config.serial_port == "/dev/ttyUSB1"
diff --git a/tests/backgrounds/plugins/test_rf_mapper.py b/tests/backgrounds/plugins/test_rf_mapper.py
deleted file mode 100644
index 9449a2a43a..0000000000
--- a/tests/backgrounds/plugins/test_rf_mapper.py
+++ /dev/null
@@ -1,529 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.rf_mapper import RFmapper, RFmapperConfig
-
-
-class TestRFmapperConfig:
-    """Test cases for RFmapperConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = RFmapperConfig()
-        assert config.name == "RFmapper"
-        assert config.api_key is None
-        assert config.URID is None
-        assert config.unitree_ethernet is None
-
-    def test_custom_name(self):
-        """Test custom name configuration."""
-        config = RFmapperConfig(name="CustomMapper")
-        assert config.name == "CustomMapper"
-
-    def test_custom_api_key(self):
-        """Test custom api_key configuration."""
-        config = RFmapperConfig(api_key="test-api-key")
-        assert config.api_key == "test-api-key"
-
-    def test_custom_urid(self):
-        """Test custom URID configuration."""
-        config = RFmapperConfig(URID="robot-001")
-        assert config.URID == "robot-001"
-
-    def test_custom_unitree_ethernet(self):
-        """Test custom unitree_ethernet configuration."""
-        config = RFmapperConfig(unitree_ethernet="eth0")
-        assert config.unitree_ethernet == "eth0"
-
-    def test_all_custom_values(self):
-        """Test configuration with all custom values."""
-        config = RFmapperConfig(
-            name="Mapper1",
-            api_key="key-123",
-            URID="robot-002",
-            unitree_ethernet="enp2s0",
-        )
-        assert config.name == "Mapper1"
-        assert config.api_key == "key-123"
-        assert config.URID == "robot-002"
-        assert config.unitree_ethernet == "enp2s0"
-
-
-class TestRFmapper:
-    """Test cases for RFmapper background plugin."""
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_initialization(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test background initialization creates all providers."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps_class.return_value = mock_gps
-
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk_class.return_value = mock_rtk
-
-        mock_odom = MagicMock()
-        mock_odom_class.return_value = mock_odom
-
-        mock_fds = MagicMock()
-        mock_fds_class.return_value = mock_fds
-
-        mock_thread = MagicMock()
-        mock_thread_class.return_value = mock_thread
-
-        config = RFmapperConfig(api_key="test-key", URID="robot-001")
-        background = RFmapper(config)
-
-        assert background.name == "RFmapper"
-        assert background.api_key == "test-key"
-        assert background.URID == "robot-001"
-        assert background.gps == mock_gps
-        assert background.rtk == mock_rtk
-        assert background.odom == mock_odom
-        assert background.fds == mock_fds
-
-        mock_gps_class.assert_called_once()
-        mock_rtk_class.assert_called_once()
-        mock_odom_class.assert_called_once()
-        mock_fds_class.assert_called_once_with(api_key="test-key", write_to_local_file=True)
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_initialization_logging(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-        caplog,
-    ):
-        """Test that initialization logs config and provider info."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps_class.return_value = mock_gps
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk_class.return_value = mock_rtk
-        mock_odom_class.return_value = MagicMock()
-        mock_fds_class.return_value = MagicMock()
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig()
-        with caplog.at_level("INFO"):
-            RFmapper(config)
-
-        assert "Mapper config:" in caplog.text
-        assert "Mapper Gps Provider:" in caplog.text
-        assert "Mapper Rtk Provider:" in caplog.text
-        assert "Mapper Odom Provider:" in caplog.text
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_thread_started_on_init(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that thread.start() is called during __init__ via self.start()."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps_class.return_value = mock_gps
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk_class.return_value = mock_rtk
-        mock_odom_class.return_value = MagicMock()
-        mock_fds_class.return_value = MagicMock()
-
-        mock_thread = MagicMock()
-        mock_thread_class.return_value = mock_thread
-
-        config = RFmapperConfig()
-        RFmapper(config)
-
-        mock_thread.start.assert_called_once()
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_initial_state_values(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that initial state values are set to defaults."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps_class.return_value = mock_gps
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk_class.return_value = mock_rtk
-        mock_odom_class.return_value = MagicMock()
-        mock_fds_class.return_value = MagicMock()
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig()
-        background = RFmapper(config)
-
-        assert background.scan_results == []
-        assert background.scan_idx == 0
-        assert background.scan_last_sent == 0
-        assert background.payload_idx == 0
-        assert background.odom_x == 0.0
-        assert background.odom_y == 0.0
-        assert background.gps_lat == 0.0
-        assert background.gps_lon == 0.0
-        assert background.rtk_lat == 0.0
-        assert background.rtk_lon == 0.0
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_gps_on_reflects_provider_running(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that gps_on reflects the GPS provider's running state."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps_class.return_value = mock_gps
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk_class.return_value = mock_rtk
-        mock_odom_class.return_value = MagicMock()
-        mock_fds_class.return_value = MagicMock()
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig()
-        background = RFmapper(config)
-
-        assert background.gps_on is True
-        assert background.rtk_on is False
-
-    @patch("backgrounds.plugins.rf_mapper.time.sleep")
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_stop(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-        mock_sleep,
-    ):
-        """Test stop method sets running to False and joins thread."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps_class.return_value = mock_gps
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk_class.return_value = mock_rtk
-        mock_odom_class.return_value = MagicMock()
-        mock_fds_class.return_value = MagicMock()
-
-        mock_thread = MagicMock()
-        mock_thread_class.return_value = mock_thread
-
-        config = RFmapperConfig()
-        background = RFmapper(config)
-
-        background.stop()
-
-        assert background.running is False
-        mock_sleep.assert_called_with(1)
-        mock_thread.join.assert_called_once()
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_run_parses_gps_data(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that run() parses GPS data from provider."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps.data = {
-            "gps_unix_ts": 1234567890.0,
-            "gps_lat": 40.7128,
-            "gps_lon": -74.0060,
-            "gps_alt": 10.5,
-            "yaw_mag_0_360": 180.0,
-            "gps_qua": 4,
-            "ble_scan": None,
-        }
-        mock_gps_class.return_value = mock_gps
-
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk.data = None
-        mock_rtk_class.return_value = mock_rtk
-
-        mock_odom = MagicMock()
-        mock_odom.position = None
-        mock_odom_class.return_value = mock_odom
-
-        mock_fds = MagicMock()
-        mock_fds_class.return_value = mock_fds
-
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig(URID="robot-001")
-        background = RFmapper(config)
-        # Enable running so the while loop enters, then stop after one iteration
-        background.running = True
-
-        def stop_after_one_iteration(duration):
-            background.running = False
-
-        background.sleep = stop_after_one_iteration  # type: ignore[assignment]
-
-        background.run()
-
-        assert background.gps_lat == 40.7128
-        assert background.gps_lon == -74.0060
-        assert background.gps_alt == 10.5
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_run_parses_odom_data(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that run() parses odometry data from provider."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps.data = None
-        mock_gps_class.return_value = mock_gps
-
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk.data = None
-        mock_rtk_class.return_value = mock_rtk
-
-        mock_odom = MagicMock()
-        mock_odom.position = {
-            "odom_x": 1.5,
-            "odom_y": 2.5,
-            "odom_rockchip_ts": 100.0,
-            "odom_subscriber_ts": 101.0,
-            "odom_yaw_0_360": 90.0,
-            "odom_yaw_m180_p180": 90.0,
-        }
-        mock_odom_class.return_value = mock_odom
-
-        mock_fds = MagicMock()
-        mock_fds_class.return_value = mock_fds
-
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig()
-        background = RFmapper(config)
-        background.running = True
-
-        def stop_after_one_iteration(duration):
-            background.running = False
-
-        background.sleep = stop_after_one_iteration  # type: ignore[assignment]
-
-        background.run()
-
-        assert background.odom_x == 1.5
-        assert background.odom_y == 2.5
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_run_submits_fabric_data(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that run() submits data to FabricDataSubmitter."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps.data = None
-        mock_gps_class.return_value = mock_gps
-
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk.data = None
-        mock_rtk_class.return_value = mock_rtk
-
-        mock_odom = MagicMock()
-        mock_odom.position = None
-        mock_odom_class.return_value = mock_odom
-
-        mock_fds = MagicMock()
-        mock_fds_class.return_value = mock_fds
-
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig(URID="robot-001")
-        background = RFmapper(config)
-        background.running = True
-
-        def stop_after_one_iteration(duration):
-            background.running = False
-
-        background.sleep = stop_after_one_iteration  # type: ignore[assignment]
-
-        background.run()
-
-        mock_fds.share_data.assert_called_once()
-        call_args = mock_fds.share_data.call_args[0][0]
-        assert call_args.machine_id == "robot-001"
-        assert call_args.payload_idx == 0
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_run_with_no_urid_uses_unknown(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that run() uses 'Unknown' when URID is None."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps.data = None
-        mock_gps_class.return_value = mock_gps
-
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk.data = None
-        mock_rtk_class.return_value = mock_rtk
-
-        mock_odom = MagicMock()
-        mock_odom.position = None
-        mock_odom_class.return_value = mock_odom
-
-        mock_fds = MagicMock()
-        mock_fds_class.return_value = mock_fds
-
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig()
-        background = RFmapper(config)
-        background.running = True
-
-        def stop_after_one_iteration(duration):
-            background.running = False
-
-        background.sleep = stop_after_one_iteration  # type: ignore[assignment]
-
-        background.run()
-
-        call_args = mock_fds.share_data.call_args[0][0]
-        assert call_args.machine_id == "Unknown"
-
-    @patch("backgrounds.plugins.rf_mapper.threading.Thread")
-    @patch("backgrounds.plugins.rf_mapper.FabricDataSubmitter")
-    @patch("backgrounds.plugins.rf_mapper.UnitreeGo2OdomProvider")
-    @patch("backgrounds.plugins.rf_mapper.RtkProvider")
-    @patch("backgrounds.plugins.rf_mapper.GpsProvider")
-    @patch("backgrounds.plugins.rf_mapper.asyncio.new_event_loop")
-    def test_config_stored(
-        self,
-        mock_event_loop,
-        mock_gps_class,
-        mock_rtk_class,
-        mock_odom_class,
-        mock_fds_class,
-        mock_thread_class,
-    ):
-        """Test that config is stored correctly."""
-        mock_gps = MagicMock()
-        mock_gps.running = True
-        mock_gps_class.return_value = mock_gps
-        mock_rtk = MagicMock()
-        mock_rtk.running = False
-        mock_rtk_class.return_value = mock_rtk
-        mock_odom_class.return_value = MagicMock()
-        mock_fds_class.return_value = MagicMock()
-        mock_thread_class.return_value = MagicMock()
-
-        config = RFmapperConfig(name="TestMapper", api_key="key-123")
-        background = RFmapper(config)
-
-        assert background.config is config
-        assert background.name == "TestMapper"
-        assert background.api_key == "key-123"
diff --git a/tests/backgrounds/plugins/test_rtk.py b/tests/backgrounds/plugins/test_rtk.py
deleted file mode 100644
index 678b7538d6..0000000000
--- a/tests/backgrounds/plugins/test_rtk.py
+++ /dev/null
@@ -1,87 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.rtk import Rtk, RtkConfig
-
-
-class TestRtkConfig:
-    """Test cases for RtkConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = RtkConfig()
-        assert config.serial_port is None
-
-    def test_custom_serial_port(self):
-        """Test custom serial port configuration."""
-        config = RtkConfig(serial_port="/dev/ttyUSB0")
-        assert config.serial_port == "/dev/ttyUSB0"
-
-
-class TestRtk:
-    """Test cases for Rtk background plugin."""
-
-    @patch("backgrounds.plugins.rtk.RtkProvider")
-    def test_initialization_with_port(self, mock_provider_class):
-        """Test background initialization with valid serial port."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = RtkConfig(serial_port="/dev/ttyUSB0")
-        background = Rtk(config)
-
-        assert background.config is config
-        assert background.rtk == mock_provider
-        mock_provider_class.assert_called_once_with(serial_port="/dev/ttyUSB0")
-
-    @patch("backgrounds.plugins.rtk.RtkProvider")
-    def test_initialization_logging_with_port(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message with port."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = RtkConfig(serial_port="/dev/ttyUSB0")
-        with caplog.at_level("INFO"):
-            Rtk(config)
-
-        assert "Initiated RTK Provider with serial port: /dev/ttyUSB0 in background" in caplog.text
-
-    @patch("backgrounds.plugins.rtk.RtkProvider")
-    def test_initialization_with_none_port_early_return(self, mock_provider_class):
-        """Test that None port causes early return without creating provider."""
-        config = RtkConfig()
-        background = Rtk(config)
-
-        mock_provider_class.assert_not_called()
-        assert not hasattr(background, "rtk")
-
-    @patch("backgrounds.plugins.rtk.RtkProvider")
-    def test_initialization_with_none_port_error_log(self, mock_provider_class, caplog):
-        """Test that None port logs an error message."""
-        config = RtkConfig()
-        with caplog.at_level("ERROR"):
-            Rtk(config)
-
-        assert "RTK serial port not specified in config" in caplog.text
-
-    @patch("backgrounds.plugins.rtk.RtkProvider")
-    def test_no_start_called(self, mock_provider_class):
-        """Test that start() is NOT called on provider (RTK has no start)."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = RtkConfig(serial_port="/dev/ttyUSB0")
-        Rtk(config)
-
-        mock_provider.start.assert_not_called()
-
-    @patch("backgrounds.plugins.rtk.RtkProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = RtkConfig(serial_port="/dev/ttyUSB1")
-        background = Rtk(config)
-
-        assert background.config is config
-        assert background.config.serial_port == "/dev/ttyUSB1"
diff --git a/tests/backgrounds/plugins/test_turtlebot4_odom.py b/tests/backgrounds/plugins/test_turtlebot4_odom.py
deleted file mode 100644
index eb3540a930..0000000000
--- a/tests/backgrounds/plugins/test_turtlebot4_odom.py
+++ /dev/null
@@ -1,116 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.turtlebot4_odom import (
-    TurtleBot4Odom,
-    TurtleBot4OdomConfig,
-)
-
-
-class TestTurtleBot4OdomConfig:
-    """Test cases for TurtleBot4OdomConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = TurtleBot4OdomConfig()
-        assert config.URID == ""
-
-    def test_custom_urid(self):
-        """Test custom URID configuration."""
-        config = TurtleBot4OdomConfig(URID="test_robot_123")
-        assert config.URID == "test_robot_123"
-
-    def test_config_inherits_from_background_config(self):
-        """Test that config properly inherits from BackgroundConfig."""
-        config = TurtleBot4OdomConfig(URID="robot_456")
-        assert hasattr(config, "URID")
-        assert config.URID == "robot_456"
-
-
-class TestTurtleBot4Odom:
-    """Test cases for TurtleBot4Odom."""
-
-    def test_initialization(self):
-        """Test background initialization."""
-        with patch("backgrounds.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = TurtleBot4OdomConfig(URID="test_robot")
-            background = TurtleBot4Odom(config)
-
-            assert background.config == config
-            assert background.URID == "test_robot"
-            assert background.odom_provider == mock_provider
-            mock_provider_class.assert_called_once_with("test_robot")
-
-    def test_initialization_with_empty_urid(self):
-        """Test background initialization with empty URID."""
-        with patch("backgrounds.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = TurtleBot4OdomConfig()
-            background = TurtleBot4Odom(config)
-
-            assert background.URID == ""
-            assert background.odom_provider == mock_provider
-            mock_provider_class.assert_called_once_with("")
-
-    def test_initialization_logging(self, caplog):
-        """Test that initialization logs the correct message."""
-        with patch("backgrounds.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = TurtleBot4OdomConfig(URID="test_robot_123")
-            with caplog.at_level("INFO"):
-                TurtleBot4Odom(config)
-
-            assert "Initialized TurtleBot4 Odom Provider with URID: test_robot_123" in caplog.text
-
-    def test_provider_initialization_with_correct_urid(self):
-        """Test that provider is initialized with the correct URID."""
-        with patch("backgrounds.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = TurtleBot4OdomConfig(URID="unique_robot_id_789")
-            background = TurtleBot4Odom(config)
-
-            # Verify provider was called with the exact URID from config
-            mock_provider_class.assert_called_once_with("unique_robot_id_789")
-            assert background.URID == "unique_robot_id_789"
-
-    def test_config_stored_correctly(self):
-        """Test that config is stored correctly in the background instance."""
-        with patch("backgrounds.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = TurtleBot4OdomConfig(URID="robot_xyz")
-            background = TurtleBot4Odom(config)
-
-            assert background.config is config
-            assert background.config.URID == "robot_xyz"
-
-    def test_multiple_instances_with_different_urids(self):
-        """Test that multiple instances can be created with different URIDs."""
-        with patch("backgrounds.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class:
-            mock_provider1 = MagicMock()
-            mock_provider2 = MagicMock()
-            mock_provider_class.side_effect = [mock_provider1, mock_provider2]
-
-            config1 = TurtleBot4OdomConfig(URID="robot_1")
-            config2 = TurtleBot4OdomConfig(URID="robot_2")
-
-            background1 = TurtleBot4Odom(config1)
-            background2 = TurtleBot4Odom(config2)
-
-            assert background1.URID == "robot_1"
-            assert background2.URID == "robot_2"
-            assert background1.odom_provider == mock_provider1
-            assert background2.odom_provider == mock_provider2
-
-            assert mock_provider_class.call_count == 2
-            mock_provider_class.assert_any_call("robot_1")
-            mock_provider_class.assert_any_call("robot_2")
diff --git a/tests/backgrounds/plugins/test_unitree_g1_locations.py b/tests/backgrounds/plugins/test_unitree_g1_locations.py
deleted file mode 100644
index 1766676538..0000000000
--- a/tests/backgrounds/plugins/test_unitree_g1_locations.py
+++ /dev/null
@@ -1,121 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.unitree_g1_locations import (
-    UnitreeG1Locations,
-    UnitreeG1LocationsConfig,
-)
-
-
-class TestUnitreeG1LocationsConfig:
-    """Test cases for UnitreeG1LocationsConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeG1LocationsConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.timeout == 5
-        assert config.refresh_interval == 30
-
-    def test_custom_base_url(self):
-        """Test custom base_url configuration."""
-        config = UnitreeG1LocationsConfig(base_url="http://example.com/locations")
-        assert config.base_url == "http://example.com/locations"
-
-    def test_custom_timeout(self):
-        """Test custom timeout configuration."""
-        config = UnitreeG1LocationsConfig(timeout=10)
-        assert config.timeout == 10
-
-    def test_custom_refresh_interval(self):
-        """Test custom refresh_interval configuration."""
-        config = UnitreeG1LocationsConfig(refresh_interval=60)
-        assert config.refresh_interval == 60
-
-    def test_all_custom_values(self):
-        """Test configuration with all custom values."""
-        config = UnitreeG1LocationsConfig(
-            base_url="http://custom:8080/api",
-            timeout=15,
-            refresh_interval=120,
-        )
-        assert config.base_url == "http://custom:8080/api"
-        assert config.timeout == 15
-        assert config.refresh_interval == 120
-
-
-class TestUnitreeG1Locations:
-    """Test cases for UnitreeG1Locations background plugin."""
-
-    @patch("backgrounds.plugins.unitree_g1_locations.UnitreeG1LocationsProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider and starts it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1LocationsConfig()
-        background = UnitreeG1Locations(config)
-
-        assert background.config is config
-        assert background.locations_provider == mock_provider
-        mock_provider_class.assert_called_once_with(
-            base_url="http://localhost:5000/maps/locations/list",
-            timeout=5,
-            refresh_interval=30,
-        )
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_g1_locations.UnitreeG1LocationsProvider")
-    def test_initialization_with_custom_config(self, mock_provider_class):
-        """Test initialization with custom configuration parameters."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1LocationsConfig(
-            base_url="http://custom:8080/api",
-            timeout=15,
-            refresh_interval=120,
-        )
-        UnitreeG1Locations(config)
-
-        mock_provider_class.assert_called_once_with(
-            base_url="http://custom:8080/api",
-            timeout=15,
-            refresh_interval=120,
-        )
-
-    @patch("backgrounds.plugins.unitree_g1_locations.UnitreeG1LocationsProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1LocationsConfig()
-        with caplog.at_level("INFO"):
-            UnitreeG1Locations(config)
-
-        assert "G1 Locations Provider initialized in background" in caplog.text
-        assert "base_url: http://localhost:5000/maps/locations/list" in caplog.text
-        assert "refresh: 30s" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_g1_locations.UnitreeG1LocationsProvider")
-    def test_provider_start_called(self, mock_provider_class):
-        """Test that provider.start() is called during initialization."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1LocationsConfig()
-        UnitreeG1Locations(config)
-
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_g1_locations.UnitreeG1LocationsProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1LocationsConfig(timeout=10)
-        background = UnitreeG1Locations(config)
-
-        assert background.config is config
-        assert background.config.timeout == 10
diff --git a/tests/backgrounds/plugins/test_unitree_g1_navigation.py b/tests/backgrounds/plugins/test_unitree_g1_navigation.py
deleted file mode 100644
index 4c78ad031b..0000000000
--- a/tests/backgrounds/plugins/test_unitree_g1_navigation.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.base import BackgroundConfig
-from backgrounds.plugins.unitree_g1_navigation import UnitreeG1Navigation
-
-
-class TestUnitreeG1Navigation:
-    """Test cases for UnitreeG1Navigation background plugin."""
-
-    @patch("backgrounds.plugins.unitree_g1_navigation.UnitreeG1NavigationProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider and starts it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeG1Navigation(config)
-
-        assert background.config is config
-        assert background.unitree_g1_navigation_provider == mock_provider
-        mock_provider_class.assert_called_once()
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_g1_navigation.UnitreeG1NavigationProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        with caplog.at_level("INFO"):
-            UnitreeG1Navigation(config)
-
-        assert "Unitree G1 Navigation Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_g1_navigation.UnitreeG1NavigationProvider")
-    def test_provider_attribute(self, mock_provider_class):
-        """Test that provider attribute is set correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeG1Navigation(config)
-
-        assert background.unitree_g1_navigation_provider is mock_provider
-
-    @patch("backgrounds.plugins.unitree_g1_navigation.UnitreeG1NavigationProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeG1Navigation(config)
-
-        assert background.config is config
diff --git a/tests/backgrounds/plugins/test_unitree_g1_odom.py b/tests/backgrounds/plugins/test_unitree_g1_odom.py
deleted file mode 100644
index eedcd3bd0d..0000000000
--- a/tests/backgrounds/plugins/test_unitree_g1_odom.py
+++ /dev/null
@@ -1,111 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.unitree_g1_odom import UnitreeG1Odom, UnitreeG1OdomConfig
-
-
-class TestUnitreeG1OdomConfig:
-    """Test cases for UnitreeG1OdomConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeG1OdomConfig()
-        assert config.unitree_ethernet is None
-
-    def test_custom_unitree_ethernet(self):
-        """Test custom unitree_ethernet configuration."""
-        config = UnitreeG1OdomConfig(unitree_ethernet="eth0")
-        assert config.unitree_ethernet == "eth0"
-
-    def test_config_inherits_from_background_config(self):
-        """Test that config properly inherits from BackgroundConfig."""
-        config = UnitreeG1OdomConfig(unitree_ethernet="eth1")
-        assert hasattr(config, "unitree_ethernet")
-        assert config.unitree_ethernet == "eth1"
-
-
-class TestUnitreeG1Odom:
-    """Test cases for UnitreeG1Odom background plugin."""
-
-    @patch("backgrounds.plugins.unitree_g1_odom.UnitreeG1OdomProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1OdomConfig(unitree_ethernet="eth0")
-        background = UnitreeG1Odom(config)
-
-        assert background.config is config
-        assert background.odom_provider == mock_provider
-        mock_provider_class.assert_called_once_with("eth0")
-
-    @patch("backgrounds.plugins.unitree_g1_odom.UnitreeG1OdomProvider")
-    def test_initialization_with_none_ethernet(self, mock_provider_class):
-        """Test background initialization with None unitree_ethernet."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1OdomConfig()
-        background = UnitreeG1Odom(config)
-
-        assert background.config.unitree_ethernet is None
-        assert background.odom_provider == mock_provider
-        mock_provider_class.assert_called_once_with(None)
-
-    @patch("backgrounds.plugins.unitree_g1_odom.UnitreeG1OdomProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1OdomConfig(unitree_ethernet="eth2")
-        with caplog.at_level("INFO"):
-            UnitreeG1Odom(config)
-
-        assert "Initialized Unitree G1 Odom Provider: eth2" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_g1_odom.UnitreeG1OdomProvider")
-    def test_initialization_logging_with_none(self, mock_provider_class, caplog):
-        """Test that initialization logs correctly with None ethernet."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1OdomConfig()
-        with caplog.at_level("INFO"):
-            UnitreeG1Odom(config)
-
-        assert "Initialized Unitree G1 Odom Provider: None" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_g1_odom.UnitreeG1OdomProvider")
-    def test_config_stored_correctly(self, mock_provider_class):
-        """Test that config is stored correctly in the background instance."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1OdomConfig(unitree_ethernet="wlan0")
-        background = UnitreeG1Odom(config)
-
-        assert background.config is config
-        assert background.config.unitree_ethernet == "wlan0"
-
-    @patch("backgrounds.plugins.unitree_g1_odom.UnitreeG1OdomProvider")
-    def test_multiple_instances_with_different_ethernet(self, mock_provider_class):
-        """Test multiple instances with different ethernet channels."""
-        mock_provider1 = MagicMock()
-        mock_provider2 = MagicMock()
-        mock_provider_class.side_effect = [mock_provider1, mock_provider2]
-
-        config1 = UnitreeG1OdomConfig(unitree_ethernet="eth0")
-        config2 = UnitreeG1OdomConfig(unitree_ethernet="eth1")
-
-        background1 = UnitreeG1Odom(config1)
-        background2 = UnitreeG1Odom(config2)
-
-        assert background1.config.unitree_ethernet == "eth0"
-        assert background2.config.unitree_ethernet == "eth1"
-        assert background1.odom_provider == mock_provider1
-        assert background2.odom_provider == mock_provider2
-
-        assert mock_provider_class.call_count == 2
-        mock_provider_class.assert_any_call("eth0")
-        mock_provider_class.assert_any_call("eth1")
diff --git a/tests/backgrounds/plugins/test_unitree_go2_amcl.py b/tests/backgrounds/plugins/test_unitree_go2_amcl.py
deleted file mode 100644
index 7364f2d404..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_amcl.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.base import BackgroundConfig
-from backgrounds.plugins.unitree_go2_amcl import UnitreeGo2AMCL
-
-
-class TestUnitreeGo2AMCL:
-    """Test cases for UnitreeGo2AMCL background plugin."""
-
-    @patch("backgrounds.plugins.unitree_go2_amcl.UnitreeGo2AMCLProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider and starts it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2AMCL(config)
-
-        assert background.config is config
-        assert background.unitree_go2_amcl_provider == mock_provider
-        mock_provider_class.assert_called_once()
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_amcl.UnitreeGo2AMCLProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        with caplog.at_level("INFO"):
-            UnitreeGo2AMCL(config)
-
-        assert "Unitree Go2 AMCL Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_amcl.UnitreeGo2AMCLProvider")
-    def test_provider_attribute(self, mock_provider_class):
-        """Test that provider attribute is set correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2AMCL(config)
-
-        assert background.unitree_go2_amcl_provider is mock_provider
-
-    @patch("backgrounds.plugins.unitree_go2_amcl.UnitreeGo2AMCLProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2AMCL(config)
-
-        assert background.config is config
diff --git a/tests/backgrounds/plugins/test_unitree_go2_frontier_exploration.py b/tests/backgrounds/plugins/test_unitree_go2_frontier_exploration.py
deleted file mode 100644
index 378efff249..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_frontier_exploration.py
+++ /dev/null
@@ -1,129 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.unitree_go2_frontier_exploration import (
-    UnitreeGo2FrontierExploration,
-    UnitreeGo2FrontierExplorationConfig,
-)
-
-
-class TestUnitreeGo2FrontierExplorationConfig:
-    """Test cases for UnitreeGo2FrontierExplorationConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2FrontierExplorationConfig()
-        assert config.topic == "explore/status"
-        assert config.context_aware_text == '{"exploration_done": true}'
-
-    def test_custom_topic(self):
-        """Test custom topic configuration."""
-        config = UnitreeGo2FrontierExplorationConfig(topic="custom/topic")
-        assert config.topic == "custom/topic"
-
-    def test_custom_context_aware_text(self):
-        """Test custom context_aware_text configuration."""
-        config = UnitreeGo2FrontierExplorationConfig(context_aware_text='{"key": "value"}')
-        assert config.context_aware_text == '{"key": "value"}'
-
-
-class TestUnitreeGo2FrontierExploration:
-    """Test cases for UnitreeGo2FrontierExploration background plugin."""
-
-    @patch("backgrounds.plugins.unitree_go2_frontier_exploration.UnitreeGo2FrontierExplorationProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization with valid JSON config."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2FrontierExplorationConfig()
-        background = UnitreeGo2FrontierExploration(config)
-
-        assert background.config is config
-        assert background.unitree_go2_frontier_exploration_provider == mock_provider
-        mock_provider_class.assert_called_once_with(
-            topic="explore/status",
-            context_aware_text={"exploration_done": True},
-        )
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_frontier_exploration.UnitreeGo2FrontierExplorationProvider")
-    def test_initialization_with_custom_config(self, mock_provider_class):
-        """Test initialization with custom topic and context."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2FrontierExplorationConfig(
-            topic="nav/explore",
-            context_aware_text='{"done": false, "progress": 50}',
-        )
-        UnitreeGo2FrontierExploration(config)
-
-        mock_provider_class.assert_called_once_with(
-            topic="nav/explore",
-            context_aware_text={"done": False, "progress": 50},
-        )
-
-    @patch("backgrounds.plugins.unitree_go2_frontier_exploration.UnitreeGo2FrontierExplorationProvider")
-    def test_initialization_with_invalid_json_fallback(self, mock_provider_class):
-        """Test that invalid JSON falls back to default dict."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2FrontierExplorationConfig(
-            context_aware_text="not valid json{{{",
-        )
-        UnitreeGo2FrontierExploration(config)
-
-        mock_provider_class.assert_called_once_with(
-            topic="explore/status",
-            context_aware_text={"exploration_done": True},
-        )
-
-    @patch("backgrounds.plugins.unitree_go2_frontier_exploration.UnitreeGo2FrontierExplorationProvider")
-    def test_initialization_with_invalid_json_logs_error(self, mock_provider_class, caplog):
-        """Test that invalid JSON logs an error message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2FrontierExplorationConfig(
-            context_aware_text="not valid json",
-        )
-        with caplog.at_level("ERROR"):
-            UnitreeGo2FrontierExploration(config)
-
-        assert "Error decoding context_aware_text JSON" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_frontier_exploration.UnitreeGo2FrontierExplorationProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2FrontierExplorationConfig()
-        with caplog.at_level("INFO"):
-            UnitreeGo2FrontierExploration(config)
-
-        assert "Unitree Go2 Frontier Exploration Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_frontier_exploration.UnitreeGo2FrontierExplorationProvider")
-    def test_provider_start_called(self, mock_provider_class):
-        """Test that provider.start() is called during initialization."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2FrontierExplorationConfig()
-        UnitreeGo2FrontierExploration(config)
-
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_frontier_exploration.UnitreeGo2FrontierExplorationProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2FrontierExplorationConfig(topic="test/topic")
-        background = UnitreeGo2FrontierExploration(config)
-
-        assert background.config is config
-        assert background.config.topic == "test/topic"
diff --git a/tests/backgrounds/plugins/test_unitree_go2_lidar_localization.py b/tests/backgrounds/plugins/test_unitree_go2_lidar_localization.py
deleted file mode 100644
index 5b4ed2b119..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_lidar_localization.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.base import BackgroundConfig
-from backgrounds.plugins.unitree_go2_lidar_localization import (
-    UnitreeGo2LidarLocalization,
-)
-
-
-class TestUnitreeGo2LidarLocalization:
-    """Test cases for UnitreeGo2LidarLocalization background plugin."""
-
-    @patch("backgrounds.plugins.unitree_go2_lidar_localization.UnitreeGo2LidarLocalizationProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider and starts it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2LidarLocalization(config)
-
-        assert background.config is config
-        assert background.unitree_go2_lidar_localization_provider == mock_provider
-        mock_provider_class.assert_called_once()
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_lidar_localization.UnitreeGo2LidarLocalizationProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        with caplog.at_level("INFO"):
-            UnitreeGo2LidarLocalization(config)
-
-        assert "Unitree Go2 Lidar Localization Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_lidar_localization.UnitreeGo2LidarLocalizationProvider")
-    def test_provider_attribute(self, mock_provider_class):
-        """Test that provider attribute is set correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2LidarLocalization(config)
-
-        assert background.unitree_go2_lidar_localization_provider is mock_provider
-
-    @patch("backgrounds.plugins.unitree_go2_lidar_localization.UnitreeGo2LidarLocalizationProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2LidarLocalization(config)
-
-        assert background.config is config
diff --git a/tests/backgrounds/plugins/test_unitree_go2_locations.py b/tests/backgrounds/plugins/test_unitree_go2_locations.py
deleted file mode 100644
index 188331371d..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_locations.py
+++ /dev/null
@@ -1,155 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.unitree_go2_locations import (
-    UnitreeGo2Locations,
-    UnitreeGo2LocationsConfig,
-)
-
-
-class TestUnitreeGo2LocationsConfig:
-    """Test cases for UnitreeGo2LocationsConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2LocationsConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.timeout == 5
-        assert config.refresh_interval == 30
-        assert config.use_sim is False
-
-    def test_custom_base_url(self):
-        """Test custom base_url configuration."""
-        config = UnitreeGo2LocationsConfig(base_url="http://example.com/locations")
-        assert config.base_url == "http://example.com/locations"
-
-    def test_custom_timeout(self):
-        """Test custom timeout configuration."""
-        config = UnitreeGo2LocationsConfig(timeout=10)
-        assert config.timeout == 10
-
-    def test_custom_refresh_interval(self):
-        """Test custom refresh_interval configuration."""
-        config = UnitreeGo2LocationsConfig(refresh_interval=60)
-        assert config.refresh_interval == 60
-
-    def test_all_custom_values(self):
-        """Test configuration with all custom values."""
-        config = UnitreeGo2LocationsConfig(
-            base_url="http://custom:8080/api",
-            timeout=15,
-            refresh_interval=120,
-        )
-        assert config.base_url == "http://custom:8080/api"
-        assert config.timeout == 15
-        assert config.refresh_interval == 120
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        config = UnitreeGo2LocationsConfig(use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-        assert config.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        config = UnitreeGo2LocationsConfig(use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        config = UnitreeGo2LocationsConfig(
-            base_url="http://custom:8080/api",
-            use_sim=True,
-        )
-        assert config.base_url == "http://custom:8080/api"
-        assert config.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        config = UnitreeGo2LocationsConfig(base_url=None, use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        config = UnitreeGo2LocationsConfig(base_url=None, use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-
-
-class TestUnitreeGo2Locations:
-    """Test cases for UnitreeGo2Locations background plugin."""
-
-    @patch("backgrounds.plugins.unitree_go2_locations.UnitreeGo2LocationsProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider and starts it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2LocationsConfig()
-        background = UnitreeGo2Locations(config)
-
-        assert background.config is config
-        assert background.locations_provider == mock_provider
-        mock_provider_class.assert_called_once_with(
-            base_url="http://localhost:5000/maps/locations/list",
-            api_key="",
-            timeout=5,
-            refresh_interval=30,
-        )
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_locations.UnitreeGo2LocationsProvider")
-    def test_initialization_with_custom_config(self, mock_provider_class):
-        """Test initialization with custom configuration parameters."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2LocationsConfig(
-            base_url="http://custom:8080/api",
-            timeout=15,
-            refresh_interval=120,
-        )
-        UnitreeGo2Locations(config)
-
-        mock_provider_class.assert_called_once_with(
-            base_url="http://custom:8080/api",
-            api_key="",
-            timeout=15,
-            refresh_interval=120,
-        )
-
-    @patch("backgrounds.plugins.unitree_go2_locations.UnitreeGo2LocationsProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2LocationsConfig()
-        with caplog.at_level("INFO"):
-            UnitreeGo2Locations(config)
-
-        assert "Locations Provider initialized in background" in caplog.text
-        assert "base_url: http://localhost:5000/maps/locations/list" in caplog.text
-        assert "refresh: 30s" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_locations.UnitreeGo2LocationsProvider")
-    def test_provider_start_called(self, mock_provider_class):
-        """Test that provider.start() is called during initialization."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2LocationsConfig()
-        UnitreeGo2Locations(config)
-
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_locations.UnitreeGo2LocationsProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2LocationsConfig(timeout=10)
-        background = UnitreeGo2Locations(config)
-
-        assert background.config is config
-        assert background.config.timeout == 10
diff --git a/tests/backgrounds/plugins/test_unitree_go2_navigation.py b/tests/backgrounds/plugins/test_unitree_go2_navigation.py
deleted file mode 100644
index 2e598f59ae..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_navigation.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.base import BackgroundConfig
-from backgrounds.plugins.unitree_go2_navigation import UnitreeGo2Navigation
-
-
-class TestUnitreeGo2Navigation:
-    """Test cases for UnitreeGo2Navigation background plugin."""
-
-    @patch("backgrounds.plugins.unitree_go2_navigation.UnitreeGo2NavigationProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization creates provider and starts it."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2Navigation(config)
-
-        assert background.config is config
-        assert background.unitree_go2_navigation_provider == mock_provider
-        mock_provider_class.assert_called_once()
-        mock_provider.start.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_navigation.UnitreeGo2NavigationProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        with caplog.at_level("INFO"):
-            UnitreeGo2Navigation(config)
-
-        assert "Unitree Go2 Navigation Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_navigation.UnitreeGo2NavigationProvider")
-    def test_provider_attribute(self, mock_provider_class):
-        """Test that provider attribute is set correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2Navigation(config)
-
-        assert background.unitree_go2_navigation_provider is mock_provider
-
-    @patch("backgrounds.plugins.unitree_go2_navigation.UnitreeGo2NavigationProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = BackgroundConfig()
-        background = UnitreeGo2Navigation(config)
-
-        assert background.config is config
diff --git a/tests/backgrounds/plugins/test_unitree_go2_odom.py b/tests/backgrounds/plugins/test_unitree_go2_odom.py
deleted file mode 100644
index 01cfce5e13..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_odom.py
+++ /dev/null
@@ -1,124 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.unitree_go2_odom import (
-    UnitreeGo2Odom,
-    UnitreeGo2OdomConfig,
-)
-
-
-class TestUnitreeGo2OdomConfig:
-    """Test cases for UnitreeGo2OdomConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2OdomConfig()
-        assert config.unitree_ethernet is None
-
-    def test_custom_unitree_ethernet(self):
-        """Test custom unitree_ethernet configuration."""
-        config = UnitreeGo2OdomConfig(unitree_ethernet="eth0")
-        assert config.unitree_ethernet == "eth0"
-
-    def test_config_inherits_from_background_config(self):
-        """Test that config properly inherits from BackgroundConfig."""
-        config = UnitreeGo2OdomConfig(unitree_ethernet="eth1")
-        assert hasattr(config, "unitree_ethernet")
-        assert config.unitree_ethernet == "eth1"
-
-
-class TestUnitreeGo2Odom:
-    """Test cases for UnitreeGo2Odom."""
-
-    def test_initialization(self):
-        """Test background initialization."""
-        with patch("backgrounds.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2OdomConfig(unitree_ethernet="eth0")
-            background = UnitreeGo2Odom(config)
-
-            assert background.config == config
-            assert background.odom_provider == mock_provider
-            mock_provider_class.assert_called_once_with("eth0")
-
-    def test_initialization_with_none_ethernet(self):
-        """Test background initialization with None unitree_ethernet."""
-        with patch("backgrounds.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2OdomConfig()
-            background = UnitreeGo2Odom(config)
-
-            assert background.config.unitree_ethernet is None
-            assert background.odom_provider == mock_provider
-            mock_provider_class.assert_called_once_with(None)
-
-    def test_initialization_logging(self, caplog):
-        """Test that initialization logs the correct message."""
-        with patch("backgrounds.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2OdomConfig(unitree_ethernet="eth2")
-            with caplog.at_level("INFO"):
-                UnitreeGo2Odom(config)
-
-            assert "Initialized Unitree Go2 Odom Provider: eth2" in caplog.text
-
-    def test_initialization_logging_with_none(self, caplog):
-        """Test that initialization logs correctly with None ethernet."""
-        with patch("backgrounds.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2OdomConfig()
-            with caplog.at_level("INFO"):
-                UnitreeGo2Odom(config)
-
-            assert "Initialized Unitree Go2 Odom Provider: None" in caplog.text
-
-    def test_provider_initialization_with_correct_ethernet(self):
-        """Test that provider is initialized with the correct ethernet channel."""
-        with patch("backgrounds.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2OdomConfig(unitree_ethernet="enp2s0")
-            UnitreeGo2Odom(config)
-            mock_provider_class.assert_called_once_with("enp2s0")
-
-    def test_config_stored_correctly(self):
-        """Test that config is stored correctly in the background instance."""
-        with patch("backgrounds.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2OdomConfig(unitree_ethernet="wlan0")
-            background = UnitreeGo2Odom(config)
-
-            assert background.config is config
-            assert background.config.unitree_ethernet == "wlan0"
-
-    def test_multiple_instances_with_different_ethernet(self):
-        """Test that multiple instances can be created with different ethernet channels."""
-        with patch("backgrounds.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class:
-            mock_provider1 = MagicMock()
-            mock_provider2 = MagicMock()
-            mock_provider_class.side_effect = [mock_provider1, mock_provider2]
-
-            config1 = UnitreeGo2OdomConfig(unitree_ethernet="eth0")
-            config2 = UnitreeGo2OdomConfig(unitree_ethernet="eth1")
-
-            background1 = UnitreeGo2Odom(config1)
-            background2 = UnitreeGo2Odom(config2)
-
-            assert background1.config.unitree_ethernet == "eth0"
-            assert background2.config.unitree_ethernet == "eth1"
-            assert background1.odom_provider == mock_provider1
-            assert background2.odom_provider == mock_provider2
-
-            assert mock_provider_class.call_count == 2
-            mock_provider_class.assert_any_call("eth0")
-            mock_provider_class.assert_any_call("eth1")
diff --git a/tests/backgrounds/plugins/test_unitree_go2_patrol.py b/tests/backgrounds/plugins/test_unitree_go2_patrol.py
deleted file mode 100644
index 84d9d82244..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_patrol.py
+++ /dev/null
@@ -1,526 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from backgrounds.plugins.unitree_go2_patrol import (
-    UnitreeGo2Patrol,
-    UnitreeGo2PatrolConfig,
-)
-
-
-class TestUnitreeGo2PatrolConfig:
-    """Tests for UnitreeGo2PatrolConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2PatrolConfig()
-
-        assert config.patrol_base_url == "http://localhost:5000"
-        assert config.face_presence_base_url == "http://localhost:6793"
-        assert config.patrol_image_report_base_url == "https://api.openmind.com"
-        assert config.api_key == ""
-        assert config.unknown_capture_threshold == 2
-        assert config.upload_cooldown_seconds == 5
-        assert config.force_resume_seconds == 15
-        assert config.safe_force_resume_seconds == 5
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = UnitreeGo2PatrolConfig(
-            patrol_base_url="http://robot.local:8000",
-            face_presence_base_url="http://robot.local:9000",
-            patrol_image_report_base_url="https://custom.api.com",
-            api_key="test_key",
-            unknown_capture_threshold=5,
-            upload_cooldown_seconds=10,
-            force_resume_seconds=30,
-            safe_force_resume_seconds=10,
-        )
-
-        assert config.patrol_base_url == "http://robot.local:8000"
-        assert config.face_presence_base_url == "http://robot.local:9000"
-        assert config.patrol_image_report_base_url == "https://custom.api.com"
-        assert config.api_key == "test_key"
-        assert config.unknown_capture_threshold == 5
-        assert config.upload_cooldown_seconds == 10
-        assert config.force_resume_seconds == 30
-        assert config.safe_force_resume_seconds == 10
-
-
-class TestUnitreeGo2PatrolInitialization:
-    """Tests for UnitreeGo2Patrol initialization."""
-
-    @patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider")
-    @patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider")
-    def test_initialization_default_config(self, mock_tts_provider, mock_patrol_provider):
-        """Test initialization with default configuration."""
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        assert background.config is config
-        assert background.uploaded_track_ids == set()
-        assert background.is_paused is False
-        assert background.last_pause_time == 0
-        assert background.last_force_resume_time == 0
-
-        mock_patrol_provider.assert_called_once_with(
-            api_key="",
-            patrol_base_url="http://localhost:5000",
-            face_presence_base_url="http://localhost:6793",
-            patrol_image_report_base_url="https://api.openmind.com",
-        )
-        mock_tts_provider.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider")
-    @patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider")
-    def test_initialization_custom_config(self, mock_tts_provider, mock_patrol_provider):
-        """Test initialization with custom configuration."""
-        config = UnitreeGo2PatrolConfig(
-            patrol_base_url="http://robot.local:8000",
-            api_key="test_key",
-        )
-        UnitreeGo2Patrol(config)
-
-        mock_patrol_provider.assert_called_once_with(
-            api_key="test_key",
-            patrol_base_url="http://robot.local:8000",
-            face_presence_base_url="http://localhost:6793",
-            patrol_image_report_base_url="https://api.openmind.com",
-        )
-
-    @patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider")
-    @patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider")
-    def test_initialization_logs_message(self, mock_tts_provider, mock_patrol_provider, caplog):
-        """Test that initialization logs the correct message."""
-        config = UnitreeGo2PatrolConfig()
-
-        with caplog.at_level("INFO"):
-            UnitreeGo2Patrol(config)
-
-        assert "Initialized Unitree Go2 Patrol Background Task" in caplog.text
-
-
-class TestUnitreeGo2PatrolMethods:
-    """Tests for UnitreeGo2Patrol methods."""
-
-    @pytest.fixture
-    def mock_providers(self):
-        """Create mock providers."""
-        with (
-            patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider") as mock_patrol,
-            patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider") as mock_tts,
-        ):
-            yield mock_patrol, mock_tts
-
-    @pytest.mark.asyncio
-    async def test_start_patrol(self, mock_providers):
-        """Test start_patrol method."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.start_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        await background.start_patrol()
-
-        mock_patrol_instance.start_patrol.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol(self, mock_providers):
-        """Test stop_patrol method."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.stop_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        await background.stop_patrol()
-
-        mock_patrol_instance.stop_patrol.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_pause_patrol(self, mock_providers):
-        """Test pause_patrol method."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.pause_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        await background.pause_patrol()
-
-        mock_patrol_instance.pause_patrol.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_resume_patrol(self, mock_providers):
-        """Test resume_patrol method."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.resume_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        await background.resume_patrol()
-
-        mock_patrol_instance.resume_patrol.assert_called_once()
-
-
-class TestUnitreeGo2PatrolRun:
-    """Tests for UnitreeGo2Patrol run method."""
-
-    @pytest.fixture
-    def mock_providers(self):
-        """Create mock providers."""
-        with (
-            patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider") as mock_patrol,
-            patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider") as mock_tts,
-        ):
-            yield mock_patrol, mock_tts
-
-    def test_run_no_unknown_captures(self, mock_providers):
-        """Test run method with no unknown captures."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(return_value={"frame_b64": "", "unknown_captures": []})
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        with patch.object(background, "sleep"):
-            background.run()
-
-        assert background.is_paused is False
-        assert len(background.uploaded_track_ids) == 0
-
-    def test_run_new_unknown_captures_below_threshold(self, mock_providers):
-        """Test run method with new unknown captures below threshold."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_base64",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 1}],
-            }
-        )
-        mock_patrol_instance.pause_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig(unknown_capture_threshold=2)
-        background = UnitreeGo2Patrol(config)
-
-        with patch.object(background, "sleep"):
-            background.run()
-
-        # Should pause but not upload since below threshold
-        assert background.is_paused is True
-        assert len(background.uploaded_track_ids) == 0
-        mock_patrol_instance.pause_patrol.assert_called_once()
-
-    def test_run_unknown_captures_above_threshold(self, mock_providers):
-        """Test run method with unknown captures above threshold."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_base64",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 5}],
-            }
-        )
-        mock_patrol_instance.pause_patrol = AsyncMock()
-        mock_patrol_instance.upload_patrol_image = AsyncMock()
-        mock_patrol_instance.resume_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        mock_tts_instance = MagicMock()
-        mock_tts.return_value = mock_tts_instance
-
-        config = UnitreeGo2PatrolConfig(unknown_capture_threshold=2)
-        background = UnitreeGo2Patrol(config)
-
-        with patch.object(background, "sleep"):
-            background.run()
-
-        assert background.is_paused is False
-        assert 1 in background.uploaded_track_ids
-        mock_patrol_instance.pause_patrol.assert_called_once()
-        mock_patrol_instance.upload_patrol_image.assert_called_once()
-        mock_patrol_instance.resume_patrol.assert_called_once()
-        mock_tts_instance.add_pending_message.assert_called_once()
-
-    def test_run_already_uploaded_track_id(self, mock_providers):
-        """Test run method with already uploaded track_id."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_base64",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 5}],
-            }
-        )
-        mock_patrol_instance.pause_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-        background.uploaded_track_ids.add(1)
-
-        with patch.object(background, "sleep"):
-            background.run()
-
-        # Should not pause because track_id already uploaded
-        assert background.is_paused is False
-        mock_patrol_instance.pause_patrol.assert_not_called()
-
-    def test_run_force_resume_after_timeout(self, mock_providers):
-        """Test run method with force resume after timeout."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_base64",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 1}],
-            }
-        )
-        mock_patrol_instance.resume_patrol = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig(force_resume_seconds=1)
-        background = UnitreeGo2Patrol(config)
-        background.is_paused = True
-        background.last_pause_time = 0  # Force timeout
-
-        with patch.object(background, "sleep"), patch("time.time", return_value=100):
-            background.run()
-
-        assert background.is_paused is False
-        mock_patrol_instance.resume_patrol.assert_called_once()
-
-    def test_run_get_report_error(self, mock_providers):
-        """Test run method with get_report error."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(side_effect=Exception("Network error"))
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        with patch.object(background, "sleep"):
-            # Should not raise exception
-            background.run()
-
-    def test_run_pause_error(self, mock_providers, caplog):
-        """Test run method with pause error."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_base64",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 5}],
-            }
-        )
-        mock_patrol_instance.pause_patrol = AsyncMock(side_effect=Exception("Pause failed"))
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        with caplog.at_level("ERROR"):
-            with patch.object(background, "sleep"):
-                background.run()
-
-        assert "Failed to pause patrol" in caplog.text
-
-    def test_run_upload_error(self, mock_providers, caplog):
-        """Test run method with upload error."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_base64",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 5}],
-            }
-        )
-        mock_patrol_instance.upload_patrol_image = AsyncMock(side_effect=Exception("Upload failed"))
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig(unknown_capture_threshold=2)
-        background = UnitreeGo2Patrol(config)
-        background.is_paused = True
-
-        with caplog.at_level("ERROR"):
-            with patch.object(background, "sleep"):
-                background.run()
-
-        assert "Failed to upload patrol data" in caplog.text
-
-    def test_run_resume_error(self, mock_providers, caplog):
-        """Test run method with resume error."""
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_base64",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 5}],
-            }
-        )
-        mock_patrol_instance.upload_patrol_image = AsyncMock()
-        mock_patrol_instance.resume_patrol = AsyncMock(side_effect=Exception("Resume failed"))
-        mock_patrol.return_value = mock_patrol_instance
-
-        config = UnitreeGo2PatrolConfig(unknown_capture_threshold=2)
-        background = UnitreeGo2Patrol(config)
-        background.is_paused = True
-
-        with caplog.at_level("ERROR"):
-            with patch.object(background, "sleep"):
-                background.run()
-
-        assert "Failed to resume patrol" in caplog.text
-
-    def test_run_back_and_forth_unknown_detection_cycles(self, mock_providers):
-        """Test run method with back-and-forth unknown face detection cycles.
-
-        Simulates:
-        1. Unknown face detected → patrol pauses
-        2. Unknown face duration exceeds threshold → upload and resume patrol
-        3. No unknown faces detected → patrol continues running
-        4. Unknown face detected again → patrol pauses again
-        5. Unknown face duration exceeds threshold → upload and resume again
-        """
-        mock_patrol, mock_tts = mock_providers
-        mock_patrol_instance = MagicMock()
-        mock_patrol_instance.pause_patrol = AsyncMock()
-        mock_patrol_instance.resume_patrol = AsyncMock()
-        mock_patrol_instance.upload_patrol_image = AsyncMock()
-        mock_patrol.return_value = mock_patrol_instance
-
-        mock_tts_instance = MagicMock()
-        mock_tts.return_value = mock_tts_instance
-
-        config = UnitreeGo2PatrolConfig(unknown_capture_threshold=2)
-        background = UnitreeGo2Patrol(config)
-
-        # Cycle 1: Detect unknown face (below threshold)
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_1",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 1}],
-            }
-        )
-        with patch.object(background, "sleep"):
-            background.run()
-
-        assert background.is_paused is True
-        assert mock_patrol_instance.pause_patrol.call_count == 1
-        assert mock_patrol_instance.upload_patrol_image.call_count == 0
-        assert mock_patrol_instance.resume_patrol.call_count == 0
-
-        # Cycle 2: Unknown face exceeds threshold → upload and resume
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_2",
-                "unknown_captures": [{"track_id": 1, "unknown_duration": 5}],
-            }
-        )
-        with patch.object(background, "sleep"):
-            background.run()
-
-        assert background.is_paused is False
-        assert 1 in background.uploaded_track_ids
-        assert mock_patrol_instance.upload_patrol_image.call_count == 1
-        assert mock_patrol_instance.resume_patrol.call_count == 1
-        assert mock_tts_instance.add_pending_message.call_count == 1
-
-        # Cycle 3: No unknown faces → patrol continues
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_3",
-                "unknown_captures": [],
-            }
-        )
-        with patch.object(background, "sleep"):
-            background.run()
-
-        assert background.is_paused is False
-        assert mock_patrol_instance.pause_patrol.call_count == 1
-        assert mock_patrol_instance.upload_patrol_image.call_count == 1
-        assert mock_patrol_instance.resume_patrol.call_count == 1
-
-        # Cycle 4: New unknown face detected → pause again
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_4",
-                "unknown_captures": [{"track_id": 2, "unknown_duration": 1}],
-            }
-        )
-        with patch.object(background, "sleep"), patch("time.time", return_value=100):
-            background.run()
-
-        assert background.is_paused is True
-        assert mock_patrol_instance.pause_patrol.call_count == 2
-
-        # Cycle 5: Second unknown face exceeds threshold → upload and resume again
-        mock_patrol_instance.get_report = AsyncMock(
-            return_value={
-                "frame_b64": "test_image_5",
-                "unknown_captures": [{"track_id": 2, "unknown_duration": 5}],
-            }
-        )
-        with patch.object(background, "sleep"):
-            background.run()
-
-        assert background.is_paused is False
-        assert 2 in background.uploaded_track_ids
-        assert mock_patrol_instance.upload_patrol_image.call_count == 2
-        assert mock_patrol_instance.resume_patrol.call_count == 2
-        assert mock_tts_instance.add_pending_message.call_count == 2
-
-
-class TestUnitreeGo2PatrolStop:
-    """Tests for UnitreeGo2Patrol stop method."""
-
-    @patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider")
-    @patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider")
-    def test_stop_closes_loop(self, mock_tts_provider, mock_patrol_provider):
-        """Test that stop method closes the event loop."""
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        assert background.loop is not None
-        assert not background.loop.is_closed()
-
-        background.stop()
-
-        assert background.loop.is_closed()
-
-    @patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider")
-    @patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider")
-    def test_stop_logs_message(self, mock_tts_provider, mock_patrol_provider, caplog):
-        """Test that stop method logs the correct message."""
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        with caplog.at_level("INFO"):
-            background.stop()
-
-        assert "Stopping Unitree Go2 Patrol Background Task" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_patrol.UnitreeGo2PatrolProvider")
-    @patch("backgrounds.plugins.unitree_go2_patrol.ElevenLabsTTSProvider")
-    def test_stop_with_already_closed_loop(self, mock_tts_provider, mock_patrol_provider):
-        """Test stop method when loop is already closed."""
-        config = UnitreeGo2PatrolConfig()
-        background = UnitreeGo2Patrol(config)
-
-        background.loop.close()
-        background.stop()
diff --git a/tests/backgrounds/plugins/test_unitree_go2_rplidar.py b/tests/backgrounds/plugins/test_unitree_go2_rplidar.py
deleted file mode 100644
index d0eef1332f..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_rplidar.py
+++ /dev/null
@@ -1,212 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from backgrounds.plugins.unitree_go2_rplidar import (
-    UnitreeGo2RPLidar,
-    UnitreeGo2RPLidarConfig,
-)
-
-
-class TestUnitreeGo2RPLidarConfig:
-    """Test cases for UnitreeGo2RPLidarConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2RPLidarConfig()
-        assert config.serial_port is None
-        assert config.half_width_robot == 0.20
-        assert config.angles_blanked == []
-        assert config.relevant_distance_max == 1.1
-        assert config.relevant_distance_min == 0.08
-        assert config.sensor_mounting_angle == 180.0
-        assert config.log_file is False
-
-    def test_custom_serial_port(self):
-        """Test custom serial port configuration."""
-        config = UnitreeGo2RPLidarConfig(serial_port="/dev/ttyUSB0")
-        assert config.serial_port == "/dev/ttyUSB0"
-
-    def test_custom_half_width_robot(self):
-        """Test custom half width robot configuration."""
-        config = UnitreeGo2RPLidarConfig(half_width_robot=0.25)
-        assert config.half_width_robot == 0.25
-
-    def test_custom_angles_blanked(self):
-        """Test custom angles blanked configuration."""
-        config = UnitreeGo2RPLidarConfig(angles_blanked=[0.0, 90.0, 180.0])
-        assert config.angles_blanked == [0.0, 90.0, 180.0]
-
-    def test_custom_distance_values(self):
-        """Test custom distance configuration values."""
-        config = UnitreeGo2RPLidarConfig(relevant_distance_max=2.0, relevant_distance_min=0.1)
-        assert config.relevant_distance_max == 2.0
-        assert config.relevant_distance_min == 0.1
-
-    def test_custom_sensor_mounting_angle(self):
-        """Test custom sensor mounting angle configuration."""
-        config = UnitreeGo2RPLidarConfig(sensor_mounting_angle=90.0)
-        assert config.sensor_mounting_angle == 90.0
-
-    def test_custom_log_file(self):
-        """Test custom log file configuration."""
-        config = UnitreeGo2RPLidarConfig(log_file=True)
-        assert config.log_file is True
-
-    def test_all_custom_values(self):
-        """Test configuration with all custom values."""
-        config = UnitreeGo2RPLidarConfig(
-            serial_port="/dev/ttyUSB1",
-            half_width_robot=0.3,
-            angles_blanked=[45.0, 135.0],
-            relevant_distance_max=1.5,
-            relevant_distance_min=0.15,
-            sensor_mounting_angle=270.0,
-            log_file=True,
-        )
-        assert config.serial_port == "/dev/ttyUSB1"
-        assert config.half_width_robot == 0.3
-        assert config.angles_blanked == [45.0, 135.0]
-        assert config.relevant_distance_max == 1.5
-        assert config.relevant_distance_min == 0.15
-        assert config.sensor_mounting_angle == 270.0
-        assert config.log_file is True
-
-
-class TestUnitreeGo2RPLidar:
-    """Test cases for UnitreeGo2RPLidar."""
-
-    def test_initialization(self):
-        """Test background initialization."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2RPLidarConfig(serial_port="/dev/ttyUSB0")
-            background = UnitreeGo2RPLidar(config)
-
-            assert background.config == config
-            assert background.lidar_provider == mock_provider
-            mock_provider.start.assert_called_once()
-
-    def test_initialization_with_default_config(self):
-        """Test background initialization with default configuration."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2RPLidarConfig()
-            background = UnitreeGo2RPLidar(config)
-
-            assert background.config == config
-            assert background.lidar_provider == mock_provider
-            mock_provider.start.assert_called_once()
-
-    def test_provider_initialization_with_correct_parameters(self):
-        """Test that provider is initialized with correct parameters."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2RPLidarConfig(
-                serial_port="/dev/ttyUSB0",
-                half_width_robot=0.25,
-                angles_blanked=[0.0, 180.0],
-                relevant_distance_max=2.0,
-                relevant_distance_min=0.1,
-                sensor_mounting_angle=90.0,
-                log_file=True,
-            )
-            UnitreeGo2RPLidar(config)
-            mock_provider_class.assert_called_once_with(
-                serial_port="/dev/ttyUSB0",
-                half_width_robot=0.25,
-                angles_blanked=[0.0, 180.0],
-                relevant_distance_max=2.0,
-                relevant_distance_min=0.1,
-                sensor_mounting_angle=90.0,
-                log_file=True,
-            )
-
-    def test_initialization_logging(self, caplog):
-        """Test that initialization logs the correct message."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2RPLidarConfig()
-            with caplog.at_level("INFO"):
-                UnitreeGo2RPLidar(config)
-
-            assert "Initiated RPLidar Provider in background" in caplog.text
-
-    def test_provider_start_is_called(self):
-        """Test that provider.start() is called during initialization."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2RPLidarConfig()
-            UnitreeGo2RPLidar(config)
-
-            # Verify start was called exactly once
-            mock_provider.start.assert_called_once()
-
-    def test_config_stored_correctly(self):
-        """Test that config is stored correctly in the background instance."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2RPLidarConfig(serial_port="/dev/ttyUSB0")
-            background = UnitreeGo2RPLidar(config)
-
-            assert background.config is config
-            assert background.config.serial_port == "/dev/ttyUSB0"
-
-    def test_multiple_instances_with_different_configs(self):
-        """Test that multiple instances can be created with different configs."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider1 = MagicMock()
-            mock_provider2 = MagicMock()
-            mock_provider_class.side_effect = [mock_provider1, mock_provider2]
-
-            config1 = UnitreeGo2RPLidarConfig(serial_port="/dev/ttyUSB0")
-            config2 = UnitreeGo2RPLidarConfig(serial_port="/dev/ttyUSB1")
-
-            background1 = UnitreeGo2RPLidar(config1)
-            background2 = UnitreeGo2RPLidar(config2)
-
-            assert background1.config.serial_port == "/dev/ttyUSB0"
-            assert background2.config.serial_port == "/dev/ttyUSB1"
-            assert background1.lidar_provider == mock_provider1
-            assert background2.lidar_provider == mock_provider2
-
-            assert mock_provider_class.call_count == 2
-            mock_provider1.start.assert_called_once()
-            mock_provider2.start.assert_called_once()
-
-    def test_lidar_config_extraction(self):
-        """Test that lidar config is extracted correctly from background config."""
-        with patch("backgrounds.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_provider_class:
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = UnitreeGo2RPLidarConfig(
-                serial_port="/dev/ttyUSB2",
-                half_width_robot=0.3,
-                angles_blanked=[30.0, 60.0],
-                relevant_distance_max=1.8,
-                relevant_distance_min=0.12,
-                sensor_mounting_angle=270.0,
-                log_file=True,
-            )
-            UnitreeGo2RPLidar(config)
-
-            # Verify the extracted config matches
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["serial_port"] == "/dev/ttyUSB2"
-            assert call_kwargs["half_width_robot"] == 0.3
-            assert call_kwargs["angles_blanked"] == [30.0, 60.0]
-            assert call_kwargs["relevant_distance_max"] == 1.8
-            assert call_kwargs["relevant_distance_min"] == 0.12
-            assert call_kwargs["sensor_mounting_angle"] == 270.0
-            assert call_kwargs["log_file"] is True
diff --git a/tests/backgrounds/plugins/test_unitree_go2_state.py b/tests/backgrounds/plugins/test_unitree_go2_state.py
deleted file mode 100644
index b4905d31f0..0000000000
--- a/tests/backgrounds/plugins/test_unitree_go2_state.py
+++ /dev/null
@@ -1,194 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from backgrounds.plugins.unitree_go2_state import (
-    UnitreeGo2State,
-    UnitreeGo2StateConfig,
-)
-
-
-class TestUnitreeGo2StateConfig:
-    """Test cases for UnitreeGo2StateConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2StateConfig()
-        assert config.unitree_ethernet is None
-        assert config.api_key is None
-        assert config.use_sim is False
-
-    def test_custom_unitree_ethernet(self):
-        """Test custom unitree_ethernet configuration."""
-        config = UnitreeGo2StateConfig(unitree_ethernet="eth0")
-        assert config.unitree_ethernet == "eth0"
-
-    def test_config_with_api_key(self):
-        """Test configuration with API key."""
-        config = UnitreeGo2StateConfig(api_key="test-api-key", unitree_ethernet="eth0")
-        assert config.api_key == "test-api-key"
-        assert config.unitree_ethernet == "eth0"
-
-    def test_config_with_use_sim(self):
-        """Test configuration with use_sim enabled."""
-        config = UnitreeGo2StateConfig(use_sim=True)
-        assert config.use_sim is True
-        assert config.unitree_ethernet is None
-
-    def test_config_with_all_parameters(self):
-        """Test configuration with all parameters set."""
-        config = UnitreeGo2StateConfig(api_key="test-key", use_sim=True, unitree_ethernet="eth0")
-        assert config.api_key == "test-key"
-        assert config.use_sim is True
-        assert config.unitree_ethernet == "eth0"
-
-
-class TestUnitreeGo2State:
-    """Test cases for UnitreeGo2State background plugin."""
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    def test_initialization(self, mock_provider_class):
-        """Test background initialization with valid ethernet."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(unitree_ethernet="eth0")
-        background = UnitreeGo2State(config)
-
-        assert background.config is config
-        assert background.unitree_go2_state_provider == mock_provider
-        mock_provider_class.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    def test_initialization_logging(self, mock_provider_class, caplog):
-        """Test that initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(unitree_ethernet="eth0")
-        with caplog.at_level("INFO"):
-            UnitreeGo2State(config)
-
-        assert "Unitree Go2 State Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    def test_initialization_with_none_ethernet_raises_value_error(self, mock_provider_class):
-        """Test that None ethernet raises ValueError."""
-        config = UnitreeGo2StateConfig()
-
-        with pytest.raises(
-            ValueError,
-            match="Unitree Go2 Ethernet channel must be specified",
-        ):
-            UnitreeGo2State(config)
-
-        mock_provider_class.assert_not_called()
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    def test_initialization_with_none_ethernet_error_log(self, mock_provider_class, caplog):
-        """Test that None ethernet logs an error before raising."""
-        config = UnitreeGo2StateConfig()
-
-        with caplog.at_level("ERROR"):
-            with pytest.raises(ValueError):
-                UnitreeGo2State(config)
-
-        assert "Unitree Go2 Ethernet channel is not set in the configuration" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    def test_initialization_with_empty_string_raises_value_error(self, mock_provider_class):
-        """Test that empty string ethernet raises ValueError."""
-        config = UnitreeGo2StateConfig(unitree_ethernet="")
-
-        with pytest.raises(ValueError):
-            UnitreeGo2State(config)
-
-        mock_provider_class.assert_not_called()
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    def test_config_stored(self, mock_provider_class):
-        """Test that config is stored correctly."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(unitree_ethernet="eth0")
-        background = UnitreeGo2State(config)
-
-        assert background.config is config
-        assert background.config.unitree_ethernet == "eth0"
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateZenohProvider")
-    def test_initialization_with_use_sim(self, mock_zenoh_provider_class):
-        """Test initialization with use_sim=True uses Zenoh provider."""
-        mock_provider = MagicMock()
-        mock_zenoh_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(use_sim=True)
-        background = UnitreeGo2State(config)
-
-        assert background.unitree_go2_state_provider == mock_provider
-        mock_zenoh_provider_class.assert_called_once_with(None, True)
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateZenohProvider")
-    def test_initialization_with_use_sim_and_api_key(self, mock_zenoh_provider_class):
-        """Test initialization with use_sim=True and api_key."""
-        mock_provider = MagicMock()
-        mock_zenoh_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(use_sim=True, api_key="test-key")
-        background = UnitreeGo2State(config)
-
-        assert background.unitree_go2_state_provider == mock_provider
-        mock_zenoh_provider_class.assert_called_once_with("test-key", True)
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateZenohProvider")
-    def test_initialization_with_use_sim_no_ethernet_required(self, mock_zenoh_provider_class):
-        """Test that use_sim=True does not require unitree_ethernet."""
-        mock_provider = MagicMock()
-        mock_zenoh_provider_class.return_value = mock_provider
-
-        # Should not raise ValueError even without unitree_ethernet
-        config = UnitreeGo2StateConfig(use_sim=True)
-        background = UnitreeGo2State(config)
-
-        assert background.unitree_go2_state_provider == mock_provider
-        mock_zenoh_provider_class.assert_called_once()
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateZenohProvider")
-    def test_initialization_with_use_sim_logging(self, mock_zenoh_provider_class, caplog):
-        """Test that use_sim initialization logs the correct message."""
-        mock_provider = MagicMock()
-        mock_zenoh_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(use_sim=True)
-        with caplog.at_level("INFO"):
-            UnitreeGo2State(config)
-
-        assert "Unitree Go2 State Zenoh Provider initialized in background" in caplog.text
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateZenohProvider")
-    def test_use_sim_false_uses_regular_provider(self, mock_zenoh_provider_class, mock_provider_class):
-        """Test that use_sim=False uses regular provider."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(use_sim=False, unitree_ethernet="eth0")
-        background = UnitreeGo2State(config)
-
-        mock_provider_class.assert_called_once()
-        mock_zenoh_provider_class.assert_not_called()
-        assert background.unitree_go2_state_provider == mock_provider
-
-    @patch("backgrounds.plugins.unitree_go2_state.UnitreeGo2StateProvider")
-    def test_initialization_with_api_key_regular_provider(self, mock_provider_class):
-        """Test initialization with api_key but use_sim=False."""
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2StateConfig(api_key="test-key", unitree_ethernet="eth0")
-        background = UnitreeGo2State(config)
-
-        assert background.config.api_key == "test-key"
-        assert background.unitree_go2_state_provider == mock_provider
-        mock_provider_class.assert_called_once()
diff --git a/tests/backgrounds/test_base.py b/tests/backgrounds/test_base.py
deleted file mode 100644
index 2d8c8a4b3d..0000000000
--- a/tests/backgrounds/test_base.py
+++ /dev/null
@@ -1,120 +0,0 @@
-import threading
-import time
-
-from backgrounds.base import Background, BackgroundConfig
-
-
-def test_background_init():
-    """Test background initialization with config."""
-    config = BackgroundConfig()
-    background = Background(config)
-    assert background.name == "Background"
-    assert background.config == config
-
-
-def test_background_init_default_name():
-    """Test background initialization with default name."""
-    config = BackgroundConfig()
-    background = Background(config)
-    assert background.name == "Background"
-    assert background.config == config
-
-
-def test_sleep_without_stop_event():
-    """Test that sleep works normally when no stop event is set."""
-    config = BackgroundConfig()
-    background = Background(config)
-
-    start_time = time.time()
-    result = background.sleep(0.1)
-    duration = time.time() - start_time
-
-    assert result is True
-    assert duration >= 0.1
-
-
-def test_sleep_with_stop_event_not_triggered():
-    """Test that sleep completes normally when stop event is set but not triggered."""
-    config = BackgroundConfig()
-    background = Background(config)
-    stop_event = threading.Event()
-    background.set_stop_event(stop_event)
-
-    start_time = time.time()
-    result = background.sleep(0.1)
-    duration = time.time() - start_time
-
-    assert result is True
-    assert duration >= 0.1
-
-
-def test_sleep_interrupted_by_stop_event():
-    """Test that sleep is interrupted when stop event is set during sleep."""
-    config = BackgroundConfig()
-    background = Background(config)
-    stop_event = threading.Event()
-    background.set_stop_event(stop_event)
-
-    def trigger_stop():
-        time.sleep(0.05)
-        stop_event.set()
-
-    # Start a thread to trigger the stop event
-    stop_thread = threading.Thread(target=trigger_stop)
-    stop_thread.start()
-
-    start_time = time.time()
-    result = background.sleep(1.0)  # Sleep for a long time, but should be interrupted
-    duration = time.time() - start_time
-
-    stop_thread.join()
-
-    assert result is False  # Should return False when interrupted
-    assert duration < 0.2  # Should wake up quickly, well before the 1 second sleep
-    assert background.should_stop() is True
-
-
-def test_sleep_already_stopped():
-    """Test that sleep returns immediately when stop event is already set."""
-    config = BackgroundConfig()
-    background = Background(config)
-    stop_event = threading.Event()
-    stop_event.set()  # Set before sleep
-    background.set_stop_event(stop_event)
-
-    start_time = time.time()
-    result = background.sleep(1.0)
-    duration = time.time() - start_time
-
-    assert result is False
-    assert duration < 0.1  # Should return almost immediately
-    assert background.should_stop() is True
-
-
-def test_should_stop_without_event():
-    """Test that should_stop returns False when no stop event is set."""
-    config = BackgroundConfig()
-    background = Background(config)
-
-    assert background.should_stop() is False
-
-
-def test_should_stop_with_event_not_set():
-    """Test that should_stop returns False when stop event exists but is not set."""
-    config = BackgroundConfig()
-    background = Background(config)
-    stop_event = threading.Event()
-    background.set_stop_event(stop_event)
-
-    assert background.should_stop() is False
-
-
-def test_should_stop_with_event_set():
-    """Test that should_stop returns True when stop event is set."""
-    config = BackgroundConfig()
-    background = Background(config)
-    stop_event = threading.Event()
-    background.set_stop_event(stop_event)
-    stop_event.set()
-
-    assert background.should_stop() is True
diff --git a/tests/backgrounds/test_init.py b/tests/backgrounds/test_init.py
deleted file mode 100644
index 2e027288da..0000000000
--- a/tests/backgrounds/test_init.py
+++ /dev/null
@@ -1,123 +0,0 @@
-from unittest.mock import MagicMock, mock_open, patch
-
-import pytest
-
-from backgrounds import find_module_with_class, load_background
-from backgrounds.base import Background, BackgroundConfig
-
-
-class MockBackground(Background[BackgroundConfig]):
-    def run(self):
-        pass
-
-
-def test_load_background_success():
-    with (
-        patch("backgrounds.find_module_with_class") as mock_find_module,
-        patch("importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "mock_background"
-        mock_module = MagicMock()
-        mock_module.MockBackground = MockBackground
-        mock_import.return_value = mock_module
-
-        result = load_background({"type": "MockBackground"})
-
-        mock_find_module.assert_called_once_with("MockBackground")
-        mock_import.assert_called_once_with("backgrounds.plugins.mock_background")
-        assert isinstance(result, Background)
-
-
-def test_load_background_not_found():
-    with patch("backgrounds.find_module_with_class") as mock_find_module:
-        mock_find_module.return_value = None
-
-        with pytest.raises(
-            ValueError,
-            match="Class 'NonexistentBackground' not found in any background plugin module",
-        ):
-            load_background({"type": "NonexistentBackground"})
-
-
-def test_load_background_multiple_plugins():
-    with (
-        patch("backgrounds.find_module_with_class") as mock_find_module,
-        patch("importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "bg2"
-
-        class Background2(Background[BackgroundConfig]):
-            def run(self):
-                pass
-
-        mock_module2 = MagicMock()
-        mock_module2.Background2 = Background2
-        mock_import.return_value = mock_module2
-
-        result = load_background({"type": "Background2"})
-
-        mock_find_module.assert_called_once_with("Background2")
-        mock_import.assert_called_once_with("backgrounds.plugins.bg2")
-        assert isinstance(result, Background)
-
-
-def test_load_background_invalid_type():
-    with (
-        patch("backgrounds.find_module_with_class") as mock_find_module,
-        patch("importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "invalid_background"
-
-        class InvalidBackground:
-            pass
-
-        mock_module = MagicMock()
-        mock_module.InvalidBackground = InvalidBackground
-        mock_import.return_value = mock_module
-
-        with pytest.raises(ValueError, match="'InvalidBackground' is not a valid background subclass"):
-            load_background({"type": "InvalidBackground"})
-
-
-def test_find_module_with_class_success():
-    with (
-        patch("os.path.join") as mock_join,
-        patch("os.path.exists") as mock_exists,
-        patch("os.listdir") as mock_listdir,
-        patch(
-            "builtins.open",
-            mock_open(read_data="class TestBackground(Background):\n    pass\n"),
-        ),
-    ):
-        mock_join.side_effect = lambda *args: "/".join(args)
-        mock_exists.return_value = True
-        mock_listdir.return_value = ["test_background.py"]
-
-        result = find_module_with_class("TestBackground")
-
-        assert result == "test_background"
-
-
-def test_find_module_with_class_not_found():
-    with (
-        patch("os.path.join") as mock_join,
-        patch("os.path.exists") as mock_exists,
-        patch("os.listdir") as mock_listdir,
-        patch("builtins.open", mock_open(read_data="class OtherClass:\n    pass\n")),
-    ):
-        mock_join.side_effect = lambda *args: "/".join(args)
-        mock_exists.return_value = True
-        mock_listdir.return_value = ["other_file.py"]
-
-        result = find_module_with_class("TestBackground")
-
-        assert result is None
-
-
-def test_find_module_with_class_no_plugins_dir():
-    with patch("os.path.exists") as mock_exists:
-        mock_exists.return_value = False
-
-        result = find_module_with_class("TestBackground")
-
-        assert result is None
diff --git a/tests/backgrounds/test_orchestrator.py b/tests/backgrounds/test_orchestrator.py
deleted file mode 100644
index 67f80a5c96..0000000000
--- a/tests/backgrounds/test_orchestrator.py
+++ /dev/null
@@ -1,59 +0,0 @@
-import asyncio
-from concurrent.futures import ThreadPoolExecutor
-from unittest.mock import Mock
-
-import pytest
-
-from backgrounds.base import Background, BackgroundConfig
-from backgrounds.orchestrator import BackgroundOrchestrator
-
-
-class MockBackground(Background):
-    def __init__(self, config: BackgroundConfig):
-        super().__init__(config)
-
-    def run(self):
-        pass
-
-
-@pytest.fixture
-def mock_background():
-    config = Mock(spec=BackgroundConfig)
-    background1 = MockBackground(config=BackgroundConfig())
-    background1.name = "bg1"
-    background2 = MockBackground(config=BackgroundConfig())
-    background2.name = "bg2"
-    config.backgrounds = [background1, background2]
-    return config
-
-
-@pytest.fixture
-def orchestrator(mock_background):
-    return BackgroundOrchestrator(mock_background)
-
-
-@pytest.mark.asyncio
-async def test_background_orchestrator_initialization(mock_background):
-    """Test that BackgroundOrchestrator initializes correctly."""
-    orchestrator = BackgroundOrchestrator(mock_background)
-    assert orchestrator._config == mock_background
-    assert orchestrator._background_workers == 2
-
-
-@pytest.mark.asyncio
-async def test_start_background(orchestrator):
-    """Test that backgrounds are started in separate threads."""
-    try:
-        future = orchestrator.start()
-
-        assert isinstance(orchestrator._background_executor, ThreadPoolExecutor)
-        assert orchestrator._background_executor._max_workers == orchestrator._background_workers
-
-        assert len(orchestrator._background_instances) == len(orchestrator._config.backgrounds)
-        assert isinstance(future, asyncio.Future)
-
-        expected_background_names = {bg.name for bg in orchestrator._config.backgrounds}
-        actual_background_names = {bg.name for bg in orchestrator._background_instances}
-        assert actual_background_names == expected_background_names
-    finally:
-        orchestrator.stop()
diff --git a/tests/config/schema_test.py b/tests/config/schema_test.py
deleted file mode 100644
index 67688aa744..0000000000
--- a/tests/config/schema_test.py
+++ /dev/null
@@ -1,44 +0,0 @@
-import json
-import os
-
-import json5
-import pytest
-from jsonschema import ValidationError, validate
-
-json_dir = os.path.join(os.path.dirname(__file__), "../../config")
-
-
-@pytest.fixture(scope="session")
-def single_mode_schema():
-    schema_path = os.path.join(json_dir, "schema/single_mode_schema.json")
-    with open(schema_path) as f:
-        return json.load(f)
-
-
-@pytest.fixture(scope="session")
-def multi_mode_schema():
-    schema_path = os.path.join(json_dir, "schema/multi_mode_schema.json")
-    with open(schema_path) as f:
-        return json.load(f)
-
-
-def get_all_json_files():
-    return [os.path.join(json_dir, f) for f in os.listdir(json_dir) if f.endswith(".json5")]
-
-
-def is_mode_config(data):
-    """Determine if this is a mode-based configuration file."""
-    return "modes" in data and "default_mode" in data
-
-
-@pytest.mark.parametrize("json_file", get_all_json_files())
-def test_json_file_valid(json_file, single_mode_schema, multi_mode_schema):
-    with open(json_file) as f:
-        data = json5.load(f)
-
-    schema = multi_mode_schema if is_mode_config(data) else single_mode_schema
-
-    try:
-        validate(instance=data, schema=schema)
-    except ValidationError as e:
-        pytest.fail(f"{json_file} failed validation: {e.message}")
diff --git a/tests/config/test_config.py b/tests/config/test_config.py
deleted file mode 100644
index 458e0337a4..0000000000
--- a/tests/config/test_config.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import importlib
-import os
-from typing import Optional, Type
-
-import json5
-
-from actions.base import ActionConnector, Interface
-from inputs import find_module_with_class
-from inputs.base import Sensor
-from llm import get_llm_class
-
-
-def test_configs():
-    """Test that all config files can be loaded."""
-    config_folder_path = os.path.join(os.path.dirname(__file__), "../../config")
-    files_names = [entry.name for entry in os.scandir(config_folder_path) if entry.is_file()]
-
-    for file_name in files_names:
-        if file_name.endswith(".DS_Store"):
-            continue
-        assert file_name.endswith(".json5")
-        with open(os.path.join(config_folder_path, file_name), "r") as f:
-            raw_config = json5.load(f)
-
-        agent_inputs = raw_config.get("agent_inputs", [])
-        assert isinstance(agent_inputs, list)
-
-        cortex_llm = raw_config.get("cortex_llm", {})
-        assert isinstance(cortex_llm, dict)
-        assert "type" in cortex_llm, f"'type' key missing in cortex_llm of {file_name}"
-        assert get_llm_class(cortex_llm["type"]) is not None
-
-        agent_actions = raw_config.get("agent_actions", [])
-        assert isinstance(agent_actions, list)
-
-        for input_config in agent_inputs:
-            assert_input_class_exists(input_config)
-
-        for action in agent_actions:
-            assert_action_classes_exist(action)
-
-
-def assert_input_class_exists(input_config):
-    """Assert that the input class exists without instantiating it."""
-    class_name = input_config["type"]
-    module_name = find_module_with_class(class_name)
-    assert module_name is not None, f"Input class '{class_name}' not found"
-
-    module = importlib.import_module(f"inputs.plugins.{module_name}")
-    input_class = find_subclass_in_module(module, Sensor)
-    assert input_class is not None, f"No Sensor subclass found for '{class_name}'"
-
-
-def assert_action_classes_exist(action_config):
-    """Assert that all required classes for an action exist without instantiating them."""
-    # Check interface exists
-    action_module = importlib.import_module(f"actions.{action_config['name']}.interface")
-    interface = find_subclass_in_module(action_module, Interface)
-    assert interface is not None, f"No interface found for action {action_config['name']}"
-
-    # Check connector exists
-    try:
-        connector_module = importlib.import_module(
-            f"actions.{action_config['name']}.connector.{action_config['connector']}"
-        )
-        connector = find_subclass_in_module(connector_module, ActionConnector)
-        assert connector is not None, f"No connector found for action {action_config['name']}"
-    except (ImportError, ModuleNotFoundError) as e:
-        assert False, f"Connector import failed for action {action_config['name']}: " f"{type(e).__name__}: {e}"
-
-
-def find_subclass_in_module(module, parent_class: Type) -> Optional[Type]:
-    """Find a subclass of parent_class in the given module."""
-    for _, obj in module.__dict__.items():
-        if isinstance(obj, type) and issubclass(obj, parent_class) and obj != parent_class:
-            return obj
-    return None
diff --git a/tests/fuser/__init__.py b/tests/fuser/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/fuser/knowledge_base/__init__.py b/tests/fuser/knowledge_base/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/fuser/knowledge_base/faiss/__init__.py b/tests/fuser/knowledge_base/faiss/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/fuser/knowledge_base/faiss/test_embedding_client.py b/tests/fuser/knowledge_base/faiss/test_embedding_client.py
deleted file mode 100644
index 1c39f9f2e7..0000000000
--- a/tests/fuser/knowledge_base/faiss/test_embedding_client.py
+++ /dev/null
@@ -1,253 +0,0 @@
-"""Tests for faiss/embedding_client module."""
-
-import base64
-from unittest.mock import AsyncMock, MagicMock
-
-import aiohttp
-import numpy as np
-import pytest
-from aiohttp import ClientSession
-from aiohttp.test_utils import AioHTTPTestCase
-from aiohttp.web import Application, json_response
-
-from src.fuser.knowledge_base.faiss.embedding_client import EmbeddingClient
-
-
-class MockEmbeddingServer(AioHTTPTestCase):
-    """Mock embedding server for testing."""
-
-    async def get_application(self):
-        """Create the test application."""
-        app = Application()
-        app.router.add_post("/embed", self.handle_embed)
-        app.router.add_post("/embed_batch", self.handle_embed_batch)
-        return app
-
-    async def handle_embed(self, request):
-        """Handle single embedding request."""
-        data = await request.json()
-        query = data.get("query", "")
-
-        embedding = np.random.randn(384).astype("float32")
-        embedding_b64 = base64.b64encode(embedding.tobytes()).decode("utf-8")
-
-        return json_response(
-            {
-                "embedding_b64": embedding_b64,
-                "latency_ms": 10.5,
-                "query_len": len(query),
-            }
-        )
-
-    async def handle_embed_batch(self, request):
-        """Handle batch embedding request."""
-        data = await request.json()
-        queries = data.get("queries", [])
-
-        # Generate mock embeddings
-        embeddings_b64 = []
-        for _ in queries:
-            embedding = np.random.randn(384).astype("float32")
-            embedding_b64 = base64.b64encode(embedding.tobytes()).decode("utf-8")
-            embeddings_b64.append(embedding_b64)
-
-        return json_response(
-            {
-                "embeddings_b64": embeddings_b64,
-                "latency_ms": 15.2,
-                "num_queries": len(queries),
-            }
-        )
-
-    async def test_embed_single_query(self):
-        """Test embedding a single query."""
-        host = self.server.host
-        port = self.server.port
-        client = EmbeddingClient(base_url=f"http://{host}:{port}")  # type: ignore
-
-        async with client:
-            embedding = await client.embed("test query")
-
-            assert isinstance(embedding, np.ndarray)
-            assert embedding.shape == (384,)
-            assert embedding.dtype == np.float32
-
-    async def test_embed_batch_queries(self):
-        """Test embedding multiple queries in batch."""
-        host = self.server.host
-        port = self.server.port
-        client = EmbeddingClient(base_url=f"http://{host}:{port}")  # type: ignore
-
-        queries = ["query 1", "query 2", "query 3"]
-
-        async with client:
-            embeddings = await client.embed_batch(queries)
-
-            assert isinstance(embeddings, np.ndarray)
-            assert embeddings.shape == (3, 384)
-            assert embeddings.dtype == np.float32
-
-    async def test_embed_without_context_manager(self):
-        """Test embedding without using context manager."""
-        host = self.server.host
-        port = self.server.port
-        client = EmbeddingClient(base_url=f"http://{host}:{port}")  # type: ignore
-
-        embedding = await client.embed("test query")
-
-        assert isinstance(embedding, np.ndarray)
-        assert embedding.shape == (384,)
-
-    async def test_embed_batch_empty_list(self):
-        """Test embedding empty batch."""
-        host = self.server.host
-        port = self.server.port
-        client = EmbeddingClient(base_url=f"http://{host}:{port}")  # type: ignore
-
-        async with client:
-            embeddings = await client.embed_batch([])
-
-            assert isinstance(embeddings, np.ndarray)
-            # Empty batch results in (0,) shape due to np.array([]) behavior
-            assert embeddings.shape[0] == 0
-
-
-class TestEmbeddingClientUnit:
-    """Unit tests for EmbeddingClient without running a server."""
-
-    def test_initialization_default_params(self):
-        """Test EmbeddingClient initialization with default parameters."""
-        client = EmbeddingClient()
-
-        assert client.base_url == "http://localhost:8100"
-        assert client.timeout.total == 30.0
-        assert client._session is None
-
-    def test_initialization_custom_params(self):
-        """Test EmbeddingClient initialization with custom parameters."""
-        client = EmbeddingClient(base_url="http://192.168.1.1:9000", timeout=60.0)
-
-        assert client.base_url == "http://192.168.1.1:9000"
-        assert client.timeout.total == 60.0
-
-    @pytest.mark.asyncio
-    async def test_context_manager_creates_session(self):
-        """Test that context manager creates and closes session."""
-        client = EmbeddingClient()
-
-        assert client._session is None
-
-        async with client:
-            assert client._session is not None
-            assert isinstance(client._session, ClientSession)
-
-    @pytest.mark.asyncio
-    async def test_embed_with_server_error(self):
-        """Test that embed raises exception on server error."""
-        client = EmbeddingClient(base_url="http://localhost:9999")  # Non-existent server
-
-        with pytest.raises(aiohttp.ClientError):
-            await client.embed("test query")
-
-    @pytest.mark.asyncio
-    async def test_embed_batch_with_server_error(self):
-        """Test that embed_batch raises exception on server error."""
-        client = EmbeddingClient(base_url="http://localhost:9999")  # Non-existent server
-
-        with pytest.raises(aiohttp.ClientError):
-            await client.embed_batch(["query 1", "query 2"])
-
-    @pytest.mark.asyncio
-    async def test_multiple_embeds_with_same_session(self):
-        """Test multiple embed calls with the same session."""
-        client = EmbeddingClient()
-
-        mock_response = MagicMock()
-        mock_response.raise_for_status = MagicMock()
-        mock_embedding = np.random.randn(384).astype("float32")
-        mock_embedding_b64 = base64.b64encode(mock_embedding.tobytes()).decode("utf-8")
-        mock_response.json = AsyncMock(return_value={"embedding_b64": mock_embedding_b64, "latency_ms": 10.0})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock()
-        mock_session.post.return_value.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_session.post.return_value.__aexit__ = AsyncMock()
-        mock_session.close = AsyncMock()  # Add async close method
-
-        async with client:
-            client._session = mock_session
-
-            # Make multiple calls
-            await client.embed("query 1")
-            await client.embed("query 2")
-
-            # Session.post should be called twice
-            assert mock_session.post.call_count == 2
-
-    @pytest.mark.asyncio
-    async def test_embed_decodes_base64_correctly(self):
-        """Test that embed correctly decodes base64 encoded embeddings."""
-        client = EmbeddingClient()
-
-        # Create a known embedding
-        expected_embedding = np.array([1.0, 2.0, 3.0], dtype="float32")
-        embedding_b64 = base64.b64encode(expected_embedding.tobytes()).decode("utf-8")
-
-        mock_response = MagicMock()
-        mock_response.raise_for_status = MagicMock()
-        mock_response.json = AsyncMock(return_value={"embedding_b64": embedding_b64, "latency_ms": 10.0})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock()
-        mock_session.post.return_value.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_session.post.return_value.__aexit__ = AsyncMock()
-        mock_session.close = AsyncMock()  # Add async close method
-
-        async with client:
-            client._session = mock_session
-            result = await client.embed("test")
-
-            np.testing.assert_array_almost_equal(result, expected_embedding)
-
-    @pytest.mark.asyncio
-    async def test_embed_batch_decodes_multiple_embeddings(self):
-        """Test that embed_batch correctly decodes multiple embeddings."""
-        client = EmbeddingClient()
-
-        # Create known embeddings
-        expected_embeddings = [
-            np.array([1.0, 2.0, 3.0], dtype="float32"),
-            np.array([4.0, 5.0, 6.0], dtype="float32"),
-        ]
-        embeddings_b64 = [base64.b64encode(emb.tobytes()).decode("utf-8") for emb in expected_embeddings]
-
-        mock_response = MagicMock()
-        mock_response.raise_for_status = MagicMock()
-        mock_response.json = AsyncMock(return_value={"embeddings_b64": embeddings_b64, "latency_ms": 15.0})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock()
-        mock_session.post.return_value.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_session.post.return_value.__aexit__ = AsyncMock()
-        mock_session.close = AsyncMock()  # Add async close method
-
-        async with client:
-            client._session = mock_session
-            result = await client.embed_batch(["query1", "query2"])
-
-            assert result.shape == (2, 3)
-            np.testing.assert_array_almost_equal(result[0], expected_embeddings[0])
-            np.testing.assert_array_almost_equal(result[1], expected_embeddings[1])
-
-    @pytest.mark.asyncio
-    async def test_timeout_configuration(self):
-        """Test that timeout is properly configured."""
-        client = EmbeddingClient(timeout=5.0)
-
-        assert client.timeout.total == 5.0
-
-        # Verify timeout is used when creating session
-        async with client:
-            # The session should have the timeout set
-            # Note: We can't directly check the session's timeout as it's encapsulated
-            pass
diff --git a/tests/fuser/knowledge_base/faiss/test_faiss_retriever.py b/tests/fuser/knowledge_base/faiss/test_faiss_retriever.py
deleted file mode 100644
index 9eff704b28..0000000000
--- a/tests/fuser/knowledge_base/faiss/test_faiss_retriever.py
+++ /dev/null
@@ -1,302 +0,0 @@
-import pickle
-import sys
-from unittest.mock import patch
-
-import faiss
-import numpy as np
-import pytest
-
-from src.fuser.knowledge_base.base_retriever import Document
-from src.fuser.knowledge_base.faiss.faiss_retriever import FAISSRetriever
-
-
-class TestFAISSRetriever:
-    """Test suite for FAISSRetriever class."""
-
-    @pytest.fixture
-    def sample_documents(self):
-        """Create sample documents for testing."""
-        return [
-            {
-                "text": f"Document {i} content",
-                "metadata": {"source": f"doc{i}.txt", "chunk_id": i},
-            }
-            for i in range(10)
-        ]
-
-    @pytest.fixture
-    def mock_faiss_index(self, tmp_path, sample_documents):
-        """Create a mock FAISS index for testing."""
-        dimension = 384
-        num_docs = len(sample_documents)
-
-        index = faiss.IndexFlatL2(dimension)
-        embeddings = np.random.randn(num_docs, dimension).astype("float32")
-        index.add(x=embeddings)  # type: ignore
-
-        index_path = tmp_path / "test.faiss"
-        faiss.write_index(index, str(index_path))
-
-        metadata_path = tmp_path / "test.pkl"
-        with open(metadata_path, "wb") as f:
-            pickle.dump(sample_documents, f)
-
-        return index_path, metadata_path, dimension, num_docs
-
-    def test_initialization_loads_index(self, mock_faiss_index):
-        """Test that FAISSRetriever loads index and metadata."""
-        index_path, metadata_path, dim, num_docs = mock_faiss_index
-
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        assert retriever.index is not None
-        assert retriever.dimension == dim
-        assert len(retriever.documents) == num_docs
-        assert retriever.num_documents == num_docs
-
-    def test_initialization_index_not_found(self, tmp_path):
-        """Test that FileNotFoundError is raised when index doesn't exist."""
-        index_path = tmp_path / "nonexistent.faiss"
-        metadata_path = tmp_path / "test.pkl"
-        metadata_path.touch()
-
-        with pytest.raises(FileNotFoundError) as exc_info:
-            FAISSRetriever(index_path, metadata_path)
-
-        assert "Index not found" in str(exc_info.value)
-
-    def test_initialization_metadata_not_found(self, tmp_path):
-        """Test that FileNotFoundError is raised when metadata doesn't exist."""
-        # Create a valid index
-        index = faiss.IndexFlatL2(384)
-        index_path = tmp_path / "test.faiss"
-        faiss.write_index(index, str(index_path))
-
-        metadata_path = tmp_path / "nonexistent.pkl"
-
-        with pytest.raises(FileNotFoundError) as exc_info:
-            FAISSRetriever(index_path, metadata_path)
-
-        assert "Metadata not found" in str(exc_info.value)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_initialization_mismatch_warning(self, tmp_path, sample_documents, caplog):
-        """Test warning when document count doesn't match vector count."""
-        dimension = 384
-
-        index = faiss.IndexFlatL2(dimension)
-        embeddings = np.random.randn(5, dimension).astype("float32")
-        index.add(x=embeddings)  # type: ignore
-        index_path = tmp_path / "test.faiss"
-        faiss.write_index(index, str(index_path))
-
-        metadata_path = tmp_path / "test.pkl"
-        with open(metadata_path, "wb") as f:
-            pickle.dump(sample_documents, f)
-
-        FAISSRetriever(index_path, metadata_path)
-
-        assert any("Mismatch" in record.message for record in caplog.records)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_search_returns_top_k_documents(self, mock_faiss_index):
-        """Test that search returns top-k most similar documents."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        query_embedding = np.random.randn(dim).astype("float32")
-        results = retriever.search(query_embedding, top_k=3)
-
-        assert len(results) == 3
-        assert all(isinstance(doc, Document) for doc in results)
-        assert all(doc.score is not None for doc in results)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_search_scores_are_positive(self, mock_faiss_index):
-        """Test that search scores are positive (similarity scores)."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        query_embedding = np.random.randn(dim).astype("float32")
-        results = retriever.search(query_embedding, top_k=5)
-
-        for doc in results:
-            assert doc.score is not None
-            assert doc.score > 0
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_search_wrong_dimension_raises_error(self, mock_faiss_index):
-        """Test that search raises ValueError for wrong embedding dimension."""
-        index_path, metadata_path, _, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        wrong_dim_embedding = np.random.randn(256).astype("float32")
-
-        with pytest.raises(ValueError) as exc_info:
-            retriever.search(wrong_dim_embedding, top_k=3)
-
-        assert "Query dim" in str(exc_info.value)
-        assert "index dim" in str(exc_info.value)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_search_top_k_larger_than_index(self, mock_faiss_index):
-        """Test search when top_k is larger than number of documents."""
-        index_path, metadata_path, dim, num_docs = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        query_embedding = np.random.randn(dim).astype("float32")
-        results = retriever.search(query_embedding, top_k=100)
-
-        # Should return at most num_docs results
-        assert len(results) <= num_docs
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_batch_search_multiple_queries(self, mock_faiss_index):
-        """Test batch search with multiple query embeddings."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        num_queries = 3
-        query_embeddings = np.random.randn(num_queries, dim).astype("float32")
-        all_results = retriever.batch_search(query_embeddings, top_k=2)
-
-        assert len(all_results) == num_queries
-        assert all(len(results) == 2 for results in all_results)
-        assert all(isinstance(doc, Document) for results in all_results for doc in results)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_batch_search_wrong_dimension_raises_error(self, mock_faiss_index):
-        """Test that batch_search raises ValueError for wrong embedding dimension."""
-        index_path, metadata_path, _, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        wrong_dim_embeddings = np.random.randn(3, 256).astype("float32")
-
-        with pytest.raises(ValueError) as exc_info:
-            retriever.batch_search(wrong_dim_embeddings, top_k=3)
-
-        assert "Query dim" in str(exc_info.value)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_batch_search_empty_batch(self, mock_faiss_index):
-        """Test batch search with empty batch."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        query_embeddings = np.empty((0, dim), dtype="float32")
-        all_results = retriever.batch_search(query_embeddings, top_k=5)
-
-        assert len(all_results) == 0
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_search_returns_document_copies(self, mock_faiss_index):
-        """Test that search returns independent document copies."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        query_embedding = np.random.randn(dim).astype("float32")
-        results = retriever.search(query_embedding, top_k=2)
-
-        # Modify first result's metadata
-        results[0].metadata["modified"] = True
-
-        # Original document should not be modified
-        assert "modified" not in retriever.documents[0].metadata
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_documents_are_document_instances(self, mock_faiss_index):
-        """Test that loaded documents are Document instances."""
-        index_path, metadata_path, _, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        assert all(isinstance(doc, Document) for doc in retriever.documents)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_search_with_negative_indices(self, tmp_path):
-        """Test that search handles negative indices from FAISS gracefully."""
-        dimension = 384
-        index = faiss.IndexFlatL2(dimension)
-        embeddings = np.random.randn(2, dimension).astype("float32")
-        index.add(x=embeddings)  # type: ignore
-
-        index_path = tmp_path / "test.faiss"
-        faiss.write_index(index, str(index_path))
-
-        metadata = [{"text": f"Doc {i}", "metadata": {"id": i}} for i in range(2)]
-        metadata_path = tmp_path / "test.pkl"
-        with open(metadata_path, "wb") as f:
-            pickle.dump(metadata, f)
-
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        with patch.object(retriever.index, "search") as mock_search:
-            mock_search.return_value = (
-                np.array([[0.1, 0.2]], dtype="float32"),
-                np.array([[0, -1]], dtype="int64"),
-            )
-
-            query_embedding = np.random.randn(dimension).astype("float32")
-            results = retriever.search(query_embedding, top_k=2)
-
-            assert len(results) == 1
-            assert results[0].text == "Doc 0"
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_search_with_out_of_bounds_indices(self, mock_faiss_index):
-        """Test that search handles out-of-bounds indices gracefully."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        with patch.object(retriever.index, "search") as mock_search:
-            mock_search.return_value = (
-                np.array([[0.1, 0.2]], dtype="float32"),
-                np.array([[0, 999]], dtype="int64"),
-            )
-
-            query_embedding = np.random.randn(dim).astype("float32")
-            results = retriever.search(query_embedding, top_k=2)
-
-            assert len(results) == 1
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_index_is_loaded_on_init(self, mock_faiss_index):
-        """Test that _load is called during initialization."""
-        index_path, metadata_path, _, _ = mock_faiss_index
-
-        with patch.object(FAISSRetriever, "_load") as mock_load:
-
-            mock_load.return_value = None
-            FAISSRetriever(index_path, metadata_path)
-            mock_load.assert_called_once()
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_score_calculation(self, mock_faiss_index):
-        """Test that score is calculated correctly from distance."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        with patch.object(retriever.index, "search") as mock_search:
-            # For IndexFlatIP, dist is already cosine similarity
-            mock_search.return_value = (
-                np.array([[0.95, 0.85, 0.70]], dtype="float32"),
-                np.array([[0, 1, 2]], dtype="int64"),
-            )
-
-            query_embedding = np.random.randn(dim).astype("float32")
-            results = retriever.search(query_embedding, top_k=3)
-
-            assert results[0].score == pytest.approx(0.95, rel=1e-5)
-            assert results[1].score == pytest.approx(0.85, rel=1e-5)
-            assert results[2].score == pytest.approx(0.70, rel=1e-5)
-
-    @pytest.mark.skipif(sys.platform == "darwin", reason="FAISS search aborts on macOS")
-    def test_batch_search_returns_independent_results(self, mock_faiss_index):
-        """Test that batch search returns independent result sets."""
-        index_path, metadata_path, dim, _ = mock_faiss_index
-        retriever = FAISSRetriever(index_path, metadata_path)
-
-        query_embeddings = np.random.randn(2, dim).astype("float32")
-        all_results = retriever.batch_search(query_embeddings, top_k=3)
-        all_results[0][0].metadata["modified"] = True
-
-        assert "modified" not in all_results[1][0].metadata
diff --git a/tests/fuser/knowledge_base/test_base_embedding.py b/tests/fuser/knowledge_base/test_base_embedding.py
deleted file mode 100644
index 16de5b0231..0000000000
--- a/tests/fuser/knowledge_base/test_base_embedding.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import numpy as np
-import pytest
-
-from src.fuser.knowledge_base.base_embedding import BaseEmbeddingClient
-
-
-class ConcreteEmbeddingClient(BaseEmbeddingClient):
-    """Concrete implementation for testing."""
-
-    def __init__(self, embedding_dim: int = 384, **kwargs):
-        super().__init__(**kwargs)
-        self.embedding_dim = embedding_dim
-        self.embed_calls = []
-        self.embed_batch_calls = []
-
-    async def embed(self, query: str) -> np.ndarray:
-        """Return a mock embedding vector."""
-        self.embed_calls.append(query)
-        return np.random.randn(self.embedding_dim).astype("float32")
-
-    async def embed_batch(self, queries: list[str]) -> np.ndarray:
-        """Return mock embedding vectors for batch."""
-        self.embed_batch_calls.append(queries)
-        return np.random.randn(len(queries), self.embedding_dim).astype("float32")
-
-
-class TestBaseEmbeddingClient:
-    """Test suite for BaseEmbeddingClient abstract class."""
-
-    @pytest.mark.asyncio
-    async def test_cannot_instantiate_abstract_class(self):
-        """Test that BaseEmbeddingClient cannot be instantiated directly."""
-        with pytest.raises(TypeError):
-            BaseEmbeddingClient()  # type: ignore
-
-    @pytest.mark.asyncio
-    async def test_concrete_implementation_embed(self):
-        """Test that concrete implementation can embed a query."""
-        client = ConcreteEmbeddingClient(embedding_dim=384)
-        query = "test query"
-
-        embedding = await client.embed(query)
-
-        assert isinstance(embedding, np.ndarray)
-        assert embedding.shape == (384,)
-        assert embedding.dtype == np.float32
-        assert query in client.embed_calls
-
-    @pytest.mark.asyncio
-    async def test_concrete_implementation_embed_batch(self):
-        """Test that concrete implementation can embed multiple queries."""
-        client = ConcreteEmbeddingClient(embedding_dim=384)
-        queries = ["query 1", "query 2", "query 3"]
-
-        embeddings = await client.embed_batch(queries)
-
-        assert isinstance(embeddings, np.ndarray)
-        assert embeddings.shape == (3, 384)
-        assert embeddings.dtype == np.float32
-        assert queries in client.embed_batch_calls
-
-    @pytest.mark.asyncio
-    async def test_context_manager_enter_exit(self):
-        """Test that context manager methods work properly."""
-        client = ConcreteEmbeddingClient()
-
-        async with client as ctx_client:
-            assert ctx_client is client
-            embedding = await ctx_client.embed("test")
-            assert embedding.shape == (384,)
-
-    @pytest.mark.asyncio
-    async def test_different_embedding_dimensions(self):
-        """Test that clients can use different embedding dimensions."""
-        dim = 768
-        client = ConcreteEmbeddingClient(embedding_dim=dim)
-
-        embedding = await client.embed("test")
-
-        assert embedding.shape == (dim,)
-
-    @pytest.mark.asyncio
-    async def test_empty_batch(self):
-        """Test that empty batch returns empty array."""
-        client = ConcreteEmbeddingClient()
-
-        embeddings = await client.embed_batch([])
-
-        assert embeddings.shape == (0, 384)
-
-    @pytest.mark.asyncio
-    async def test_single_item_batch(self):
-        """Test that single item batch works correctly."""
-        client = ConcreteEmbeddingClient()
-
-        embeddings = await client.embed_batch(["single query"])
-
-        assert embeddings.shape == (1, 384)
diff --git a/tests/fuser/knowledge_base/test_base_retriever.py b/tests/fuser/knowledge_base/test_base_retriever.py
deleted file mode 100644
index a4e77891a0..0000000000
--- a/tests/fuser/knowledge_base/test_base_retriever.py
+++ /dev/null
@@ -1,171 +0,0 @@
-from pathlib import Path
-
-import numpy as np
-import pytest
-
-from src.fuser.knowledge_base.base_retriever import BaseRetriever, Document
-
-
-class ConcreteRetriever(BaseRetriever):
-    """Concrete implementation for testing."""
-
-    def __init__(self, index_path, metadata_path, test_docs=None, test_dim=384):
-        super().__init__(index_path, metadata_path)
-        self.documents = test_docs or []
-        self.dimension = test_dim
-        self.load_called = False
-
-    def _load(self):
-        """Mock load implementation."""
-        self.load_called = True
-
-    def search(self, query_embedding: np.ndarray, top_k: int = 5) -> list[Document]:
-        """Return top-k documents based on mock similarity."""
-        results = []
-        for i, doc in enumerate(self.documents[:top_k]):
-            score = 1.0 - (i * 0.1)  # Decreasing scores
-            results.append(Document(text=doc.text, metadata=doc.metadata.copy(), score=score))
-        return results
-
-    def batch_search(self, query_embeddings: np.ndarray, top_k: int = 5) -> list[list[Document]]:
-        """Return top-k documents for each query."""
-        return [self.search(emb, top_k) for emb in query_embeddings]
-
-
-class TestDocument:
-    """Test suite for Document dataclass."""
-
-    def test_document_creation(self):
-        """Test creating a Document with required fields."""
-        doc = Document(text="test content", metadata={"source": "test.txt"})
-
-        assert doc.text == "test content"
-        assert doc.metadata == {"source": "test.txt"}
-        assert doc.score is None
-
-    def test_document_with_score(self):
-        """Test creating a Document with a score."""
-        doc = Document(text="test content", metadata={"source": "test.txt"}, score=0.95)
-
-        assert doc.text == "test content"
-        assert doc.metadata == {"source": "test.txt"}
-        assert doc.score == 0.95
-
-    def test_document_metadata_independent(self):
-        """Test that document metadata is independent."""
-        metadata = {"source": "test.txt", "chunk_id": 0}
-        doc1 = Document(text="content1", metadata=metadata)
-        doc2 = Document(text="content2", metadata=metadata)
-
-        doc1.metadata["new_key"] = "value"
-
-        assert "new_key" in doc1.metadata
-        assert "new_key" in doc2.metadata  # They share the same dict reference
-
-    def test_document_equality(self):
-        """Test document equality based on dataclass fields."""
-        doc1 = Document(text="test", metadata={"id": 1}, score=0.9)
-        doc2 = Document(text="test", metadata={"id": 1}, score=0.9)
-
-        assert doc1 == doc2
-
-    def test_document_inequality(self):
-        """Test document inequality."""
-        doc1 = Document(text="test1", metadata={"id": 1})
-        doc2 = Document(text="test2", metadata={"id": 1})
-
-        assert doc1 != doc2
-
-
-class TestBaseRetriever:
-    """Test suite for BaseRetriever abstract class."""
-
-    def test_cannot_instantiate_abstract_class(self):
-        """Test that BaseRetriever cannot be instantiated directly."""
-        with pytest.raises(TypeError):
-            BaseRetriever(index_path="test.faiss", metadata_path="test.pkl")  # type: ignore
-
-    def test_concrete_implementation_initialization(self, tmp_path):
-        """Test that concrete implementation can be initialized."""
-        index_path = tmp_path / "test.faiss"
-        metadata_path = tmp_path / "test.pkl"
-
-        retriever = ConcreteRetriever(index_path, metadata_path)
-
-        assert retriever.index_path == index_path
-        assert retriever.metadata_path == metadata_path
-        assert isinstance(retriever.documents, list)
-        assert retriever.dimension == 384
-
-    def test_search_returns_documents(self, tmp_path):
-        """Test that search returns a list of Documents."""
-        test_docs = [Document(text=f"doc {i}", metadata={"id": i}) for i in range(5)]
-        retriever = ConcreteRetriever(tmp_path / "test.faiss", tmp_path / "test.pkl", test_docs=test_docs)
-
-        query_embedding = np.random.randn(384).astype("float32")
-        results = retriever.search(query_embedding, top_k=3)
-
-        assert len(results) == 3
-        assert all(isinstance(doc, Document) for doc in results)
-        assert all(doc.score is not None for doc in results)
-
-    def test_search_respects_top_k(self, tmp_path):
-        """Test that search returns at most top_k results."""
-        test_docs = [Document(text=f"doc {i}", metadata={"id": i}) for i in range(10)]
-        retriever = ConcreteRetriever(tmp_path / "test.faiss", tmp_path / "test.pkl", test_docs=test_docs)
-
-        query_embedding = np.random.randn(384).astype("float32")
-        results = retriever.search(query_embedding, top_k=5)
-
-        assert len(results) == 5
-
-    def test_search_scores_decreasing(self, tmp_path):
-        """Test that search results have decreasing scores."""
-        test_docs = [Document(text=f"doc {i}", metadata={"id": i}) for i in range(5)]
-        retriever = ConcreteRetriever(tmp_path / "test.faiss", tmp_path / "test.pkl", test_docs=test_docs)
-
-        query_embedding = np.random.randn(384).astype("float32")
-        results = retriever.search(query_embedding, top_k=5)
-
-        scores = [doc.score for doc in results if doc.score is not None]
-        assert scores == sorted(scores, reverse=True)
-
-    def test_batch_search(self, tmp_path):
-        """Test batch search with multiple query embeddings."""
-        test_docs = [Document(text=f"doc {i}", metadata={"id": i}) for i in range(5)]
-        retriever = ConcreteRetriever(tmp_path / "test.faiss", tmp_path / "test.pkl", test_docs=test_docs)
-
-        query_embeddings = np.random.randn(3, 384).astype("float32")
-        all_results = retriever.batch_search(query_embeddings, top_k=2)
-
-        assert len(all_results) == 3
-        assert all(len(results) == 2 for results in all_results)
-        assert all(isinstance(doc, Document) for results in all_results for doc in results)
-
-    def test_num_documents_property(self, tmp_path):
-        """Test that num_documents returns the correct count."""
-        test_docs = [Document(text=f"doc {i}", metadata={"id": i}) for i in range(7)]
-        retriever = ConcreteRetriever(tmp_path / "test.faiss", tmp_path / "test.pkl", test_docs=test_docs)
-
-        assert retriever.num_documents == 7
-
-    def test_empty_retriever(self, tmp_path):
-        """Test retriever with no documents."""
-        retriever = ConcreteRetriever(tmp_path / "test.faiss", tmp_path / "test.pkl", test_docs=[])
-
-        assert retriever.num_documents == 0
-
-        query_embedding = np.random.randn(384).astype("float32")
-        results = retriever.search(query_embedding, top_k=5)
-
-        assert len(results) == 0
-
-    def test_path_conversion(self, tmp_path):
-        """Test that paths are converted to Path objects."""
-        index_path_str = str(tmp_path / "test.faiss")
-        metadata_path_str = str(tmp_path / "test.pkl")
-
-        retriever = ConcreteRetriever(index_path_str, metadata_path_str)
-
-        assert isinstance(retriever.index_path, Path)
-        assert isinstance(retriever.metadata_path, Path)
diff --git a/tests/fuser/knowledge_base/test_retriever.py b/tests/fuser/knowledge_base/test_retriever.py
deleted file mode 100644
index 7c7ff76460..0000000000
--- a/tests/fuser/knowledge_base/test_retriever.py
+++ /dev/null
@@ -1,306 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import numpy as np
-import pytest
-
-from src.fuser.knowledge_base.base_retriever import Document
-from src.fuser.knowledge_base.retriever import KnowledgeBase
-
-
-class TestKnowledgeBase:
-    """Test suite for KnowledgeBase class."""
-
-    @pytest.fixture
-    def mock_kb_structure(self, tmp_path):
-        """Create a mock knowledge base directory structure."""
-        kb_root = tmp_path / "knowledge_base"
-        kb_root.mkdir()
-
-        demo_dir = kb_root / "demo"
-        demo_dir.mkdir()
-
-        # Create mock index and metadata files
-        (demo_dir / "demo.faiss").touch()
-        (demo_dir / "demo.pkl").touch()
-
-        return kb_root
-
-    def test_initialization_default_params(self, mock_kb_structure):
-        """Test KnowledgeBase initialization with default parameters."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient") as mock_embedding,
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_retriever,
-        ):
-            mock_retriever_instance = MagicMock()
-            mock_retriever_instance.num_documents = 10
-            mock_retriever_instance.dimension = 384
-            mock_retriever.return_value = mock_retriever_instance
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            assert kb.kb_dir == mock_kb_structure / "demo"
-            mock_embedding.assert_called_once_with(base_url="http://localhost:8100")
-            mock_retriever.assert_called_once()
-
-    def test_initialization_custom_params(self, mock_kb_structure):
-        """Test KnowledgeBase initialization with custom parameters."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient") as mock_embedding,
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_retriever,
-        ):
-            mock_retriever_instance = MagicMock()
-            mock_retriever_instance.num_documents = 10
-            mock_retriever_instance.dimension = 384
-            mock_retriever.return_value = mock_retriever_instance
-
-            kb = KnowledgeBase(
-                knowledge_base_name="demo",
-                knowledge_base_root=mock_kb_structure,
-                base_url="http://192.168.1.1:9000",
-            )
-
-            assert kb.kb_dir == mock_kb_structure / "demo"
-            mock_embedding.assert_called_once_with(base_url="http://192.168.1.1:9000")
-
-    def test_initialization_kb_not_found(self, tmp_path):
-        """Test that FileNotFoundError is raised when knowledge base doesn't exist."""
-        kb_root = tmp_path / "knowledge_base"
-        kb_root.mkdir()
-
-        with pytest.raises(FileNotFoundError) as exc_info:
-            KnowledgeBase(knowledge_base_name="nonexistent", knowledge_base_root=kb_root)
-
-        assert "Knowledge base not found" in str(exc_info.value)
-        assert "nonexistent" in str(exc_info.value)
-
-    def test_initialization_invalid_retriever_type(self, mock_kb_structure):
-        """Test that ValueError is raised for invalid retriever type."""
-        with pytest.raises(ValueError) as exc_info:
-            KnowledgeBase(
-                knowledge_base_name="demo",
-                knowledge_base_root=mock_kb_structure,
-                retriever_type="invalid",
-            )
-
-        assert "Unknown retriever type" in str(exc_info.value)
-        assert "invalid" in str(exc_info.value)
-
-    def test_initialization_default_kb_root(self):
-        """Test that default knowledge_base_root is set correctly."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient") as mock_embedding,
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_retriever,
-            patch("src.fuser.knowledge_base.retriever.Path") as mock_path,
-        ):
-            mock_parent = MagicMock()
-            mock_parent.parent.parent.parent.parent = MagicMock()
-            mock_kb_root = MagicMock()
-            mock_parent.parent.parent.parent.parent.__truediv__.return_value = mock_kb_root
-
-            mock_kb_dir = MagicMock()
-            mock_kb_dir.exists.return_value = True
-            mock_kb_root.__truediv__.return_value = mock_kb_dir
-
-            mock_path.return_value = mock_parent
-            mock_path.__file__ = "/fake/path/retriever.py"
-
-            mock_retriever_instance = MagicMock()
-            mock_retriever_instance.num_documents = 10
-            mock_retriever_instance.dimension = 384
-            mock_retriever.return_value = mock_retriever_instance
-
-            KnowledgeBase(knowledge_base_name="demo")
-            mock_embedding.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_query_single(self, mock_kb_structure):
-        """Test querying knowledge base with a single query."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient") as mock_embedding_cls,
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_retriever_cls,
-        ):
-            # Setup mocks
-            mock_embedding = MagicMock()
-            mock_embedding.embed = AsyncMock(return_value=np.random.randn(384).astype("float32"))
-            mock_embedding.__aenter__ = AsyncMock(return_value=mock_embedding)
-            mock_embedding.__aexit__ = AsyncMock()
-            mock_embedding_cls.return_value = mock_embedding
-
-            expected_docs = [Document(text=f"doc {i}", metadata={"id": i}, score=0.9 - i * 0.1) for i in range(3)]
-            mock_retriever = MagicMock()
-            mock_retriever.search.return_value = expected_docs
-            mock_retriever.num_documents = 10
-            mock_retriever.dimension = 384
-            mock_retriever_cls.return_value = mock_retriever
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            # Execute query
-            results = await kb.query("test query", top_k=3)
-
-            # Verify
-            assert len(results) == 3
-            assert results == expected_docs
-            mock_embedding.embed.assert_called_once_with("test query")
-            mock_retriever.search.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_query_batch(self, mock_kb_structure):
-        """Test querying knowledge base with multiple queries."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient") as mock_embedding_cls,
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_retriever_cls,
-        ):
-            # Setup mocks
-            mock_embedding = MagicMock()
-            mock_embedding.embed_batch = AsyncMock(return_value=np.random.randn(2, 384).astype("float32"))
-            mock_embedding.__aenter__ = AsyncMock(return_value=mock_embedding)
-            mock_embedding.__aexit__ = AsyncMock()
-            mock_embedding_cls.return_value = mock_embedding
-
-            expected_results = [
-                [Document(text=f"doc {i}", metadata={"id": i}, score=0.9) for i in range(2)],
-                [Document(text=f"doc {i}", metadata={"id": i}, score=0.8) for i in range(2)],
-            ]
-            mock_retriever = MagicMock()
-            mock_retriever.batch_search.return_value = expected_results
-            mock_retriever.num_documents = 10
-            mock_retriever.dimension = 384
-            mock_retriever_cls.return_value = mock_retriever
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            # Execute batch query
-            queries = ["query 1", "query 2"]
-            results = await kb.query_batch(queries, top_k=2)
-
-            # Verify
-            assert len(results) == 2
-            assert results == expected_results
-            mock_embedding.embed_batch.assert_called_once_with(queries)
-            mock_retriever.batch_search.assert_called_once()
-
-    def test_format_context_empty_results(self, mock_kb_structure):
-        """Test formatting context with empty results."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient"),
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_ret,
-        ):
-            mock_retriever = MagicMock()
-            mock_retriever.num_documents = 10
-            mock_retriever.dimension = 384
-            mock_ret.return_value = mock_retriever
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            context = kb.format_context([])
-
-            assert context == ""
-
-    def test_format_context_with_results(self, mock_kb_structure):
-        """Test formatting context with results."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient"),
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_ret,
-        ):
-            mock_retriever = MagicMock()
-            mock_retriever.num_documents = 10
-            mock_retriever.dimension = 384
-            mock_ret.return_value = mock_retriever
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            docs = [
-                Document(
-                    text="Content 1",
-                    metadata={"source": "doc1.txt", "chunk_id": 0},
-                    score=0.95,
-                ),
-                Document(
-                    text="Content 2",
-                    metadata={"source": "doc2.txt", "chunk_id": 1},
-                    score=0.85,
-                ),
-            ]
-
-            context = kb.format_context(docs)
-
-            assert "Content 1" in context
-            assert "Content 2" in context
-            assert "doc1.txt" in context
-            assert "doc2.txt" in context
-            assert "0.950" in context
-            assert "0.850" in context
-
-    def test_format_context_max_chars_limit(self, mock_kb_structure):
-        """Test that format_context respects max_chars limit."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient"),
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_ret,
-        ):
-            mock_retriever = MagicMock()
-            mock_retriever.num_documents = 10
-            mock_retriever.dimension = 384
-            mock_ret.return_value = mock_retriever
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            docs = [
-                Document(
-                    text="X" * 100,
-                    metadata={"source": f"doc{i}.txt", "chunk_id": i},
-                    score=0.9,
-                )
-                for i in range(10)
-            ]
-
-            context = kb.format_context(docs, max_chars=300)
-
-            assert len(context) <= 300
-
-    def test_format_context_missing_metadata(self, mock_kb_structure):
-        """Test formatting context with missing metadata fields."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient"),
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_ret,
-        ):
-            mock_retriever = MagicMock()
-            mock_retriever.num_documents = 10
-            mock_retriever.dimension = 384
-            mock_ret.return_value = mock_retriever
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            docs = [Document(text="Content with no metadata", metadata={}, score=0.95)]
-
-            context = kb.format_context(docs)
-
-            assert "Content with no metadata" in context
-            assert "unknown" in context  # Default source
-            assert "?" in context  # Default chunk_id
-
-    @pytest.mark.asyncio
-    async def test_query_with_different_top_k(self, mock_kb_structure):
-        """Test that top_k parameter is properly passed through."""
-        with (
-            patch("src.fuser.knowledge_base.retriever.EmbeddingClient") as mock_embedding_cls,
-            patch("src.fuser.knowledge_base.retriever.FAISSRetriever") as mock_retriever_cls,
-        ):
-            mock_embedding = MagicMock()
-            mock_embedding.embed = AsyncMock(return_value=np.random.randn(384).astype("float32"))
-            mock_embedding.__aenter__ = AsyncMock(return_value=mock_embedding)
-            mock_embedding.__aexit__ = AsyncMock()
-            mock_embedding_cls.return_value = mock_embedding
-
-            mock_retriever = MagicMock()
-            mock_retriever.search.return_value = []
-            mock_retriever.num_documents = 10
-            mock_retriever.dimension = 384
-            mock_retriever_cls.return_value = mock_retriever
-
-            kb = KnowledgeBase(knowledge_base_name="demo", knowledge_base_root=mock_kb_structure)
-
-            await kb.query("test", top_k=10)
-
-            call_args = mock_retriever.search.call_args
-            assert call_args[1]["top_k"] == 10
diff --git a/tests/fuser/test_init.py b/tests/fuser/test_init.py
deleted file mode 100644
index cacc8d014c..0000000000
--- a/tests/fuser/test_init.py
+++ /dev/null
@@ -1,371 +0,0 @@
-from dataclasses import dataclass
-from datetime import datetime
-from typing import Any, List, Optional, Sequence
-from unittest.mock import AsyncMock, MagicMock, Mock, patch
-
-import pytest
-
-from fuser import Fuser
-from fuser.knowledge_base.base_retriever import Document
-from inputs.base import Sensor, SensorConfig
-from providers.io_provider import IOProvider
-from runtime.config import RuntimeConfig
-
-
-@pytest.fixture(autouse=True)
-def reset_io_provider():
-    """Reset the IOProvider singleton before each test to prevent state pollution."""
-    IOProvider.reset()  # type: ignore
-    yield
-    IOProvider.reset()  # type: ignore
-
-
-class MockSensor(Sensor[SensorConfig, Any]):
-    def __init__(self) -> None:
-        super().__init__(SensorConfig())
-
-    def formatted_latest_buffer(self) -> str:
-        return "test input"
-
-
-@dataclass
-class MockAction:
-    name: str
-    llm_label: Optional[str] = None
-    exclude_from_prompt: bool = False
-
-
-def create_mock_config(
-    agent_actions: Optional[List[MockAction]] = None,
-    knowledge_base: Optional[dict] = None,
-) -> RuntimeConfig:
-    """Create a mock RuntimeConfig for testing."""
-    if agent_actions is None:
-        agent_actions = []
-
-    mock_config = MagicMock(spec=RuntimeConfig)
-    mock_config.system_prompt_base = "system prompt base"
-    mock_config.system_governance = "system governance"
-    mock_config.system_prompt_examples = "system prompt examples"
-    mock_config.agent_actions = agent_actions
-    mock_config.knowledge_base = knowledge_base
-    mock_config.mcp_servers = None
-
-    return mock_config
-
-
-def test_fuser_initialization():
-    config = create_mock_config()
-    io_provider = IOProvider()
-
-    with patch("fuser.IOProvider", return_value=io_provider):
-        fuser = Fuser(config)
-        assert fuser.config == config
-        assert fuser.io_provider == io_provider
-        assert fuser.knowledge_base is None
-
-
-@patch("time.time")
-@pytest.mark.asyncio
-async def test_fuser_timestamps(mock_time):
-    mock_time.return_value = 1000
-    config = create_mock_config()
-    io_provider = IOProvider()
-
-    with patch("fuser.IOProvider", return_value=io_provider):
-        fuser = Fuser(config)
-        await fuser.fuse([], [])
-        assert io_provider.fuser_start_time == 1000
-        assert io_provider.fuser_end_time == 1000
-
-
-@patch("fuser.describe_action")
-@pytest.mark.asyncio
-async def test_fuser_with_inputs_and_actions(mock_describe):
-    mock_describe.return_value = "action description"
-    config = create_mock_config(agent_actions=[MockAction("action1"), MockAction("action2")])
-    inputs: Sequence[Sensor[Any, Any]] = [MockSensor()]
-    io_provider = IOProvider()
-
-    with patch("fuser.IOProvider", return_value=io_provider):
-        fuser = Fuser(config)
-        result = await fuser.fuse(inputs, [])
-
-        now = datetime.now().strftime("%B %-d, %Y %H:%M:%S")
-        system_prompt = (
-            "\nBASIC CONTEXT:\n"
-            + config.system_prompt_base
-            + f"\n\nCurrent time is {now}.\n"
-            + "\nLAWS:\n"
-            + config.system_governance
-            + "\n\nEXAMPLES:\n"
-            + config.system_prompt_examples
-        )
-
-        expected = f"{system_prompt}\n\nAVAILABLE INPUTS:\ntest input\nAVAILABLE ACTIONS:\n\naction description\n\naction description\n\n\n\nWhat will you do? Actions:"
-        assert result == expected
-        assert mock_describe.call_count == 2
-        assert io_provider.fuser_system_prompt == system_prompt
-        assert io_provider.fuser_inputs == "test input"
-
-
-@pytest.mark.asyncio
-async def test_fuser_initialization_with_knowledge_base():
-    """Test that Fuser properly initializes with knowledge_base config."""
-    kb_config = {
-        "knowledge_base": "test_kb",
-        "knowledge_base_root": "/tmp/kb",
-        "base_url": "http://localhost:8100",
-    }
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    mock_kb = MagicMock()
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb) as mock_kb_class,
-    ):
-        fuser = Fuser(config)
-        assert fuser.knowledge_base == mock_kb
-        mock_kb_class.assert_called_once_with(**kb_config)
-
-
-@pytest.mark.asyncio
-async def test_fuser_initialization_with_invalid_knowledge_base():
-    """Test that Fuser handles invalid knowledge_base config gracefully."""
-    kb_config = {"invalid_param": "value"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", side_effect=Exception("Invalid config")),
-    ):
-        fuser = Fuser(config)
-        assert fuser.knowledge_base is None
-
-
-@pytest.mark.asyncio
-async def test_fuser_without_knowledge_base():
-    """Test that Fuser works without knowledge_base config."""
-    config = create_mock_config(knowledge_base=None)
-    io_provider = IOProvider()
-
-    with patch("fuser.IOProvider", return_value=io_provider):
-        fuser = Fuser(config)
-        result = await fuser.fuse([], [])
-
-        assert fuser.knowledge_base is None
-        assert result is not None
-        assert "KNOWLEDGE BASE:" not in result
-
-
-@pytest.mark.asyncio
-async def test_fuser_with_knowledge_base_no_voice_input():
-    """Test that knowledge base is not queried when there's no voice input."""
-    kb_config = {"knowledge_base": "test_kb"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    mock_kb = MagicMock()
-    mock_kb.query = AsyncMock()
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb),
-    ):
-        fuser = Fuser(config)
-        result = await fuser.fuse([], [])
-
-        mock_kb.query.assert_not_called()
-        assert result is not None
-        assert "KNOWLEDGE BASE:" not in result
-
-
-@pytest.mark.asyncio
-async def test_fuser_with_knowledge_base_and_voice_input():
-    """Test that knowledge base is queried when voice input is available."""
-    kb_config = {"knowledge_base": "test_kb"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    voice_input = Mock()
-    voice_input.input = "What is the capital of France?"
-    voice_input.tick = 1
-    io_provider.increment_tick()
-    io_provider.get_input = Mock(return_value=voice_input)
-
-    mock_doc1 = Document(
-        text="Paris is the capital of France.",
-        metadata={"source": "geography.txt", "chunk_id": 0},
-        score=0.95,
-    )
-    mock_doc2 = Document(
-        text="France is a country in Europe.",
-        metadata={"source": "geography.txt", "chunk_id": 1},
-        score=0.85,
-    )
-    mock_kb = MagicMock()
-    mock_kb.query = AsyncMock(return_value=[mock_doc1, mock_doc2])
-    mock_kb.format_context = Mock(
-        return_value="[1] Source: geography.txt (chunk 0) | Score: 0.950\nParis is the capital of France.\n"
-    )
-
-    inputs: Sequence[Sensor[Any, Any]] = [MockSensor()]
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb),
-    ):
-        fuser = Fuser(config)
-        result = await fuser.fuse(inputs, [])
-
-        mock_kb.query.assert_called_once_with("What is the capital of France?", top_k=3, min_score=0.0)
-        mock_kb.format_context.assert_called_once_with([mock_doc1, mock_doc2], max_chars=1500)
-        assert result is not None
-        assert "KNOWLEDGE BASE:" in result
-        assert "Paris is the capital of France." in result
-
-
-@pytest.mark.asyncio
-async def test_fuser_with_knowledge_base_empty_results():
-    """Test that fuser handles empty knowledge base results gracefully."""
-    kb_config = {"knowledge_base": "test_kb"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    voice_input = Mock()
-    voice_input.input = "Some query"
-    voice_input.tick = 1
-    io_provider.increment_tick()
-    io_provider.get_input = Mock(return_value=voice_input)
-
-    mock_kb = MagicMock()
-    mock_kb.query = AsyncMock(return_value=[])
-    mock_kb.format_context = Mock(return_value="")
-
-    inputs: Sequence[Sensor[Any, Any]] = [MockSensor()]
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb),
-    ):
-        fuser = Fuser(config)
-        result = await fuser.fuse(inputs, [])
-
-        mock_kb.query.assert_called_once()
-        assert result is not None
-        assert "KNOWLEDGE BASE:" not in result
-
-
-@pytest.mark.asyncio
-async def test_fuser_with_knowledge_base_query_error():
-    """Test that fuser handles knowledge base query errors gracefully."""
-    kb_config = {"knowledge_base": "test_kb"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    # Setup voice input
-    voice_input = Mock()
-    voice_input.input = "Some query"
-    voice_input.tick = 1
-    io_provider.increment_tick()
-    io_provider.get_input = Mock(return_value=voice_input)
-
-    mock_kb = MagicMock()
-    mock_kb.query = AsyncMock(side_effect=Exception("Query failed"))
-
-    inputs: Sequence[Sensor[Any, Any]] = [MockSensor()]
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb),
-    ):
-        fuser = Fuser(config)
-        result = await fuser.fuse(inputs, [])
-
-        mock_kb.query.assert_called_once()
-        assert result is not None
-        assert "KNOWLEDGE BASE:" not in result
-
-
-@pytest.mark.asyncio
-async def test_fuser_with_knowledge_base_voice_input_different_tick():
-    """Test that knowledge base is not queried when voice input is from a different tick."""
-    kb_config = {"knowledge_base": "test_kb"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    voice_input = Mock()
-    voice_input.input = "Some query"
-    voice_input.tick = 5
-
-    for _ in range(10):
-        io_provider.increment_tick()
-    io_provider.get_input = Mock(return_value=voice_input)
-
-    mock_kb = MagicMock()
-    mock_kb.query = AsyncMock()
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb),
-    ):
-        fuser = Fuser(config)
-        result = await fuser.fuse([], [])
-
-        mock_kb.query.assert_not_called()
-        assert result is not None
-        assert "KNOWLEDGE BASE:" not in result
-
-
-@pytest.mark.asyncio
-async def test_fuser_with_knowledge_base_no_voice_input_object():
-    """Test that knowledge base is not queried when voice input object is None."""
-    kb_config = {"knowledge_base": "test_kb"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    io_provider.get_input = Mock(return_value=None)
-
-    mock_kb = MagicMock()
-    mock_kb.query = AsyncMock()
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb),
-    ):
-        fuser = Fuser(config)
-        result = await fuser.fuse([], [])
-
-        mock_kb.query.assert_not_called()
-        assert result is not None
-        assert "KNOWLEDGE BASE:" not in result
-
-
-@pytest.mark.asyncio
-async def test_fuser_with_knowledge_base_empty_voice_input():
-    """Test that knowledge base is not queried when voice input is empty/whitespace."""
-    kb_config = {"knowledge_base": "test_kb"}
-    config = create_mock_config(knowledge_base=kb_config)
-    io_provider = IOProvider()
-
-    voice_input = Mock()
-    voice_input.input = "   "
-    voice_input.tick = 1
-    io_provider.increment_tick()
-    io_provider.get_input = Mock(return_value=voice_input)
-
-    mock_kb = MagicMock()
-    mock_kb.query = AsyncMock()
-
-    with (
-        patch("fuser.IOProvider", return_value=io_provider),
-        patch("fuser.KnowledgeBase", return_value=mock_kb),
-    ):
-        fuser = Fuser(config)
-        result = await fuser.fuse([], [])
-
-        mock_kb.query.assert_not_called()
-        assert result is not None
-        assert "KNOWLEDGE BASE:" not in result
diff --git a/tests/hooks/__init__.py b/tests/hooks/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/hooks/test_greeting_hook.py b/tests/hooks/test_greeting_hook.py
deleted file mode 100644
index 8e30f29697..0000000000
--- a/tests/hooks/test_greeting_hook.py
+++ /dev/null
@@ -1,999 +0,0 @@
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from hooks.greeting_hook import GreetingHookContext, greeting_end_hook, greeting_start_hook
-
-
-class TestGeetingHookContext:
-    """Tests for GeetingHookContext model."""
-
-    def test_context_default_values(self):
-        """Test context model with default values."""
-        context = GreetingHookContext()
-        assert context.message == ""
-        assert context.tts_provider == "elevenlabs"
-        assert context.base_url is None
-        assert context.api_key is None
-        assert context.elevenlabs_api_key is None
-        assert context.voice_id is None
-        assert context.model_id is None
-        assert context.output_format is None
-        assert context.rate is None
-        assert context.enable_tts_interrupt is False
-        assert context.robot_name is None
-        assert context.custom_message is None
-
-    def test_context_custom_values(self):
-        """Test context model with custom values."""
-        context = GreetingHookContext(
-            message="Hello, world!",
-            tts_provider="kokoro",
-            base_url="http://localhost:8880",
-            api_key="test-api-key",
-            elevenlabs_api_key="test-elevenlabs-key",
-            voice_id="test-voice",
-            model_id="test-model",
-            output_format="mp3",
-            rate=24000,
-            enable_tts_interrupt=True,
-            robot_name="TestBot",
-            custom_message="Welcome to the test!",
-        )
-        assert context.message == "Hello, world!"
-        assert context.tts_provider == "kokoro"
-        assert context.base_url == "http://localhost:8880"
-        assert context.api_key == "test-api-key"
-        assert context.elevenlabs_api_key == "test-elevenlabs-key"
-        assert context.voice_id == "test-voice"
-        assert context.model_id == "test-model"
-        assert context.output_format == "mp3"
-        assert context.rate == 24000
-        assert context.enable_tts_interrupt is True
-        assert context.robot_name == "TestBot"
-        assert context.custom_message == "Welcome to the test!"
-
-    def test_context_extra_fields_allowed(self):
-        """Test that extra fields are allowed in the context."""
-        context = GreetingHookContext(message="Test", extra_field="extra_value")  # type: ignore
-        # Should not raise an error due to Config.extra = "allow"
-        assert context.message == "Test"
-
-
-@pytest.fixture
-def mock_elevenlabs_provider():
-    """Mock ElevenLabsTTSProvider."""
-    with patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.start = Mock()
-        provider_instance.add_pending_message = Mock()
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-@pytest.fixture
-def mock_kokoro_provider():
-    """Mock KokoroTTSProvider."""
-    with patch("hooks.greeting_hook.KokoroTTSProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.start = Mock()
-        provider_instance.add_pending_message = Mock()
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-@pytest.fixture
-def mock_riva_provider():
-    """Mock RivaTTSProvider."""
-    with patch("hooks.greeting_hook.RivaTTSProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.start = Mock()
-        provider_instance.add_pending_message = Mock()
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-@pytest.fixture
-def mock_greeting_state_provider():
-    """Mock GreetingConversationStateMachineProvider."""
-    with patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.turn_count = 0
-        provider_instance.max_turn_count = 5
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-@pytest.fixture
-def mock_face_presence_provider():
-    """Mock FacePresenceProvider."""
-    with patch("hooks.greeting_hook.FacePresenceProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.fetch_snapshot = AsyncMock()
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-class TestGreetingStartHook:
-    """Tests for greeting_start_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_hook_with_elevenlabs_known_face(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook with ElevenLabs provider and known face detected."""
-        context = {"tts_provider": "elevenlabs"}
-
-        # Mock face presence with known face
-        mock_snapshot = Mock()
-        mock_snapshot.closest_name = "John"
-        mock_face_presence_provider.fetch_snapshot.return_value = mock_snapshot
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            mock_provider_class.assert_called_once()
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "https://api.openmind.com/api/core/elevenlabs/tts"
-            assert call_kwargs["voice_id"] == "JBFqnCBsd6RMkjVDRZzb"
-            assert call_kwargs["model_id"] == "eleven_flash_v2_5"
-            assert call_kwargs["output_format"] == "pcm_16000"
-            assert call_kwargs["rate"] == 16000
-
-            mock_elevenlabs_provider.start.assert_called_once()
-            mock_elevenlabs_provider.add_pending_message.assert_called_once()
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "Hello John!" in message
-            assert "Nice to see you" in message
-            assert "How can I help you today?" in message
-
-    @pytest.mark.asyncio
-    async def test_hook_with_elevenlabs_unknown_face(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook with ElevenLabs provider and unknown face detected."""
-        context = {"tts_provider": "elevenlabs"}
-
-        # Mock face presence with unknown face
-        mock_snapshot = Mock()
-        mock_snapshot.closest_name = "Unknown"
-        mock_face_presence_provider.fetch_snapshot.return_value = mock_snapshot
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            mock_elevenlabs_provider.add_pending_message.assert_called_once()
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "Hello!" in message
-            assert "How can I help you today?" in message
-            assert "Unknown" not in message  # Should not include the name
-
-    @pytest.mark.asyncio
-    async def test_hook_with_no_face_detected(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook when no face is detected."""
-        context = {"tts_provider": "elevenlabs"}
-
-        # Mock face presence with None (no face)
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            mock_elevenlabs_provider.add_pending_message.assert_called_once()
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "Hello!" in message
-            assert "How can I help you today?" in message
-
-    @pytest.mark.asyncio
-    async def test_hook_with_robot_name(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook with robot name included."""
-        context = {"tts_provider": "elevenlabs", "robot_name": "Spot"}
-
-        mock_snapshot = Mock()
-        mock_snapshot.closest_name = "Alice"
-        mock_face_presence_provider.fetch_snapshot.return_value = mock_snapshot
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "Hello Alice!" in message
-            assert "I'm Spot. " in message
-            assert "Nice to see you" in message
-
-    @pytest.mark.asyncio
-    async def test_hook_with_custom_message(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook with custom message."""
-        context = {"tts_provider": "elevenlabs", "custom_message": "Welcome to the lab!"}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "Welcome to the lab!" in message
-            assert "How can I help you today?" not in message
-
-    @pytest.mark.asyncio
-    async def test_hook_with_robot_name_and_custom_message(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook with both robot name and custom message."""
-        context = {
-            "tts_provider": "elevenlabs",
-            "robot_name": "Go2",
-            "custom_message": "Ready to assist you!",
-        }
-
-        mock_snapshot = Mock()
-        mock_snapshot.closest_name = "Bob"
-        mock_face_presence_provider.fetch_snapshot.return_value = mock_snapshot
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "Hello Bob!" in message
-            assert "I'm Go2. " in message
-            assert "Ready to assist you!" in message
-
-    @pytest.mark.asyncio
-    async def test_hook_with_kokoro_provider(self, mock_kokoro_provider, mock_face_presence_provider):
-        """Test hook with Kokoro provider."""
-        context = {"tts_provider": "kokoro"}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.KokoroTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_kokoro_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://127.0.0.1:8880/v1"
-            assert call_kwargs["voice_id"] == "af_bella"
-            assert call_kwargs["model_id"] == "kokoro"
-            assert call_kwargs["output_format"] == "pcm"
-            assert call_kwargs["rate"] == 24000
-
-            mock_kokoro_provider.start.assert_called_once()
-            mock_kokoro_provider.add_pending_message.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_hook_with_kokoro_custom_params(self, mock_kokoro_provider, mock_face_presence_provider):
-        """Test hook with Kokoro provider and custom parameters."""
-        context = {
-            "tts_provider": "Kokoro",  # Test case-insensitive
-            "base_url": "http://localhost:9000",
-            "api_key": "kokoro-api-key",
-            "voice_id": "custom-kokoro-voice",
-            "model_id": "kokoro-v2",
-            "output_format": "wav",
-            "rate": 48000,
-            "enable_tts_interrupt": True,
-        }
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.KokoroTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_kokoro_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://localhost:9000"
-            assert call_kwargs["api_key"] == "kokoro-api-key"
-            assert call_kwargs["voice_id"] == "custom-kokoro-voice"
-            assert call_kwargs["model_id"] == "kokoro-v2"
-            assert call_kwargs["output_format"] == "wav"
-            assert call_kwargs["rate"] == 48000
-            assert call_kwargs["enable_tts_interrupt"] is True
-
-    @pytest.mark.asyncio
-    async def test_hook_with_riva_provider(self, mock_riva_provider, mock_face_presence_provider):
-        """Test hook with Riva provider."""
-        context = {"tts_provider": "riva"}
-
-        mock_snapshot = Mock()
-        mock_snapshot.closest_name = "Charlie"
-        mock_face_presence_provider.fetch_snapshot.return_value = mock_snapshot
-
-        with (
-            patch("hooks.greeting_hook.RivaTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_riva_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://127.0.0.1:50051"
-
-            mock_riva_provider.start.assert_called_once()
-            mock_riva_provider.add_pending_message.assert_called_once()
-            message = mock_riva_provider.add_pending_message.call_args[0][0]
-            assert "Hello Charlie!" in message
-
-    @pytest.mark.asyncio
-    async def test_hook_with_riva_custom_params(self, mock_riva_provider, mock_face_presence_provider):
-        """Test hook with Riva provider and custom parameters."""
-        context = {
-            "tts_provider": "RIVA",  # Test case-insensitive
-            "base_url": "http://riva-server:8000",
-            "api_key": "riva-api-key",
-        }
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.RivaTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_riva_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://riva-server:8000"
-            assert call_kwargs["api_key"] == "riva-api-key"
-
-    @pytest.mark.asyncio
-    async def test_hook_elevenlabs_custom_params(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook with ElevenLabs provider and custom parameters."""
-        context = {
-            "tts_provider": "ElevenLabs",  # Test case-insensitive
-            "base_url": "https://custom.api.com",
-            "api_key": "test-api-key",
-            "elevenlabs_api_key": "test-elevenlabs-key",
-            "voice_id": "custom-voice",
-            "model_id": "custom-model",
-            "output_format": "mp3",
-            "rate": 22050,
-            "enable_tts_interrupt": True,
-        }
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "https://custom.api.com"
-            assert call_kwargs["api_key"] == "test-api-key"
-            assert call_kwargs["elevenlabs_api_key"] == "test-elevenlabs-key"
-            assert call_kwargs["voice_id"] == "custom-voice"
-            assert call_kwargs["model_id"] == "custom-model"
-            assert call_kwargs["output_format"] == "mp3"
-            assert call_kwargs["rate"] == 22050
-            assert call_kwargs["enable_tts_interrupt"] is True
-
-    @pytest.mark.asyncio
-    async def test_hook_unsupported_provider(self, mock_face_presence_provider):
-        """Test hook with unsupported TTS provider."""
-        context = {"tts_provider": "unsupported_provider"}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class:
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_provider_initialization_error(self, mock_face_presence_provider):
-        """Test hook when provider initialization fails."""
-        context = {"tts_provider": "elevenlabs"}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.side_effect = Exception("Provider initialization failed")
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_provider_start_error(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook when provider.start() fails."""
-        context = {"tts_provider": "elevenlabs"}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-        mock_elevenlabs_provider.start.side_effect = Exception("Start failed")
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_face_presence_error(self, mock_elevenlabs_provider):
-        """Test hook when face presence provider fails."""
-        context = {"tts_provider": "elevenlabs"}
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.side_effect = Exception("Face presence failed")
-
-            result = await greeting_start_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_empty_context(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test hook with empty context defaults to elevenlabs."""
-        context = {}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            mock_provider_class.assert_called_once()
-            mock_elevenlabs_provider.start.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_hook_error_logging(self, mock_face_presence_provider, caplog):
-        """Test that errors are logged properly."""
-        context = {"tts_provider": "elevenlabs"}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.side_effect = ValueError("Test error")
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is False
-            assert "Error in greeting_start_hook" in caplog.text
-
-    @pytest.mark.asyncio
-    async def test_hook_success_logging(self, mock_elevenlabs_provider, mock_face_presence_provider, caplog):
-        """Test that success is logged properly."""
-        import logging
-
-        caplog.set_level(logging.INFO)
-        context = {"tts_provider": "elevenlabs"}
-
-        mock_face_presence_provider.fetch_snapshot.return_value = None
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            assert "Greeting start hook executed successfully" in caplog.text
-
-    @pytest.mark.asyncio
-    async def test_hook_case_sensitive_name_check(self, mock_elevenlabs_provider, mock_face_presence_provider):
-        """Test that name check is case-insensitive for 'unknown'."""
-        context = {"tts_provider": "elevenlabs"}
-
-        # Test with "UNKNOWN" in uppercase
-        mock_snapshot = Mock()
-        mock_snapshot.closest_name = "UNKNOWN"
-        mock_face_presence_provider.fetch_snapshot.return_value = mock_snapshot
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.FacePresenceProvider") as mock_face_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_face_class.return_value = mock_face_presence_provider
-
-            result = await greeting_start_hook(context)
-
-            assert result is True
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "Hello!" in message
-            assert "UNKNOWN" not in message  # Should not include the name
-
-
-class TestGeetingEndHook:
-    """Tests for greeting_end_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_hook_with_elevenlabs_default_params(self, mock_elevenlabs_provider, mock_greeting_state_provider):
-        """Test hook with ElevenLabs provider and default parameters."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 3
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            mock_provider_class.assert_called_once()
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "https://api.openmind.com/api/core/elevenlabs/tts"
-            assert call_kwargs["voice_id"] == "JBFqnCBsd6RMkjVDRZzb"
-            assert call_kwargs["model_id"] == "eleven_flash_v2_5"
-            assert call_kwargs["output_format"] == "pcm_16000"
-            assert call_kwargs["rate"] == 16000
-            assert call_kwargs["enable_tts_interrupt"] is False
-
-            mock_elevenlabs_provider.start.assert_called_once()
-            mock_elevenlabs_provider.add_pending_message.assert_called_once()
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "nice talking with you" in message.lower()
-
-    @pytest.mark.asyncio
-    async def test_hook_with_elevenlabs_custom_params(self, mock_elevenlabs_provider, mock_greeting_state_provider):
-        """Test hook with ElevenLabs provider and custom parameters."""
-        context = {
-            "tts_provider": "elevenlabs",
-            "base_url": "https://custom.api.com",
-            "api_key": "test-api-key",
-            "elevenlabs_api_key": "test-elevenlabs-key",
-            "voice_id": "custom-voice",
-            "model_id": "custom-model",
-            "output_format": "mp3",
-            "rate": 22050,
-            "enable_tts_interrupt": True,
-        }
-        mock_greeting_state_provider.turn_count = 1
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "https://custom.api.com"
-            assert call_kwargs["api_key"] == "test-api-key"
-            assert call_kwargs["elevenlabs_api_key"] == "test-elevenlabs-key"
-            assert call_kwargs["voice_id"] == "custom-voice"
-            assert call_kwargs["model_id"] == "custom-model"
-            assert call_kwargs["output_format"] == "mp3"
-            assert call_kwargs["rate"] == 22050
-            assert call_kwargs["enable_tts_interrupt"] is True
-
-    @pytest.mark.asyncio
-    async def test_hook_with_kokoro_default_params(self, mock_kokoro_provider, mock_greeting_state_provider):
-        """Test hook with Kokoro provider and default parameters."""
-        context = {"tts_provider": "kokoro"}
-        mock_greeting_state_provider.turn_count = 2
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.KokoroTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_kokoro_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://127.0.0.1:8880/v1"
-            assert call_kwargs["voice_id"] == "af_bella"
-            assert call_kwargs["model_id"] == "kokoro"
-            assert call_kwargs["output_format"] == "pcm"
-            assert call_kwargs["rate"] == 24000
-            assert call_kwargs["enable_tts_interrupt"] is False
-
-            mock_kokoro_provider.start.assert_called_once()
-            mock_kokoro_provider.add_pending_message.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_hook_with_kokoro_custom_params(self, mock_kokoro_provider, mock_greeting_state_provider):
-        """Test hook with Kokoro provider and custom parameters."""
-        context = {
-            "tts_provider": "Kokoro",  # Test case-insensitive
-            "base_url": "http://localhost:9000",
-            "api_key": "kokoro-api-key",
-            "voice_id": "custom-kokoro-voice",
-            "model_id": "kokoro-v2",
-            "output_format": "wav",
-            "rate": 48000,
-            "enable_tts_interrupt": True,
-        }
-        mock_greeting_state_provider.turn_count = 1
-
-        with (
-            patch("hooks.greeting_hook.KokoroTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_kokoro_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://localhost:9000"
-            assert call_kwargs["api_key"] == "kokoro-api-key"
-            assert call_kwargs["voice_id"] == "custom-kokoro-voice"
-            assert call_kwargs["model_id"] == "kokoro-v2"
-            assert call_kwargs["output_format"] == "wav"
-            assert call_kwargs["rate"] == 48000
-            assert call_kwargs["enable_tts_interrupt"] is True
-
-    @pytest.mark.asyncio
-    async def test_hook_with_riva_default_params(self, mock_riva_provider, mock_greeting_state_provider):
-        """Test hook with Riva provider and default parameters."""
-        context = {"tts_provider": "riva"}
-        mock_greeting_state_provider.turn_count = 1
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.RivaTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_riva_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://127.0.0.1:50051"
-
-            mock_riva_provider.start.assert_called_once()
-            mock_riva_provider.add_pending_message.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_hook_with_riva_custom_params(self, mock_riva_provider, mock_greeting_state_provider):
-        """Test hook with Riva provider and custom parameters."""
-        context = {
-            "tts_provider": "RIVA",  # Test case-insensitive
-            "base_url": "http://riva-server:8000",
-            "api_key": "riva-api-key",
-        }
-        mock_greeting_state_provider.turn_count = 2
-
-        with (
-            patch("hooks.greeting_hook.RivaTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_riva_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            call_kwargs = mock_provider_class.call_args[1]
-            assert call_kwargs["url"] == "http://riva-server:8000"
-            assert call_kwargs["api_key"] == "riva-api-key"
-
-    @pytest.mark.asyncio
-    async def test_hook_max_turn_count_reached(self, mock_elevenlabs_provider, mock_greeting_state_provider):
-        """Test hook when max turn count is reached."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 5
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            mock_elevenlabs_provider.start.assert_called_once()
-            mock_elevenlabs_provider.add_pending_message.assert_called_once()
-
-            message = mock_elevenlabs_provider.add_pending_message.call_args[0][0]
-            assert "i hope you enjoy the rest of your day" in message.lower()
-
-    @pytest.mark.asyncio
-    async def test_hook_turn_count_exceeded(self, mock_kokoro_provider, mock_greeting_state_provider):
-        """Test hook when turn count exceeds max."""
-        context = {"tts_provider": "kokoro"}
-        mock_greeting_state_provider.turn_count = 10
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.KokoroTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_kokoro_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            message = mock_kokoro_provider.add_pending_message.call_args[0][0]
-            assert "i hope you enjoy the rest of your day" in message.lower()
-
-    @pytest.mark.asyncio
-    async def test_hook_zero_turn_count(self, mock_riva_provider, mock_greeting_state_provider):
-        """Test hook when turn count is zero."""
-        context = {"tts_provider": "riva"}
-        mock_greeting_state_provider.turn_count = 0
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.RivaTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_riva_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            mock_riva_provider.start.assert_called_once()
-            message = mock_riva_provider.add_pending_message.call_args[0][0]
-            assert "it was great meeting you" in message.lower()
-
-    @pytest.mark.asyncio
-    async def test_hook_unsupported_provider(self, mock_greeting_state_provider):
-        """Test hook with unsupported TTS provider."""
-        context = {"tts_provider": "unsupported_provider"}
-        mock_greeting_state_provider.turn_count = 1
-
-        with patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class:
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_provider_initialization_error(self, mock_greeting_state_provider):
-        """Test hook when provider initialization fails."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 1
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.side_effect = Exception("Provider initialization failed")
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_provider_start_error(self, mock_elevenlabs_provider, mock_greeting_state_provider):
-        """Test hook when provider.start() fails."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 1
-        mock_elevenlabs_provider.start.side_effect = Exception("Start failed")
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_empty_context(self, mock_elevenlabs_provider, mock_greeting_state_provider):
-        """Test hook with empty context defaults to elevenlabs."""
-        context = {}
-        mock_greeting_state_provider.turn_count = 1
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            mock_provider_class.assert_called_once()
-            mock_elevenlabs_provider.start.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_hook_error_logging(self, mock_greeting_state_provider, caplog):
-        """Test that errors are logged properly."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 1
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.side_effect = ValueError("Test error")
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is False
-            assert "Error in greeting_end_hook" in caplog.text
-            assert "Test error" in caplog.text
-
-    @pytest.mark.asyncio
-    async def test_hook_state_provider_error(self, mock_elevenlabs_provider):
-        """Test hook when state provider fails."""
-        context = {"tts_provider": "elevenlabs"}
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.side_effect = Exception("State provider failed")
-
-            result = await greeting_end_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_returns_true_on_success(self, mock_elevenlabs_provider, mock_greeting_state_provider):
-        """Test that hook returns True on success."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 1
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-
-    @pytest.mark.asyncio
-    async def test_hook_returns_false_on_error(self, mock_greeting_state_provider):
-        """Test that hook returns False on error."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 1
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.side_effect = Exception("Test error")
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_add_pending_message_error(self, mock_elevenlabs_provider, mock_greeting_state_provider):
-        """Test hook when add_pending_message fails."""
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 1
-        mock_elevenlabs_provider.add_pending_message.side_effect = Exception("Add message failed")
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_hook_success_logging(self, mock_elevenlabs_provider, mock_greeting_state_provider, caplog):
-        """Test that success scenario with max turn count logs properly."""
-        import logging
-
-        caplog.set_level(logging.INFO)
-        context = {"tts_provider": "elevenlabs"}
-        mock_greeting_state_provider.turn_count = 5
-        mock_greeting_state_provider.max_turn_count = 5
-
-        with (
-            patch("hooks.greeting_hook.ElevenLabsTTSProvider") as mock_provider_class,
-            patch("hooks.greeting_hook.GreetingConversationStateMachineProvider") as mock_state_class,
-        ):
-            mock_provider_class.return_value = mock_elevenlabs_provider
-            mock_state_class.return_value = mock_greeting_state_provider
-
-            result = await greeting_end_hook(context)
-
-            assert result is True
-            assert "Greeting conversation ended due to maximum turn count" in caplog.text
diff --git a/tests/hooks/test_nav2_hook.py b/tests/hooks/test_nav2_hook.py
deleted file mode 100644
index 6b5585634e..0000000000
--- a/tests/hooks/test_nav2_hook.py
+++ /dev/null
@@ -1,316 +0,0 @@
-"""Unit tests for nav2_hook module."""
-
-from unittest.mock import AsyncMock, MagicMock, Mock, patch
-
-import pytest
-from aiohttp import ClientError, ClientTimeout
-
-from hooks.nav2_hook import (
-    StartNav2HookContext,
-    StopNav2HookContext,
-    start_nav2_hook,
-    stop_nav2_hook,
-)
-
-
-def create_mock_response(status, json_data=None, json_error=None):
-    """Helper to create a mock aiohttp response."""
-    mock_resp = MagicMock()
-    mock_resp.status = status
-
-    if json_error:
-        mock_resp.json = AsyncMock(side_effect=json_error)
-    else:
-        mock_resp.json = AsyncMock(return_value=json_data)
-
-    mock_resp.__aenter__ = AsyncMock(return_value=mock_resp)
-    mock_resp.__aexit__ = AsyncMock(return_value=None)
-
-    return mock_resp
-
-
-@pytest.fixture
-def mock_elevenlabs_provider():
-    """Mock ElevenLabsTTSProvider."""
-    with patch("hooks.nav2_hook.ElevenLabsTTSProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.add_pending_message = Mock()
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-class TestStartNav2HookContext:
-    """Tests for StartNav2HookContext model validator."""
-
-    def test_default_context(self):
-        """Test default context values."""
-        context = StartNav2HookContext()
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-        assert context.map_name == "map"
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        context = StartNav2HookContext(use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-        assert context.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        context = StartNav2HookContext(use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        context = StartNav2HookContext(
-            base_url="http://custom:8080",
-            use_sim=True,
-        )
-        assert context.base_url == "http://custom:8080"
-        assert context.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        context = StartNav2HookContext(base_url=None, use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        context = StartNav2HookContext(base_url=None, use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-
-
-class TestStopNav2HookContext:
-    """Tests for StopNav2HookContext model validator."""
-
-    def test_default_context(self):
-        """Test default context values."""
-        context = StopNav2HookContext()
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        context = StopNav2HookContext(use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-        assert context.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        context = StopNav2HookContext(use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        context = StopNav2HookContext(
-            base_url="http://custom:9090",
-            use_sim=True,
-        )
-        assert context.base_url == "http://custom:9090"
-        assert context.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        context = StopNav2HookContext(base_url=None, use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        context = StopNav2HookContext(base_url=None, use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-
-
-class TestStartNav2Hook:
-    """Tests for start_nav2_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_start_nav2_success_default_params(self, mock_elevenlabs_provider):
-        """Test successful Nav2 start with default parameters."""
-        context = {}
-        expected_response = {"message": "Nav2 started successfully"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await start_nav2_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Nav2 process initiated"
-        assert result["response"] == expected_response
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with(
-            "Navigation system has started successfully."
-        )
-
-    @pytest.mark.asyncio
-    async def test_start_nav2_success_custom_params(self, mock_elevenlabs_provider):
-        """Test successful Nav2 start with custom parameters."""
-        context = {"base_url": "http://robot.local:8080", "map_name": "custom_map"}
-        expected_response = {"message": "Started with custom map"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await start_nav2_hook(context)
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://robot.local:8080/start/nav2"
-        assert call_args[1]["json"]["map_name"] == "custom_map"
-
-        assert result["status"] == "success"
-        assert result["response"] == expected_response
-
-    @pytest.mark.asyncio
-    async def test_start_nav2_http_error_response(self, mock_elevenlabs_provider):
-        """Test Nav2 start with HTTP error response."""
-        context = {}
-        error_response = {"message": "Service unavailable"}
-
-        mock_response = create_mock_response(503, error_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match="Failed to start Nav2: Service unavailable"):
-                await start_nav2_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_start_nav2_http_error_no_json(self, mock_elevenlabs_provider):
-        """Test Nav2 start with HTTP error and no JSON response."""
-        context = {}
-
-        mock_response = create_mock_response(500, json_error=Exception("No JSON"))
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match="Failed to start Nav2: Unknown error"):
-                await start_nav2_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_start_nav2_client_error(self, mock_elevenlabs_provider):
-        """Test Nav2 start with client connection error."""
-        context = {}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection refused"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match="Error calling Nav2 API: Connection refused"):
-                await start_nav2_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_start_nav2_timeout_configured(self, mock_elevenlabs_provider):
-        """Test that Nav2 start uses correct timeout configuration."""
-        context = {}
-        expected_response = {"message": "Success"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await start_nav2_hook(context)
-
-        call_args = mock_session.post.call_args
-        assert "timeout" in call_args[1]
-        timeout = call_args[1]["timeout"]
-        assert isinstance(timeout, ClientTimeout)
-
-
-class TestStopNav2Hook:
-    """Tests for stop_nav2_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_stop_nav2_success_default_params(self):
-        """Test successful Nav2 stop with default parameters."""
-        context = {}
-        expected_response = {"message": "Nav2 stopped successfully"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_nav2_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Nav2 process stopped"
-        assert result["response"] == expected_response
-
-    @pytest.mark.asyncio
-    async def test_stop_nav2_success_custom_base_url(self):
-        """Test successful Nav2 stop with custom base URL."""
-        context = {"base_url": "http://custom.server:9000"}
-        expected_response = {"message": "Stopped"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_nav2_hook(context)
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://custom.server:9000/stop/nav2"
-
-        assert result["status"] == "success"
-
-    @pytest.mark.asyncio
-    async def test_stop_nav2_http_error(self):
-        """Test Nav2 stop with HTTP error response."""
-        context = {}
-        error_response = {"message": "Failed to stop"}
-
-        mock_response = create_mock_response(400, error_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match="Failed to stop Nav2: Failed to stop"):
-                await stop_nav2_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_stop_nav2_client_error(self):
-        """Test Nav2 stop with client connection error."""
-        context = {}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Network error"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match="Error calling Nav2 stop API: Network error"):
-                await stop_nav2_hook(context)
diff --git a/tests/hooks/test_person_follow_hook.py b/tests/hooks/test_person_follow_hook.py
deleted file mode 100644
index 6b1703e63c..0000000000
--- a/tests/hooks/test_person_follow_hook.py
+++ /dev/null
@@ -1,671 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, Mock, patch
-
-import pytest
-from aiohttp import ClientError, ClientTimeout
-
-from hooks.person_follow_hook import (
-    FOLLOWING_BASE_URL,
-    VISION_BASE_URL,
-    set_mode_hook,
-    start_person_follow_hook,
-    stop_person_follow_hook,
-    switch_person_follow_hook,
-)
-
-
-def create_mock_response(status, json_data=None, json_error=None):
-    """Helper to create a mock aiohttp response."""
-    mock_resp = MagicMock()
-    mock_resp.status = status
-
-    if json_error:
-        mock_resp.json = AsyncMock(side_effect=json_error)
-    else:
-        mock_resp.json = AsyncMock(return_value=json_data)
-
-    mock_resp.__aenter__ = AsyncMock(return_value=mock_resp)
-    mock_resp.__aexit__ = AsyncMock(return_value=None)
-
-    return mock_resp
-
-
-@pytest.fixture
-def mock_elevenlabs_provider():
-    """Mock ElevenLabsTTSProvider."""
-    with patch("hooks.person_follow_hook.ElevenLabsTTSProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.add_pending_message = Mock()
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-class TestStartPersonFollowHook:
-    """Tests for start_person_follow_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_success_first_attempt(self, mock_elevenlabs_provider):
-        """Test successful person follow start on first attempt."""
-        context = {}
-
-        # Mock enroll response
-        mock_enroll_response = create_mock_response(200)
-
-        # Mock status response showing tracking
-        mock_status_response = create_mock_response(200, {"is_tracked": True})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_enroll_response)
-        mock_session.get = MagicMock(return_value=mock_status_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                result = await start_person_follow_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Person enrolled and tracking"
-        assert result["is_tracked"] is True
-
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with("I see you! I'll follow you now.")
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_success_after_retries(self, mock_elevenlabs_provider):
-        """Test successful person follow start after multiple attempts."""
-        context = {"max_retries": 3}
-
-        # First two enroll attempts fail, third succeeds
-        mock_enroll_fail = create_mock_response(500)
-        mock_enroll_success = create_mock_response(200)
-
-        # Status shows not tracked initially, then tracked
-        mock_status_not_tracked = create_mock_response(200, {"is_tracked": False})
-        mock_status_tracked = create_mock_response(200, {"is_tracked": True})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=[mock_enroll_fail, mock_enroll_fail, mock_enroll_success])
-        mock_session.get = MagicMock(side_effect=[mock_status_not_tracked, mock_status_tracked])
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                result = await start_person_follow_hook(context)
-
-        assert result["status"] == "success"
-        assert result["is_tracked"] is True
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_enrolled_not_tracking(self, mock_elevenlabs_provider):
-        """Test person follow enrolled but not yet tracking."""
-        context = {"max_retries": 2, "enroll_timeout": 1.0}
-
-        # Enroll succeeds but person never detected
-        mock_enroll_response = create_mock_response(200)
-        mock_status_response = create_mock_response(200, {"is_tracked": False})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_enroll_response)
-        mock_session.get = MagicMock(return_value=mock_status_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                result = await start_person_follow_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Enrolled but awaiting person detection"
-        assert result["is_tracked"] is False
-
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with(
-            "Person following mode activated. Please stand in front of me."
-        )
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_custom_base_url(self, mock_elevenlabs_provider):
-        """Test person follow with custom base URL."""
-        context = {"base_url": "http://custom.robot:9000"}
-
-        mock_enroll_response = create_mock_response(200)
-        mock_status_response = create_mock_response(200, {"is_tracked": True})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_enroll_response)
-        mock_session.get = MagicMock(return_value=mock_status_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                result = await start_person_follow_hook(context)
-
-        # Verify correct URLs were called
-        enroll_call = mock_session.post.call_args_list[0]
-        assert enroll_call[0][0] == "http://custom.robot:9000/enroll"
-
-        status_call = mock_session.get.call_args_list[0]
-        assert status_call[0][0] == "http://custom.robot:9000/status"
-
-        assert result["is_tracked"] is True
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_enroll_client_error(self, mock_elevenlabs_provider):
-        """Test person follow when enroll encounters client error on all attempts."""
-        context = {"max_retries": 2}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection failed"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                result = await start_person_follow_hook(context)
-
-        # Should return success but not tracking
-        assert result["status"] == "success"
-        assert result["is_tracked"] is False
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_status_poll_error(self, mock_elevenlabs_provider):
-        """Test person follow when status polling encounters errors."""
-        context = {}
-
-        mock_enroll_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_enroll_response)
-        mock_session.get = MagicMock(side_effect=ClientError("Status unavailable"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                result = await start_person_follow_hook(context)
-
-        assert result["status"] == "success"
-        assert result["is_tracked"] is False
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_connection_error(self, mock_elevenlabs_provider):
-        """Test person follow with persistent connection error."""
-        context = {}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Network unreachable"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(side_effect=ClientError("Network unreachable"))
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await start_person_follow_hook(context)
-
-        assert result["status"] == "error"
-        assert "Connection error" in result["message"]
-
-        assert mock_elevenlabs_provider.add_pending_message.call_count == 2
-        mock_elevenlabs_provider.add_pending_message.assert_any_call(
-            "I couldn't connect to the person following system."
-        )
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_default_constants(self, mock_elevenlabs_provider):
-        """Test person follow uses correct default constants."""
-        context = {}
-
-        mock_enroll_response = create_mock_response(200)
-        mock_status_response = create_mock_response(200, {"is_tracked": False})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_enroll_response)
-        mock_session.get = MagicMock(return_value=mock_status_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                await start_person_follow_hook(context)
-
-        enroll_call = mock_session.post.call_args_list[0]
-        assert VISION_BASE_URL in enroll_call[0][0]
-
-    @pytest.mark.asyncio
-    async def test_start_person_follow_timeout_configuration(self, mock_elevenlabs_provider):
-        """Test that person follow uses correct timeout configuration."""
-        context = {}
-
-        mock_enroll_response = create_mock_response(200)
-        mock_status_response = create_mock_response(200, {"is_tracked": True})
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_enroll_response)
-        mock_session.get = MagicMock(return_value=mock_status_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with patch("asyncio.sleep", new_callable=AsyncMock):
-                await start_person_follow_hook(context)
-
-        # Verify timeouts are configured
-        enroll_call = mock_session.post.call_args
-        assert "timeout" in enroll_call[1]
-
-        status_call = mock_session.get.call_args
-        assert "timeout" in status_call[1]
-
-
-class TestStopPersonFollowHook:
-    """Tests for stop_person_follow_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_stop_person_follow_success_default_url(self):
-        """Test successful person follow stop with default URL."""
-        context = {}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_person_follow_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Person tracking stopped"
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == f"{VISION_BASE_URL}/clear"
-
-    @pytest.mark.asyncio
-    async def test_stop_person_follow_success_custom_url(self):
-        """Test successful person follow stop with custom URL."""
-        context = {"base_url": "http://robot.custom:8888"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_person_follow_hook(context)
-
-        assert result["status"] == "success"
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://robot.custom:8888/clear"
-
-    @pytest.mark.asyncio
-    async def test_stop_person_follow_http_error(self):
-        """Test person follow stop with HTTP error response."""
-        context = {}
-
-        mock_response = create_mock_response(500)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_person_follow_hook(context)
-
-        assert result["status"] == "error"
-        assert result["message"] == "Clear failed"
-
-    @pytest.mark.asyncio
-    async def test_stop_person_follow_client_error(self):
-        """Test person follow stop with client connection error."""
-        context = {}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection lost"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_person_follow_hook(context)
-
-        assert result["status"] == "error"
-        assert "Connection error" in result["message"]
-        assert "Connection lost" in result["message"]
-
-    @pytest.mark.asyncio
-    async def test_stop_person_follow_timeout_configured(self):
-        """Test that person follow stop uses correct timeout."""
-        context = {}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await stop_person_follow_hook(context)
-
-        call_args = mock_session.post.call_args
-        assert "timeout" in call_args[1]
-        timeout = call_args[1]["timeout"]
-        assert isinstance(timeout, ClientTimeout)
-
-
-class TestSwitchPersonFollowHook:
-    """Tests for switch_person_follow_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_switch_person_follow_success_default_url(self, mock_elevenlabs_provider):
-        """Test successful person follow switch with default URL."""
-        context = {}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await switch_person_follow_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Person tracking target switched"
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == f"{VISION_BASE_URL}/switch"
-
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with("I'll follow a new person now.")
-
-    @pytest.mark.asyncio
-    async def test_switch_person_follow_success_custom_url(self, mock_elevenlabs_provider):
-        """Test successful person follow switch with custom URL."""
-        context = {"base_url": "http://robot.local:7777"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await switch_person_follow_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Person tracking target switched"
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://robot.local:7777/switch"
-
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with("I'll follow a new person now.")
-
-    @pytest.mark.asyncio
-    async def test_switch_person_follow_http_error_404(self, mock_elevenlabs_provider):
-        """Test person follow switch with 404 error response."""
-        context = {}
-
-        mock_response = create_mock_response(404)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await switch_person_follow_hook(context)
-
-        assert result["status"] == "error"
-        assert "Switch failed with status 404" in result["message"]
-
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with("I couldn't switch to a new person.")
-
-    @pytest.mark.asyncio
-    async def test_switch_person_follow_http_error_500(self, mock_elevenlabs_provider):
-        """Test person follow switch with 500 error response."""
-        context = {}
-
-        mock_response = create_mock_response(500)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await switch_person_follow_hook(context)
-
-        assert result["status"] == "error"
-        assert "Switch failed with status 500" in result["message"]
-
-    @pytest.mark.asyncio
-    async def test_switch_person_follow_client_error(self, mock_elevenlabs_provider):
-        """Test person follow switch with client connection error."""
-        context = {}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Network timeout"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await switch_person_follow_hook(context)
-
-        assert result["status"] == "error"
-        assert "Connection error" in result["message"]
-        assert "Network timeout" in result["message"]
-
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with("I couldn't connect to switch the person.")
-
-    @pytest.mark.asyncio
-    async def test_switch_person_follow_timeout_configured(self, mock_elevenlabs_provider):
-        """Test that person follow switch uses correct timeout configuration."""
-        context = {}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await switch_person_follow_hook(context)
-
-        call_args = mock_session.post.call_args
-        assert "timeout" in call_args[1]
-        timeout = call_args[1]["timeout"]
-        assert isinstance(timeout, ClientTimeout)
-
-
-class TestSetModeHook:
-    """Tests for set_mode_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_set_mode_success_greeting_mode(self):
-        """Test successful mode set to 'greeting' with default URL."""
-        context = {"mode": "greeting"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await set_mode_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Mode set to greeting"
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == f"{FOLLOWING_BASE_URL}/command"
-
-        # Verify payload
-        assert "json" in call_args[1]
-        payload = call_args[1]["json"]
-        assert payload["cmd"] == "set_mode"
-        assert payload["mode"] == "greeting"
-
-    @pytest.mark.asyncio
-    async def test_set_mode_success_following_mode(self):
-        """Test successful mode set to 'following'."""
-        context = {"mode": "following"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await set_mode_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Mode set to following"
-
-        # Verify payload contains correct mode
-        call_args = mock_session.post.call_args
-        payload = call_args[1]["json"]
-        assert payload["mode"] == "following"
-
-    @pytest.mark.asyncio
-    async def test_set_mode_custom_base_url(self):
-        """Test mode set with custom base URL."""
-        context = {"mode": "greeting", "base_url": "http://custom.robot:3000"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await set_mode_hook(context)
-
-        assert result["status"] == "success"
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://custom.robot:3000/command"
-
-    @pytest.mark.asyncio
-    async def test_set_mode_http_error_400(self):
-        """Test mode set with 400 error response."""
-        context = {"mode": "invalid_mode"}
-
-        mock_response = create_mock_response(400)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await set_mode_hook(context)
-
-        assert result["status"] == "error"
-        assert "Set mode failed with status 400" in result["message"]
-
-    @pytest.mark.asyncio
-    async def test_set_mode_http_error_500(self):
-        """Test mode set with 500 error response."""
-        context = {"mode": "greeting"}
-
-        mock_response = create_mock_response(500)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await set_mode_hook(context)
-
-        assert result["status"] == "error"
-        assert "Set mode failed with status 500" in result["message"]
-
-    @pytest.mark.asyncio
-    async def test_set_mode_client_error(self):
-        """Test mode set with client connection error."""
-        context = {"mode": "greeting"}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection refused"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await set_mode_hook(context)
-
-        assert result["status"] == "error"
-        assert "Connection error" in result["message"]
-        assert "Connection refused" in result["message"]
-
-    @pytest.mark.asyncio
-    async def test_set_mode_timeout_configured(self):
-        """Test that mode set uses correct timeout configuration."""
-        context = {"mode": "greeting"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await set_mode_hook(context)
-
-        call_args = mock_session.post.call_args
-        assert "timeout" in call_args[1]
-        timeout = call_args[1]["timeout"]
-        assert isinstance(timeout, ClientTimeout)
-
-    @pytest.mark.asyncio
-    async def test_set_mode_headers_configured(self):
-        """Test that mode set includes correct headers."""
-        context = {"mode": "greeting"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await set_mode_hook(context)
-
-        call_args = mock_session.post.call_args
-        assert "headers" in call_args[1]
-        headers = call_args[1]["headers"]
-        assert headers["Content-Type"] == "application/json"
-
-    @pytest.mark.asyncio
-    async def test_set_mode_custom_mode_value(self):
-        """Test mode set with a custom mode value."""
-        context = {"mode": "custom_patrol"}
-
-        mock_response = create_mock_response(200)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await set_mode_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "Mode set to custom_patrol"
-
-        call_args = mock_session.post.call_args
-        payload = call_args[1]["json"]
-        assert payload["mode"] == "custom_patrol"
diff --git a/tests/hooks/test_slam_hook.py b/tests/hooks/test_slam_hook.py
deleted file mode 100644
index 77bf7673e7..0000000000
--- a/tests/hooks/test_slam_hook.py
+++ /dev/null
@@ -1,387 +0,0 @@
-"""Unit tests for slam_hook module."""
-
-from unittest.mock import AsyncMock, MagicMock, Mock, patch
-
-import pytest
-from aiohttp import ClientError, ClientTimeout
-
-from hooks.slam_hook import (
-    StartSlamHookContext,
-    StopSlamHookContext,
-    start_slam_hook,
-    stop_slam_hook,
-)
-
-
-def create_mock_response(status, json_data=None, json_error=None):
-    """Helper to create a mock aiohttp response."""
-    mock_resp = MagicMock()
-    mock_resp.status = status
-
-    if json_error:
-        mock_resp.json = AsyncMock(side_effect=json_error)
-    else:
-        mock_resp.json = AsyncMock(return_value=json_data)
-
-    mock_resp.__aenter__ = AsyncMock(return_value=mock_resp)
-    mock_resp.__aexit__ = AsyncMock(return_value=None)
-
-    return mock_resp
-
-
-@pytest.fixture
-def mock_elevenlabs_provider():
-    """Mock ElevenLabsTTSProvider."""
-    with patch("hooks.slam_hook.ElevenLabsTTSProvider") as mock:
-        provider_instance = Mock()
-        provider_instance.add_pending_message = Mock()
-        mock.return_value = provider_instance
-        yield provider_instance
-
-
-class TestStartSlamHookContext:
-    """Tests for StartSlamHookContext model validator."""
-
-    def test_default_context(self):
-        """Test default context values."""
-        context = StartSlamHookContext()
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        context = StartSlamHookContext(use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-        assert context.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        context = StartSlamHookContext(use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        context = StartSlamHookContext(
-            base_url="http://custom:8080",
-            use_sim=True,
-        )
-        assert context.base_url == "http://custom:8080"
-        assert context.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        context = StartSlamHookContext(base_url=None, use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        context = StartSlamHookContext(base_url=None, use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-
-
-class TestStopSlamHookContext:
-    """Tests for StopSlamHookContext model validator."""
-
-    def test_default_context(self):
-        """Test default context values."""
-        context = StopSlamHookContext()
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-        assert context.map_name == "map"
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        context = StopSlamHookContext(use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-        assert context.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        context = StopSlamHookContext(use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-        assert context.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        context = StopSlamHookContext(
-            base_url="http://custom:9090",
-            use_sim=True,
-        )
-        assert context.base_url == "http://custom:9090"
-        assert context.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        context = StopSlamHookContext(base_url=None, use_sim=True)
-        assert context.base_url == "https://api.openmind.com/api/core/simulation/orchestrator"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        context = StopSlamHookContext(base_url=None, use_sim=False)
-        assert context.base_url == "http://localhost:5000"
-
-
-class TestStartSlamHook:
-    """Tests for start_slam_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_start_slam_success_default_params(self):
-        """Test successful SLAM start with default parameters."""
-        context = {}
-        expected_response = {"message": "SLAM started successfully"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await start_slam_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "SLAM process initiated"
-        assert result["response"] == expected_response
-
-    @pytest.mark.asyncio
-    async def test_start_slam_success_custom_base_url(self):
-        """Test successful SLAM start with custom base URL."""
-        context = {"base_url": "http://robot.local:7000"}
-        expected_response = {"message": "SLAM running"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await start_slam_hook(context)
-
-        # Verify the URL was constructed correctly
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://robot.local:7000/start/slam"
-
-        assert result["status"] == "success"
-
-    @pytest.mark.asyncio
-    async def test_start_slam_http_error_with_json(self):
-        """Test SLAM start with HTTP error response containing JSON."""
-        context = {}
-        error_response = {"message": "SLAM initialization failed"}
-
-        mock_response = create_mock_response(500, error_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match=r"Failed to start SLAM"):
-                await start_slam_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_start_slam_http_error_no_json(self):
-        """Test SLAM start with HTTP error and no JSON response."""
-        context = {}
-
-        mock_response = create_mock_response(503, json_error=Exception("Invalid JSON"))
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match=r"Failed to start SLAM"):
-                await start_slam_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_start_slam_client_error(self):
-        """Test SLAM start with client connection error."""
-        context = {}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection timeout"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match=r"Error calling SLAM API"):
-                await start_slam_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_start_slam_timeout_configured(self):
-        """Test that SLAM start uses correct timeout configuration."""
-        context = {}
-        expected_response = {"message": "Success"}
-
-        mock_response = create_mock_response(200, expected_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await start_slam_hook(context)
-
-        # Verify timeout is set
-        call_args = mock_session.post.call_args
-        assert "timeout" in call_args[1]
-        timeout = call_args[1]["timeout"]
-        assert isinstance(timeout, ClientTimeout)
-
-
-class TestStopSlamHook:
-    """Tests for stop_slam_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_stop_slam_success_default_params(self, mock_elevenlabs_provider):
-        """Test successful SLAM stop with default parameters."""
-        context = {}
-        save_response = {"message": "Map saved"}
-        stop_response = {"message": "SLAM stopped"}
-
-        mock_save_response = create_mock_response(200, save_response)
-        mock_stop_response = create_mock_response(200, stop_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=[mock_save_response, mock_stop_response])
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_slam_hook(context)
-
-        assert result["status"] == "success"
-        assert result["message"] == "SLAM process stopped"
-        assert result["response"] == stop_response
-
-        mock_elevenlabs_provider.add_pending_message.assert_called_once_with("Map has been saved successfully.")
-
-    @pytest.mark.asyncio
-    async def test_stop_slam_success_custom_params(self, mock_elevenlabs_provider):
-        """Test successful SLAM stop with custom parameters."""
-        context = {"base_url": "http://custom.robot:6000", "map_name": "my_custom_map"}
-        save_response = {"message": "Custom map saved"}
-        stop_response = {"message": "SLAM stopped"}
-
-        mock_save_response = create_mock_response(200, save_response)
-        mock_stop_response = create_mock_response(200, stop_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=[mock_save_response, mock_stop_response])
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await stop_slam_hook(context)
-
-        calls = mock_session.post.call_args_list
-        assert len(calls) == 2
-
-        save_call = calls[0]
-        assert save_call[0][0] == "http://custom.robot:6000/maps/save"
-        assert save_call[1]["json"]["map_name"] == "my_custom_map"
-
-        stop_call = calls[1]
-        assert stop_call[0][0] == "http://custom.robot:6000/stop/slam"
-
-        assert result["status"] == "success"
-
-    @pytest.mark.asyncio
-    async def test_stop_slam_save_map_fails(self, mock_elevenlabs_provider):
-        """Test SLAM stop when map save fails."""
-        context = {}
-        error_response = {"message": "Failed to save map"}
-
-        mock_save_response = create_mock_response(500, error_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_save_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match=r"Failed to save SLAM map"):
-                await stop_slam_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_stop_slam_save_map_no_json(self, mock_elevenlabs_provider):
-        """Test SLAM stop when map save fails with no JSON."""
-        context = {}
-
-        mock_save_response = create_mock_response(500, json_error=Exception("No JSON"))
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_save_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            # The exception is logged but then continues to stop SLAM
-            # But actually looking at the code, it raises an exception
-            with pytest.raises(Exception):
-                await stop_slam_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_stop_slam_stop_fails_after_save(self, mock_elevenlabs_provider):
-        """Test SLAM stop when stop operation fails after successful save."""
-        context = {}
-        save_response = {"message": "Map saved"}
-        error_response = {"message": "Failed to stop SLAM"}
-
-        mock_save_response = create_mock_response(200, save_response)
-        mock_stop_response = create_mock_response(500, error_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=[mock_save_response, mock_stop_response])
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match=r"Failed to stop SLAM"):
-                await stop_slam_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_stop_slam_client_error(self, mock_elevenlabs_provider):
-        """Test SLAM stop with client connection error."""
-        context = {}
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Network unreachable"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(Exception, match=r"Error calling SLAM API"):
-                await stop_slam_hook(context)
-
-    @pytest.mark.asyncio
-    async def test_stop_slam_timeouts_configured(self, mock_elevenlabs_provider):
-        """Test that SLAM stop uses correct timeout configurations."""
-        context = {}
-        save_response = {"message": "Map saved"}
-        stop_response = {"message": "SLAM stopped"}
-
-        mock_save_response = create_mock_response(200, save_response)
-        mock_stop_response = create_mock_response(200, stop_response)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=[mock_save_response, mock_stop_response])
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await stop_slam_hook(context)
-
-        calls = mock_session.post.call_args_list
-        for call in calls:
-            assert "timeout" in call[1]
-            timeout = call[1]["timeout"]
-            assert isinstance(timeout, ClientTimeout)
diff --git a/tests/hooks/test_unitree_go2_patrol_hook.py b/tests/hooks/test_unitree_go2_patrol_hook.py
deleted file mode 100644
index db5ac5a3a6..0000000000
--- a/tests/hooks/test_unitree_go2_patrol_hook.py
+++ /dev/null
@@ -1,248 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from hooks.unitree_go2_patrol_hook import (
-    UnitreeGo2PatrolHookContext,
-    start_unitree_go2_patrol_hook,
-    stop_unitree_go2_patrol_hook,
-)
-
-
-class TestUnitreeGo2PatrolHookContext:
-    """Tests for UnitreeGo2PatrolHookContext."""
-
-    def test_default_context(self):
-        """Test default context values."""
-        context = UnitreeGo2PatrolHookContext()
-
-        assert context.patrol_base_url == "http://localhost:5000"
-        assert context.face_presence_base_url == "http://127.0.0.1:6793"
-        assert context.patrol_image_report_base_url == "https://api.openmind.com"
-        assert context.api_key == ""
-
-    def test_custom_context(self):
-        """Test custom context values."""
-        context = UnitreeGo2PatrolHookContext(
-            patrol_base_url="http://robot.local:8000",
-            face_presence_base_url="http://robot.local:9000",
-            patrol_image_report_base_url="https://custom.api.com",
-            api_key="test_key",
-        )
-
-        assert context.patrol_base_url == "http://robot.local:8000"
-        assert context.face_presence_base_url == "http://robot.local:9000"
-        assert context.patrol_image_report_base_url == "https://custom.api.com"
-        assert context.api_key == "test_key"
-
-
-class TestStartUnitreeGo2PatrolHook:
-    """Tests for start_unitree_go2_patrol_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_start_patrol_success_default_context(self):
-        """Test successful patrol start with default context."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.start_patrol = AsyncMock()
-
-        with patch(
-            "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-            return_value=mock_provider,
-        ) as mock_provider_class:
-            result = await start_unitree_go2_patrol_hook(context)
-
-        assert result is True
-        mock_provider_class.assert_called_once_with(
-            api_key="",
-            patrol_base_url="http://localhost:5000",
-            face_presence_base_url="http://127.0.0.1:6793",
-            patrol_image_report_base_url="https://api.openmind.com",
-        )
-        mock_provider.start_patrol.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_start_patrol_success_custom_context(self):
-        """Test successful patrol start with custom context."""
-        context = {
-            "patrol_base_url": "http://robot.local:8000",
-            "face_presence_base_url": "http://robot.local:9000",
-            "patrol_image_report_base_url": "https://custom.api.com",
-            "api_key": "test_key",
-        }
-
-        mock_provider = MagicMock()
-        mock_provider.start_patrol = AsyncMock()
-
-        with patch(
-            "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-            return_value=mock_provider,
-        ) as mock_provider_class:
-            result = await start_unitree_go2_patrol_hook(context)
-
-        assert result is True
-        mock_provider_class.assert_called_once_with(
-            api_key="test_key",
-            patrol_base_url="http://robot.local:8000",
-            face_presence_base_url="http://robot.local:9000",
-            patrol_image_report_base_url="https://custom.api.com",
-        )
-        mock_provider.start_patrol.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_start_patrol_provider_error(self):
-        """Test patrol start with provider error."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.start_patrol = AsyncMock(side_effect=Exception("Connection failed"))
-
-        with patch(
-            "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-            return_value=mock_provider,
-        ):
-            result = await start_unitree_go2_patrol_hook(context)
-
-        assert result is False
-
-    @pytest.mark.asyncio
-    async def test_start_patrol_logs_success(self, caplog):
-        """Test that successful patrol start logs correct messages."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.start_patrol = AsyncMock()
-
-        with caplog.at_level("INFO"):
-            with patch(
-                "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-                return_value=mock_provider,
-            ):
-                await start_unitree_go2_patrol_hook(context)
-
-        assert "Starting Unitree Go2 patrol with context:" in caplog.text
-        assert "Unitree Go2 patrol started successfully" in caplog.text
-
-    @pytest.mark.asyncio
-    async def test_start_patrol_logs_error(self, caplog):
-        """Test that patrol start error logs exception."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.start_patrol = AsyncMock(side_effect=Exception("Test error"))
-
-        with caplog.at_level("ERROR"):
-            with patch(
-                "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-                return_value=mock_provider,
-            ):
-                await start_unitree_go2_patrol_hook(context)
-
-        assert "Error in starting Unitree Go2 patrol" in caplog.text
-
-
-class TestStopUnitreeGo2PatrolHook:
-    """Tests for stop_unitree_go2_patrol_hook function."""
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol_success_default_context(self):
-        """Test successful patrol stop with default context."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.stop_patrol = AsyncMock()
-
-        with patch(
-            "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-            return_value=mock_provider,
-        ) as mock_provider_class:
-            result = await stop_unitree_go2_patrol_hook(context)
-
-        assert result is True
-        mock_provider_class.assert_called_once_with(
-            api_key="",
-            patrol_base_url="http://localhost:5000",
-            face_presence_base_url="http://127.0.0.1:6793",
-            patrol_image_report_base_url="https://api.openmind.com",
-        )
-        mock_provider.stop_patrol.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol_success_custom_context(self):
-        """Test successful patrol stop with custom context."""
-        context = {
-            "patrol_base_url": "http://robot.local:8000",
-            "face_presence_base_url": "http://robot.local:9000",
-            "patrol_image_report_base_url": "https://custom.api.com",
-            "api_key": "test_key",
-        }
-
-        mock_provider = MagicMock()
-        mock_provider.stop_patrol = AsyncMock()
-
-        with patch(
-            "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-            return_value=mock_provider,
-        ) as mock_provider_class:
-            result = await stop_unitree_go2_patrol_hook(context)
-
-        assert result is True
-        mock_provider_class.assert_called_once_with(
-            api_key="test_key",
-            patrol_base_url="http://robot.local:8000",
-            face_presence_base_url="http://robot.local:9000",
-            patrol_image_report_base_url="https://custom.api.com",
-        )
-        mock_provider.stop_patrol.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol_provider_error(self):
-        """Test patrol stop with provider error."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.stop_patrol = AsyncMock(side_effect=Exception("Connection failed"))
-
-        with patch(
-            "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-            return_value=mock_provider,
-        ):
-            result = await stop_unitree_go2_patrol_hook(context)
-
-        assert result is False
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol_logs_success(self, caplog):
-        """Test that successful patrol stop logs correct messages."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.stop_patrol = AsyncMock()
-
-        with caplog.at_level("INFO"):
-            with patch(
-                "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-                return_value=mock_provider,
-            ):
-                await stop_unitree_go2_patrol_hook(context)
-
-        assert "Stopping Unitree Go2 patrol with context:" in caplog.text
-        assert "Unitree Go2 patrol stopped successfully" in caplog.text
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol_logs_error(self, caplog):
-        """Test that patrol stop error logs exception."""
-        context = {}
-
-        mock_provider = MagicMock()
-        mock_provider.stop_patrol = AsyncMock(side_effect=Exception("Test error"))
-
-        with caplog.at_level("ERROR"):
-            with patch(
-                "hooks.unitree_go2_patrol_hook.UnitreeGo2PatrolProvider",
-                return_value=mock_provider,
-            ):
-                await stop_unitree_go2_patrol_hook(context)
-
-        assert "Error in stopping Unitree Go2 patrol" in caplog.text
diff --git a/tests/inputs/__init__.py b/tests/inputs/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/inputs/base/__init__.py b/tests/inputs/base/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/inputs/base/test_inputs_plugins.py b/tests/inputs/base/test_inputs_plugins.py
deleted file mode 100644
index c2c0374cb7..0000000000
--- a/tests/inputs/base/test_inputs_plugins.py
+++ /dev/null
@@ -1,84 +0,0 @@
-from typing import Type
-
-import pytest
-
-from inputs.base.loop import FuserInput
-
-
-def get_all_inputs_classes():
-    import importlib
-    import inspect
-    import logging
-    import os
-
-    plugins_dir = os.path.join("src", "inputs", "plugins")
-    plugin_files = [f[:-3] for f in os.listdir(plugins_dir) if f.endswith(".py")]
-
-    inputs_classes = []
-    for plugin in plugin_files:
-        try:
-            module = importlib.import_module(f"inputs.plugins.{plugin}")
-            for name, obj in inspect.getmembers(module):
-                if inspect.isclass(obj) and issubclass(obj, FuserInput) and obj != FuserInput:
-                    inputs_classes.append(obj)
-        except (ImportError, ModuleNotFoundError) as e:
-            # Skip plugins that fail to import due to missing optional dependencies
-            logging.warning(f"Skipping plugin {plugin} due to import error: {e}")
-            continue
-    return inputs_classes
-
-
-@pytest.mark.parametrize("input_class", get_all_inputs_classes())
-def test_init_signature(input_class: Type[FuserInput]):
-    # Verify __init__ signature matches base class
-    base_params = set(FuserInput.__init__.__annotations__.keys())
-    impl_params = set(input_class.__init__.__annotations__.keys())
-    assert base_params == impl_params, f"{input_class.__name__} __init__ signature mismatch"
-
-
-@pytest.mark.parametrize("input_class", get_all_inputs_classes())
-def test__poll_to_text_signature(input_class: Type[FuserInput]):
-    # Verify _poll method signature matches base class
-    base_params = set(FuserInput._poll.__annotations__.keys())
-    impl_params = set(input_class._poll.__annotations__.keys())
-    assert base_params == impl_params, f"{input_class.__name__} _poll signature mismatch"
-
-
-@pytest.mark.parametrize("input_class", get_all_inputs_classes())
-def test__listen_loop_to_text_signature(input_class: Type[FuserInput]):
-    # Verify _listen_loop method signature matches base class
-    base_params = set(FuserInput._listen_loop.__annotations__.keys())
-    impl_params = set(input_class._listen_loop.__annotations__.keys())
-    assert base_params == impl_params, f"{input_class.__name__} _listen_loop signature mismatch"
-
-
-@pytest.mark.parametrize("input_class", get_all_inputs_classes())
-def test__raw_to_text_signature(input_class: Type[FuserInput]):
-    # Verify _raw_to_text method signature matches base class
-    base_params = set(FuserInput._raw_to_text.__annotations__.keys())
-    impl_params = set(input_class._raw_to_text.__annotations__.keys())
-    assert base_params == impl_params, f"{input_class.__name__} _raw_to_text signature mismatch"
-
-
-@pytest.mark.parametrize("input_class", get_all_inputs_classes())
-def test_raw_to_text_signature(input_class: Type[FuserInput]):
-    # Verify _raw_to_text method signature matches base class
-    base_params = set(FuserInput.raw_to_text.__annotations__.keys())
-    impl_params = set(input_class.raw_to_text.__annotations__.keys())
-    assert base_params == impl_params, f"{input_class.__name__} raw_to_text signature mismatch"
-
-
-@pytest.mark.parametrize("input_class", get_all_inputs_classes())
-def test_formatted_latest_buffer_signature(input_class: Type[FuserInput]):
-    # Verify formatted_latest_buffer method signature matches base class
-    base_params = set(FuserInput.formatted_latest_buffer.__annotations__.keys())
-    impl_params = set(input_class.formatted_latest_buffer.__annotations__.keys())
-    assert base_params == impl_params, f"{input_class.__name__} formatted_latest_buffer signature mismatch"
-
-
-@pytest.mark.parametrize("input_class", get_all_inputs_classes())
-def test_listen_signature(input_class: Type[FuserInput]):
-    # Verify listen method signature matches base class
-    base_params = set(FuserInput.listen.__annotations__.keys())
-    impl_params = set(input_class.listen.__annotations__.keys())
-    assert base_params == impl_params, f"{input_class.__name__} listen signature mismatch"
diff --git a/tests/inputs/base/test_loop.py b/tests/inputs/base/test_loop.py
deleted file mode 100644
index 05caa5aed5..0000000000
--- a/tests/inputs/base/test_loop.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from unittest.mock import AsyncMock, create_autospec
-
-import pytest
-
-from src.inputs.base import SensorConfig
-from src.inputs.base.loop import FuserInput
-
-
-@pytest.mark.asyncio
-async def test_listen_loop_yields_values_from_poll():
-    """Test that _listen_loop yields values returned by _poll."""
-    config = create_autospec(SensorConfig)
-    instance = FuserInput(config)
-
-    mock_poll = AsyncMock(side_effect=[10, 20, 30])
-    instance._poll = mock_poll
-
-    collected = []
-    async for value in instance._listen_loop():
-        collected.append(value)
-        if len(collected) == 3:
-            break
-
-    assert collected == [10, 20, 30]
-    assert mock_poll.await_count == 3
-
-
-@pytest.mark.asyncio
-async def test_poll_raises_not_implemented():
-    """Test that _poll raises NotImplementedError by default."""
-    config = create_autospec(SensorConfig)
-    instance = FuserInput(config)
-
-    with pytest.raises(NotImplementedError):
-        await instance._poll()
diff --git a/tests/inputs/plugins/__init__.py b/tests/inputs/plugins/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/inputs/plugins/test_amcl_localization_input.py b/tests/inputs/plugins/test_amcl_localization_input.py
deleted file mode 100644
index 9850224877..0000000000
--- a/tests/inputs/plugins/test_amcl_localization_input.py
+++ /dev/null
@@ -1,155 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.amcl_localization_input import AMCLLocalizationInput
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider"),
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-
-        assert sensor.messages == []
-        assert "localization" in sensor.descriptor_for_LLM.lower()
-
-
-@pytest.mark.asyncio
-async def test_poll_when_localized():
-    """Test _poll when robot is localized."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider") as mock_provider_class,
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.is_localized = True
-
-        mock_position = MagicMock()
-        mock_position.x = 1.0
-        mock_position.y = 2.0
-        mock_position.__format__ = lambda spec: str(mock_position.x)
-
-        mock_pose = MagicMock()
-        mock_pose.position = mock_position
-        mock_provider.pose = mock_pose
-
-        mock_provider_class.return_value = mock_provider
-
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-
-        with patch("inputs.plugins.amcl_localization_input.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is not None
-        assert "LOCALIZED" in result or "position" in result.lower()
-
-
-@pytest.mark.asyncio
-async def test_poll_when_not_localized():
-    """Test _poll when robot is not localized."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider") as mock_provider_class,
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.is_localized = False
-        mock_provider.pose = None
-
-        mock_provider_class.return_value = mock_provider
-
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-
-        with patch("inputs.plugins.amcl_localization_input.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is not None
-        assert "NOT LOCALIZED" in result
-
-
-@pytest.mark.asyncio
-async def test_poll_with_exception():
-    """Test _poll handles exceptions gracefully."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider") as mock_provider_class,
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.is_localized = MagicMock(side_effect=Exception("Test error"))
-
-        mock_provider_class.return_value = mock_provider
-
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-
-        with patch("inputs.plugins.amcl_localization_input.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is not None
-        assert isinstance(result, str)
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_input():
-    """Test _raw_to_text with valid input."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider"),
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-
-        with patch("inputs.plugins.amcl_localization_input.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text("LOCALIZED: Robot position confirmed")
-
-        assert result is not None
-        assert isinstance(result, Message)
-        assert result.timestamp == 1234.0
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider"),
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-        result = await sensor._raw_to_text(None)
-
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages in buffer."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider"),
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Status 1"),
-            Message(timestamp=1001.0, message="Status 2"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Status 2" in result
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.amcl_localization_input.UnitreeGo2AMCLProvider"),
-        patch("inputs.plugins.amcl_localization_input.IOProvider"),
-    ):
-        sensor = AMCLLocalizationInput(config=SensorConfig())
-        sensor.io_provider = MagicMock()
-        sensor.messages = []
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/plugins/test_booster_odom.py b/tests/inputs/plugins/test_booster_odom.py
deleted file mode 100644
index f617cdb34f..0000000000
--- a/tests/inputs/plugins/test_booster_odom.py
+++ /dev/null
@@ -1,496 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.booster_odom import BoosterOdom, BoosterOdomConfig
-from providers.k1_odom_provider import RobotState
-
-
-def test_initialization():
-    """Test basic initialization with default config."""
-    with (
-        patch("inputs.plugins.booster_odom.K1OdomProvider"),
-        patch("inputs.plugins.booster_odom.IOProvider"),
-    ):
-        config = BoosterOdomConfig()
-        sensor = BoosterOdom(config=config)
-
-        assert sensor.messages == []
-        assert "location" in sensor.descriptor_for_LLM.lower() or "pose" in sensor.descriptor_for_LLM.lower()
-
-
-def test_initialization_with_custom_topic():
-    """Test initialization with custom topic."""
-    with (
-        patch("inputs.plugins.booster_odom.K1OdomProvider") as mock_provider,
-        patch("inputs.plugins.booster_odom.IOProvider"),
-    ):
-        config = BoosterOdomConfig(topic="custom_odom")
-        sensor = BoosterOdom(config=config)
-
-        assert sensor.config.topic == "custom_odom"
-        mock_provider.assert_called_once_with("custom_odom")
-
-
-def test_initialization_default_topic():
-    """Test initialization uses default topic."""
-    with (
-        patch("inputs.plugins.booster_odom.K1OdomProvider") as mock_provider,
-        patch("inputs.plugins.booster_odom.IOProvider"),
-    ):
-        config = BoosterOdomConfig()
-        sensor = BoosterOdom(config=config)
-
-        assert sensor.config.topic == "odometer_state"
-        mock_provider.assert_called_once_with("odometer_state")
-
-
-class TestBoosterOdomConfig:
-    """Test BoosterOdomConfig configuration."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = BoosterOdomConfig()
-        assert config.topic == "odometer_state"
-
-    def test_custom_config(self):
-        """Test custom configuration values."""
-        config = BoosterOdomConfig(topic="my_custom_topic")
-        assert config.topic == "my_custom_topic"
-
-    def test_config_is_pydantic_model(self):
-        """Test that BoosterOdomConfig is a Pydantic model."""
-        BoosterOdomConfig()
-        assert hasattr(BoosterOdomConfig, "model_fields") or hasattr(BoosterOdomConfig, "__fields__")
-
-
-class TestPoll:
-    """Test _poll method."""
-
-    @pytest.mark.asyncio
-    async def test_poll_with_position_data(self):
-        """Test _poll with position data available."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider") as mock_provider_class,
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider.position = {
-                "odom_x": 1.0,
-                "odom_y": 2.0,
-                "moving": False,
-                "body_attitude": RobotState.STANDING,
-            }
-            mock_provider_class.return_value = mock_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            with patch("inputs.plugins.booster_odom.asyncio.sleep", new=AsyncMock()):
-                result = await sensor._poll()
-
-            assert result == {
-                "odom_x": 1.0,
-                "odom_y": 2.0,
-                "moving": False,
-                "body_attitude": RobotState.STANDING,
-            }
-
-    @pytest.mark.asyncio
-    async def test_poll_sleeps_briefly(self):
-        """Test _poll includes sleep to prevent excessive CPU usage."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider") as mock_provider_class,
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider.position = {"moving": False}
-            mock_provider_class.return_value = mock_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            with patch("inputs.plugins.booster_odom.asyncio.sleep", new=AsyncMock()) as mock_sleep:
-                await sensor._poll()
-
-                mock_sleep.assert_called_once_with(0.1)
-
-
-class TestRawToText:
-    """Test _raw_to_text method."""
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_sitting(self):
-        """Test _raw_to_text when robot is sitting."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            position_data = {"moving": False, "body_attitude": RobotState.SITTING}
-
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1234.0):
-                result = await sensor._raw_to_text(position_data)
-
-            assert result is not None
-            assert result.timestamp == 1234.0
-            assert "sitting" in result.message.lower()
-            assert "do not generate" in result.message.lower()
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_moving(self):
-        """Test _raw_to_text when robot is moving."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            position_data = {"moving": True, "body_attitude": RobotState.STANDING}
-
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1234.0):
-                result = await sensor._raw_to_text(position_data)
-
-            assert result is not None
-            assert result.timestamp == 1234.0
-            assert "moving" in result.message.lower()
-            assert "do not generate" in result.message.lower()
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_standing_still(self):
-        """Test _raw_to_text when robot is standing still."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            position_data = {"moving": False, "body_attitude": RobotState.STANDING}
-
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1234.0):
-                result = await sensor._raw_to_text(position_data)
-
-            assert result is not None
-            assert result.timestamp == 1234.0
-            assert "standing still" in result.message.lower()
-            assert "can move" in result.message.lower()
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_with_none(self):
-        """Test _raw_to_text with None input."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            result = await sensor._raw_to_text(None)
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_returns_message_type(self):
-        """Test _raw_to_text returns Message object."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            position_data = {"moving": False, "body_attitude": RobotState.STANDING}
-
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1234.0):
-                result = await sensor._raw_to_text(position_data)
-
-            assert isinstance(result, Message)
-            assert hasattr(result, "timestamp")
-            assert hasattr(result, "message")
-
-
-class TestRawToTextWrapper:
-    """Test raw_to_text wrapper method."""
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_wrapper_with_valid_input(self):
-        """Test raw_to_text appends message to buffer."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            position_data = {"moving": False, "body_attitude": RobotState.STANDING}
-
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1234.0):
-                await sensor.raw_to_text(position_data)
-
-            assert len(sensor.messages) == 1
-            assert sensor.messages[0].timestamp == 1234.0
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_wrapper_with_none(self):
-        """Test raw_to_text returns early with None input."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            await sensor.raw_to_text(None)
-
-            assert len(sensor.messages) == 0
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_wrapper_accumulates_messages(self):
-        """Test raw_to_text accumulates multiple messages."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            position_data1 = {"moving": False, "body_attitude": RobotState.STANDING}
-            position_data2 = {"moving": True, "body_attitude": RobotState.STANDING}
-
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1234.0):
-                await sensor.raw_to_text(position_data1)
-
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1235.0):
-                await sensor.raw_to_text(position_data2)
-
-            assert len(sensor.messages) == 2
-
-
-class TestFormattedLatestBuffer:
-    """Test formatted_latest_buffer method."""
-
-    def test_formatted_latest_buffer_with_messages(self):
-        """Test formatted_latest_buffer returns formatted string."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider") as mock_io_provider_class,
-        ):
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            # Add a message
-            test_message = Message(timestamp=1234.0, message="Test message")
-            sensor.messages.append(test_message)
-
-            result = sensor.formatted_latest_buffer()
-
-            assert result is not None
-            assert "INPUT:" in result
-            assert "Test message" in result
-            assert "START" in result
-            assert "END" in result
-
-            # Verify IO provider was called
-            mock_io_provider.add_input.assert_called_once_with(sensor.descriptor_for_LLM, "Test message", 1234.0)
-
-            # Verify buffer is cleared
-            assert len(sensor.messages) == 0
-
-    def test_formatted_latest_buffer_empty(self):
-        """Test formatted_latest_buffer returns None when no messages."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            result = sensor.formatted_latest_buffer()
-
-            assert result is None
-
-    def test_formatted_latest_buffer_uses_latest_message(self):
-        """Test formatted_latest_buffer uses the latest message."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider") as mock_io_provider_class,
-        ):
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            # Add multiple messages
-            sensor.messages.append(Message(timestamp=1234.0, message="Old message"))
-            sensor.messages.append(Message(timestamp=1235.0, message="Latest message"))
-
-            result = sensor.formatted_latest_buffer()
-
-            assert result is not None
-            assert "Latest message" in result
-            assert "Old message" not in result
-
-            # Verify IO provider was called with latest message
-            mock_io_provider.add_input.assert_called_once_with(sensor.descriptor_for_LLM, "Latest message", 1235.0)
-
-    def test_formatted_latest_buffer_clears_messages(self):
-        """Test formatted_latest_buffer clears the message buffer."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider") as mock_io_provider_class,
-        ):
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            sensor.messages.append(Message(timestamp=1234.0, message="Test message"))
-            assert len(sensor.messages) == 1
-
-            sensor.formatted_latest_buffer()
-
-            assert len(sensor.messages) == 0
-
-    def test_formatted_latest_buffer_includes_descriptor(self):
-        """Test formatted_latest_buffer includes descriptor for LLM."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider") as mock_io_provider_class,
-        ):
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            sensor.messages.append(Message(timestamp=1234.0, message="Test"))
-
-            result = sensor.formatted_latest_buffer()
-
-            assert result is not None
-            assert sensor.descriptor_for_LLM in result
-
-
-class TestStop:
-    """Test stop method."""
-
-    def test_stop_calls_odom_stop(self):
-        """Test stop calls the odom provider's stop method."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider") as mock_provider_class,
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            sensor.stop()
-
-            mock_provider.stop.assert_called_once()
-
-    def test_stop_handles_none_odom(self):
-        """Test stop handles None odom gracefully."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider"),
-            patch("inputs.plugins.booster_odom.IOProvider"),
-        ):
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            sensor.odom = None  # type: ignore
-
-            # Should not raise exception
-            sensor.stop()
-
-
-class TestIntegration:
-    """Integration tests for BoosterOdom."""
-
-    @pytest.mark.asyncio
-    async def test_full_workflow(self):
-        """Test complete workflow from poll to formatted output."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider") as mock_provider_class,
-            patch("inputs.plugins.booster_odom.IOProvider") as mock_io_provider_class,
-        ):
-            mock_provider = MagicMock()
-            mock_provider.position = {"moving": False, "body_attitude": RobotState.STANDING}
-            mock_provider_class.return_value = mock_provider
-
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            # Poll for data
-            with patch("inputs.plugins.booster_odom.asyncio.sleep", new=AsyncMock()):
-                raw_data = await sensor._poll()
-
-            # Convert to text
-            with patch("inputs.plugins.booster_odom.time.time", return_value=1234.0):
-                await sensor.raw_to_text(raw_data)
-
-            # Format output
-            result = sensor.formatted_latest_buffer()
-
-            assert result is not None
-            assert "standing still" in result.lower()
-            assert "can move" in result.lower()
-            mock_io_provider.add_input.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_multiple_state_changes(self):
-        """Test handling multiple state changes."""
-        with (
-            patch("inputs.plugins.booster_odom.K1OdomProvider") as mock_provider_class,
-            patch("inputs.plugins.booster_odom.IOProvider") as mock_io_provider_class,
-        ):
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = BoosterOdomConfig()
-            sensor = BoosterOdom(config=config)
-
-            # Standing still
-            mock_provider.position = {"moving": False, "body_attitude": RobotState.STANDING}
-            with (
-                patch("inputs.plugins.booster_odom.asyncio.sleep", new=AsyncMock()),
-                patch("inputs.plugins.booster_odom.time.time", return_value=1234.0),
-            ):
-                raw_data = await sensor._poll()
-                await sensor.raw_to_text(raw_data)
-
-            # Moving
-            mock_provider.position = {"moving": True, "body_attitude": RobotState.STANDING}
-            with (
-                patch("inputs.plugins.booster_odom.asyncio.sleep", new=AsyncMock()),
-                patch("inputs.plugins.booster_odom.time.time", return_value=1235.0),
-            ):
-                raw_data = await sensor._poll()
-                await sensor.raw_to_text(raw_data)
-
-            # Sitting
-            mock_provider.position = {"moving": False, "body_attitude": RobotState.SITTING}
-            with (
-                patch("inputs.plugins.booster_odom.asyncio.sleep", new=AsyncMock()),
-                patch("inputs.plugins.booster_odom.time.time", return_value=1236.0),
-            ):
-                raw_data = await sensor._poll()
-                await sensor.raw_to_text(raw_data)
-
-            assert len(sensor.messages) == 3
diff --git a/tests/inputs/plugins/test_charging_status_unitree_go2.py b/tests/inputs/plugins/test_charging_status_unitree_go2.py
deleted file mode 100644
index 00e03d142e..0000000000
--- a/tests/inputs/plugins/test_charging_status_unitree_go2.py
+++ /dev/null
@@ -1,214 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from inputs.plugins.charging_status_unitree_go2 import ChargingStatusUnitreeGo2
-
-
-@pytest.fixture
-def mock_charging_provider():
-    """Mock UnitreeGo2ChargingProvider."""
-    with patch("inputs.plugins.charging_status_unitree_go2.UnitreeGo2ChargingProvider") as mock:
-        mock_instance = Mock()
-        mock_instance.charging_status = None
-        mock.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def mock_io_provider():
-    """Mock IOProvider."""
-    with patch("inputs.plugins.charging_status_unitree_go2.IOProvider") as mock:
-        yield mock
-
-
-def test_initialization(mock_charging_provider, mock_io_provider):
-    """Test ChargingStatusUnitreeGo2 initialization."""
-    plugin = ChargingStatusUnitreeGo2()
-
-    assert plugin.messages == []
-    assert plugin.descriptor_for_LLM == ("Robot charging status - indicates the current battery charging state.")
-    mock_charging_provider.start.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_poll_discharging_status(mock_charging_provider, mock_io_provider):
-    """Test polling returns correct message for DISCHARGING status (0)."""
-    mock_charging_provider.charging_status = 0
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = await plugin._poll()
-
-    assert result == "DISCHARGING: Robot is running on battery power."
-
-
-@pytest.mark.asyncio
-async def test_poll_charging_status(mock_charging_provider, mock_io_provider):
-    """Test polling returns correct message for CHARGING status (1)."""
-    mock_charging_provider.charging_status = 1
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = await plugin._poll()
-
-    assert result == "CHARGING: Robot is currently charging."
-
-
-@pytest.mark.asyncio
-async def test_poll_enroute_charging_status(mock_charging_provider, mock_io_provider):
-    """Test polling returns correct message for ENROUTE_CHARGING status (2)."""
-    mock_charging_provider.charging_status = 2
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = await plugin._poll()
-
-    assert result == "ENROUTE_CHARGING: Robot is moving to charging station."
-
-
-@pytest.mark.asyncio
-async def test_poll_fully_charged_status(mock_charging_provider, mock_io_provider):
-    """Test polling returns correct message for FULLY_CHARGED status (3)."""
-    mock_charging_provider.charging_status = 3
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = await plugin._poll()
-
-    assert result == "FULLY_CHARGED: Robot battery is fully charged."
-
-
-@pytest.mark.asyncio
-async def test_poll_unknown_status(mock_charging_provider, mock_io_provider):
-    """Test polling handles unknown status codes."""
-    mock_charging_provider.charging_status = 99
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = await plugin._poll()
-
-    assert result == "UNKNOWN: Unrecognized charging status (99)."
-
-
-@pytest.mark.asyncio
-async def test_poll_none_status(mock_charging_provider, mock_io_provider):
-    """Test polling returns empty string when status is None."""
-    mock_charging_provider.charging_status = None
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = await plugin._poll()
-
-    assert result == ""
-
-
-@pytest.mark.asyncio
-async def test_poll_exception_handling(mock_charging_provider, mock_io_provider):
-    """Test error handling during polling."""
-    mock_charging_provider.charging_status = None
-    # Make the property access raise an exception
-    type(mock_charging_provider).charging_status = property(
-        lambda self: (_ for _ in ()).throw(RuntimeError("Test error"))
-    )
-
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = await plugin._poll()
-
-    assert result == "CHARGING ERROR: Unable to determine charging state."
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text(mock_charging_provider, mock_io_provider):
-    """Test conversion of raw input to Message."""
-    plugin = ChargingStatusUnitreeGo2()
-
-    message = await plugin._raw_to_text("CHARGING: Robot is currently charging.")
-
-    assert message is not None
-    assert message.message == "CHARGING: Robot is currently charging."
-    assert isinstance(message.timestamp, float)
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none(mock_charging_provider, mock_io_provider):
-    """Test handling of None input in raw_to_text."""
-    plugin = ChargingStatusUnitreeGo2()
-
-    await plugin.raw_to_text(None)
-
-    assert plugin.messages == []
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_buffer(mock_charging_provider, mock_io_provider):
-    """Test that raw_to_text appends messages to buffer."""
-    plugin = ChargingStatusUnitreeGo2()
-
-    await plugin.raw_to_text("DISCHARGING: Robot is running on battery power.")
-
-    assert len(plugin.messages) == 1
-    assert plugin.messages[0].message == "DISCHARGING: Robot is running on battery power."
-
-
-def test_formatted_latest_buffer_with_messages(mock_charging_provider, mock_io_provider):
-    """Test formatted_latest_buffer returns formatted message and clears buffer."""
-    mock_io_instance = Mock()
-    mock_io_provider.return_value = mock_io_instance
-
-    plugin = ChargingStatusUnitreeGo2()
-
-    # Simulate adding a message
-    import time
-
-    from inputs.base import Message
-
-    test_message = Message(timestamp=time.time(), message="CHARGING: Robot is currently charging.")
-    plugin.messages.append(test_message)
-
-    result = plugin.formatted_latest_buffer()
-
-    assert result is not None
-    assert "INPUT: Robot charging status" in result
-    assert "// START" in result
-    assert "CHARGING: Robot is currently charging." in result
-    assert "// END" in result
-
-    # Verify buffer was cleared
-    assert plugin.messages == []
-
-    # Verify IO provider was called
-    mock_io_instance.add_input.assert_called_once()
-
-
-def test_formatted_latest_buffer_empty(mock_charging_provider, mock_io_provider):
-    """Test formatted_latest_buffer returns None when buffer is empty."""
-    plugin = ChargingStatusUnitreeGo2()
-
-    result = plugin.formatted_latest_buffer()
-
-    assert result is None
-
-
-def test_descriptor_for_llm(mock_charging_provider, mock_io_provider):
-    """Test that descriptor_for_LLM is set correctly."""
-    plugin = ChargingStatusUnitreeGo2()
-
-    assert "charging status" in plugin.descriptor_for_LLM.lower()
-    assert "battery" in plugin.descriptor_for_LLM.lower()
-
-
-@pytest.mark.asyncio
-async def test_full_workflow(mock_charging_provider, mock_io_provider):
-    """Test complete workflow: poll -> raw_to_text -> formatted_latest_buffer."""
-    mock_charging_provider.charging_status = 1
-    plugin = ChargingStatusUnitreeGo2()
-
-    # Poll for status
-    raw_status = await plugin._poll()
-    assert raw_status == "CHARGING: Robot is currently charging."
-
-    # Convert to text and add to buffer
-    await plugin.raw_to_text(raw_status)
-    assert len(plugin.messages) == 1
-
-    # Format and retrieve
-    formatted = plugin.formatted_latest_buffer()
-    assert formatted is not None
-    assert "CHARGING: Robot is currently charging." in formatted
-    assert plugin.messages == []  # Buffer cleared
diff --git a/tests/inputs/plugins/test_conversation_history_input.py b/tests/inputs/plugins/test_conversation_history_input.py
deleted file mode 100644
index ad066bf2eb..0000000000
--- a/tests/inputs/plugins/test_conversation_history_input.py
+++ /dev/null
@@ -1,353 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.conversation_history_input import (
-    ConversationHistoryConfig,
-    ConversationHistoryInput,
-)
-
-
-def test_initialization():
-    """Test basic initialization with default config."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        assert len(sensor.messages) == 0
-        assert sensor.messages.maxlen == 3  # default max_rounds
-        assert sensor._last_recorded_tick == -1
-        assert sensor.descriptor_for_LLM == "Conversation History"
-        assert sensor._stopped is False
-
-
-def test_initialization_with_custom_max_rounds():
-    """Test initialization with custom max_rounds."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig(max_rounds=5)
-        sensor = ConversationHistoryInput(config=config)
-
-        assert sensor.messages.maxlen == 5
-
-
-@pytest.mark.asyncio
-async def test_poll_with_new_voice_input():
-    """Test _poll when there's new voice input."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        mock_provider = MagicMock()
-        mock_provider.tick_counter = 5
-        mock_voice_input = MagicMock()
-        mock_voice_input.input = "Hello, robot!"
-        mock_voice_input.tick = 5
-        mock_provider.get_input.return_value = mock_voice_input
-        sensor.io_provider = mock_provider
-
-        result = await sensor._poll()
-
-        assert result == "Hello, robot!"
-        assert sensor._last_recorded_tick == 5
-        mock_provider.get_input.assert_called_once_with("Voice")
-
-
-@pytest.mark.asyncio
-async def test_poll_with_whitespace_input():
-    """Test _poll filters out whitespace-only input."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        mock_provider = MagicMock()
-        mock_provider.tick_counter = 5
-        mock_voice_input = MagicMock()
-        mock_voice_input.input = "   "  # only whitespace
-        mock_voice_input.tick = 5
-        mock_provider.get_input.return_value = mock_voice_input
-        sensor.io_provider = mock_provider
-
-        result = await sensor._poll()
-
-        assert result is None
-        assert sensor._last_recorded_tick == -1  # should not update
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_new_voice_input():
-    """Test _poll when there's no new voice input."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        mock_provider = MagicMock()
-        mock_provider.tick_counter = 5
-        mock_provider.get_input.return_value = None
-        sensor.io_provider = mock_provider
-
-        result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_with_old_tick():
-    """Test _poll when tick hasn't advanced."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        mock_provider = MagicMock()
-        mock_provider.tick_counter = 5
-        sensor.io_provider = mock_provider
-        sensor._last_recorded_tick = 5  # already recorded this tick
-
-        result = await sensor._poll()
-
-        assert result is None
-        mock_provider.get_input.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_poll_when_stopped():
-    """Test _poll returns None when input is stopped."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-        sensor._stopped = True
-
-        mock_provider = MagicMock()
-        mock_provider.tick_counter = 5
-        sensor.io_provider = mock_provider
-
-        result = await sensor._poll()
-
-        assert result is None
-        mock_provider.get_input.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_input():
-    """Test _raw_to_text with valid input."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.time.time", return_value=1234.5),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        result = await sensor._raw_to_text("Test message")
-
-        assert result is not None
-        assert isinstance(result, Message)
-        assert result.timestamp == 1234.5
-        assert result.message == "Test message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        result = await sensor._raw_to_text(None)
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_updates_messages():
-    """Test raw_to_text updates message buffer."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.time.time", return_value=1234.5),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        await sensor.raw_to_text("First message")
-        await sensor.raw_to_text("Second message")
-
-        assert len(sensor.messages) == 2
-        assert sensor.messages[0].message == "First message"
-        assert sensor.messages[1].message == "Second message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none_does_not_update():
-    """Test raw_to_text with None does not update buffer."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        await sensor.raw_to_text(None)
-
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages in buffer."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        sensor.messages.append(Message(timestamp=1000.0, message="First message"))
-        sensor.messages.append(Message(timestamp=1001.0, message="Second message"))
-        sensor.messages.append(Message(timestamp=1002.0, message="Third message"))
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Conversation History:" in result
-        assert "User: First message" in result
-        assert "User: Second message" in result
-        assert "User: Third message" in result
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is None
-
-
-def test_formatted_latest_buffer_single_message():
-    """Test formatted_latest_buffer with single message."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        sensor.messages.append(Message(timestamp=1000.0, message="Only message"))
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Conversation History:" in result
-        assert "User: Only message" in result
-
-
-def test_sliding_window_behavior():
-    """Test that messages respect max_rounds sliding window."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch(
-            "inputs.plugins.conversation_history_input.time.time",
-            side_effect=[1000.0, 1001.0, 1002.0, 1003.0],
-        ),
-    ):
-        config = ConversationHistoryConfig(max_rounds=3)
-        sensor = ConversationHistoryInput(config=config)
-
-        sensor.messages.append(Message(timestamp=1000.0, message="First"))
-        sensor.messages.append(Message(timestamp=1001.0, message="Second"))
-        sensor.messages.append(Message(timestamp=1002.0, message="Third"))
-        sensor.messages.append(Message(timestamp=1003.0, message="Fourth"))
-
-        assert len(sensor.messages) == 3  # max_rounds
-        assert sensor.messages[0].message == "Second"
-        assert sensor.messages[1].message == "Third"
-        assert sensor.messages[2].message == "Fourth"
-
-
-def test_stop_clears_messages():
-    """Test stop method clears messages and sets stopped flag."""
-    with patch("inputs.plugins.conversation_history_input.IOProvider"):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        sensor.messages.append(Message(timestamp=1000.0, message="First"))
-        sensor.messages.append(Message(timestamp=1001.0, message="Second"))
-
-        assert len(sensor.messages) == 2
-        assert sensor._stopped is False
-
-        sensor.stop()
-
-        assert len(sensor.messages) == 0
-        assert sensor._stopped is True
-
-
-@pytest.mark.asyncio
-async def test_full_workflow():
-    """Test full workflow: poll -> raw_to_text -> formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.asyncio.sleep", new=AsyncMock()),
-        patch(
-            "inputs.plugins.conversation_history_input.time.time",
-            side_effect=[1000.0, 1001.0],
-        ),
-    ):
-        config = ConversationHistoryConfig(max_rounds=2)
-        sensor = ConversationHistoryInput(config=config)
-
-        mock_provider = MagicMock()
-        mock_provider.tick_counter = 1
-        mock_voice_input1 = MagicMock()
-        mock_voice_input1.input = "Hello"
-        mock_voice_input1.tick = 1
-        mock_provider.get_input.return_value = mock_voice_input1
-        sensor.io_provider = mock_provider
-
-        raw_input1 = await sensor._poll()
-        await sensor.raw_to_text(raw_input1)
-
-        mock_provider.tick_counter = 2
-        mock_voice_input2 = MagicMock()
-        mock_voice_input2.input = "How are you?"
-        mock_voice_input2.tick = 2
-        mock_provider.get_input.return_value = mock_voice_input2
-
-        raw_input2 = await sensor._poll()
-        await sensor.raw_to_text(raw_input2)
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "User: Hello" in result
-        assert "User: How are you?" in result
-        assert len(sensor.messages) == 2
-
-
-@pytest.mark.asyncio
-async def test_poll_with_input_object_no_input_field():
-    """Test _poll handles voice input with missing or empty input field."""
-    with (
-        patch("inputs.plugins.conversation_history_input.IOProvider"),
-        patch("inputs.plugins.conversation_history_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ConversationHistoryConfig()
-        sensor = ConversationHistoryInput(config=config)
-
-        mock_provider = MagicMock()
-        mock_provider.tick_counter = 5
-        mock_voice_input = MagicMock()
-        mock_voice_input.input = None
-        mock_voice_input.tick = 5
-        mock_provider.get_input.return_value = mock_voice_input
-        sensor.io_provider = mock_provider
-
-        result = await sensor._poll()
-
-        assert result is None
diff --git a/tests/inputs/plugins/test_dimo_tesla.py b/tests/inputs/plugins/test_dimo_tesla.py
deleted file mode 100644
index 4196076e19..0000000000
--- a/tests/inputs/plugins/test_dimo_tesla.py
+++ /dev/null
@@ -1,115 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.dimo_tesla import DIMOTesla, DIMOTeslaConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.dimo_tesla.IOProvider"),
-        patch("inputs.plugins.dimo_tesla.DIMO"),
-    ):
-        config = DIMOTeslaConfig()
-        sensor = DIMOTesla(config=config)
-
-        assert sensor.messages == []
-
-
-def test_initialization_with_credentials():
-    """Test initialization with credentials."""
-    with (
-        patch("inputs.plugins.dimo_tesla.IOProvider"),
-        patch("inputs.plugins.dimo_tesla.DIMO"),
-    ):
-        config = DIMOTeslaConfig(
-            client_id="test_client",
-            domain="test.com",
-            private_key="test_key",
-            token_id=123,
-        )
-        sensor = DIMOTesla(config=config)
-
-        assert sensor.config.client_id == "test_client"
-        assert sensor.config.domain == "test.com"
-        assert sensor.config.private_key == "test_key"
-        assert sensor.config.token_id == 123
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.dimo_tesla.IOProvider"),
-        patch("inputs.plugins.dimo_tesla.DIMO") as mock_dimo,
-        patch("inputs.plugins.dimo_tesla.time.time", return_value=1000.0),
-    ):
-        config = DIMOTeslaConfig()
-        sensor = DIMOTesla(config=config)
-
-        sensor.vehicle_jwt = "test_jwt"
-        sensor.vehicle_jwt_expires = 2000.0
-        sensor.token_id = 123
-
-        mock_dimo_instance = mock_dimo.return_value
-        mock_dimo_instance.query.return_value = {
-            "data": {
-                "signalsLatest": {
-                    "powertrainTransmissionTravelledDistance": {"value": 1000},
-                    "exteriorAirTemperature": {"value": 20},
-                    "speed": {"value": 60},
-                    "powertrainRange": {"value": 300},
-                    "currentLocationLatitude": {"value": 37.7749},
-                    "currentLocationLongitude": {"value": -122.4194},
-                }
-            }
-        }
-        sensor.dimo = mock_dimo_instance
-
-        with patch("inputs.plugins.dimo_tesla.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is not None
-        assert "Powertrain Transmission Travelled Distance: 1000 km" in result
-        assert "Speed: 60 km/h" in result
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.dimo_tesla.IOProvider"),
-        patch("inputs.plugins.dimo_tesla.DIMO"),
-    ):
-        config = DIMOTeslaConfig()
-        sensor = DIMOTesla(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="Tesla status update")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "Tesla status update" in result
-        assert len(sensor.messages) == 1
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_dedup():
-    """Test raw_to_text deduplicates identical messages."""
-    with (
-        patch("inputs.plugins.dimo_tesla.IOProvider"),
-        patch("inputs.plugins.dimo_tesla.DIMO"),
-    ):
-        config = DIMOTeslaConfig()
-        sensor = DIMOTesla(config=config)
-
-        await sensor.raw_to_text("Speed: 60 km/h")
-        await sensor.raw_to_text("Speed: 60 km/h")
-        assert len(sensor.messages) == 1
-
-        await sensor.raw_to_text("Speed: 80 km/h")
-        assert len(sensor.messages) == 2
diff --git a/tests/inputs/plugins/test_elevenlabs_asr.py b/tests/inputs/plugins/test_elevenlabs_asr.py
deleted file mode 100644
index 799b026e40..0000000000
--- a/tests/inputs/plugins/test_elevenlabs_asr.py
+++ /dev/null
@@ -1,831 +0,0 @@
-import json
-import time
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.elevenlabs_asr import ElevenLabsASRInput, ElevenLabsASRSensorConfig
-
-
-def test_initialization_defaults():
-    """Test basic initialization with default config."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider") as mock_asr_cls,
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr_cls.return_value = mock_asr_instance
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        assert hasattr(sensor, "messages")
-        assert isinstance(sensor.messages, list)
-        assert sensor.descriptor_for_LLM == "Voice"
-        assert sensor._stopped is False
-        assert sensor._speech_start_time is None
-        mock_asr_instance.start.assert_called_once()
-        mock_asr_instance.register_message_callback.assert_called_once_with(sensor._handle_asr_message)
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration values."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider") as mock_asr_cls,
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr_cls.return_value = mock_asr_instance
-
-        config = ElevenLabsASRSensorConfig(
-            api_key="test_key",
-            rate=16000,
-            chunk=8192,
-            base_url="wss://custom.example.com/asr",
-            microphone_device_id=2,
-            microphone_name="my_mic",
-            language="english",
-            remote_input=True,
-            enable_tts_interrupt=True,
-        )
-        ElevenLabsASRInput(config=config)
-
-        mock_asr_cls.assert_called_once_with(
-            rate=16000,
-            chunk=8192,
-            ws_url="wss://custom.example.com/asr",
-            device_id=2,
-            microphone_name="my_mic",
-            language_code="en",
-            remote_input=True,
-            enable_tts_interrupt=True,
-        )
-
-
-def test_initialization_default_base_url_uses_api_key():
-    """Test that default base_url includes the api_key."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider") as mock_asr_cls,
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr_cls.return_value = mock_asr_instance
-
-        config = ElevenLabsASRSensorConfig(api_key="my_secret_key")
-        ElevenLabsASRInput(config=config)
-
-        call_kwargs = mock_asr_cls.call_args.kwargs
-        assert "my_secret_key" in call_kwargs["ws_url"]
-
-
-def test_initialization_unsupported_language_falls_back_to_auto():
-    """Test that unsupported language defaults to auto."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider") as mock_asr_cls,
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr_cls.return_value = mock_asr_instance
-
-        config = ElevenLabsASRSensorConfig(language="klingon")
-        ElevenLabsASRInput(config=config)
-
-        call_kwargs = mock_asr_cls.call_args.kwargs
-        assert call_kwargs["language_code"] == "auto"
-
-
-def test_initialization_zenoh_failure():
-    """Test initialization when Zenoh fails – sensor is still usable."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_zenoh.side_effect = Exception("Zenoh not available")
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        assert sensor.session is None
-        assert sensor.asr_publisher is None
-
-
-def test_initialization_zenoh_publisher_declared():
-    """Test that Zenoh publisher is declared on the correct topic."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        mock_session.declare_publisher.assert_called_once_with("om/asr/text")
-        assert sensor.asr_publisher is mock_publisher
-
-
-# ---------------------------------------------------------------------------
-# _handle_asr_message tests
-# ---------------------------------------------------------------------------
-
-
-def test_handle_asr_message_committed_multi_word():
-    """committed message with >1 word is queued."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "asr_reply": "hello world test"})
-        sensor._handle_asr_message(raw)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "hello world test"
-
-
-def test_handle_asr_message_committed_single_word_ignored():
-    """committed message with a single word is NOT queued."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "asr_reply": "hello"})
-        sensor._handle_asr_message(raw)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_partial_sets_speech_start_time():
-    """partial message sets _speech_start_time."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        before = time.time()
-        raw = json.dumps({"type": "partial", "asr_reply": ""})
-        sensor._handle_asr_message(raw)
-        after = time.time()
-
-        assert sensor._speech_start_time is not None
-        assert before <= sensor._speech_start_time <= after
-
-
-def test_handle_asr_message_committed_records_latency():
-    """committed message records latency and resets _speech_start_time."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-        patch("inputs.plugins.elevenlabs_asr.om1_asr_latency") as mock_latency,
-        patch("inputs.plugins.elevenlabs_asr.om1_asr_latency_last") as mock_latency_last,
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor._speech_start_time = time.time() - 0.5  # 500 ms ago
-
-        raw = json.dumps({"type": "committed", "asr_reply": "hello world"})
-        sensor._handle_asr_message(raw)
-
-        mock_latency.labels.assert_called_once()
-        mock_latency_last.labels.assert_called_once()
-        assert sensor._speech_start_time is None
-
-
-def test_handle_asr_message_stopped_ignores_message():
-    """When _stopped is True, messages are not queued."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor._stopped = True
-
-        raw = json.dumps({"type": "committed", "asr_reply": "hello world test"})
-        sensor._handle_asr_message(raw)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_invalid_json():
-    """Invalid JSON is silently ignored."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        sensor._handle_asr_message("not valid json!!!")
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_no_asr_reply_field():
-    """Message without asr_reply field is ignored."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "other_key": "other_value"})
-        sensor._handle_asr_message(raw)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_committed_cjk_chinese_accepted():
-    """committed message with Chinese text longer than 2 chars is accepted."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "asr_reply": "你好吗"})
-        sensor._handle_asr_message(raw)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "你好吗"
-
-
-def test_handle_asr_message_committed_cjk_chinese_too_short_rejected():
-    """committed message with 2 or fewer Chinese characters is rejected."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "asr_reply": "你好"})
-        sensor._handle_asr_message(raw)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_committed_cjk_japanese_accepted():
-    """committed message with Japanese hiragana text longer than 2 chars is accepted."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        # Japanese hiragana: "こんにちは" (5 chars) -> accepted
-        raw = json.dumps({"type": "committed", "asr_reply": "こんにちは"})
-        sensor._handle_asr_message(raw)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "こんにちは"
-
-
-def test_handle_asr_message_committed_cjk_korean_accepted():
-    """committed message with Korean hangul text longer than 2 chars is accepted."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "asr_reply": "안녕하세요"})
-        sensor._handle_asr_message(raw)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "안녕하세요"
-
-
-def test_handle_asr_message_committed_cjk_single_char_rejected():
-    """committed message with a single CJK character is rejected."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "asr_reply": "你"})
-        sensor._handle_asr_message(raw)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_committed_cjk_mixed_with_latin_accepted():
-    """committed message with mixed CJK and Latin text longer than 2 chars is accepted via CJK path."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        raw = json.dumps({"type": "committed", "asr_reply": "hello你好"})
-        sensor._handle_asr_message(raw)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "hello你好"
-
-
-def test_handle_asr_message_no_speech_start_time_skips_latency():
-    """committed message with no prior partial does not call latency metrics."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-        patch("inputs.plugins.elevenlabs_asr.om1_asr_latency") as mock_latency,
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        assert sensor._speech_start_time is None
-
-        raw = json.dumps({"type": "committed", "asr_reply": "hello world"})
-        sensor._handle_asr_message(raw)
-
-        mock_latency.labels.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_message_when_available():
-    """_poll returns the next message from the queue."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        await sensor.message_buffer.put("hi there")
-        result = await sensor._poll()
-        assert result == "hi there"
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_when_empty():
-    """_poll returns None when the queue is empty."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        with patch("inputs.plugins.elevenlabs_asr.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_sleeps_when_empty():
-    """_poll calls asyncio.sleep(0.01) when the queue is empty."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        with patch("inputs.plugins.elevenlabs_asr.asyncio.sleep", new=AsyncMock()) as mock_sleep:
-            await sensor._poll()
-            mock_sleep.assert_called_once_with(0.01)
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none_returns_none():
-    """_raw_to_text(None) returns None."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_valid_input():
-    """_raw_to_text returns a Message with correct content and timestamp."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-        patch("inputs.plugins.elevenlabs_asr.time.time", return_value=999.0),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        result = await sensor._raw_to_text("hello world")
-        assert result is not None
-        assert isinstance(result, Message)
-        assert result.message == "hello world"
-        assert result.timestamp == 999.0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_wrapper_first_message():
-    """raw_to_text appends first message to empty buffer."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        await sensor.raw_to_text("first message")
-
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0] == "first message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_wrapper_appends_to_existing():
-    """raw_to_text appends subsequent message to existing entry."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor.messages.append("first part")
-
-        await sensor.raw_to_text("second part")
-
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0] == "first part second part"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none_sets_skip_sleep_when_messages_exist():
-    """raw_to_text(None) sets skip_sleep=True when messages buffer is non-empty."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider") as mock_sleep_ticker_cls,
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        mock_sleep_ticker = MagicMock()
-        mock_sleep_ticker_cls.return_value = mock_sleep_ticker
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor.messages.append("some existing message")
-
-        await sensor.raw_to_text(None)
-
-        assert mock_sleep_ticker.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none_does_not_set_skip_sleep_when_buffer_empty():
-    """raw_to_text(None) does not touch skip_sleep when messages buffer is empty."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider") as mock_sleep_ticker_cls,
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        mock_sleep_ticker = MagicMock()
-        mock_sleep_ticker.skip_sleep = False
-        mock_sleep_ticker_cls.return_value = mock_sleep_ticker
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        await sensor.raw_to_text(None)
-
-        assert mock_sleep_ticker.skip_sleep is False
-
-
-def test_formatted_latest_buffer_empty():
-    """Returns None when messages buffer is empty."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        assert sensor.formatted_latest_buffer() is None
-
-
-def test_formatted_latest_buffer_formats_and_clears():
-    """Returns formatted string and clears the buffer."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider") as mock_io_cls,
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider") as mock_conv_cls,
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        mock_io = MagicMock()
-        mock_io_cls.return_value = mock_io
-        mock_conv = MagicMock()
-        mock_conv_cls.return_value = mock_conv
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor.messages.append("hello world how are you")
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Voice" in result
-        assert "hello world how are you" in result
-        assert len(sensor.messages) == 0
-
-        mock_io.add_input.assert_called_once_with("Voice", "hello world how are you", pytest.approx(time.time(), abs=2))
-        mock_io.add_mode_transition_input.assert_called_once_with("hello world how are you")
-        mock_conv.store_user_message.assert_called_once_with("hello world how are you")
-
-
-def test_formatted_latest_buffer_publishes_to_zenoh():
-    """When Zenoh is initialised, formatted_latest_buffer publishes the message."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-        patch("inputs.plugins.elevenlabs_asr.ASRText") as mock_asr_text_cls,
-        patch("inputs.plugins.elevenlabs_asr.prepare_header") as mock_header,
-    ):
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        mock_asr_msg = MagicMock()
-        mock_asr_msg.serialize.return_value = b"serialized_payload"
-        mock_asr_text_cls.return_value = mock_asr_msg
-        mock_header.return_value = {"id": "uuid-test"}
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor.messages.append("publish this message")
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        mock_publisher.put.assert_called_once_with(b"serialized_payload")
-
-
-def test_formatted_latest_buffer_zenoh_publish_failure_does_not_raise():
-    """Zenoh publish failure is logged but does not propagate."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_publisher.put.side_effect = Exception("publish error")
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor.messages.append("some message")
-
-        result = sensor.formatted_latest_buffer()
-        assert result is not None  # still returns the formatted string
-
-
-def test_stop_sets_stopped_and_clears_buffers():
-    """stop() sets _stopped, drains queue, and clears messages."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider") as mock_asr_cls,
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr_cls.return_value = mock_asr_instance
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        sensor.message_buffer.put_nowait("msg1")
-        sensor.message_buffer.put_nowait("msg2")
-        sensor.messages.append("buffered")
-
-        sensor.stop()
-
-        assert sensor._stopped is True
-        assert sensor.message_buffer.empty()
-        assert len(sensor.messages) == 0
-        mock_asr_instance.unregister_message_callback.assert_called_once()
-        mock_publisher.undeclare.assert_called_once()
-        mock_session.close.assert_called_once()
-
-
-def test_stop_without_zenoh():
-    """stop() succeeds gracefully when Zenoh was never initialized."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_zenoh.side_effect = Exception("Zenoh not available")
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-
-
-def test_stop_asr_unregister_failure_does_not_raise():
-    """stop() handles ASR unregister failure gracefully."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider") as mock_asr_cls,
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr_instance.unregister_message_callback.side_effect = Exception("unregister error")
-        mock_asr_cls.return_value = mock_asr_instance
-        mock_session = MagicMock()
-        mock_session.declare_publisher.return_value = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-
-
-def test_stop_zenoh_undeclare_failure_does_not_raise():
-    """stop() handles Zenoh undeclare failure gracefully."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_publisher.undeclare.side_effect = Exception("undeclare error")
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-        mock_session.close.assert_called_once()
-
-
-def test_stop_zenoh_close_failure_does_not_raise():
-    """stop() handles Zenoh session close failure gracefully."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_session.close.side_effect = Exception("close error")
-        mock_session.declare_publisher.return_value = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-
-
-def test_stopped_sensor_ignores_further_messages():
-    """After stop(), _handle_asr_message silently drops new messages."""
-    with (
-        patch("inputs.plugins.elevenlabs_asr.IOProvider"),
-        patch("inputs.plugins.elevenlabs_asr.ASRProvider"),
-        patch("inputs.plugins.elevenlabs_asr.SleepTickerProvider"),
-        patch("inputs.plugins.elevenlabs_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.elevenlabs_asr.open_zenoh_session"),
-    ):
-        config = ElevenLabsASRSensorConfig()
-        sensor = ElevenLabsASRInput(config=config)
-        sensor.stop()
-
-        sensor._handle_asr_message(json.dumps({"type": "committed", "asr_reply": "hello world"}))
-
-        assert sensor.message_buffer.empty()
diff --git a/tests/inputs/plugins/test_elevenlabs_asr_rtsp.py b/tests/inputs/plugins/test_elevenlabs_asr_rtsp.py
deleted file mode 100644
index 8906455f90..0000000000
--- a/tests/inputs/plugins/test_elevenlabs_asr_rtsp.py
+++ /dev/null
@@ -1,1099 +0,0 @@
-import json
-import time
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.elevenlabs_asr_rtsp import ElevenLabsASRRTSPInput, ElevenLabsASRRTSPSensorConfig
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider") as mock_cls:
-        mock_instance = MagicMock()
-        mock_cls.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def mock_asr_provider():
-    mock_constructor = MagicMock()
-    mock_instance = MagicMock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_sleep_ticker_provider():
-    mock_constructor = MagicMock()
-    mock_instance = MagicMock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_teleops_conversation_provider():
-    mock_constructor = MagicMock()
-    mock_instance = MagicMock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_zenoh():
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session") as mock_open_session,
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRText") as mock_asr_text,
-        patch("inputs.plugins.elevenlabs_asr_rtsp.prepare_header") as mock_prepare_header,
-    ):
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_open_session.return_value = mock_session
-        mock_session.declare_publisher.return_value = mock_publisher
-
-        yield {
-            "open_session": mock_open_session,
-            "session": mock_session,
-            "publisher": mock_publisher,
-            "asr_text_cls": mock_asr_text,
-            "prepare_header": mock_prepare_header,
-        }
-
-
-def _build_sensor(
-    config, mock_io_provider, mock_asr_provider, mock_sleep_ticker_provider, mock_teleops_conv_provider, mock_zenoh
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conv_provider
-    mock_asr_constructor, _ = mock_asr_provider
-    mock_sleep_constructor, _ = mock_sleep_ticker_provider
-    mock_conv_constructor, _ = mock_teleops_conv_provider
-
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        return ElevenLabsASRRTSPInput(config=config)
-
-
-def test_initialization_creates_providers_and_buffers(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Initialization wires up all providers and Zenoh publisher."""
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    mock_sleep_constructor, _ = mock_sleep_ticker_provider
-    mock_conv_constructor, _ = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig()
-
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", new=mock_sleep_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", new=mock_conv_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        sensor = ElevenLabsASRRTSPInput(config=config)
-
-    assert sensor.descriptor_for_LLM == "Voice"
-    assert isinstance(sensor.messages, list)
-    assert hasattr(sensor, "message_buffer")
-    assert sensor._stopped is False
-    assert sensor._speech_start_time is None
-    assert sensor.session is mock_zenoh["session"]
-    assert sensor.asr_publisher is mock_zenoh["publisher"]
-    mock_asr_instance.start.assert_called_once()
-    mock_asr_instance.register_message_callback.assert_called_once_with(sensor._handle_asr_message)
-    mock_zenoh["session"].declare_publisher.assert_called_once_with("om/asr/text")
-
-
-def test_initialization_default_base_url_uses_api_key(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """When base_url is not set, the default URL embeds the api_key."""
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig(api_key="my_secret_key")
-
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        ElevenLabsASRRTSPInput(config=config)
-
-    call_kwargs = mock_asr_constructor.call_args.kwargs
-    assert "my_secret_key" in call_kwargs["ws_url"]
-
-
-def test_initialization_unsupported_language_falls_back_to_auto(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Unsupported language value defaults language_code to 'auto'."""
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig(language="klingon")
-
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        ElevenLabsASRRTSPInput(config=config)
-
-    call_kwargs = mock_asr_constructor.call_args.kwargs
-    assert call_kwargs["language_code"] == "auto"
-
-
-def test_initialization_zenoh_failure(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-):
-    """When Zenoh fails to initialize, session and publisher are None."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig()
-
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", side_effect=Exception("Zenoh down")),
-    ):
-        sensor = ElevenLabsASRRTSPInput(config=config)
-
-    assert sensor.session is None
-    assert sensor.asr_publisher is None
-
-
-def test_handle_asr_message_committed_multi_word(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with >1 word is queued."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "hello world test"})
-    sensor._handle_asr_message(raw)
-
-    assert not sensor.message_buffer.empty()
-    assert sensor.message_buffer.get_nowait() == "hello world test"
-
-
-def test_handle_asr_message_committed_single_word_ignored(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with a single word is NOT queued."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "hello"})
-    sensor._handle_asr_message(raw)
-
-    assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_partial_sets_speech_start_time(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """partial message records speech start time."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    before = time.time()
-    raw = json.dumps({"type": "partial", "asr_reply": ""})
-    sensor._handle_asr_message(raw)
-    after = time.time()
-
-    assert sensor._speech_start_time is not None
-    assert before <= sensor._speech_start_time <= after
-
-
-def test_handle_asr_message_committed_records_latency_and_resets(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message records latency metrics and resets _speech_start_time."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.om1_asr_latency") as mock_latency,
-        patch("inputs.plugins.elevenlabs_asr_rtsp.om1_asr_latency_last") as mock_latency_last,
-    ):
-        sensor._speech_start_time = time.time() - 0.5
-
-        raw = json.dumps({"type": "committed", "asr_reply": "hello world"})
-        sensor._handle_asr_message(raw)
-
-        mock_latency.labels.assert_called_once()
-        mock_latency_last.labels.assert_called_once()
-        assert sensor._speech_start_time is None
-
-
-def test_handle_asr_message_no_speech_start_time_skips_latency(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed without a prior partial does not call latency metrics."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    with patch("inputs.plugins.elevenlabs_asr_rtsp.om1_asr_latency") as mock_latency:
-        assert sensor._speech_start_time is None
-        raw = json.dumps({"type": "committed", "asr_reply": "hello world"})
-        sensor._handle_asr_message(raw)
-        mock_latency.labels.assert_not_called()
-
-
-def test_handle_asr_message_stopped_ignores_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """When _stopped is True, messages are silently dropped."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-    sensor._stopped = True
-
-    raw = json.dumps({"type": "committed", "asr_reply": "hello world test"})
-    sensor._handle_asr_message(raw)
-
-    assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_invalid_json(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Invalid JSON is silently ignored."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    sensor._handle_asr_message("not valid json!!!")
-    assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_no_asr_reply_field(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message without asr_reply field is ignored."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "other_key": "value"})
-    sensor._handle_asr_message(raw)
-
-    assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_committed_cjk_chinese_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with Chinese text longer than 2 chars is accepted."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "你好吗"})
-    sensor._handle_asr_message(raw)
-
-    assert not sensor.message_buffer.empty()
-    assert sensor.message_buffer.get_nowait() == "你好吗"
-
-
-def test_handle_asr_message_committed_cjk_chinese_too_short_rejected(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with 2 or fewer Chinese characters is rejected."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "你好"})
-    sensor._handle_asr_message(raw)
-
-    assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_committed_cjk_japanese_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with Japanese hiragana text longer than 2 chars is accepted."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "こんにちは"})
-    sensor._handle_asr_message(raw)
-
-    assert not sensor.message_buffer.empty()
-    assert sensor.message_buffer.get_nowait() == "こんにちは"
-
-
-def test_handle_asr_message_committed_cjk_korean_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with Korean hangul text longer than 2 chars is accepted."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "안녕하세요"})
-    sensor._handle_asr_message(raw)
-
-    assert not sensor.message_buffer.empty()
-    assert sensor.message_buffer.get_nowait() == "안녕하세요"
-
-
-def test_handle_asr_message_committed_cjk_single_char_rejected(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with a single CJK character is rejected."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "你"})
-    sensor._handle_asr_message(raw)
-
-    assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_committed_cjk_mixed_with_latin_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """committed message with mixed CJK and Latin text longer than 2 chars is accepted via CJK path."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    raw = json.dumps({"type": "committed", "asr_reply": "hello你好"})
-    sensor._handle_asr_message(raw)
-
-    assert not sensor.message_buffer.empty()
-    assert sensor.message_buffer.get_nowait() == "hello你好"
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_message_when_available(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """_poll returns the next message from the queue."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    sensor.message_buffer.put_nowait("hi there")
-    result = await sensor._poll()
-    assert result == "hi there"
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_when_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """_poll returns None when the queue is empty."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    result = await sensor._poll()
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_sleeps_when_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """_poll calls asyncio.sleep(0.01) when the queue is empty."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    with patch("inputs.plugins.elevenlabs_asr_rtsp.asyncio.sleep", new=AsyncMock()) as mock_sleep:
-        await sensor._poll()
-        mock_sleep.assert_called_once_with(0.01)
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_when_stopped(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """_poll returns None immediately when sensor is stopped."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-    sensor._stopped = True
-    sensor.message_buffer.put_nowait("should be ignored")
-
-    result = await sensor._poll()
-    assert result is None
-
-
-# ---------------------------------------------------------------------------
-# _raw_to_text / raw_to_text tests
-# ---------------------------------------------------------------------------
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none_returns_none(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """_raw_to_text(None) returns None."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    result = await sensor._raw_to_text(None)
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_valid_string(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """_raw_to_text returns a Message with correct content and timestamp."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    before = time.time()
-    result = await sensor._raw_to_text("hello world")
-    after = time.time()
-
-    assert result is not None
-    assert isinstance(result, Message)
-    assert result.message == "hello world"
-    assert before <= result.timestamp <= after
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_wrapper_first_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """raw_to_text appends first message to empty buffer."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    await sensor.raw_to_text("first message")
-
-    assert len(sensor.messages) == 1
-    assert sensor.messages[0] == "first message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_wrapper_appends_to_existing(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """raw_to_text concatenates subsequent message to existing buffer entry."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-    sensor.messages.append("first part")
-
-    await sensor.raw_to_text("second part")
-
-    assert len(sensor.messages) == 1
-    assert sensor.messages[0] == "first part second part"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none_sets_skip_sleep_when_messages_exist(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """raw_to_text(None) sets skip_sleep=True when buffer is non-empty."""
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        sensor = ElevenLabsASRRTSPInput(config=config)
-
-    sensor.messages.append("existing message")
-    mock_sleep_ticker_instance.skip_sleep = False
-
-    await sensor.raw_to_text(None)
-
-    assert mock_sleep_ticker_instance.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none_does_not_set_skip_sleep_when_buffer_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """raw_to_text(None) does not touch skip_sleep when buffer is empty."""
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        sensor = ElevenLabsASRRTSPInput(config=config)
-
-    mock_sleep_ticker_instance.skip_sleep = False
-
-    await sensor.raw_to_text(None)
-
-    assert mock_sleep_ticker_instance.skip_sleep is False
-
-
-def test_formatted_latest_buffer_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Returns None when messages buffer is empty."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    assert sensor.formatted_latest_buffer() is None
-
-
-def test_formatted_latest_buffer_formats_and_clears(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Returns formatted string, calls IO/conversation providers, and clears buffer."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig()
-    fixed_timestamp = 1234.0
-
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-        patch("time.time", return_value=fixed_timestamp),
-    ):
-        sensor = ElevenLabsASRRTSPInput(config=config)
-
-        msg_content = "final transcription result"
-        sensor.messages = [msg_content]
-        result = sensor.formatted_latest_buffer()
-
-    assert result is not None
-    assert "Voice" in result
-    assert msg_content in result
-    assert len(sensor.messages) == 0
-
-    mock_io_provider.add_input.assert_called_once_with("Voice", msg_content, fixed_timestamp)
-    mock_io_provider.add_mode_transition_input.assert_called_once_with(msg_content)
-    mock_teleops_conv_instance.store_user_message.assert_called_once_with(msg_content)
-
-
-def test_formatted_latest_buffer_publishes_to_zenoh(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """When Zenoh is available, formatted_latest_buffer publishes the message."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    mock_asr_msg = MagicMock()
-    mock_asr_msg.serialize.return_value = b"serialized_payload"
-    mock_zenoh["asr_text_cls"].return_value = mock_asr_msg
-
-    sensor.messages.append("publish this")
-    result = sensor.formatted_latest_buffer()
-
-    assert result is not None
-    mock_zenoh["publisher"].put.assert_called_once_with(b"serialized_payload")
-
-
-def test_formatted_latest_buffer_zenoh_publish_failure_does_not_raise(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Zenoh publish errors are logged but do not propagate."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-    mock_zenoh["publisher"].put.side_effect = Exception("publish error")
-
-    sensor.messages.append("some message")
-    result = sensor.formatted_latest_buffer()
-
-    assert result is not None
-
-
-def test_stop_sets_stopped_and_clears_buffers(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """stop() sets _stopped, drains queue, clears messages, and tears down resources."""
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    mock_sleep_constructor, _ = mock_sleep_ticker_provider
-    mock_conv_constructor, _ = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", new=mock_sleep_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", new=mock_conv_constructor),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        sensor = ElevenLabsASRRTSPInput(config=config)
-
-    sensor.message_buffer.put_nowait("msg1")
-    sensor.message_buffer.put_nowait("msg2")
-    sensor.messages.append("buffered")
-
-    sensor.stop()
-
-    assert sensor._stopped is True
-    assert sensor.message_buffer.empty()
-    assert len(sensor.messages) == 0
-    mock_asr_instance.unregister_message_callback.assert_called_once()
-    mock_zenoh["publisher"].undeclare.assert_called_once()
-    mock_zenoh["session"].close.assert_called_once()
-
-
-def test_stop_without_zenoh(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-):
-    """stop() succeeds gracefully when Zenoh was never initialized."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = ElevenLabsASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.elevenlabs_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch(
-            "inputs.plugins.elevenlabs_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance
-        ),
-        patch("inputs.plugins.elevenlabs_asr_rtsp.open_zenoh_session", side_effect=Exception("Zenoh down")),
-    ):
-        sensor = ElevenLabsASRRTSPInput(config=config)
-
-    sensor.stop()
-    assert sensor._stopped is True
-
-
-def test_stop_asr_unregister_failure_does_not_raise(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """stop() handles ASR unregister failure gracefully."""
-    _, mock_asr_instance = mock_asr_provider
-    mock_asr_instance.unregister_message_callback.side_effect = Exception("unregister error")
-
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    sensor.stop()
-    assert sensor._stopped is True
-
-
-def test_stop_zenoh_undeclare_failure_does_not_raise(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """stop() handles Zenoh undeclare failure gracefully and still closes session."""
-    mock_zenoh["publisher"].undeclare.side_effect = Exception("undeclare error")
-
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    sensor.stop()
-    assert sensor._stopped is True
-    mock_zenoh["session"].close.assert_called_once()
-
-
-def test_stop_zenoh_close_failure_does_not_raise(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """stop() handles Zenoh session close failure gracefully."""
-    mock_zenoh["session"].close.side_effect = Exception("close error")
-
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    sensor.stop()
-    assert sensor._stopped is True
-
-
-def test_stop_all_failures_does_not_raise(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """stop() handles all resource teardown failures gracefully."""
-    _, mock_asr_instance = mock_asr_provider
-    mock_asr_instance.unregister_message_callback.side_effect = Exception("unregister error")
-    mock_zenoh["publisher"].undeclare.side_effect = Exception("undeclare error")
-    mock_zenoh["session"].close.side_effect = Exception("close error")
-
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-
-    sensor.stop()
-    assert sensor._stopped is True
-
-
-def test_stopped_sensor_ignores_further_messages(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """After stop(), _handle_asr_message silently drops new messages."""
-    sensor = _build_sensor(
-        ElevenLabsASRRTSPSensorConfig(),
-        mock_io_provider,
-        mock_asr_provider,
-        mock_sleep_ticker_provider,
-        mock_teleops_conversation_provider,
-        mock_zenoh,
-    )
-    sensor.stop()
-
-    sensor._handle_asr_message(json.dumps({"type": "committed", "asr_reply": "hello world"}))
-
-    assert sensor.message_buffer.empty()
diff --git a/tests/inputs/plugins/test_ethereum_governance.py b/tests/inputs/plugins/test_ethereum_governance.py
deleted file mode 100644
index 9c0b64acd6..0000000000
--- a/tests/inputs/plugins/test_ethereum_governance.py
+++ /dev/null
@@ -1,293 +0,0 @@
-import asyncio
-import time
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from inputs.base import SensorConfig
-from inputs.plugins.ethereum_governance import GovernanceEthereum, Message
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.ethereum_governance.IOProvider") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def governance_instance(mock_io_provider):
-    config = SensorConfig()
-    with patch("inputs.plugins.ethereum_governance.IOProvider", return_value=mock_io_provider):
-        instance = GovernanceEthereum(config=config)
-    return instance
-
-
-@pytest.mark.asyncio
-async def test_load_rules_from_blockchain_success_scenario(governance_instance):
-    """
-    Test that load_rules_from_blockchain runs without error when aiohttp returns a valid response.
-    We don't deeply test the decode_eth_response logic here, just that the flow works.
-    Mock decode_eth_response to return a known value to avoid hex complexity.
-    """
-    expected_decoded = "Mocked Decoded Rules"
-    raw_hex_response = "0x1234..."  # Doesn't matter, we mock decode_eth_response
-
-    mock_response_json = {"result": raw_hex_response}
-    mock_response = AsyncMock()
-    mock_response.status = 200
-    mock_response.json.return_value = mock_response_json
-
-    mock_session_post_cm = AsyncMock()
-    mock_session_post_cm.__aenter__.return_value = mock_response
-    mock_session_post_cm.__aexit__.return_value = None
-
-    mock_session = Mock()
-    mock_session.post.return_value = mock_session_post_cm
-
-    mock_client_session_cm = AsyncMock()
-    mock_client_session_cm.__aenter__.return_value = mock_session
-    mock_client_session_cm.__aexit__.return_value = None
-
-    with (
-        patch.object(governance_instance, "decode_eth_response", return_value=expected_decoded),
-        patch(
-            "inputs.plugins.ethereum_governance.aiohttp.ClientSession",
-            return_value=mock_client_session_cm,
-        ),
-    ):
-        result = await governance_instance.load_rules_from_blockchain()
-
-    assert result == expected_decoded
-    mock_session.post.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_load_rules_from_blockchain_http_error(governance_instance, caplog):
-    mock_response_json = {"error": "Not Found"}
-    mock_response = AsyncMock()
-    mock_response.status = 404
-    mock_response.json.return_value = mock_response_json
-
-    mock_session_post_cm = AsyncMock()
-    mock_session_post_cm.__aenter__.return_value = mock_response
-    mock_session_post_cm.__aexit__.return_value = None
-
-    mock_session = Mock()
-    mock_session.post.return_value = mock_session_post_cm
-
-    mock_client_session_cm = AsyncMock()
-    mock_client_session_cm.__aenter__.return_value = mock_session
-    mock_client_session_cm.__aexit__.return_value = None
-
-    with (
-        caplog.at_level("ERROR"),
-        patch(
-            "inputs.plugins.ethereum_governance.aiohttp.ClientSession",
-            return_value=mock_client_session_cm,
-        ),
-    ):
-        result = await governance_instance.load_rules_from_blockchain()
-
-    assert result is None
-    assert "Blockchain request failed with status 404" in caplog.text
-    mock_session.post.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_load_rules_from_blockchain_no_result_in_response(governance_instance, caplog):
-    mock_response_json = {"error": "Something went wrong"}
-    mock_response = AsyncMock()
-    mock_response.status = 200
-    mock_response.json.return_value = mock_response_json
-
-    mock_session_post_cm = AsyncMock()
-    mock_session_post_cm.__aenter__.return_value = mock_response
-    mock_session_post_cm.__aexit__.return_value = None
-
-    mock_session = Mock()
-    mock_session.post.return_value = mock_session_post_cm
-
-    mock_client_session_cm = AsyncMock()
-    mock_client_session_cm.__aenter__.return_value = mock_session
-    mock_client_session_cm.__aexit__.return_value = None
-
-    with (
-        caplog.at_level("ERROR"),
-        patch(
-            "inputs.plugins.ethereum_governance.aiohttp.ClientSession",
-            return_value=mock_client_session_cm,
-        ),
-    ):
-        result = await governance_instance.load_rules_from_blockchain()
-
-    assert result is None
-    assert "No valid result in blockchain response" in caplog.text
-    mock_session.post.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_load_rules_from_blockchain_exception(governance_instance, caplog):
-    mock_session_post_cm = AsyncMock()
-    mock_session_post_cm.__aenter__.side_effect = asyncio.TimeoutError("Request timed out")
-    mock_session_post_cm.__aexit__.return_value = None
-
-    mock_session = Mock()
-    mock_session.post.return_value = mock_session_post_cm
-
-    mock_client_session_cm = AsyncMock()
-    mock_client_session_cm.__aenter__.return_value = mock_session
-    mock_client_session_cm.__aexit__.return_value = None
-
-    with (
-        caplog.at_level("ERROR"),
-        patch(
-            "inputs.plugins.ethereum_governance.aiohttp.ClientSession",
-            return_value=mock_client_session_cm,
-        ),
-    ):
-        result = await governance_instance.load_rules_from_blockchain()
-
-    assert result is None
-    assert "Error loading rules from blockchain" in caplog.text
-    mock_session.post.assert_called_once()
-
-
-def test_decode_eth_response_valid_hex_returns_something(governance_instance):
-    """
-    Test that decode_eth_response handles a valid hex string without throwing an error.
-    It might return '', a string, or None depending on the internal logic, which is okay.
-    The key is that it doesn't crash.
-    """
-    valid_hex = "0x00" * 64
-    result = governance_instance.decode_eth_response(valid_hex)
-    assert isinstance(result, (str, type(None)))
-
-
-def test_decode_eth_response_invalid_hex_returns_none(governance_instance, caplog):
-    invalid_hex = "invalid_hex_string!"
-
-    with caplog.at_level("ERROR"):
-        result = governance_instance.decode_eth_response(invalid_hex)
-
-    assert result is None
-    assert "Decoding error" in caplog.text
-
-
-def test_decode_eth_response_short_hex_returns_something_or_none(governance_instance, caplog):
-    """
-    Test with a short hex that might cause an error inside the try block.
-    This should ideally trigger the except clause.
-    """
-    short_hex = "0x00" * 8
-
-    with caplog.at_level("ERROR"):
-        result = governance_instance.decode_eth_response(short_hex)
-
-    assert isinstance(result, (str, type(None)))
-
-
-def test_initialization_sets_defaults(governance_instance, mock_io_provider):
-    assert governance_instance.io_provider is not None
-    assert governance_instance.POLL_INTERVAL == 5.0
-    assert governance_instance.rpc_url == "https://holesky.drpc.org"
-    assert governance_instance.contract_address == "0xe706b7e30e378b89c7b2ee7bfd8ce2b91959d695"
-    assert governance_instance.function_selector == "0x1db3d5ff"
-    assert governance_instance.function_argument == "0000000000000000000000000000000000000000000000000000000000000002"
-    assert governance_instance.universal_rule is None
-    assert hasattr(governance_instance, "messages")
-    assert isinstance(governance_instance.messages, list)
-
-
-@pytest.mark.asyncio
-async def test_poll_calls_load_rules_and_returns_result(governance_instance):
-    expected_result = "Poll Result Rule"
-    mock_load_func = AsyncMock(return_value=expected_result)
-    with (
-        patch.object(governance_instance, "load_rules_from_blockchain", mock_load_func),
-        patch("asyncio.sleep"),
-    ):
-        result = await governance_instance._poll()
-
-    assert result == expected_result
-    mock_load_func.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_poll_handles_exception_from_load_rules(governance_instance, caplog):
-    mock_load_func = AsyncMock(side_effect=Exception("Load Error"))
-    with (
-        patch.object(governance_instance, "load_rules_from_blockchain", mock_load_func),
-        caplog.at_level("ERROR"),
-        patch("asyncio.sleep"),
-    ):
-        result = await governance_instance._poll()
-
-    assert result is None
-    assert "Error fetching blockchain data" in caplog.text
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_converts_string_to_message(governance_instance):
-    test_rule_str = "Raw Governance Rule Text"
-    timestamp_before = time.time()
-
-    result = await governance_instance._raw_to_text(test_rule_str)
-
-    timestamp_after = time.time()
-    assert result is not None
-    assert result.message == test_rule_str
-    assert timestamp_before <= result.timestamp <= timestamp_after
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_returns_none_if_input_none(governance_instance):
-    result = await governance_instance._raw_to_text(None)
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_adds_unique_message_to_buffer(governance_instance):
-    test_rule_str = "Unique Governance Rule"
-    initial_len = len(governance_instance.messages)
-
-    with patch("time.time", return_value=1234.0):
-        await governance_instance.raw_to_text(test_rule_str)
-
-    assert len(governance_instance.messages) == initial_len + 1
-    assert governance_instance.messages[-1].message == test_rule_str
-    assert governance_instance.messages[-1].timestamp == 1234.0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_does_not_add_duplicate_message(governance_instance):
-    test_rule_str = "Duplicate Governance Rule"
-    existing_msg = Message(timestamp=1233.0, message=test_rule_str)
-    governance_instance.messages = [existing_msg]
-
-    initial_len = len(governance_instance.messages)
-
-    with patch("time.time", return_value=1234.0):
-        await governance_instance.raw_to_text(test_rule_str)
-
-    assert len(governance_instance.messages) == initial_len
-    assert governance_instance.messages[-1].timestamp == 1233.0
-
-
-def test_formatted_latest_buffer_empty(governance_instance):
-    result = governance_instance.formatted_latest_buffer()
-    assert result is None
-
-
-def test_formatted_latest_buffer_formats_latest_message(governance_instance, mock_io_provider):
-    msg = Message(timestamp=1234.0, message="formatted buffered message")
-    governance_instance.messages = [msg]
-
-    result = governance_instance.formatted_latest_buffer()
-
-    assert "INPUT:" in result
-    assert "Universal Laws" in result
-    assert "formatted buffered message" in result
-    assert len(governance_instance.messages) == 1
-    mock_io_provider.add_input.assert_called_once_with("Universal Laws", "formatted buffered message", 1234.0)
diff --git a/tests/inputs/plugins/test_fabric_closest_peer.py b/tests/inputs/plugins/test_fabric_closest_peer.py
deleted file mode 100644
index 1fab6a2a88..0000000000
--- a/tests/inputs/plugins/test_fabric_closest_peer.py
+++ /dev/null
@@ -1,226 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.fabric_closest_peer import (
-    FabricClosestPeer,
-    FabricClosestPeerConfig,
-)
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.fabric_closest_peer.IOProvider") as mock:
-        mock_instance = MagicMock()
-        mock.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def config_mock_mode():
-    """Config with mock mode enabled."""
-    return FabricClosestPeerConfig(
-        fabric_endpoint="http://test.endpoint",
-        mock_mode=True,
-        mock_lat=40.12345,
-        mock_lon=-74.98765,
-    )
-
-
-@pytest.fixture
-def config_real_mode():
-    """Config with mock mode disabled."""
-    return FabricClosestPeerConfig(
-        fabric_endpoint="http://test.endpoint",
-        mock_mode=False,
-    )
-
-
-@pytest.fixture
-def peer_mock_mode(config_mock_mode, mock_io_provider):
-    """FabricClosestPeer instance with mock mode."""
-    return FabricClosestPeer(config_mock_mode)
-
-
-@pytest.fixture
-def peer_real_mode(config_real_mode, mock_io_provider):
-    """FabricClosestPeer instance with real mode."""
-    return FabricClosestPeer(config_real_mode)
-
-
-def test_init(peer_mock_mode):
-    """Test initialization sets correct attributes."""
-    assert peer_mock_mode.fabric_endpoint == "http://test.endpoint"
-    assert peer_mock_mode.mock_mode is True
-    assert peer_mock_mode.descriptor_for_LLM == "Closest Peer from Fabric"
-
-
-@pytest.mark.asyncio
-async def test_poll_mock_mode(peer_mock_mode):
-    """Test _poll returns mock coordinates in mock mode."""
-    peer_mock_mode.config.mock_lat = 40.12345
-    peer_mock_mode.config.mock_lon = -74.98765
-
-    result = await peer_mock_mode._poll()
-
-    assert result == "Closest peer at 40.12345, -74.98765"
-
-
-@pytest.mark.asyncio
-async def test_poll_uses_aiohttp_not_requests(peer_real_mode):
-    """Test that _poll uses aiohttp for non-blocking HTTP."""
-    mock_response = MagicMock()
-    mock_response.json = AsyncMock(return_value={"result": [{"peer": {"latitude": 40.0, "longitude": -74.0}}]})
-
-    mock_post_cm = MagicMock()
-    mock_post_cm.__aenter__ = AsyncMock(return_value=mock_response)
-    mock_post_cm.__aexit__ = AsyncMock(return_value=None)
-
-    mock_session = MagicMock()
-    mock_session.post = MagicMock(return_value=mock_post_cm)
-
-    mock_session_cm = MagicMock()
-    mock_session_cm.__aenter__ = AsyncMock(return_value=mock_session)
-    mock_session_cm.__aexit__ = AsyncMock(return_value=None)
-
-    with (
-        patch("inputs.plugins.fabric_closest_peer.aiohttp.ClientTimeout"),
-        patch(
-            "inputs.plugins.fabric_closest_peer.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-    ):
-        peer_real_mode.io.get_dynamic_variable = MagicMock(side_effect=lambda key: 40.0 if key == "latitude" else -74.0)
-
-        result = await peer_real_mode._poll()
-
-        mock_session.post.assert_called_once()
-        assert result == "Closest peer at 40.00000, -74.00000"
-
-
-@pytest.mark.asyncio
-async def test_poll_passes_correct_json_rpc_params(peer_real_mode):
-    """Test that _poll sends correct JSON-RPC parameters."""
-    mock_response = MagicMock()
-    mock_response.json = AsyncMock(return_value={"result": [{"peer": {"latitude": 40.0, "longitude": -74.0}}]})
-
-    mock_post_cm = MagicMock()
-    mock_post_cm.__aenter__ = AsyncMock(return_value=mock_response)
-    mock_post_cm.__aexit__ = AsyncMock(return_value=None)
-
-    mock_session = MagicMock()
-    mock_session.post = MagicMock(return_value=mock_post_cm)
-
-    mock_session_cm = MagicMock()
-    mock_session_cm.__aenter__ = AsyncMock(return_value=mock_session)
-    mock_session_cm.__aexit__ = AsyncMock(return_value=None)
-
-    with (
-        patch("inputs.plugins.fabric_closest_peer.aiohttp.ClientTimeout"),
-        patch(
-            "inputs.plugins.fabric_closest_peer.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-    ):
-        peer_real_mode.io.get_dynamic_variable = MagicMock(side_effect=lambda key: 40.5 if key == "latitude" else -74.5)
-
-        await peer_real_mode._poll()
-
-        call_kwargs = mock_session.post.call_args[1]
-        assert call_kwargs["json"]["method"] == "omp2p_findClosestPeer"
-        assert call_kwargs["json"]["params"][0]["latitude"] == 40.5
-        assert call_kwargs["json"]["params"][0]["longitude"] == -74.5
-        assert call_kwargs["headers"]["Content-Type"] == "application/json"
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_when_no_gps(peer_real_mode):
-    """Test _poll returns None when GPS coordinates are not available."""
-    peer_real_mode.io.get_dynamic_variable = MagicMock(return_value=None)
-
-    result = await peer_real_mode._poll()
-
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_when_no_peer_found(peer_real_mode):
-    """Test _poll returns None when no peer is found in response."""
-    mock_response = MagicMock()
-    mock_response.json = AsyncMock(return_value={"result": [{}]})
-
-    mock_post_cm = MagicMock()
-    mock_post_cm.__aenter__ = AsyncMock(return_value=mock_response)
-    mock_post_cm.__aexit__ = AsyncMock(return_value=None)
-
-    mock_session = MagicMock()
-    mock_session.post = MagicMock(return_value=mock_post_cm)
-
-    mock_session_cm = MagicMock()
-    mock_session_cm.__aenter__ = AsyncMock(return_value=mock_session)
-    mock_session_cm.__aexit__ = AsyncMock(return_value=None)
-
-    with (
-        patch("inputs.plugins.fabric_closest_peer.aiohttp.ClientTimeout"),
-        patch(
-            "inputs.plugins.fabric_closest_peer.aiohttp.ClientSession",
-            return_value=mock_session_cm,
-        ),
-    ):
-        peer_real_mode.io.get_dynamic_variable = MagicMock(side_effect=lambda key: 40.0 if key == "latitude" else -74.0)
-
-        result = await peer_real_mode._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_handles_exception(peer_real_mode, caplog):
-    """Test _poll handles exceptions gracefully."""
-    with patch(
-        "inputs.plugins.fabric_closest_peer.aiohttp.ClientSession",
-        side_effect=Exception("Network error"),
-    ):
-        peer_real_mode.io.get_dynamic_variable = MagicMock(side_effect=lambda key: 40.0 if key == "latitude" else -74.0)
-
-        result = await peer_real_mode._poll()
-
-        assert result is None
-        assert "error calling Fabric endpoint" in caplog.text
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_message(peer_mock_mode):
-    """Test raw_to_text appends message to messages list."""
-    await peer_mock_mode.raw_to_text("test message")
-
-    assert len(peer_mock_mode.messages) == 1
-    assert peer_mock_mode.messages[0] == "test message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_ignores_none(peer_mock_mode):
-    """Test raw_to_text ignores None input."""
-    await peer_mock_mode.raw_to_text(None)
-
-    assert len(peer_mock_mode.messages) == 0
-
-
-def test_formatted_latest_buffer_returns_formatted_message(peer_mock_mode):
-    """Test formatted_latest_buffer returns correctly formatted output."""
-    peer_mock_mode.msg_q.put("Closest peer at 40.12345, -74.98765")
-
-    result = peer_mock_mode.formatted_latest_buffer()
-
-    assert "Closest Peer from Fabric INPUT" in result
-    assert "// START" in result
-    assert "Closest peer at 40.12345, -74.98765" in result
-    assert "// END" in result
-    peer_mock_mode.io.add_input.assert_called_once()
-
-
-def test_formatted_latest_buffer_returns_none_when_empty(peer_mock_mode):
-    """Test formatted_latest_buffer returns None when queue is empty."""
-    result = peer_mock_mode.formatted_latest_buffer()
-
-    assert result is None
diff --git a/tests/inputs/plugins/test_face_presence_input.py b/tests/inputs/plugins/test_face_presence_input.py
deleted file mode 100644
index 31cde0ad5e..0000000000
--- a/tests/inputs/plugins/test_face_presence_input.py
+++ /dev/null
@@ -1,214 +0,0 @@
-import time
-from collections import deque
-from queue import Queue
-from unittest.mock import Mock, patch
-
-import pytest
-
-from inputs.plugins.face_presence_input import FacePresence, FacePresenceConfig, Message
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.face_presence_input.IOProvider") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-def test_initialization_creates_providers_and_buffers(mock_io_provider):
-    config = FacePresenceConfig()
-    mock_provider_instance = Mock()
-
-    mock_provider_constructor = Mock(return_value=mock_provider_instance)
-
-    with (
-        patch(
-            "inputs.plugins.face_presence_input.FacePresenceProvider",
-            new=mock_provider_constructor,
-        ),
-        patch(
-            "inputs.plugins.face_presence_input.IOProvider",
-            return_value=mock_io_provider,
-        ),
-    ):
-        instance = FacePresence(config=config)
-
-    mock_provider_constructor.assert_called_once()
-    mock_provider_instance.start.assert_called_once()
-    mock_provider_instance.register_message_callback.assert_called_once()
-
-    assert instance.io_provider is not None
-    assert mock_io_provider is not None
-
-    assert hasattr(instance, "messages")
-    assert isinstance(instance.messages, deque)
-    assert instance.messages.maxlen == 300
-
-    assert hasattr(instance, "message_buffer")
-    assert isinstance(instance.message_buffer, Queue)
-    assert instance.message_buffer.maxsize == 64
-
-    assert instance.descriptor_for_LLM == "Face Presence Sensor"
-
-
-@pytest.fixture
-def face_presence_instance(mock_io_provider):
-    config = FacePresenceConfig()
-    mock_provider_instance = Mock()
-    with (
-        patch(
-            "inputs.plugins.face_presence_input.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.face_presence_input.FacePresenceProvider",
-            return_value=mock_provider_instance,
-        ),
-    ):
-        instance = FacePresence(config=config)
-    return instance
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_message_from_buffer(face_presence_instance):
-    test_message = "present=[alice], unknown=0, ts=123456"
-    face_presence_instance.message_buffer.put_nowait(test_message)
-
-    result = await face_presence_instance._poll()
-
-    assert result == test_message
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_if_buffer_empty(face_presence_instance):
-    result = await face_presence_instance._poll()
-
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_has_delay(face_presence_instance):
-    with patch("asyncio.sleep") as mock_sleep:
-        await face_presence_instance._poll()
-        mock_sleep.assert_called_once_with(0.5)
-
-
-def test_handle_face_message_adds_to_buffer_successfully(face_presence_instance):
-    test_message = "present=[bob], unknown=1, ts=123457"
-    initial_size = face_presence_instance.message_buffer.qsize()
-
-    face_presence_instance._handle_face_message(test_message)
-
-    final_size = face_presence_instance.message_buffer.qsize()
-    assert final_size == initial_size + 1
-    assert face_presence_instance.message_buffer.get_nowait() == test_message
-
-
-def test_handle_face_message_drops_oldest_on_full_buffer(face_presence_instance):
-    for i in range(64):
-        face_presence_instance.message_buffer.put_nowait(f"msg_{i}")
-
-    face_presence_instance._handle_face_message("msg_NEW")
-
-    assert face_presence_instance.message_buffer.qsize() == 1
-
-    first_popped = face_presence_instance.message_buffer.get_nowait()
-    assert first_popped == "msg_NEW"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_converts_string_to_message(face_presence_instance):
-    test_data_str = "present=[charlie], unknown=2, ts=123458"
-    timestamp_before = time.time()
-
-    result = await face_presence_instance._raw_to_text(test_data_str)
-
-    timestamp_after = time.time()
-    assert result is not None
-    assert result.message == test_data_str
-    assert timestamp_before <= result.timestamp <= timestamp_after
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_returns_none_if_input_none(face_presence_instance):
-    result = await face_presence_instance._raw_to_text(None)
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_adds_message_to_buffer(face_presence_instance):
-    test_data_str = "present=[diana], unknown=0, ts=123459"
-    initial_len = len(face_presence_instance.messages)
-
-    with patch("time.time", return_value=1234.0):
-        await face_presence_instance.raw_to_text(test_data_str)
-
-    assert len(face_presence_instance.messages) == initial_len + 1
-    assert face_presence_instance.messages[-1].message == test_data_str
-    assert face_presence_instance.messages[-1].timestamp == 1234.0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_does_nothing_if_input_none(face_presence_instance):
-    initial_len = len(face_presence_instance.messages)
-    await face_presence_instance.raw_to_text(None)
-
-    assert len(face_presence_instance.messages) == initial_len
-
-
-def test_formatted_latest_buffer_empty(face_presence_instance):
-    result = face_presence_instance.formatted_latest_buffer()
-    assert result is None
-
-
-def test_formatted_latest_buffer_formats_and_clears_latest_message(face_presence_instance, mock_io_provider):
-    msg = Message(timestamp=1234.0, message="present=[eve], unknown=1, ts=123460")
-    face_presence_instance.messages = [msg]
-
-    result = face_presence_instance.formatted_latest_buffer()
-
-    assert "Face Presence Sensor" in result
-    assert "present=[eve], unknown=1, ts=123460" in result
-    assert len(face_presence_instance.messages) == 0
-    mock_io_provider.add_input.assert_called_once_with("FacePresence", "present=[eve], unknown=1, ts=123460", 1234.0)
-
-
-@pytest.mark.asyncio
-async def test_continuous_face_presence_updates_with_identical_messages(face_presence_instance, mock_io_provider):
-    """
-    Verify that the system can handle continuous updates of the same message, simulating a person staying in camera view, without skipping or dropping messages.
-    """
-    identical_message = "In Camera View: 1 known (alice)."
-
-    for i in range(5):
-        face_presence_instance._handle_face_message(identical_message)
-
-        raw_input = await face_presence_instance._poll()
-        assert raw_input == identical_message, f"Poll #{i+1} should return the message"
-        await face_presence_instance.raw_to_text(raw_input)
-
-        result = face_presence_instance.formatted_latest_buffer()
-        assert result is not None, f"formatted_latest_buffer() should work on iteration #{i+1}"
-        assert "Face Presence Sensor" in result
-        assert identical_message in result
-        assert len(face_presence_instance.messages) == 0
-    assert mock_io_provider.add_input.call_count == 5
-
-
-@pytest.mark.asyncio
-async def test_face_presence_buffer_cleared_and_refilled(face_presence_instance):
-    """
-    Verify that the message buffer can be cleared and refilled multiple times
-    with the same message, simulating a person staying in camera view.
-    """
-    message = "In Camera View: 1 known (bob)."
-
-    face_presence_instance._handle_face_message(message)
-    assert face_presence_instance.message_buffer.qsize() == 1
-
-    face_presence_instance._handle_face_message(message)
-    assert face_presence_instance.message_buffer.qsize() == 1, "Buffer should only have 1 message (old ones cleared)"
-
-    face_presence_instance._handle_face_message(message)
-    assert face_presence_instance.message_buffer.qsize() == 1
diff --git a/tests/inputs/plugins/test_gallery_identities_input.py b/tests/inputs/plugins/test_gallery_identities_input.py
deleted file mode 100644
index 9c5a56d9f7..0000000000
--- a/tests/inputs/plugins/test_gallery_identities_input.py
+++ /dev/null
@@ -1,190 +0,0 @@
-import time
-from collections import deque
-from unittest.mock import Mock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.gallery_identities_input import (
-    GalleryIdentities,
-    GalleryIdentitiesConfig,
-)
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.gallery_identities_input.IOProvider") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-def test_initialization_creates_providers_and_buffers(mock_io_provider):
-    config = GalleryIdentitiesConfig()
-    mock_provider_instance = Mock()
-
-    mock_provider_constructor = Mock(return_value=mock_provider_instance)
-
-    with patch(
-        "inputs.plugins.gallery_identities_input.GalleryIdentitiesProvider",
-        new=mock_provider_constructor,
-    ):
-        with patch(
-            "inputs.plugins.gallery_identities_input.IOProvider",
-            return_value=mock_io_provider,
-        ):
-            instance = GalleryIdentities(config=config)
-
-    mock_provider_constructor.assert_called_once()
-    mock_provider_instance.start.assert_called_once()
-    mock_provider_instance.register_message_callback.assert_called_once()
-
-    assert instance.io_provider is not None
-    assert mock_io_provider is not None
-
-    assert hasattr(instance, "messages")
-    assert isinstance(instance.messages, deque)
-    assert instance.messages.maxlen == 300
-
-    assert hasattr(instance, "message_buffer")
-    from queue import Queue
-
-    assert isinstance(instance.message_buffer, Queue)
-    assert instance.message_buffer.maxsize == 64
-
-    assert instance.descriptor_for_LLM == "Gallery Identities"
-
-
-@pytest.fixture
-def gallery_identities_instance(mock_io_provider):
-    config = GalleryIdentitiesConfig()
-    mock_provider_instance = Mock()
-    with (
-        patch(
-            "inputs.plugins.gallery_identities_input.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.gallery_identities_input.GalleryIdentitiesProvider",
-            return_value=mock_provider_instance,
-        ),
-    ):
-        instance = GalleryIdentities(config=config)
-    return instance
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_message_from_buffer(gallery_identities_instance):
-    test_message = "total=2 ids=[alice, bob]"
-    gallery_identities_instance.message_buffer.put_nowait(test_message)
-
-    result = await gallery_identities_instance._poll()
-
-    assert result == test_message
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_if_buffer_empty(gallery_identities_instance):
-    result = await gallery_identities_instance._poll()
-
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_has_delay(gallery_identities_instance):
-    with patch("asyncio.sleep") as mock_sleep:
-        await gallery_identities_instance._poll()
-        mock_sleep.assert_called_once_with(0.5)
-
-
-def test_handle_gallery_message_adds_to_buffer_successfully(
-    gallery_identities_instance,
-):
-    test_message = "total=1 ids=[charlie]"
-    initial_size = gallery_identities_instance.message_buffer.qsize()
-
-    gallery_identities_instance._handle_gallery_message(test_message)
-
-    final_size = gallery_identities_instance.message_buffer.qsize()
-    assert final_size == initial_size + 1
-    assert gallery_identities_instance.message_buffer.get_nowait() == test_message
-
-
-def test_handle_gallery_message_drops_oldest_on_full_buffer(
-    gallery_identities_instance,
-):
-    for i in range(64):
-        gallery_identities_instance.message_buffer.put_nowait(f"id_{i}")
-
-    gallery_identities_instance._handle_gallery_message("id_NEW")
-
-    assert gallery_identities_instance.message_buffer.qsize() == 64
-
-    first_popped = gallery_identities_instance.message_buffer.get_nowait()
-    assert first_popped == "id_1"
-
-    remaining_items = []
-    for _ in range(62):
-        remaining_items.append(gallery_identities_instance.message_buffer.get_nowait())
-
-    last_item = gallery_identities_instance.message_buffer.get_nowait()
-    assert last_item == "id_NEW"
-
-    assert "id_0" not in remaining_items
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_converts_string_to_message(gallery_identities_instance):
-    test_data_str = "total=3 ids=[alice, bob, wendy]"
-    timestamp_before = time.time()
-
-    result = await gallery_identities_instance._raw_to_text(test_data_str)
-
-    timestamp_after = time.time()
-    assert result is not None
-    assert result.message == test_data_str
-    assert timestamp_before <= result.timestamp <= timestamp_after
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_returns_none_if_input_none(gallery_identities_instance):
-    result = await gallery_identities_instance._raw_to_text(None)
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_adds_message_to_buffer(gallery_identities_instance):
-    test_data_str = "total=0 ids=[]"
-    initial_len = len(gallery_identities_instance.messages)
-
-    with patch("time.time", return_value=1234.0):
-        await gallery_identities_instance.raw_to_text(test_data_str)
-
-    assert len(gallery_identities_instance.messages) == initial_len + 1
-    assert gallery_identities_instance.messages[-1].message == test_data_str
-    assert gallery_identities_instance.messages[-1].timestamp == 1234.0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_does_nothing_if_input_none(gallery_identities_instance):
-    initial_len = len(gallery_identities_instance.messages)
-    await gallery_identities_instance.raw_to_text(None)
-
-    assert len(gallery_identities_instance.messages) == initial_len
-
-
-def test_formatted_latest_buffer_empty(gallery_identities_instance):
-    result = gallery_identities_instance.formatted_latest_buffer()
-    assert result is None
-
-
-def test_formatted_latest_buffer_formats_and_clears_latest_message(gallery_identities_instance, mock_io_provider):
-    msg = Message(timestamp=1234.0, message="total=1 ids=[eve]")
-    gallery_identities_instance.messages = [msg]
-
-    result = gallery_identities_instance.formatted_latest_buffer()
-
-    assert "INPUT: Gallery Identities" in result
-    assert "total=1 ids=[eve]" in result
-    assert len(gallery_identities_instance.messages) == 0
-    mock_io_provider.add_input.assert_called_once_with("GalleryIdentities", "total=1 ids=[eve]", 1234.0)
diff --git a/tests/inputs/plugins/test_google_asr.py b/tests/inputs/plugins/test_google_asr.py
deleted file mode 100644
index d0dc9d3633..0000000000
--- a/tests/inputs/plugins/test_google_asr.py
+++ /dev/null
@@ -1,950 +0,0 @@
-import asyncio
-import json
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.google_asr import GoogleASRInput, GoogleASRSensorConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        assert hasattr(sensor, "messages")
-        assert isinstance(sensor.message_buffer, asyncio.Queue)
-        assert sensor.messages == []
-        assert sensor.descriptor_for_LLM == "Voice"
-        assert sensor._stopped is False
-        mock_asr_instance.start.assert_called_once()
-        mock_asr_instance.register_message_callback.assert_called_once()
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(
-            api_key="test_key",
-            rate=16000,
-            chunk=8192,
-            base_url="wss://test.com",
-            microphone_device_id=1,
-            microphone_name="test_mic",
-            language="chinese",
-            remote_input=True,
-            enable_tts_interrupt=True,
-        )
-        GoogleASRInput(config=config)
-
-        mock_asr.assert_called_with(
-            rate=16000,
-            chunk=8192,
-            ws_url="wss://test.com",
-            device_id=1,
-            microphone_name="test_mic",
-            language_code="cmn-Hans-CN",
-            alternative_language_codes=[],
-            remote_input=True,
-            enable_tts_interrupt=True,
-        )
-
-
-def test_initialization_with_unsupported_language():
-    """Test initialization with unsupported language defaults to English."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(language="unsupported_language")
-        GoogleASRInput(config=config)
-
-        call_kwargs = mock_asr.call_args[1]
-        assert call_kwargs["language_code"] == "en-US"
-
-
-def test_initialization_zenoh_failure():
-    """Test initialization when Zenoh fails."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch(
-            "inputs.plugins.google_asr.open_zenoh_session",
-            side_effect=Exception("Zenoh failed"),
-        ),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        assert sensor.session is None
-        assert sensor.asr_publisher is None
-
-
-@pytest.mark.asyncio
-async def test_poll_with_message():
-    """Test _poll with message in buffer."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        sensor.message_buffer.put_nowait("Test speech")
-
-        result = await sensor._poll()
-
-        assert result == "Test speech"
-
-
-@pytest.mark.asyncio
-async def test_poll_empty_buffer():
-    """Test _poll with empty buffer."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        with patch("asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is None
-
-
-def test_handle_asr_message_valid():
-    """Test _handle_asr_message with valid message."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "hello world test"})
-        sensor._handle_asr_message(raw_message)
-
-        assert not sensor.message_buffer.empty()
-        result = sensor.message_buffer.get_nowait()
-        assert result == "hello world test"
-
-
-def test_handle_asr_message_single_word():
-    """Test _handle_asr_message with single word (ignored)."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "hello"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_stopped():
-    """Test _handle_asr_message when sensor is stopped."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        sensor._stopped = True
-
-        raw_message = json.dumps({"asr_reply": "hello world"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_invalid_json():
-    """Test _handle_asr_message with invalid JSON."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        sensor._handle_asr_message("not valid json")
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_no_asr_reply():
-    """Test _handle_asr_message without asr_reply field."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"other_field": "value"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_cjk_chinese_accepted():
-    """Test _handle_asr_message accepts Chinese text with more than 2 characters."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "你好吗"})
-        sensor._handle_asr_message(raw_message)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "你好吗"
-
-
-def test_handle_asr_message_cjk_chinese_too_short_rejected():
-    """Test _handle_asr_message rejects Chinese text with 2 or fewer characters."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "你好"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_cjk_japanese_hiragana_accepted():
-    """Test _handle_asr_message accepts Japanese hiragana text with more than 2 characters."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "こんにちは"})
-        sensor._handle_asr_message(raw_message)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "こんにちは"
-
-
-def test_handle_asr_message_cjk_korean_accepted():
-    """Test _handle_asr_message accepts Korean hangul text with more than 2 characters."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "안녕하세요"})
-        sensor._handle_asr_message(raw_message)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "안녕하세요"
-
-
-def test_handle_asr_message_cjk_single_char_rejected():
-    """Test _handle_asr_message rejects CJK text with exactly 1 character."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "你"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_cjk_mixed_with_latin_accepted():
-    """Test _handle_asr_message accepts mixed CJK and Latin text longer than 2 chars."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "hello你好"})
-        sensor._handle_asr_message(raw_message)
-
-        assert not sensor.message_buffer.empty()
-        assert sensor.message_buffer.get_nowait() == "hello你好"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none():
-    """Test _raw_to_text with None."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_valid():
-    """Test _raw_to_text with valid input."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.time.time", return_value=123.456),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        result = await sensor._raw_to_text("test message")
-        assert result is not None
-        assert result.message == "test message"
-        assert result.timestamp == 123.456
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider") as mock_io,
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider") as mock_conv,
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_io_instance = MagicMock()
-        mock_io.return_value = mock_io_instance
-        mock_conv_instance = MagicMock()
-        mock_conv.return_value = mock_conv_instance
-
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        sensor.messages.append("hello world how are you")
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "Voice" in result
-        assert result.count("hello world how are you") == 1
-        assert len(sensor.messages) == 0
-
-        mock_io_instance.add_input.assert_called_once()
-        mock_io_instance.add_mode_transition_input.assert_called_once()
-        mock_conv_instance.store_user_message.assert_called_once()
-
-
-def test_formatted_latest_buffer_with_zenoh():
-    """Test formatted_latest_buffer with Zenoh publishing."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session") as mock_zenoh,
-        patch("inputs.plugins.google_asr.ASRText") as mock_asr_text,
-        patch("inputs.plugins.google_asr.prepare_header"),
-    ):
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        mock_asr_msg = MagicMock()
-        mock_asr_msg.serialize.return_value = b"serialized"
-        mock_asr_text.return_value = mock_asr_msg
-
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        sensor.messages.append("test message")
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        mock_publisher.put.assert_called_once_with(b"serialized")
-
-
-def test_formatted_latest_buffer_zenoh_failure():
-    """Test formatted_latest_buffer when Zenoh publishing fails."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_publisher.put.side_effect = Exception("Zenoh publish failed")
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        sensor.messages.append("test message")
-
-        # Should not raise exception
-        result = sensor.formatted_latest_buffer()
-        assert result is not None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none_skips_sleep_when_buffer_has_messages():
-    """Test raw_to_text with None sets skip_sleep when messages exist."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider") as mock_sleep_ticker,
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_sleep_ticker_instance = MagicMock()
-        mock_sleep_ticker.return_value = mock_sleep_ticker_instance
-
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        sensor.messages = ["existing message"]
-
-        await sensor.raw_to_text(None)
-        assert mock_sleep_ticker_instance.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_first_message():
-    """Test raw_to_text with first message."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        await sensor.raw_to_text("first message")
-
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0] == "first message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_concatenates_messages():
-    """Test raw_to_text concatenates when messages already exist."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        await sensor.raw_to_text("hello")
-        await sensor.raw_to_text("world")
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0] == "hello world"
-
-
-def test_stop():
-    """Test stop method stops ASR provider and closes Zenoh session."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        sensor.message_buffer.put_nowait("message 1")
-        sensor.message_buffer.put_nowait("message 2")
-        sensor.messages.append("message 3")
-
-        sensor.stop()
-
-        assert sensor._stopped is True
-        assert sensor.message_buffer.empty()
-        assert len(sensor.messages) == 0
-        mock_asr_instance.unregister_message_callback.assert_called_once()
-        mock_publisher.undeclare.assert_called_once()
-        mock_session.close.assert_called_once()
-
-
-def test_stop_with_exceptions():
-    """Test stop method handles exceptions gracefully."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr_instance.unregister_message_callback.side_effect = Exception("Unregister failed")
-        mock_asr_instance.stop.side_effect = Exception("Stop failed")
-        mock_asr.return_value = mock_asr_instance
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_publisher.undeclare.side_effect = Exception("Undeclare failed")
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-
-
-def test_stop_no_session():
-    """Test stop method when session is None."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        sensor.session = None
-
-        sensor.stop()
-
-
-def test_initialization_with_api_version_v1():
-    """Test initialization with API version v1."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(api_version="v1", api_key="test_key")
-        GoogleASRInput(config=config)
-
-        call_kwargs = mock_asr.call_args[1]
-        assert call_kwargs["ws_url"] == "wss://api.openmind.com/api/core/google/asr/v1?api_key=test_key"
-
-
-def test_initialization_with_api_version_v2():
-    """Test initialization with API version v2."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(api_version="v2", api_key="test_key")
-        GoogleASRInput(config=config)
-
-        call_kwargs = mock_asr.call_args[1]
-        assert call_kwargs["ws_url"] == "wss://api.openmind.com/api/core/google/asr/v2?api_key=test_key"
-
-
-def test_initialization_with_invalid_api_version_defaults_to_v2():
-    """Test initialization with invalid API version defaults to v2."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(api_version="v3", api_key="test_key")
-        GoogleASRInput(config=config)
-
-        call_kwargs = mock_asr.call_args[1]
-        assert call_kwargs["ws_url"] == "wss://api.openmind.com/api/core/google/asr/v2?api_key=test_key"
-
-
-def test_initialization_with_alternative_languages_v1():
-    """Test initialization with alternative languages using API v1."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(
-            api_version="v1",
-            language="english",
-            alternative_languages=["chinese", "spanish"],
-        )
-        GoogleASRInput(config=config)
-
-        call_kwargs = mock_asr.call_args[1]
-        assert call_kwargs["language_code"] == "en-US"
-        assert "cmn-Hans-CN" in call_kwargs["alternative_language_codes"]
-        assert "es-ES" in call_kwargs["alternative_language_codes"]
-
-
-def test_initialization_with_alternative_languages_v2_ignored():
-    """Test initialization with alternative languages using API v2 (should be ignored)."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(
-            api_version="v2",
-            language="english",
-            alternative_languages=["chinese", "spanish"],
-        )
-        GoogleASRInput(config=config)
-
-        call_kwargs = mock_asr.call_args[1]
-        assert call_kwargs["language_code"] == "en-US"
-        assert call_kwargs["alternative_language_codes"] == []
-
-
-def test_initialization_default_api_version_is_v2():
-    """Test that default API version is v2."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-    ):
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = GoogleASRSensorConfig(api_key="test_key")
-        GoogleASRInput(config=config)
-
-        call_kwargs = mock_asr.call_args[1]
-        assert call_kwargs["ws_url"] == "wss://api.openmind.com/api/core/google/asr/v2?api_key=test_key"
-
-
-def test_handle_asr_message_speech_start_sets_timer():
-    """speech_start event sets _speech_start_time."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.time.time", return_value=100.0),
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        assert sensor._speech_start_time is None
-
-        sensor._handle_asr_message(json.dumps({"type": "speech_start"}))
-
-        assert sensor._speech_start_time == 100.0
-
-
-def test_handle_asr_message_speech_end_records_duration_metrics():
-    """speech_end event records speech duration histogram and gauge."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_speech_duration") as mock_hist,
-        patch("inputs.plugins.google_asr.om1_asr_speech_duration_last") as mock_gauge,
-        patch("inputs.plugins.google_asr.time.time", return_value=105.0),
-    ):
-        config = GoogleASRSensorConfig(language="english", api_version="v2")
-        sensor = GoogleASRInput(config=config)
-        sensor._speech_start_time = 100.0
-
-        sensor._handle_asr_message(json.dumps({"type": "speech_end"}))
-
-        mock_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(5.0)
-        mock_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(5.0)
-
-
-def test_handle_asr_message_speech_end_no_op_without_start_time():
-    """speech_end event is ignored when _speech_start_time is None."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_speech_duration") as mock_hist,
-        patch("inputs.plugins.google_asr.om1_asr_speech_duration_last") as mock_gauge,
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        # _speech_start_time defaults to None
-
-        sensor._handle_asr_message(json.dumps({"type": "speech_end"}))
-
-        mock_hist.labels().observe.assert_not_called()
-        mock_gauge.labels().set.assert_not_called()
-
-
-def test_handle_asr_message_end_of_utterance_records_latency_metrics():
-    """end_of_utterance event records utterance latency histogram and gauge."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_utterance_end_latency") as mock_hist,
-        patch("inputs.plugins.google_asr.om1_asr_utterance_end_latency_last") as mock_gauge,
-        patch("inputs.plugins.google_asr.time.time", return_value=103.5),
-    ):
-        config = GoogleASRSensorConfig(language="english", api_version="v2")
-        sensor = GoogleASRInput(config=config)
-        sensor._speech_start_time = 100.0
-
-        sensor._handle_asr_message(json.dumps({"type": "end_of_utterance"}))
-
-        mock_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(3.5)
-        mock_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(3.5)
-
-
-def test_handle_asr_message_end_of_utterance_no_op_without_start_time():
-    """end_of_utterance event is ignored when _speech_start_time is None."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_utterance_end_latency") as mock_hist,
-        patch("inputs.plugins.google_asr.om1_asr_utterance_end_latency_last") as mock_gauge,
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-
-        sensor._handle_asr_message(json.dumps({"type": "end_of_utterance"}))
-
-        mock_hist.labels().observe.assert_not_called()
-        mock_gauge.labels().set.assert_not_called()
-
-
-def test_handle_asr_message_asr_reply_records_latency_and_resets_timer():
-    """asr_reply with speech_start set records ASR latency and resets _speech_start_time."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_latency") as mock_hist,
-        patch("inputs.plugins.google_asr.om1_asr_latency_last") as mock_gauge,
-        patch("inputs.plugins.google_asr.time.time", return_value=102.0),
-    ):
-        config = GoogleASRSensorConfig(language="english", api_version="v2")
-        sensor = GoogleASRInput(config=config)
-        sensor._speech_start_time = 100.0
-
-        sensor._handle_asr_message(json.dumps({"asr_reply": "hello world"}))
-
-        mock_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(2.0)
-        mock_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(2.0)
-        assert sensor._speech_start_time is None
-
-
-def test_handle_asr_message_asr_reply_no_latency_without_start_time():
-    """asr_reply without prior speech_start does not record latency metrics."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_latency") as mock_hist,
-        patch("inputs.plugins.google_asr.om1_asr_latency_last") as mock_gauge,
-    ):
-        config = GoogleASRSensorConfig()
-        sensor = GoogleASRInput(config=config)
-        # _speech_start_time is None
-
-        sensor._handle_asr_message(json.dumps({"asr_reply": "hello world"}))
-
-        mock_hist.labels().observe.assert_not_called()
-        mock_gauge.labels().set.assert_not_called()
-
-
-def test_handle_asr_message_full_sequence_records_all_metrics():
-    """Full speech_start -> speech_end -> asr_reply sequence records all three metric pairs."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_speech_duration") as mock_dur_hist,
-        patch("inputs.plugins.google_asr.om1_asr_speech_duration_last") as mock_dur_gauge,
-        patch("inputs.plugins.google_asr.om1_asr_latency") as mock_lat_hist,
-        patch("inputs.plugins.google_asr.om1_asr_latency_last") as mock_lat_gauge,
-    ):
-        config = GoogleASRSensorConfig(language="english", api_version="v2")
-        sensor = GoogleASRInput(config=config)
-        sensor._speech_start_time = None
-
-        # speech_start — time() == 100.0
-        with patch("inputs.plugins.google_asr.time.time", return_value=100.0):
-            sensor._handle_asr_message(json.dumps({"type": "speech_start"}))
-        assert sensor._speech_start_time == 100.0
-
-        # speech_end — time() == 104.0  =>  duration = 4.0
-        with patch("inputs.plugins.google_asr.time.time", return_value=104.0):
-            sensor._handle_asr_message(json.dumps({"type": "speech_end"}))
-        mock_dur_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(4.0)
-        mock_dur_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(4.0)
-
-        # asr_reply — time() == 106.0  =>  latency = 6.0
-        with patch("inputs.plugins.google_asr.time.time", return_value=106.0):
-            sensor._handle_asr_message(json.dumps({"asr_reply": "hello world"}))
-        mock_lat_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(6.0)
-        mock_lat_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(6.0)
-        assert sensor._speech_start_time is None
-
-
-def test_handle_asr_message_end_of_utterance_and_asr_reply_sequence():
-    """speech_start -> end_of_utterance -> asr_reply sequence records utterance and ASR latency."""
-    with (
-        patch("inputs.plugins.google_asr.IOProvider"),
-        patch("inputs.plugins.google_asr.ASRProvider"),
-        patch("inputs.plugins.google_asr.SleepTickerProvider"),
-        patch("inputs.plugins.google_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.google_asr.open_zenoh_session"),
-        patch("inputs.plugins.google_asr.om1_asr_utterance_end_latency") as mock_utt_hist,
-        patch("inputs.plugins.google_asr.om1_asr_utterance_end_latency_last") as mock_utt_gauge,
-        patch("inputs.plugins.google_asr.om1_asr_latency") as mock_lat_hist,
-        patch("inputs.plugins.google_asr.om1_asr_latency_last") as mock_lat_gauge,
-    ):
-        config = GoogleASRSensorConfig(language="english", api_version="v2")
-        sensor = GoogleASRInput(config=config)
-        sensor._speech_start_time = None
-
-        with patch("inputs.plugins.google_asr.time.time", return_value=100.0):
-            sensor._handle_asr_message(json.dumps({"type": "speech_start"}))
-        with patch("inputs.plugins.google_asr.time.time", return_value=101.5):
-            sensor._handle_asr_message(json.dumps({"type": "end_of_utterance"}))
-        with patch("inputs.plugins.google_asr.time.time", return_value=103.0):
-            sensor._handle_asr_message(json.dumps({"asr_reply": "hello world"}))
-
-        mock_utt_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(1.5)
-        mock_utt_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(1.5)
-        mock_lat_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(3.0)
-        mock_lat_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(3.0)
diff --git a/tests/inputs/plugins/test_google_asr_multilingual.py b/tests/inputs/plugins/test_google_asr_multilingual.py
deleted file mode 100644
index bc306a5a68..0000000000
--- a/tests/inputs/plugins/test_google_asr_multilingual.py
+++ /dev/null
@@ -1,240 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from inputs.plugins.google_asr import (
-    LANGUAGE_CODE_MAP,
-    GoogleASRInput,
-    GoogleASRSensorConfig,
-)
-
-
-@pytest.fixture
-def mock_asr_provider():
-    with patch("inputs.plugins.google_asr.ASRProvider") as mock:
-        mock_instance = Mock()
-        mock.return_value = mock_instance
-        yield mock
-
-
-@pytest.fixture
-def mock_sleep_ticker():
-    with patch("inputs.plugins.google_asr.SleepTickerProvider") as mock:
-        yield mock
-
-
-@pytest.fixture
-def mock_conversation():
-    with patch("inputs.plugins.google_asr.TeleopsConversationProvider") as mock:
-        yield mock
-
-
-def test_language_code_map_contains_required_languages():
-    """Test that language code map has all required languages."""
-    required_languages = [
-        "english",
-        "chinese",
-        "german",
-        "french",
-        "japanese",
-        "korean",
-    ]
-    for lang in required_languages:
-        assert lang in LANGUAGE_CODE_MAP
-
-
-def test_korean_language_code():
-    """Test that Korean language has correct code."""
-    assert LANGUAGE_CODE_MAP["korean"] == "ko-KR"
-
-
-def test_spanish_language_code():
-    """Test that Spanish language has correct code."""
-    assert LANGUAGE_CODE_MAP["spanish"] == "es-ES"
-
-
-def test_italian_language_code():
-    """Test that Italian language has correct code."""
-    assert LANGUAGE_CODE_MAP["italian"] == "it-IT"
-
-
-def test_portuguese_language_code():
-    """Test that Portuguese language has correct code."""
-    assert LANGUAGE_CODE_MAP["portuguese"] == "pt-BR"
-
-
-def test_russian_language_code():
-    """Test that Russian language has correct code."""
-    assert LANGUAGE_CODE_MAP["russian"] == "ru-RU"
-
-
-def test_arabic_language_code():
-    """Test that Arabic language has correct code."""
-    assert LANGUAGE_CODE_MAP["arabic"] == "ar-SA"
-
-
-def test_init_with_korean_language(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test ASR initialization with Korean language."""
-    config = GoogleASRSensorConfig(api_key="test_key", language="korean")
-    _ = GoogleASRInput(config=config)
-
-    # Verify ASR provider was called with Korean language code
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["language_code"] == "ko-KR"
-
-
-def test_init_with_spanish_language(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test ASR initialization with Spanish language."""
-    config = GoogleASRSensorConfig(api_key="test_key", language="spanish")
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["language_code"] == "es-ES"
-
-
-def test_init_with_japanese_language(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test ASR initialization with Japanese language."""
-    config = GoogleASRSensorConfig(api_key="test_key", language="japanese")
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["language_code"] == "ja-JP"
-
-
-def test_init_with_case_insensitive_language(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that language names are case-insensitive."""
-    config = GoogleASRSensorConfig(api_key="test_key", language="KOREAN")
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["language_code"] == "ko-KR"
-
-
-def test_init_with_whitespace_in_language(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that language names handle whitespace."""
-    config = GoogleASRSensorConfig(api_key="test_key", language="  korean  ")
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["language_code"] == "ko-KR"
-
-
-def test_init_with_unsupported_language_defaults_to_english(
-    mock_asr_provider, mock_sleep_ticker, mock_conversation, caplog
-):
-    """Test that unsupported language defaults to English with warning."""
-    config = GoogleASRSensorConfig(api_key="test_key", language="klingon")
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["language_code"] == "en-US"
-    assert "not supported" in caplog.text
-
-
-def test_init_without_language_defaults_to_english(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that missing language config defaults to English."""
-    config = GoogleASRSensorConfig(api_key="test_key")
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["language_code"] == "en-US"
-
-
-def test_all_language_codes_are_valid_format():
-    """Test that all language codes follow proper format."""
-    for lang_code in LANGUAGE_CODE_MAP.values():
-        # Google language codes are typically xx-XX or xxx-Xxxx-XX format
-        assert "-" in lang_code or len(lang_code) >= 2
-
-
-def test_language_map_has_no_duplicates():
-    """Test that no two languages map to the same code."""
-    codes = list(LANGUAGE_CODE_MAP.values())
-    assert len(codes) == len(set(codes))
-
-
-def test_alternative_languages_none_passes_empty_list(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that None alternative_languages passes empty list to ASRProvider."""
-    config = GoogleASRSensorConfig(api_key="test_key", alternative_languages=None)
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["alternative_language_codes"] == []
-
-
-def test_alternative_languages_empty_passes_empty_list(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that empty alternative_languages passes empty list to ASRProvider."""
-    config = GoogleASRSensorConfig(api_key="test_key", alternative_languages=[])
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["alternative_language_codes"] == []
-
-
-def test_alternative_languages_valid_list(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that valid alternative languages are mapped to correct codes."""
-    config = GoogleASRSensorConfig(
-        api_key="test_key",
-        api_version="v1",
-        language="english",
-        alternative_languages=["chinese", "japanese"],
-    )
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["alternative_language_codes"] == ["cmn-Hans-CN", "ja-JP"]
-
-
-def test_alternative_languages_unsupported_skipped(mock_asr_provider, mock_sleep_ticker, mock_conversation, caplog):
-    """Test that unsupported alternative languages are skipped with a warning."""
-    config = GoogleASRSensorConfig(
-        api_key="test_key",
-        api_version="v1",
-        alternative_languages=["klingon", "chinese"],
-    )
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["alternative_language_codes"] == ["cmn-Hans-CN"]
-    assert "klingon" in caplog.text
-
-
-def test_alternative_languages_all_unsupported(mock_asr_provider, mock_sleep_ticker, mock_conversation, caplog):
-    """Test that all unsupported alternative languages results in empty list."""
-    config = GoogleASRSensorConfig(
-        api_key="test_key",
-        api_version="v1",
-        alternative_languages=["klingon", "elvish"],
-    )
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["alternative_language_codes"] == []
-    assert "klingon" in caplog.text
-    assert "elvish" in caplog.text
-
-
-def test_alternative_languages_case_insensitive(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that alternative language names are case-insensitive."""
-    config = GoogleASRSensorConfig(
-        api_key="test_key",
-        api_version="v1",
-        alternative_languages=["FRENCH", "German"],
-    )
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["alternative_language_codes"] == ["fr-FR", "de-DE"]
-
-
-def test_alternative_languages_with_whitespace(mock_asr_provider, mock_sleep_ticker, mock_conversation):
-    """Test that alternative language names handle leading/trailing whitespace."""
-    config = GoogleASRSensorConfig(
-        api_key="test_key",
-        api_version="v1",
-        alternative_languages=["  korean  ", " spanish"],
-    )
-    _ = GoogleASRInput(config=config)
-
-    call_args = mock_asr_provider.call_args
-    assert call_args[1]["alternative_language_codes"] == ["ko-KR", "es-ES"]
diff --git a/tests/inputs/plugins/test_google_asr_rtsp.py b/tests/inputs/plugins/test_google_asr_rtsp.py
deleted file mode 100644
index d7c2ea2986..0000000000
--- a/tests/inputs/plugins/test_google_asr_rtsp.py
+++ /dev/null
@@ -1,1918 +0,0 @@
-import time
-from unittest.mock import Mock, patch
-
-import pytest
-
-from inputs.plugins.google_asr_rtsp import GoogleASRRTSPInput, GoogleASRRTSPSensorConfig
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.google_asr_rtsp.IOProvider") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def mock_asr_provider():
-    mock_constructor = Mock()
-    mock_instance = Mock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_sleep_ticker_provider():
-    mock_constructor = Mock()
-    mock_instance = Mock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_teleops_conversation_provider():
-    mock_constructor = Mock()
-    mock_instance = Mock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_zenoh():
-    with (
-        patch("inputs.plugins.google_asr_rtsp.open_zenoh_session") as mock_open_session,
-        patch("inputs.plugins.google_asr_rtsp.ASRText") as mock_asr_text,
-        patch("inputs.plugins.google_asr_rtsp.prepare_header") as mock_prepare_header,
-    ):
-        mock_session_instance = Mock()
-        mock_publisher_instance = Mock()
-        mock_open_session.return_value = mock_session_instance
-        mock_session_instance.declare_publisher.return_value = mock_publisher_instance
-
-        yield {
-            "open_session": mock_open_session,
-            "session": mock_session_instance,
-            "publisher": mock_publisher_instance,
-            "asr_text_cls": mock_asr_text,
-            "prepare_header": mock_prepare_header,
-        }
-
-
-def test_initialization_creates_providers_and_buffers(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    mock_sleep_ticker_constructor, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    mock_teleops_conv_constructor, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    api_key = config.api_key
-    rtsp_url = config.rtsp_url
-    rate = config.rate
-    chunk = config.chunk
-    enable_tts_interrupt = config.enable_tts_interrupt
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            new=mock_sleep_ticker_constructor,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            new=mock_teleops_conv_constructor,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once_with(
-        rtsp_url=rtsp_url,
-        rate=rate,
-        chunk=chunk,
-        ws_url=f"wss://api.openmind.com/api/core/google/asr/v2?api_key={api_key}",
-        language_code="en-US",
-        alternative_language_codes=[],
-        enable_tts_interrupt=enable_tts_interrupt,
-    )
-    mock_asr_instance.start.assert_called_once()
-    mock_asr_instance.register_message_callback.assert_called_once()
-
-    mock_sleep_ticker_constructor.assert_called_once()
-    mock_teleops_conv_constructor.assert_called_once_with(api_key=api_key)
-
-    mock_zenoh["open_session"].assert_called_once()
-    mock_zenoh["session"].declare_publisher.assert_called_once_with("om/asr/text")
-
-    assert instance.io_provider is not None
-    assert mock_io_provider is not None
-    assert isinstance(instance.messages, list)
-    assert hasattr(instance, "message_buffer")
-    assert instance.descriptor_for_LLM == "Voice"
-    assert instance.session is mock_zenoh["session"]
-    assert instance.asr_publisher is mock_zenoh["publisher"]
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_message_from_buffer(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    test_message = "Hello world"
-    instance.message_buffer.put_nowait(test_message)
-
-    result = await instance._poll()
-
-    assert result == test_message
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_if_buffer_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    result = await instance._poll()
-
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_has_delay(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    with patch("inputs.plugins.google_asr_rtsp.asyncio.sleep") as mock_sleep:
-        await instance._poll()
-        mock_sleep.assert_called_once_with(0.01)
-
-
-def test_handle_asr_message_processes_valid_json_with_asr_reply_longer_than_one_word(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    raw_message = '{"asr_reply": "Hello world how are you"}'
-    initial_size = instance.message_buffer.qsize()
-
-    instance._handle_asr_message(raw_message)
-
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size + 1
-    assert instance.message_buffer.get_nowait() == "Hello world how are you"
-
-
-def test_handle_asr_message_ignores_json_without_asr_reply(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    raw_message = '{"other_key": "other_value"}'
-    initial_size = instance.message_buffer.qsize()
-
-    instance._handle_asr_message(raw_message)
-
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size
-
-
-def test_handle_asr_message_ignores_json_with_asr_reply_shorter_than_two_words(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    raw_message = '{"asr_reply": "Hi"}'
-    initial_size = instance.message_buffer.qsize()
-
-    instance._handle_asr_message(raw_message)
-
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size
-
-
-def test_handle_asr_message_cjk_chinese_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Test that Chinese text longer than 2 characters is accepted."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.google_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch("inputs.plugins.google_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance),
-        patch("inputs.plugins.google_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance._handle_asr_message('{"asr_reply": "你好吗"}')
-
-    assert instance.message_buffer.qsize() == 1
-    assert instance.message_buffer.get_nowait() == "你好吗"
-
-
-def test_handle_asr_message_cjk_chinese_too_short_rejected(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Test that Chinese text with 2 or fewer characters is rejected."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.google_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch("inputs.plugins.google_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance),
-        patch("inputs.plugins.google_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance._handle_asr_message('{"asr_reply": "你好"}')
-
-    assert instance.message_buffer.qsize() == 0
-
-
-def test_handle_asr_message_cjk_japanese_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Test that Japanese hiragana text longer than 2 characters is accepted."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.google_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch("inputs.plugins.google_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance),
-        patch("inputs.plugins.google_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance._handle_asr_message('{"asr_reply": "こんにちは"}')
-
-    assert instance.message_buffer.qsize() == 1
-    assert instance.message_buffer.get_nowait() == "こんにちは"
-
-
-def test_handle_asr_message_cjk_korean_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Test that Korean hangul text longer than 2 characters is accepted."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.google_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch("inputs.plugins.google_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance),
-        patch("inputs.plugins.google_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance._handle_asr_message('{"asr_reply": "안녕하세요"}')
-
-    assert instance.message_buffer.qsize() == 1
-    assert instance.message_buffer.get_nowait() == "안녕하세요"
-
-
-def test_handle_asr_message_cjk_single_char_rejected(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Test that a single CJK character is rejected."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.google_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch("inputs.plugins.google_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance),
-        patch("inputs.plugins.google_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance._handle_asr_message('{"asr_reply": "你"}')
-
-    assert instance.message_buffer.qsize() == 0
-
-
-def test_handle_asr_message_cjk_mixed_with_latin_accepted(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Test that mixed CJK and Latin text longer than 2 chars is accepted via CJK path."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", return_value=mock_asr_instance),
-        patch("inputs.plugins.google_asr_rtsp.SleepTickerProvider", return_value=mock_sleep_ticker_instance),
-        patch("inputs.plugins.google_asr_rtsp.TeleopsConversationProvider", return_value=mock_teleops_conv_instance),
-        patch("inputs.plugins.google_asr_rtsp.open_zenoh_session", mock_zenoh["open_session"]),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance._handle_asr_message('{"asr_reply": "hello你好"}')
-
-    assert instance.message_buffer.qsize() == 1
-    assert instance.message_buffer.get_nowait() == "hello你好"
-
-
-def test_handle_asr_message_ignores_invalid_json(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    raw_message = "invalid json!"
-    initial_size = instance.message_buffer.qsize()
-
-    instance._handle_asr_message(raw_message)
-
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_converts_string_to_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    test_data_str = "This is a test transcription."
-    timestamp_before = time.time()
-
-    result = await instance._raw_to_text(test_data_str)
-
-    timestamp_after = time.time()
-    assert result is not None
-    assert result.message == test_data_str
-    assert timestamp_before <= result.timestamp <= timestamp_after
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_returns_none_if_input_none(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    result = await instance._raw_to_text(None)
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_adds_message_to_buffer(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    test_data_str = "First part of the message."
-    initial_len = len(instance.messages)
-
-    with patch("time.time", return_value=1234.0):
-        await instance.raw_to_text(test_data_str)
-
-    assert len(instance.messages) == initial_len + 1
-    assert instance.messages[-1] == test_data_str
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_existing_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance.messages = ["Previous message"]
-
-    test_data_str = "New part."
-    await instance.raw_to_text(test_data_str)
-
-    assert len(instance.messages) == 1
-    assert instance.messages[-1] == "Previous message New part."
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_sets_skip_sleep_if_none_input_and_messages_exist(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance.messages = ["Existing message"]
-    mock_sleep_ticker_instance.skip_sleep = False
-
-    await instance.raw_to_text(None)
-
-    assert mock_sleep_ticker_instance.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_does_not_set_skip_sleep_if_none_input_and_messages_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance.messages = []
-    mock_sleep_ticker_instance.skip_sleep = False
-
-    await instance.raw_to_text(None)
-
-    assert mock_sleep_ticker_instance.skip_sleep is False
-
-
-def test_formatted_latest_buffer_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    result = instance.formatted_latest_buffer()
-    assert result is None
-
-
-def test_formatted_latest_buffer_formats_and_clears_latest_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    fixed_timestamp = 1234.0
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    msg_content = "Final transcribed message."
-    instance.messages = [msg_content]
-
-    with patch("time.time", return_value=fixed_timestamp):
-        result = instance.formatted_latest_buffer()
-
-    assert result is not None
-    assert "Voice" in result
-    assert msg_content in result
-    assert len(instance.messages) == 0
-    mock_io_provider.add_input.assert_called_once_with("Voice", msg_content, fixed_timestamp)
-    mock_io_provider.add_mode_transition_input.assert_called_once_with(msg_content)
-    mock_teleops_conv_instance.store_user_message.assert_called_once_with(msg_content)
-    if instance.asr_publisher:
-        mock_zenoh["asr_text_cls"].assert_called_once()
-        mock_zenoh["publisher"].put.assert_called_once()
-
-
-def test_stop_clears_buffers_and_stops_asr(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance.messages = ["test message"]
-    instance.message_buffer.put_nowait("buffered message")
-
-    instance.stop()
-
-    assert instance._stopped is True
-    assert len(instance.messages) == 0
-    assert instance.message_buffer.empty()
-    mock_asr_instance.unregister_message_callback.assert_called_once()
-    mock_zenoh["publisher"].undeclare.assert_called_once()
-    mock_zenoh["session"].close.assert_called_once()
-
-
-def test_stop_handles_exceptions_gracefully(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    mock_asr_instance.unregister_message_callback.side_effect = Exception("Unregister failed")
-    mock_asr_instance.stop.side_effect = Exception("Stop failed")
-    mock_zenoh["publisher"].undeclare.side_effect = Exception("Undeclare failed")
-
-    instance.stop()
-
-    assert instance._stopped is True
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_when_stopped(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    instance._stopped = True
-    instance.message_buffer.put_nowait("test message")
-
-    result = await instance._poll()
-
-    assert result is None
-
-
-def test_initialization_with_unsupported_language(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(language="unsupported_language")
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-    assert call_kwargs["language_code"] == "en-US"
-
-
-def test_initialization_with_supported_language_chinese(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(language="chinese")
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-    assert call_kwargs["language_code"] == "cmn-Hans-CN"
-
-
-def test_initialization_with_custom_base_url(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    custom_base_url = "wss://custom.domain.com/asr"
-    config = GoogleASRRTSPSensorConfig(base_url=custom_base_url)
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-    assert call_kwargs["ws_url"] == custom_base_url
-
-
-def test_initialization_with_zenoh_failure(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            side_effect=Exception("Zenoh connection failed"),
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    assert instance.session is None
-    assert instance.asr_publisher is None
-
-
-def test_formatted_latest_buffer_handles_zenoh_publish_exception(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    msg_content = "Test message"
-    instance.messages = [msg_content]
-    mock_zenoh["publisher"].put.side_effect = Exception("Zenoh publish failed")
-
-    with patch("time.time", return_value=1234.0):
-        result = instance.formatted_latest_buffer()
-
-    assert result is not None
-    assert msg_content in result
-    assert len(instance.messages) == 0
-
-
-def test_formatted_latest_buffer_without_zenoh_publisher(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            side_effect=Exception("Zenoh failed"),
-        ),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-    msg_content = "Test message without zenoh"
-    instance.messages = [msg_content]
-
-    with patch("time.time", return_value=1234.0):
-        result = instance.formatted_latest_buffer()
-
-    assert result is not None
-    assert msg_content in result
-    assert len(instance.messages) == 0
-    mock_io_provider.add_input.assert_called_once_with("Voice", msg_content, 1234.0)
-
-
-def test_initialization_with_enable_tts_interrupt_true(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(enable_tts_interrupt=True)
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-    assert call_kwargs["enable_tts_interrupt"] is True
-
-
-def test_initialization_with_api_version_v1(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(api_version="v1", api_key="test_key")
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-    assert call_kwargs["ws_url"] == "wss://api.openmind.com/api/core/google/asr/v1?api_key=test_key"
-
-
-def test_initialization_with_api_version_v2(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(api_version="v2", api_key="test_key")
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-    assert call_kwargs["ws_url"] == "wss://api.openmind.com/api/core/google/asr/v2?api_key=test_key"
-
-
-def test_initialization_with_invalid_api_version_defaults_to_v2(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(api_version="v3", api_key="test_key")
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-    assert call_kwargs["ws_url"] == "wss://api.openmind.com/api/core/google/asr/v2?api_key=test_key"
-
-
-def test_initialization_with_alternative_languages_v1(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(
-        api_version="v1",
-        language="english",
-        alternative_languages=["chinese", "spanish"],
-    )
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-
-    assert call_kwargs["language_code"] == "en-US"
-    assert "cmn-Hans-CN" in call_kwargs["alternative_language_codes"]
-    assert "es-ES" in call_kwargs["alternative_language_codes"]
-
-
-def test_initialization_with_alternative_languages_v2_ignored(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, _ = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(
-        api_version="v2",
-        language="english",
-        alternative_languages=["chinese", "spanish"],
-    )
-
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.google_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        GoogleASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once()
-    call_kwargs = mock_asr_constructor.call_args[1]
-
-    assert call_kwargs["language_code"] == "en-US"
-    assert call_kwargs["alternative_language_codes"] == []
-
-
-def test_handle_asr_message_speech_start_sets_timer(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """speech_start event sets _speech_start_time."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.time.time", return_value=100.0),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-        assert instance._speech_start_time is None
-
-        instance._handle_asr_message('{"type": "speech_start"}')
-
-        assert instance._speech_start_time == 100.0
-
-
-def test_handle_asr_message_speech_end_records_duration_metrics(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """speech_end event records speech duration histogram and gauge."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(language="english", api_version="v2")
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_speech_duration") as mock_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_speech_duration_last") as mock_gauge,
-        patch("inputs.plugins.google_asr_rtsp.time.time", return_value=105.0),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-        instance._speech_start_time = 100.0
-
-        instance._handle_asr_message('{"type": "speech_end"}')
-
-        mock_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(5.0)
-        mock_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(5.0)
-
-
-def test_handle_asr_message_speech_end_no_op_without_start_time(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """speech_end event is ignored when _speech_start_time is None."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_speech_duration") as mock_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_speech_duration_last") as mock_gauge,
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-        instance._handle_asr_message('{"type": "speech_end"}')
-
-        mock_hist.labels().observe.assert_not_called()
-        mock_gauge.labels().set.assert_not_called()
-
-
-def test_handle_asr_message_end_of_utterance_records_latency_metrics(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """end_of_utterance event records utterance latency histogram and gauge."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(language="english", api_version="v2")
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_utterance_end_latency") as mock_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_utterance_end_latency_last") as mock_gauge,
-        patch("inputs.plugins.google_asr_rtsp.time.time", return_value=103.5),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-        instance._speech_start_time = 100.0
-
-        instance._handle_asr_message('{"type": "end_of_utterance"}')
-
-        mock_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(3.5)
-        mock_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(3.5)
-
-
-def test_handle_asr_message_end_of_utterance_no_op_without_start_time(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """end_of_utterance event is ignored when _speech_start_time is None."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_utterance_end_latency") as mock_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_utterance_end_latency_last") as mock_gauge,
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-        instance._handle_asr_message('{"type": "end_of_utterance"}')
-
-        mock_hist.labels().observe.assert_not_called()
-        mock_gauge.labels().set.assert_not_called()
-
-
-def test_handle_asr_message_asr_reply_records_latency_and_resets_timer(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """asr_reply with speech_start set records ASR latency and resets _speech_start_time."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(language="english", api_version="v2")
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency") as mock_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency_last") as mock_gauge,
-        patch("inputs.plugins.google_asr_rtsp.time.time", return_value=102.0),
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-        instance._speech_start_time = 100.0
-
-        instance._handle_asr_message('{"asr_reply": "hello world"}')
-
-        mock_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(2.0)
-        mock_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(2.0)
-        assert instance._speech_start_time is None
-
-
-def test_handle_asr_message_asr_reply_no_latency_without_start_time(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """asr_reply without prior speech_start does not record latency metrics."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency") as mock_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency_last") as mock_gauge,
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-
-        instance._handle_asr_message('{"asr_reply": "hello world"}')
-
-        mock_hist.labels().observe.assert_not_called()
-        mock_gauge.labels().set.assert_not_called()
-
-
-def test_handle_asr_message_full_sequence_records_all_metrics(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """Full speech_start -> speech_end -> asr_reply sequence records all three metric pairs."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(language="english", api_version="v2")
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_speech_duration") as mock_dur_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_speech_duration_last") as mock_dur_gauge,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency") as mock_lat_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency_last") as mock_lat_gauge,
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-        instance._speech_start_time = None
-
-        with patch("inputs.plugins.google_asr_rtsp.time.time", return_value=100.0):
-            instance._handle_asr_message('{"type": "speech_start"}')
-        assert instance._speech_start_time == 100.0
-
-        with patch("inputs.plugins.google_asr_rtsp.time.time", return_value=104.0):
-            instance._handle_asr_message('{"type": "speech_end"}')
-        mock_dur_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(4.0)
-        mock_dur_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(4.0)
-
-        with patch("inputs.plugins.google_asr_rtsp.time.time", return_value=106.0):
-            instance._handle_asr_message('{"asr_reply": "hello world"}')
-        mock_lat_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(6.0)
-        mock_lat_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(6.0)
-        assert instance._speech_start_time is None
-
-
-def test_handle_asr_message_end_of_utterance_and_asr_reply_sequence(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    """speech_start -> end_of_utterance -> asr_reply sequence records utterance and ASR latency."""
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = GoogleASRRTSPSensorConfig(language="english", api_version="v2")
-    with (
-        patch("inputs.plugins.google_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.google_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.google_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_utterance_end_latency") as mock_utt_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_utterance_end_latency_last") as mock_utt_gauge,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency") as mock_lat_hist,
-        patch("inputs.plugins.google_asr_rtsp.om1_asr_latency_last") as mock_lat_gauge,
-    ):
-        instance = GoogleASRRTSPInput(config=config)
-        instance._speech_start_time = None
-
-        with patch("inputs.plugins.google_asr_rtsp.time.time", return_value=100.0):
-            instance._handle_asr_message('{"type": "speech_start"}')
-        with patch("inputs.plugins.google_asr_rtsp.time.time", return_value=101.5):
-            instance._handle_asr_message('{"type": "end_of_utterance"}')
-        with patch("inputs.plugins.google_asr_rtsp.time.time", return_value=103.0):
-            instance._handle_asr_message('{"asr_reply": "hello world"}')
-
-        mock_utt_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(1.5)
-        mock_utt_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(1.5)
-        mock_lat_hist.labels(language="english", api_version="v2").observe.assert_called_once_with(3.0)
-        mock_lat_gauge.labels(language="english", api_version="v2").set.assert_called_once_with(3.0)
diff --git a/tests/inputs/plugins/test_gps.py b/tests/inputs/plugins/test_gps.py
deleted file mode 100644
index 0cddb7bb9f..0000000000
--- a/tests/inputs/plugins/test_gps.py
+++ /dev/null
@@ -1,190 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.gps import Gps
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider"),
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        assert sensor.messages == []
-        assert sensor.descriptor_for_LLM == "GPS Location"
-
-
-@pytest.mark.asyncio
-async def test_poll_with_data():
-    """Test _poll when GPS data is available."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider") as mock_provider_class,
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.data = {
-            "gps_lat": 37.7749,
-            "gps_lon": -122.4194,
-            "gps_alt": 16.0,
-            "gps_qua": 1,
-        }
-        mock_provider_class.return_value = mock_provider
-
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        with patch("inputs.plugins.gps.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is not None
-        assert result["gps_lat"] == 37.7749
-        assert result["gps_lon"] == -122.4194
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_data():
-    """Test _poll when no GPS data available."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider") as mock_provider_class,
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.data = None
-        mock_provider_class.return_value = mock_provider
-
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        with patch("inputs.plugins.gps.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_north_east_location():
-    """Test _raw_to_text with valid North/East GPS coordinates."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider"),
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        gps_data = {
-            "gps_lat": 37.7749,
-            "gps_lon": 122.4194,
-            "gps_alt": 16.0,
-            "gps_qua": 1,
-        }
-
-        with patch("inputs.plugins.gps.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(gps_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "North" in result.message
-        assert "East" in result.message
-        assert "37.7749" in result.message
-        assert "122.4194" in result.message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_south_west_location():
-    """Test _raw_to_text with valid South/West GPS coordinates."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider"),
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        gps_data = {
-            "gps_lat": -33.8688,
-            "gps_lon": -151.2093,
-            "gps_alt": 10.0,
-            "gps_qua": 1,
-        }
-
-        with patch("inputs.plugins.gps.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(gps_data)
-
-        assert result is not None
-        assert "South" in result.message
-        assert "West" in result.message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_poor_quality():
-    """Test _raw_to_text with poor GPS quality."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider"),
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        gps_data = {
-            "gps_lat": 37.7749,
-            "gps_lon": 122.4194,
-            "gps_alt": 16.0,
-            "gps_qua": 0,  # Poor quality
-        }
-
-        result = await sensor._raw_to_text(gps_data)
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider"),
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider"),
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Gps(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="GPS: 37.7749 North, 122.4194 East"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "GPS" in result
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.gps.GpsProvider"),
-        patch("inputs.plugins.gps.IOProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Gps(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/plugins/test_lidar_localization_input.py b/tests/inputs/plugins/test_lidar_localization_input.py
deleted file mode 100644
index 53e168db00..0000000000
--- a/tests/inputs/plugins/test_lidar_localization_input.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.lidar_localization_input import LidarLocalizationInput
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with patch("inputs.plugins.lidar_localization_input.IOProvider"):
-        config = SensorConfig()
-        sensor = LidarLocalizationInput(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.lidar_localization_input.IOProvider"),
-        patch("inputs.plugins.lidar_localization_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = SensorConfig()
-        sensor = LidarLocalizationInput(config=config)
-
-        result = await sensor._poll()
-        assert result == "NOT LOCALIZED: Robot position uncertain. DO NOT attempt navigation until localized."
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with patch("inputs.plugins.lidar_localization_input.IOProvider"):
-        config = SensorConfig()
-        sensor = LidarLocalizationInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="LOCALIZED: Robot position is confirmed.")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Robot localization status" in result
-        assert "LOCALIZED: Robot position is confirmed." in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_locations_input.py b/tests/inputs/plugins/test_locations_input.py
deleted file mode 100644
index d8ae5f9830..0000000000
--- a/tests/inputs/plugins/test_locations_input.py
+++ /dev/null
@@ -1,48 +0,0 @@
-from unittest.mock import patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.locations_input import LocationsInput, LocationsSensorConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (patch("inputs.plugins.locations_input.IOProvider"),):
-        config = LocationsSensorConfig()
-        sensor = LocationsInput(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (patch("inputs.plugins.locations_input.IOProvider"),):
-        config = LocationsSensorConfig()
-        sensor = LocationsInput(config=config)
-
-        result = await sensor._poll()
-        assert result == ""
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (patch("inputs.plugins.locations_input.IOProvider"),):
-        config = LocationsSensorConfig()
-        sensor = LocationsInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="Home (x:1.00 y:2.00)\nOffice (x:5.00 y:6.00)")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "These are the saved locations" in result
-        assert "Home (x:1.00 y:2.00)" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_mock_input.py b/tests/inputs/plugins/test_mock_input.py
deleted file mode 100644
index d19230c587..0000000000
--- a/tests/inputs/plugins/test_mock_input.py
+++ /dev/null
@@ -1,137 +0,0 @@
-from queue import Queue
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.mock_input import MockInput, MockSensorConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-    ):
-        config = MockSensorConfig()
-        sensor = MockInput(config=config)
-
-        assert sensor.messages == []
-        assert isinstance(sensor.message_buffer, Queue)
-        assert sensor.host == "localhost"
-        assert sensor.port == 8765
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-    ):
-        config = MockSensorConfig(input_name="Custom Mock", host="0.0.0.0", port=9000)
-        sensor = MockInput(config=config)
-
-        assert sensor.descriptor_for_LLM == "Custom Mock"
-        assert sensor.host == "0.0.0.0"
-        assert sensor.port == 9000
-
-
-@pytest.mark.asyncio
-async def test_poll_with_message_in_buffer():
-    """Test _poll when there's a message in buffer."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-        patch("inputs.plugins.mock_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = MockSensorConfig()
-        sensor = MockInput(config=config)
-        sensor.message_buffer.put("Test message")
-
-        result = await sensor._poll()
-
-        assert result == "Test message"
-
-
-@pytest.mark.asyncio
-async def test_poll_with_empty_buffer():
-    """Test _poll when buffer is empty."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-        patch("inputs.plugins.mock_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = MockSensorConfig()
-        sensor = MockInput(config=config)
-
-        result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_input():
-    """Test _raw_to_text with valid input."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-        patch("inputs.plugins.mock_input.time.time", return_value=1234.0),
-    ):
-        config = MockSensorConfig()
-        sensor = MockInput(config=config)
-
-        result = await sensor._raw_to_text("Test message")
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert result.message == "Test message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-    ):
-        config = MockSensorConfig()
-        sensor = MockInput(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-    ):
-        config = MockSensorConfig()
-        sensor = MockInput(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Message 1"),
-            Message(timestamp=1001.0, message="Message 2"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Message 1" in result or "Message 2" in result
-        sensor.io_provider.add_input.assert_called()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.mock_input.IOProvider"),
-        patch.object(MockInput, "_start_server_thread"),
-    ):
-        config = MockSensorConfig()
-        sensor = MockInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/plugins/test_news.py b/tests/inputs/plugins/test_news.py
deleted file mode 100644
index 1955063a33..0000000000
--- a/tests/inputs/plugins/test_news.py
+++ /dev/null
@@ -1,411 +0,0 @@
-import time
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.news import NewsConfig, NewsInput
-
-
-class TestNewsConfig:
-    """Tests for NewsConfig."""
-
-    def test_default_values(self):
-        """Test config with default values."""
-        config = NewsConfig(api_key="test_api_key")
-        assert config.api_key == "test_api_key"
-        assert config.country == "us"
-        assert config.category == "general"
-        assert config.query == ""
-        assert config.max_headlines == 5
-        assert config.poll_interval == 900.0
-
-    def test_custom_values(self):
-        """Test config with custom values."""
-        config = NewsConfig(
-            api_key="my_key",
-            country="gb",
-            category="technology",
-            query="AI",
-            max_headlines=10,
-            poll_interval=1800.0,
-        )
-        assert config.country == "gb"
-        assert config.category == "technology"
-        assert config.query == "AI"
-        assert config.max_headlines == 10
-        assert config.poll_interval == 1800.0
-
-
-class TestNewsInput:
-    """Tests for NewsInput."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.news.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def news_input(self, mock_io_provider):
-        """Create a NewsInput instance."""
-        config = NewsConfig(
-            api_key="test_api_key",
-            country="us",
-            category="technology",
-        )
-        return NewsInput(config)
-
-    def test_init_with_config(self, mock_io_provider):
-        """Test initialization with config."""
-        config = NewsConfig(api_key="test_key", country="tr", category="sports")
-        news = NewsInput(config)
-        assert news.api_key == "test_key"
-        assert news.country == "tr"
-        assert news.category == "sports"
-        assert news.descriptor_for_LLM == "Current News"
-
-    def test_init_without_api_key_logs_warning(self, mock_io_provider):
-        """Test that missing API key logs a warning."""
-        with patch("inputs.plugins.news.logging.warning") as mock_warning:
-            config = NewsConfig(api_key="")
-            NewsInput(config)
-            mock_warning.assert_called_with("NewsInput: API key not provided")
-
-
-class TestNewsInputFetch:
-    """Tests for news fetching."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.news.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def news_input(self, mock_io_provider):
-        """Create a NewsInput instance."""
-        config = NewsConfig(api_key="test_api_key")
-        return NewsInput(config)
-
-    @pytest.mark.asyncio
-    async def test_fetch_news_success(self, news_input):
-        """Test successful news fetch."""
-        mock_response_data = {
-            "status": "ok",
-            "totalResults": 2,
-            "articles": [
-                {
-                    "source": {"name": "TechCrunch"},
-                    "title": "AI breakthrough announced",
-                    "description": "Major AI development",
-                },
-                {
-                    "source": {"name": "Wired"},
-                    "title": "New tech trends",
-                    "description": "Latest trends in tech",
-                },
-            ],
-        }
-
-        with patch("inputs.plugins.news.aiohttp.ClientSession") as mock_session:
-            mock_response = AsyncMock()
-            mock_response.status = 200
-            mock_response.json = AsyncMock(return_value=mock_response_data)
-
-            mock_get = MagicMock()
-            mock_get.__aenter__ = AsyncMock(return_value=mock_response)
-            mock_get.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session_instance = MagicMock()
-            mock_session_instance.get = MagicMock(return_value=mock_get)
-            mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-            mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session.return_value = mock_session_instance
-
-            result = await news_input._fetch_news()
-
-            assert result is not None
-            assert result["status"] == "ok"
-            assert len(result["articles"]) == 2
-
-    @pytest.mark.asyncio
-    async def test_fetch_news_api_error(self, news_input):
-        """Test handling of API error."""
-        with patch("inputs.plugins.news.aiohttp.ClientSession") as mock_session:
-            mock_response = AsyncMock()
-            mock_response.status = 401
-            mock_response.text = AsyncMock(return_value="Invalid API key")
-
-            mock_get = MagicMock()
-            mock_get.__aenter__ = AsyncMock(return_value=mock_response)
-            mock_get.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session_instance = MagicMock()
-            mock_session_instance.get = MagicMock(return_value=mock_get)
-            mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-            mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session.return_value = mock_session_instance
-
-            with patch("inputs.plugins.news.logging.error") as mock_error:
-                result = await news_input._fetch_news()
-                assert result is None
-                assert any("401" in str(call) for call in mock_error.call_args_list)
-
-    @pytest.mark.asyncio
-    async def test_fetch_news_no_api_key(self, mock_io_provider):
-        """Test that fetch returns None without API key."""
-        config = NewsConfig(api_key="")
-        news = NewsInput(config)
-        result = await news._fetch_news()
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_fetch_news_with_query(self, mock_io_provider):
-        """Test fetch with search query."""
-        config = NewsConfig(api_key="test_key", query="artificial intelligence")
-        news = NewsInput(config)
-
-        mock_response_data = {
-            "status": "ok",
-            "articles": [{"source": {"name": "Test"}, "title": "AI News"}],
-        }
-
-        with patch("inputs.plugins.news.aiohttp.ClientSession") as mock_session:
-            mock_response = AsyncMock()
-            mock_response.status = 200
-            mock_response.json = AsyncMock(return_value=mock_response_data)
-
-            mock_get = MagicMock()
-            mock_get.__aenter__ = AsyncMock(return_value=mock_response)
-            mock_get.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session_instance = MagicMock()
-            mock_session_instance.get = MagicMock(return_value=mock_get)
-            mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-            mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session.return_value = mock_session_instance
-
-            result = await news._fetch_news()
-            assert result is not None
-
-
-class TestNewsInputPoll:
-    """Tests for _poll behavior."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.news.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def news_input(self, mock_io_provider):
-        """Create a NewsInput instance with short poll interval."""
-        config = NewsConfig(api_key="test_api_key", poll_interval=10.0)
-        return NewsInput(config)
-
-    @pytest.mark.asyncio
-    async def test_poll_returns_data_on_first_call(self, news_input):
-        """Test that first poll fetches and returns data."""
-        mock_data = {
-            "status": "ok",
-            "articles": [{"source": {"name": "BBC"}, "title": "News"}],
-        }
-        with patch.object(news_input, "_fetch_news", new_callable=AsyncMock, return_value=mock_data):
-            result = await news_input._poll()
-            assert result is not None
-            assert result["status"] == "ok"
-
-    @pytest.mark.asyncio
-    async def test_poll_returns_none_before_interval(self, news_input):
-        """Test that poll returns None when interval has not elapsed."""
-        mock_data = {
-            "status": "ok",
-            "articles": [{"source": {"name": "BBC"}, "title": "News"}],
-        }
-        with patch.object(news_input, "_fetch_news", new_callable=AsyncMock, return_value=mock_data):
-            await news_input._poll()
-            result = await news_input._poll()
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_poll_fetches_again_after_interval(self, news_input):
-        """Test that poll fetches fresh data after interval elapses."""
-        mock_data = {
-            "status": "ok",
-            "articles": [{"source": {"name": "BBC"}, "title": "Fresh news"}],
-        }
-        with patch.object(news_input, "_fetch_news", new_callable=AsyncMock, return_value=mock_data):
-            await news_input._poll()
-
-            news_input._last_poll_time = time.time() - 20.0
-
-            result = await news_input._poll()
-            assert result is not None
-            assert news_input._fetch_news.await_count == 2
-
-    @pytest.mark.asyncio
-    async def test_poll_does_not_send_duplicate_news(self, news_input):
-        """Test that same news is not sent to LLM repeatedly between intervals."""
-        mock_data = {
-            "status": "ok",
-            "articles": [{"source": {"name": "BBC"}, "title": "Breaking"}],
-        }
-        with patch.object(news_input, "_fetch_news", new_callable=AsyncMock, return_value=mock_data):
-            result1 = await news_input._poll()
-            await news_input.raw_to_text(result1)
-            assert len(news_input.messages) == 1
-
-            result2 = await news_input._poll()
-            await news_input.raw_to_text(result2)
-            assert len(news_input.messages) == 1
-
-
-class TestNewsInputRawToText:
-    """Tests for raw_to_text conversion."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.news.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def news_input(self, mock_io_provider):
-        """Create a NewsInput instance."""
-        config = NewsConfig(api_key="test_api_key")
-        return NewsInput(config)
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_success(self, news_input):
-        """Test successful conversion to text."""
-        raw_data = {
-            "status": "ok",
-            "articles": [
-                {"source": {"name": "BBC"}, "title": "Breaking news story"},
-                {"source": {"name": "CNN"}, "title": "Another headline"},
-            ],
-        }
-
-        result = await news_input._raw_to_text(raw_data)
-
-        assert result is not None
-        assert "Breaking news story" in result.message
-        assert "BBC" in result.message
-        assert "Another headline" in result.message
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_none_input(self, news_input):
-        """Test that None input returns None."""
-        result = await news_input._raw_to_text(None)
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_empty_articles(self, news_input):
-        """Test handling of empty articles list."""
-        raw_data = {"status": "ok", "articles": []}
-
-        result = await news_input._raw_to_text(raw_data)
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_filters_removed_articles(self, news_input):
-        """Test that [Removed] articles are filtered out."""
-        raw_data = {
-            "status": "ok",
-            "articles": [
-                {"source": {"name": "Test"}, "title": "[Removed]"},
-                {"source": {"name": "BBC"}, "title": "Valid headline"},
-            ],
-        }
-
-        result = await news_input._raw_to_text(raw_data)
-
-        assert result is not None
-        assert "[Removed]" not in result.message
-        assert "Valid headline" in result.message
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_respects_max_headlines(self, mock_io_provider):
-        """Test that max_headlines is respected."""
-        config = NewsConfig(api_key="test_key", max_headlines=2)
-        news = NewsInput(config)
-
-        raw_data = {
-            "status": "ok",
-            "articles": [
-                {"source": {"name": "A"}, "title": "First"},
-                {"source": {"name": "B"}, "title": "Second"},
-                {"source": {"name": "C"}, "title": "Third"},
-            ],
-        }
-
-        result = await news._raw_to_text(raw_data)
-
-        assert result is not None
-        assert "First" in result.message
-        assert "Second" in result.message
-        assert "Third" not in result.message
-
-
-class TestNewsInputFormatted:
-    """Tests for formatted_latest_buffer."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.news.IOProvider") as mock:
-            mock_instance = MagicMock()
-            mock.return_value = mock_instance
-            yield mock_instance
-
-    @pytest.fixture
-    def news_input(self, mock_io_provider):
-        """Create a NewsInput instance."""
-        config = NewsConfig(api_key="test_api_key")
-        news = NewsInput(config)
-        news.io_provider = mock_io_provider
-        return news
-
-    def test_formatted_latest_buffer_empty(self, news_input):
-        """Test that empty buffer returns None."""
-        result = news_input.formatted_latest_buffer()
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_formatted_latest_buffer_with_message(self, news_input):
-        """Test formatting with message in buffer."""
-        raw_data = {
-            "status": "ok",
-            "articles": [
-                {"source": {"name": "Reuters"}, "title": "Market update"},
-            ],
-        }
-
-        await news_input.raw_to_text(raw_data)
-        result = news_input.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Current News" in result
-        assert "Market update" in result
-        assert "// START" in result
-        assert "// END" in result
-
-    @pytest.mark.asyncio
-    async def test_formatted_latest_buffer_clears_messages(self, news_input):
-        """Test that buffer is cleared after formatting."""
-        raw_data = {
-            "status": "ok",
-            "articles": [
-                {"source": {"name": "AP"}, "title": "Test headline"},
-            ],
-        }
-
-        await news_input.raw_to_text(raw_data)
-        assert len(news_input.messages) == 1
-
-        news_input.formatted_latest_buffer()
-        assert len(news_input.messages) == 0
diff --git a/tests/inputs/plugins/test_person_following_status.py b/tests/inputs/plugins/test_person_following_status.py
deleted file mode 100644
index daadc8818a..0000000000
--- a/tests/inputs/plugins/test_person_following_status.py
+++ /dev/null
@@ -1,55 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.person_following_status import (
-    PersonFollowingStatus,
-    PersonFollowingStatusConfig,
-)
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with patch("inputs.plugins.person_following_status.IOProvider"):
-        config = PersonFollowingStatusConfig()
-        sensor = PersonFollowingStatus(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with patch("inputs.plugins.person_following_status.IOProvider"):
-        config = PersonFollowingStatusConfig()
-        sensor = PersonFollowingStatus(config=config)
-
-        with patch("inputs.plugins.person_following_status.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-            assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with patch("inputs.plugins.person_following_status.IOProvider"):
-        config = PersonFollowingStatusConfig()
-        sensor = PersonFollowingStatus(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(
-            timestamp=123.456,
-            message="TRACKING STARTED: Person detected and now following. Distance: 2.5m ahead, 0.3m to the side.",
-        )
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Person Following Status" in result
-        assert "TRACKING STARTED" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_riva_asr.py b/tests/inputs/plugins/test_riva_asr.py
deleted file mode 100644
index a8accfd14e..0000000000
--- a/tests/inputs/plugins/test_riva_asr.py
+++ /dev/null
@@ -1,556 +0,0 @@
-import json
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.riva_asr import RivaASRInput, RivaASRSensorConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        assert hasattr(sensor, "messages")
-        assert sensor.descriptor_for_LLM == "Voice"
-        assert sensor._stopped is False
-        mock_asr_instance.start.assert_called_once()
-        mock_asr_instance.register_message_callback.assert_called_once()
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        config = RivaASRSensorConfig(
-            api_key="test_key",
-            rate=16000,
-            chunk=8192,
-            base_url="wss://test.com",
-            microphone_device_id=1,
-            microphone_name="test_mic",
-            remote_input=True,
-            enable_tts_interrupt=True,
-        )
-        sensor = RivaASRInput(config=config)
-
-        assert hasattr(sensor, "messages")
-        mock_asr.assert_called_with(
-            rate=16000,
-            chunk=8192,
-            ws_url="wss://test.com",
-            device_id=1,
-            microphone_name="test_mic",
-            remote_input=True,
-            enable_tts_interrupt=True,
-        )
-
-
-def test_initialization_zenoh_failure():
-    """Test initialization when Zenoh fails to initialize."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-        mock_zenoh.side_effect = Exception("Zenoh connection failed")
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        assert sensor.session is None
-        assert sensor.asr_publisher is None
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        with patch("inputs.plugins.riva_asr.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-            assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_with_message():
-    """Test _poll method when message is available."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        await sensor.message_buffer.put("test message")
-
-        result = await sensor._poll()
-        assert result == "test message"
-
-
-def test_handle_asr_message_valid():
-    """Test _handle_asr_message with valid message."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "hello world test"})
-        sensor._handle_asr_message(raw_message)
-
-        assert not sensor.message_buffer.empty()
-        result = sensor.message_buffer.get_nowait()
-        assert result == "hello world test"
-
-
-def test_handle_asr_message_single_word():
-    """Test _handle_asr_message with single word (should be ignored)."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        raw_message = json.dumps({"asr_reply": "hello"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_stopped():
-    """Test _handle_asr_message when sensor is stopped."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-        sensor._stopped = True
-
-        raw_message = json.dumps({"asr_reply": "hello world test"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_invalid_json():
-    """Test _handle_asr_message with invalid JSON."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor._handle_asr_message("not a valid json")
-
-        assert sensor.message_buffer.empty()
-
-
-def test_handle_asr_message_no_asr_reply():
-    """Test _handle_asr_message with missing asr_reply field."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        raw_message = json.dumps({"other_field": "value"})
-        sensor._handle_asr_message(raw_message)
-
-        assert sensor.message_buffer.empty()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_valid():
-    """Test _raw_to_text with valid input."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-        patch("inputs.plugins.riva_asr.time.time", return_value=123.456),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        result = await sensor._raw_to_text("test message")
-        assert result is not None
-        assert result.message == "test message"
-        assert result.timestamp == 123.456
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_wrapper_none():
-    """Test raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider") as mock_sleep_ticker,
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        mock_sleep_ticker_instance = MagicMock()
-        mock_sleep_ticker.return_value = mock_sleep_ticker_instance
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-        sensor.messages.append("existing message")
-
-        await sensor.raw_to_text(None)
-
-        assert mock_sleep_ticker_instance.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_wrapper_first_message():
-    """Test raw_to_text with first message."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        await sensor.raw_to_text("first message")
-
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0] == "first message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_wrapper_append_message():
-    """Test raw_to_text appending to existing message."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-        sensor.messages.append("first message")
-
-        await sensor.raw_to_text("second message")
-
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0] == "first message second message"
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider") as mock_io,
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider") as mock_conv,
-        patch("inputs.plugins.riva_asr.open_zenoh_session"),
-    ):
-
-        mock_io_instance = MagicMock()
-        mock_io.return_value = mock_io_instance
-        mock_conv_instance = MagicMock()
-        mock_conv.return_value = mock_conv_instance
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="hello world how are you")
-        sensor.messages = []  # type: ignore
-        sensor.messages.append(test_message.message)  # type: ignore
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "Voice" in result
-        assert "hello world how are you" in result
-        assert len(sensor.messages) == 0
-
-        mock_io_instance.add_input.assert_called_once()
-        mock_io_instance.add_mode_transition_input.assert_called_once()
-        mock_conv_instance.store_user_message.assert_called_once()
-
-
-def test_formatted_latest_buffer_with_zenoh():
-    """Test formatted_latest_buffer with Zenoh publishing."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-        patch("inputs.plugins.riva_asr.ASRText") as mock_asr_text,
-        patch("inputs.plugins.riva_asr.prepare_header") as mock_header,
-    ):
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        mock_asr_msg = MagicMock()
-        mock_asr_msg.serialize.return_value = b"serialized"
-        mock_asr_text.return_value = mock_asr_msg
-        mock_header.return_value = {"id": "test"}
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor.messages.append("test message")
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        mock_publisher.put.assert_called_once_with(b"serialized")
-
-
-def test_formatted_latest_buffer_zenoh_failure():
-    """Test formatted_latest_buffer when Zenoh publishing fails."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider"),
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_publisher.put.side_effect = Exception("Zenoh publish failed")
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor.messages.append("test message")
-        result = sensor.formatted_latest_buffer()
-        assert result is not None
-
-
-def test_stop():
-    """Test stop method."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor.message_buffer.put_nowait("message 1")
-        sensor.message_buffer.put_nowait("message 2")
-        sensor.messages.append("message 3")
-
-        sensor.stop()
-
-        assert sensor._stopped is True
-        assert sensor.message_buffer.empty()
-        assert len(sensor.messages) == 0
-        mock_asr_instance.unregister_message_callback.assert_called_once()
-        mock_publisher.undeclare.assert_called_once()
-        mock_session.close.assert_called_once()
-
-
-def test_stop_asr_unregister_failure():
-    """Test stop method when ASR unregister fails."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr_instance.unregister_message_callback.side_effect = Exception("Unregister failed")
-        mock_asr.return_value = mock_asr_instance
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-
-
-def test_stop_asr_stop_failure():
-    """Test stop method when ASR stop fails."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr_instance.stop.side_effect = Exception("Stop failed")
-        mock_asr.return_value = mock_asr_instance
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-
-
-def test_stop_zenoh_undeclare_failure():
-    """Test stop method when Zenoh undeclare fails."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_publisher.undeclare.side_effect = Exception("Undeclare failed")
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
-        mock_session.close.assert_called_once()
-
-
-def test_stop_without_zenoh():
-    """Test stop method when Zenoh was never initialized."""
-    with (
-        patch("inputs.plugins.riva_asr.IOProvider"),
-        patch("inputs.plugins.riva_asr.ASRProvider") as mock_asr,
-        patch("inputs.plugins.riva_asr.SleepTickerProvider"),
-        patch("inputs.plugins.riva_asr.TeleopsConversationProvider"),
-        patch("inputs.plugins.riva_asr.open_zenoh_session") as mock_zenoh,
-    ):
-
-        mock_asr_instance = MagicMock()
-        mock_asr.return_value = mock_asr_instance
-        mock_zenoh.side_effect = Exception("Zenoh init failed")
-
-        config = RivaASRSensorConfig()
-        sensor = RivaASRInput(config=config)
-
-        sensor.stop()
-        assert sensor._stopped is True
diff --git a/tests/inputs/plugins/test_riva_asr_rtsp.py b/tests/inputs/plugins/test_riva_asr_rtsp.py
deleted file mode 100644
index 6546911964..0000000000
--- a/tests/inputs/plugins/test_riva_asr_rtsp.py
+++ /dev/null
@@ -1,938 +0,0 @@
-import time
-from unittest.mock import Mock, patch
-
-import pytest
-
-from inputs.plugins.riva_asr_rtsp import RivaASRRTSPInput, RivaASRRTSPSensorConfig
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.riva_asr_rtsp.IOProvider") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def mock_asr_provider():
-    mock_constructor = Mock()
-    mock_instance = Mock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_sleep_ticker_provider():
-    mock_constructor = Mock()
-    mock_instance = Mock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_teleops_conversation_provider():
-    mock_constructor = Mock()
-    mock_instance = Mock()
-    mock_constructor.return_value = mock_instance
-    return mock_constructor, mock_instance
-
-
-@pytest.fixture
-def mock_zenoh():
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.open_zenoh_session") as mock_open_session,
-        patch("inputs.plugins.riva_asr_rtsp.ASRText") as mock_asr_text,
-        patch("inputs.plugins.riva_asr_rtsp.prepare_header") as mock_prepare_header,
-    ):
-        mock_session_instance = Mock()
-        mock_publisher_instance = Mock()
-        mock_open_session.return_value = mock_session_instance
-        mock_session_instance.declare_publisher.return_value = mock_publisher_instance
-
-        yield {
-            "open_session": mock_open_session,
-            "session": mock_session_instance,
-            "publisher": mock_publisher_instance,
-            "asr_text_cls": mock_asr_text,
-            "prepare_header": mock_prepare_header,
-        }
-
-
-def test_initialization_creates_providers_and_buffers(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    mock_sleep_ticker_constructor, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    mock_teleops_conv_constructor, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    api_key = config.api_key
-    rtsp_url = config.rtsp_url
-    rate = config.rate
-    base_url = config.base_url
-    enable_tts_interrupt = config.enable_tts_interrupt
-
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.riva_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            new=mock_sleep_ticker_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            new=mock_teleops_conv_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    mock_asr_constructor.assert_called_once_with(
-        rtsp_url=rtsp_url,
-        rate=rate,
-        ws_url=base_url,
-        language_code="en-US",
-        enable_tts_interrupt=enable_tts_interrupt,
-    )
-    mock_asr_instance.start.assert_called_once()
-    mock_asr_instance.register_message_callback.assert_called_once()
-    mock_sleep_ticker_constructor.assert_called_once()
-    mock_teleops_conv_constructor.assert_called_once_with(api_key=api_key)
-    mock_zenoh["open_session"].assert_called_once()
-    mock_zenoh["session"].declare_publisher.assert_called_once_with("om/asr/text")
-
-    assert instance.io_provider is not None
-    assert isinstance(instance.messages, list)
-    assert hasattr(instance, "message_buffer")
-    assert instance.descriptor_for_LLM == "Voice"
-    assert instance.session is mock_zenoh["session"]
-    assert instance.asr_publisher is mock_zenoh["publisher"]
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_message_from_buffer(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    test_message = "Hello world"
-    instance.message_buffer.put_nowait(test_message)
-    result = await instance._poll()
-    assert result == test_message
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_if_buffer_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    result = await instance._poll()
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_has_delay(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    with patch("inputs.plugins.riva_asr_rtsp.asyncio.sleep") as mock_sleep:
-        await instance._poll()
-        mock_sleep.assert_called_once_with(0.01)
-
-
-def test_handle_asr_message_processes_valid_json_with_asr_reply_longer_than_one_word(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    raw_message = '{"asr_reply": "Hello world how are you"}'
-    initial_size = instance.message_buffer.qsize()
-    instance._handle_asr_message(raw_message)
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size + 1
-    assert instance.message_buffer.get_nowait() == "Hello world how are you"
-
-
-def test_handle_asr_message_ignores_json_without_asr_reply(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    raw_message = '{"other_key": "other_value"}'
-    initial_size = instance.message_buffer.qsize()
-    instance._handle_asr_message(raw_message)
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size
-
-
-def test_handle_asr_message_ignores_json_with_asr_reply_shorter_than_two_words(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    raw_message = '{"asr_reply": "Hi"}'
-    initial_size = instance.message_buffer.qsize()
-    instance._handle_asr_message(raw_message)
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size
-
-
-def test_handle_asr_message_ignores_invalid_json(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    raw_message = "invalid json!"
-    initial_size = instance.message_buffer.qsize()
-    instance._handle_asr_message(raw_message)
-    final_size = instance.message_buffer.qsize()
-    assert final_size == initial_size
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_converts_string_to_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    test_data_str = "This is a test transcription."
-    timestamp_before = time.time()
-    result = await instance._raw_to_text(test_data_str)
-    timestamp_after = time.time()
-    assert result is not None
-    assert result.message == test_data_str
-    assert timestamp_before <= result.timestamp <= timestamp_after
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_returns_none_if_input_none(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    result = await instance._raw_to_text(None)
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_adds_message_to_buffer(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    test_data_str = "First part of the message."
-    initial_len = len(instance.messages)
-    with patch("time.time", return_value=1234.0):
-        await instance.raw_to_text(test_data_str)
-    assert len(instance.messages) == initial_len + 1
-    assert instance.messages[-1] == test_data_str
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_existing_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    instance.messages = ["Previous message"]
-    test_data_str = "New part."
-    await instance.raw_to_text(test_data_str)
-    assert len(instance.messages) == 1
-    assert instance.messages[-1] == "Previous message New part."
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_sets_skip_sleep_if_none_input_and_messages_exist(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    instance.messages = ["Existing message"]
-    mock_sleep_ticker_instance.skip_sleep = False
-    await instance.raw_to_text(None)
-    assert mock_sleep_ticker_instance.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_does_not_set_skip_sleep_if_none_input_and_messages_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    instance.messages = []
-    mock_sleep_ticker_instance.skip_sleep = False
-    await instance.raw_to_text(None)
-    assert mock_sleep_ticker_instance.skip_sleep is False
-
-
-def test_formatted_latest_buffer_empty(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    result = instance.formatted_latest_buffer()
-    assert result is None
-
-
-def test_formatted_latest_buffer_formats_and_clears_latest_message(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    fixed_uuid = "test-uuid-456"
-    fixed_timestamp = 1234.0
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-        patch("inputs.plugins.riva_asr_rtsp.uuid4", return_value=Mock(hex=fixed_uuid)),
-        patch("time.time", return_value=fixed_timestamp),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-        msg_content = "Final transcribed message."
-        instance.messages = [msg_content]
-        result = instance.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Voice" in result
-        assert msg_content in result
-        assert len(instance.messages) == 0
-
-        mock_io_provider.add_input.assert_called_once_with("Voice", msg_content, fixed_timestamp)
-        mock_io_provider.add_mode_transition_input.assert_called_once_with(msg_content)
-        mock_teleops_conv_instance.store_user_message.assert_called_once_with(msg_content)
-
-        if instance.asr_publisher:
-            mock_zenoh["asr_text_cls"].assert_called_once_with(
-                header=mock_zenoh["prepare_header"].return_value, text=msg_content
-            )
-            mock_zenoh["publisher"].put.assert_called_once_with(mock_zenoh["asr_text_cls"].return_value.serialize())
-
-
-def test_stop_method_stops_asr_and_closes_zenoh(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    mock_sleep_ticker_constructor, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    mock_teleops_conv_constructor, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.riva_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            new=mock_sleep_ticker_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            new=mock_teleops_conv_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    instance.message_buffer.put_nowait("message 1")
-    instance.messages.append("message 2")
-
-    assert instance.session is mock_zenoh["session"]
-    instance.stop()
-
-    assert instance._stopped is True
-    assert instance.message_buffer.empty()
-    assert len(instance.messages) == 0
-    mock_asr_instance.unregister_message_callback.assert_called_once()
-    mock_zenoh["publisher"].undeclare.assert_called_once()
-    mock_zenoh["session"].close.assert_called_once()
-
-
-def test_stop_method_handles_exceptions(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    mock_sleep_ticker_constructor, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    mock_teleops_conv_constructor, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    mock_asr_instance.unregister_message_callback.side_effect = Exception("Unregister failed")
-    mock_asr_instance.stop.side_effect = Exception("Stop failed")
-    mock_zenoh["publisher"].undeclare.side_effect = Exception("Undeclare failed")
-    mock_zenoh["session"].close.side_effect = Exception("Close failed")
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.riva_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            new=mock_sleep_ticker_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            new=mock_teleops_conv_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    # Should not raise exception
-    instance.stop()
-    assert instance._stopped is True
-
-
-def test_initialization_with_zenoh_failure(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-):
-    mock_asr_constructor, mock_asr_instance = mock_asr_provider
-    mock_sleep_ticker_constructor, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    mock_teleops_conv_constructor, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch("inputs.plugins.riva_asr_rtsp.ASRRTSPProvider", new=mock_asr_constructor),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            new=mock_sleep_ticker_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            new=mock_teleops_conv_constructor,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            side_effect=Exception("Zenoh failed"),
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    assert instance.session is None
-    assert instance.asr_publisher is None
-
-
-def test_handle_asr_message_when_stopped(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    instance._stopped = True
-    raw_message = '{"asr_reply": "Hello world"}'
-    initial_size = instance.message_buffer.qsize()
-
-    instance._handle_asr_message(raw_message)
-
-    assert instance.message_buffer.qsize() == initial_size
-
-
-def test_formatted_latest_buffer_with_zenoh_publish_failure(
-    mock_io_provider,
-    mock_asr_provider,
-    mock_sleep_ticker_provider,
-    mock_teleops_conversation_provider,
-    mock_zenoh,
-):
-    _, mock_asr_instance = mock_asr_provider
-    _, mock_sleep_ticker_instance = mock_sleep_ticker_provider
-    _, mock_teleops_conv_instance = mock_teleops_conversation_provider
-
-    config = RivaASRRTSPSensorConfig()
-    with (
-        patch("inputs.plugins.riva_asr_rtsp.IOProvider", return_value=mock_io_provider),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.ASRRTSPProvider",
-            return_value=mock_asr_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.SleepTickerProvider",
-            return_value=mock_sleep_ticker_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.TeleopsConversationProvider",
-            return_value=mock_teleops_conv_instance,
-        ),
-        patch(
-            "inputs.plugins.riva_asr_rtsp.open_zenoh_session",
-            mock_zenoh["open_session"],
-        ),
-    ):
-        instance = RivaASRRTSPInput(config=config)
-
-    msg_content = "Test message"
-    instance.messages = [msg_content]
-    mock_zenoh["publisher"].put.side_effect = Exception("Zenoh publish failed")
-
-    with patch("time.time", return_value=1234.0):
-        result = instance.formatted_latest_buffer()
-
-    assert result is not None
-    assert msg_content in result
-    assert len(instance.messages) == 0
diff --git a/tests/inputs/plugins/test_rtk.py b/tests/inputs/plugins/test_rtk.py
deleted file mode 100644
index a214a9ea6a..0000000000
--- a/tests/inputs/plugins/test_rtk.py
+++ /dev/null
@@ -1,107 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.rtk import Rtk
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.rtk.IOProvider"),
-        patch("inputs.plugins.rtk.RtkProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Rtk(config=config)
-
-        assert sensor.messages == []
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.rtk.IOProvider"),
-        patch("inputs.plugins.rtk.RtkProvider") as mock_provider_class,
-    ):
-        mock_provider = MagicMock()
-        mock_provider.data = {"lat": 37.7749, "lon": -122.4194}
-        mock_provider_class.return_value = mock_provider
-
-        config = SensorConfig()
-        sensor = Rtk(config=config)
-
-        with patch("inputs.plugins.rtk.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-            assert result == {"lat": 37.7749, "lon": -122.4194}
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.rtk.IOProvider"),
-        patch("inputs.plugins.rtk.RtkProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Rtk(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(
-            timestamp=123.456,
-            message="Your precise location is 37.7749 North, 122.4194 West at 10m altitude. ",
-        )
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Precision Location" in result
-        assert "37.7749 North" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_valid_dict():
-    """Test raw_to_text with valid GPS dict adds formatted message."""
-    with (
-        patch("inputs.plugins.rtk.IOProvider"),
-        patch("inputs.plugins.rtk.RtkProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Rtk(config=config)
-
-        gps_data = {
-            "rtk_lat": 37.7749,
-            "rtk_lon": -122.4194,
-            "rtk_alt": 10.0,
-            "rtk_qua": 4,
-        }
-        await sensor.raw_to_text(gps_data)
-        assert len(sensor.messages) == 1
-        assert "37.7749 North" in sensor.messages[0].message
-        assert "122.4194 West" in sensor.messages[0].message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_zero_quality():
-    """Test raw_to_text with zero quality does not add message."""
-    with (
-        patch("inputs.plugins.rtk.IOProvider"),
-        patch("inputs.plugins.rtk.RtkProvider"),
-    ):
-        config = SensorConfig()
-        sensor = Rtk(config=config)
-
-        gps_data = {
-            "rtk_lat": 37.7749,
-            "rtk_lon": -122.4194,
-            "rtk_alt": 10.0,
-            "rtk_qua": 0,
-        }
-        await sensor.raw_to_text(gps_data)
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_scheduled_cron_input.py b/tests/inputs/plugins/test_scheduled_cron_input.py
deleted file mode 100644
index 3748856c68..0000000000
--- a/tests/inputs/plugins/test_scheduled_cron_input.py
+++ /dev/null
@@ -1,272 +0,0 @@
-import json
-import os
-from datetime import datetime, timedelta
-from unittest.mock import patch
-
-import pytest
-
-from inputs.plugins.schedule_cron_job_input import ScheduleCronJobInput, ScheduleCronJobInputConfig
-
-
-@pytest.fixture
-def plugin(tmp_path):
-    schedule_file = str(tmp_path / "cron.json")
-    config = ScheduleCronJobInputConfig(schedule_file=schedule_file)
-    with patch("inputs.plugins.schedule_cron_job_input.IOProvider"):
-        with patch("inputs.plugins.schedule_cron_job_input.SleepTickerProvider"):
-            return ScheduleCronJobInput(config)
-
-
-class TestParseScheduleTime:
-    def test_space_with_seconds(self, plugin):
-        dt = plugin._parse_schedule_time("2026-04-07 10:30:00")
-        assert dt == datetime(2026, 4, 7, 10, 30, 0)
-
-    def test_T_with_seconds(self, plugin):
-        dt = plugin._parse_schedule_time("2026-04-07T10:30:00")
-        assert dt == datetime(2026, 4, 7, 10, 30, 0)
-
-    def test_space_without_seconds(self, plugin):
-        dt = plugin._parse_schedule_time("2026-04-07 10:30")
-        assert dt == datetime(2026, 4, 7, 10, 30)
-
-    def test_T_without_seconds(self, plugin):
-        dt = plugin._parse_schedule_time("2026-04-07T10:30")
-        assert dt == datetime(2026, 4, 7, 10, 30)
-
-    def test_strips_whitespace(self, plugin):
-        dt = plugin._parse_schedule_time("  2026-04-07 10:30:00  ")
-        assert dt == datetime(2026, 4, 7, 10, 30, 0)
-
-    def test_invalid_returns_none(self, plugin):
-        result = plugin._parse_schedule_time("not-a-date")
-        assert result is None
-
-
-class TestRecurrenceDelta:
-    def test_empty_string(self, plugin):
-        assert plugin._recurrence_delta("") is None
-
-    def test_once(self, plugin):
-        assert plugin._recurrence_delta("once") is None
-
-    def test_once_uppercase(self, plugin):
-        assert plugin._recurrence_delta("ONCE") is None
-
-    def test_hourly(self, plugin):
-        assert plugin._recurrence_delta("hourly") == timedelta(hours=1)
-
-    def test_daily(self, plugin):
-        assert plugin._recurrence_delta("daily") == timedelta(days=1)
-
-    def test_weekly(self, plugin):
-        assert plugin._recurrence_delta("weekly") == timedelta(weeks=1)
-
-    def test_every_minutes(self, plugin):
-        assert plugin._recurrence_delta("every 30m") == timedelta(minutes=30)
-
-    def test_every_hours(self, plugin):
-        assert plugin._recurrence_delta("every 2h") == timedelta(hours=2)
-
-    def test_every_days(self, plugin):
-        assert plugin._recurrence_delta("every 3d") == timedelta(days=3)
-
-    def test_every_seconds(self, plugin):
-        assert plugin._recurrence_delta("every 10s") == timedelta(seconds=10)
-
-    def test_every_full_word_minutes(self, plugin):
-        assert plugin._recurrence_delta("every 5 minutes") == timedelta(minutes=5)
-
-    def test_every_full_word_hours(self, plugin):
-        assert plugin._recurrence_delta("every 1 hour") == timedelta(hours=1)
-
-    def test_unknown_pattern_returns_none(self, plugin):
-        assert plugin._recurrence_delta("fortnightly") is None
-
-
-class TestIsDue:
-    def _make_entry(self, schedule_time: str) -> dict:
-        return {"schedule_time": schedule_time}
-
-    def test_past_entry_is_due(self, plugin):
-        now = datetime(2026, 4, 7, 12, 0, 0)
-        entry = self._make_entry("2026-04-07 11:59:00")
-        assert plugin._is_due(entry, now) is True
-
-    def test_exact_time_is_due(self, plugin):
-        now = datetime(2026, 4, 7, 12, 0, 0)
-        entry = self._make_entry("2026-04-07 12:00:00")
-        assert plugin._is_due(entry, now) is True
-
-    def test_future_entry_not_due(self, plugin):
-        now = datetime(2026, 4, 7, 12, 0, 0)
-        entry = self._make_entry("2026-04-07 13:00:00")
-        assert plugin._is_due(entry, now) is False
-
-    def test_missing_schedule_time_not_due(self, plugin):
-        assert plugin._is_due({}, datetime.now()) is False
-
-    def test_run_previous_false_skips_old_entries(self, plugin):
-        plugin.config.run_previous = False
-        plugin._startup_time = datetime(2026, 4, 7, 12, 0, 0)
-        now = datetime(2026, 4, 7, 12, 0, 0)
-        entry = self._make_entry("2026-04-07 11:00:00")
-        assert plugin._is_due(entry, now) is False
-
-    def test_run_previous_true_includes_old_entries(self, plugin):
-        plugin.config.run_previous = True
-        plugin._startup_time = datetime(2026, 4, 7, 12, 0, 0)
-        now = datetime(2026, 4, 7, 12, 0, 0)
-        entry = self._make_entry("2026-04-07 11:00:00")
-        assert plugin._is_due(entry, now) is True
-
-
-class TestFileIO:
-    def test_write_and_read(self, plugin, tmp_path):
-        entries = [{"function": "foo", "timestamp": 1000.0}]
-        plugin._write_all(entries)
-        result = plugin._read_file()
-        assert result == entries
-
-    def test_read_missing_file_returns_empty(self, tmp_path):
-        config = ScheduleCronJobInputConfig(schedule_file=str(tmp_path / "nonexistent.json"))
-        with patch("inputs.plugins.schedule_cron_job_input.IOProvider"):
-            with patch("inputs.plugins.schedule_cron_job_input.SleepTickerProvider"):
-                p = ScheduleCronJobInput(config)
-        os.remove(config.schedule_file)
-        result = p._read_file()
-        assert result == []
-
-    def test_read_invalid_json_returns_empty(self, plugin):
-        with open(plugin.config.schedule_file, "w") as f:
-            f.write("not json")
-        result = plugin._read_file()
-        assert result == []
-
-    def test_read_non_list_json_returns_empty(self, plugin):
-        with open(plugin.config.schedule_file, "w") as f:
-            json.dump({"key": "value"}, f)
-        result = plugin._read_file()
-        assert result == []
-
-
-class TestFileMtimeReload:
-    def test_get_file_mtime_returns_float(self, plugin):
-        mtime = plugin._get_file_mtime()
-        assert isinstance(mtime, float)
-        assert mtime > 0
-
-    def test_get_file_mtime_missing_file_returns_zero(self, plugin):
-        os.remove(plugin.config.schedule_file)
-        assert plugin._get_file_mtime() == 0.0
-
-    def test_reload_if_changed_detects_external_write(self, plugin):
-        new_entries = [{"function": "external_task", "timestamp": 5000.0}]
-        with open(plugin.config.schedule_file, "w") as f:
-            json.dump(new_entries, f)
-        plugin._reload_if_changed()
-        assert len(plugin._entries) == 1
-        assert plugin._entries[0]["function"] == "external_task"
-
-    def test_reload_if_changed_no_op_when_unchanged(self, plugin):
-        plugin._entries = [{"function": "cached"}]
-        plugin._reload_if_changed()
-        assert plugin._entries == [{"function": "cached"}]
-
-
-class TestTick:
-    def _past_entry(self, function="speak", recurrence=""):
-        return {
-            "function": function,
-            "schedule_time": "2020-01-01 00:00:00",
-            "timestamp": 1000.0,
-            "recurrence": recurrence,
-        }
-
-    def test_one_time_entry_removed_after_tick(self, plugin):
-        entry = self._past_entry()
-        plugin._entries = [entry]
-        plugin._write_all(plugin._entries)
-        with patch("inputs.plugins.schedule_cron_job_input.SleepTickerProvider"):
-            plugin._tick()
-        assert plugin._entries == []
-
-    def test_one_time_entry_dispatched(self, plugin):
-        entry = self._past_entry()
-        plugin._entries = [entry]
-        plugin._write_all(plugin._entries)
-        with patch("inputs.plugins.schedule_cron_job_input.SleepTickerProvider"):
-            plugin._tick()
-        assert len(plugin.messages) == 1
-        assert plugin.messages[0].message == "speak"
-
-    def test_recurring_entry_rescheduled(self, plugin):
-        entry = self._past_entry(recurrence="daily")
-        plugin._entries = [entry]
-        plugin._write_all(plugin._entries)
-        with patch("inputs.plugins.schedule_cron_job_input.SleepTickerProvider"):
-            plugin._tick()
-        assert len(plugin._entries) == 1
-        rescheduled = plugin._entries[0]
-        new_dt = datetime.strptime(rescheduled["schedule_time"], "%Y-%m-%d %H:%M:%S")
-        assert new_dt > datetime.now()
-
-    def test_future_entry_not_dispatched(self, plugin):
-        entry = {
-            "function": "speak",
-            "schedule_time": "2099-01-01 00:00:00",
-            "timestamp": 9999999999.0,
-            "recurrence": "",
-        }
-        plugin._entries = [entry]
-        plugin._write_all(plugin._entries)
-        original_entries = list(plugin._entries)
-        plugin._tick()
-        assert plugin._entries == original_entries
-        assert plugin.messages == []
-
-    def test_multiple_due_entries_all_dispatched(self, plugin):
-        entries = [self._past_entry(function="task_a"), self._past_entry(function="task_b")]
-        plugin._entries = entries
-        plugin._write_all(plugin._entries)
-        with patch("inputs.plugins.schedule_cron_job_input.SleepTickerProvider"):
-            plugin._tick()
-        assert len(plugin.messages) == 2
-        assert plugin.messages[0].message == "task_a"
-        assert plugin.messages[1].message == "task_b"
-
-
-class TestFormattedLatestBuffer:
-    def test_empty_buffer_returns_none(self, plugin):
-        assert plugin.formatted_latest_buffer() is None
-
-    def test_single_message_flushed(self, plugin):
-        from inputs.base import Message
-
-        plugin.messages = [Message(timestamp=1.0, message="hello")]
-        result = plugin.formatted_latest_buffer()
-        assert "hello" in result
-        assert plugin.messages == []
-
-    def test_multiple_messages_drained_one_at_a_time(self, plugin):
-        from inputs.base import Message
-
-        plugin.messages = [
-            Message(timestamp=1.0, message="task_a"),
-            Message(timestamp=2.0, message="task_b"),
-            Message(timestamp=3.0, message="task_c"),
-        ]
-        with patch("inputs.plugins.schedule_cron_job_input.SleepTickerProvider"):
-            r1 = plugin.formatted_latest_buffer()
-            assert "task_a" in r1
-            assert len(plugin.messages) == 2
-
-            r2 = plugin.formatted_latest_buffer()
-            assert "task_b" in r2
-            assert len(plugin.messages) == 1
-
-            r3 = plugin.formatted_latest_buffer()
-            assert "task_c" in r3
-            assert plugin.messages == []
-
-            assert plugin.formatted_latest_buffer() is None
diff --git a/tests/inputs/plugins/test_selfie_status_input.py b/tests/inputs/plugins/test_selfie_status_input.py
deleted file mode 100644
index 8d3b00ac86..0000000000
--- a/tests/inputs/plugins/test_selfie_status_input.py
+++ /dev/null
@@ -1,53 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.selfie_status_input import SelfieStatus
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with patch("inputs.plugins.selfie_status_input.IOProvider"):
-        config = SensorConfig()
-        sensor = SelfieStatus(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.selfie_status_input.IOProvider") as mock_io_provider,
-        patch("inputs.plugins.selfie_status_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        mock_rec = type("obj", (object,), {"timestamp": 123.456, "input": "ok id=wendy"})()
-        mock_io_provider.return_value.inputs.get.return_value = mock_rec
-        config = SensorConfig()
-        sensor = SelfieStatus(config=config)
-
-        result = await sensor._poll()
-        assert result == "ok id=wendy"
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with patch("inputs.plugins.selfie_status_input.IOProvider"):
-        config = SensorConfig()
-        sensor = SelfieStatus(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="ok id=wendy")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "SelfieStatus" in result
-        assert "ok id=wendy" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_serial_reader.py b/tests/inputs/plugins/test_serial_reader.py
deleted file mode 100644
index dd509eaa6e..0000000000
--- a/tests/inputs/plugins/test_serial_reader.py
+++ /dev/null
@@ -1,163 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-import serial
-
-from inputs.base import Message
-from inputs.plugins.serial_reader import SerialReader, SerialReaderConfig
-
-
-def test_initialization_success():
-    """Test successful initialization with serial connection."""
-    mock_serial = MagicMock()
-
-    with (
-        patch("inputs.plugins.serial_reader.serial.Serial", return_value=mock_serial),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        assert sensor.ser == mock_serial
-        assert sensor.messages == []
-        assert sensor.descriptor_for_LLM == "Heart Rate and Grip Strength"
-
-
-def test_initialization_serial_exception():
-    """Test initialization when serial connection fails."""
-    with (
-        patch(
-            "inputs.plugins.serial_reader.serial.Serial",
-            side_effect=serial.SerialException("Port not found"),
-        ),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        assert sensor.ser is None
-
-
-@pytest.mark.asyncio
-async def test_poll_with_data():
-    """Test _poll when serial data is available."""
-    mock_serial = MagicMock()
-    mock_serial.in_waiting = 1
-    mock_serial.readline.return_value = b"Pulse: Elevated\n"
-
-    with (
-        patch("inputs.plugins.serial_reader.serial.Serial", return_value=mock_serial),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-        patch("inputs.plugins.serial_reader.asyncio.sleep", new=AsyncMock()),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        result = await sensor._poll()
-
-        assert result == "Pulse: Elevated"
-
-
-@pytest.mark.asyncio
-async def test_poll_no_data():
-    """Test _poll when no serial data is available."""
-    mock_serial = MagicMock()
-    mock_serial.in_waiting = 0
-    mock_serial.readline.return_value = b""
-
-    with (
-        patch("inputs.plugins.serial_reader.serial.Serial", return_value=mock_serial),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-        patch("inputs.plugins.serial_reader.asyncio.sleep", new=AsyncMock()),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_serial_connection():
-    """Test _poll when serial connection is None."""
-    with (
-        patch(
-            "inputs.plugins.serial_reader.serial.Serial",
-            side_effect=serial.SerialException("Port not found"),
-        ),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-        patch("inputs.plugins.serial_reader.asyncio.sleep", new=AsyncMock()),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_input():
-    """Test _raw_to_text with valid input."""
-    mock_serial = MagicMock()
-
-    with (
-        patch("inputs.plugins.serial_reader.serial.Serial", return_value=mock_serial),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-        patch("inputs.plugins.serial_reader.time.time", return_value=1234.0),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        result = await sensor._raw_to_text("Pulse: Elevated")
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert result.message == "The child's pulse rate is Elevated."
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    mock_serial = MagicMock()
-
-    with (
-        patch("inputs.plugins.serial_reader.serial.Serial", return_value=mock_serial),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    mock_serial = MagicMock()
-
-    with (
-        patch("inputs.plugins.serial_reader.serial.Serial", return_value=mock_serial),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Pulse: Normal"),
-            Message(timestamp=1001.0, message="Grip: Elevated"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        sensor.io_provider.add_input.assert_called()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    mock_serial = MagicMock()
-
-    with (
-        patch("inputs.plugins.serial_reader.serial.Serial", return_value=mock_serial),
-        patch("inputs.plugins.serial_reader.IOProvider"),
-    ):
-        sensor = SerialReader(config=SerialReaderConfig())
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/plugins/test_simple_paths.py b/tests/inputs/plugins/test_simple_paths.py
deleted file mode 100644
index 6b1fc44c93..0000000000
--- a/tests/inputs/plugins/test_simple_paths.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from unittest.mock import patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.simple_paths import SimplePaths, SimplePathsConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.simple_paths.IOProvider"),
-        patch("inputs.plugins.simple_paths.SimplePathsProvider"),
-    ):
-        config = SimplePathsConfig()
-        sensor = SimplePaths(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.simple_paths.IOProvider"),
-        patch("inputs.plugins.simple_paths.SimplePathsProvider") as mock_simple_paths,
-    ):
-        mock_simple_paths.return_value.lidar_string = "ok id=wendy"
-        config = SimplePathsConfig()
-        sensor = SimplePaths(config=config)
-
-        result = await sensor._poll()
-        assert result == "ok id=wendy"
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.simple_paths.IOProvider"),
-        patch("inputs.plugins.simple_paths.SimplePathsProvider") as mock_rplidar,
-    ):
-        mock_rplidar.return_value.lidar_string = "Hello from RPLidar: objects and walls detected."
-        config = SimplePathsConfig()
-        sensor = SimplePaths(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="Wall detected at 0.5m ahead, clear path on left")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "objects and walls" in result
-        assert "Wall detected" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_tron_odom.py b/tests/inputs/plugins/test_tron_odom.py
deleted file mode 100644
index 403b1c35fb..0000000000
--- a/tests/inputs/plugins/test_tron_odom.py
+++ /dev/null
@@ -1,182 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.tron_odom import TronOdom, TronOdomConfig
-from providers.tron_odom_provider import RobotState
-
-
-def test_initialization():
-    """Test basic initialization with default config."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider"),
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        assert sensor.messages == []
-        assert "location" in sensor.descriptor_for_LLM.lower() or "pose" in sensor.descriptor_for_LLM.lower()
-
-
-def test_initialization_with_custom_topic():
-    """Test initialization with custom topic."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider") as mock_provider,
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig(topic="custom_odom")
-        sensor = TronOdom(config=config)
-
-        assert sensor.config.topic == "custom_odom"
-        mock_provider.assert_called_once_with("custom_odom")
-
-
-@pytest.mark.asyncio
-async def test_poll_with_position_data():
-    """Test _poll with position data available."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider") as mock_provider_class,
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = {"odom_x": 1.0, "odom_y": 2.0, "moving": False}
-        mock_provider_class.return_value = mock_provider
-
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        with patch("inputs.plugins.tron_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result == {"odom_x": 1.0, "odom_y": 2.0, "moving": False}
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_data():
-    """Test _poll when no position data available."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider") as mock_provider_class,
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = None
-        mock_provider_class.return_value = mock_provider
-
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        with patch("inputs.plugins.tron_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_sitting():
-    """Test _raw_to_text when robot is sitting."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider"),
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        position_data = {"moving": False, "body_attitude": RobotState.SITTING}
-
-        with patch("inputs.plugins.tron_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "sitting" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_moving():
-    """Test _raw_to_text when robot is moving."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider"),
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        position_data = {"moving": True, "body_attitude": RobotState.STANDING}
-
-        with patch("inputs.plugins.tron_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "moving" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_standing_still():
-    """Test _raw_to_text when robot is standing still."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider"),
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        position_data = {"moving": False, "body_attitude": RobotState.STANDING}
-
-        with patch("inputs.plugins.tron_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "standing still" in result.message.lower() or "can move" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider"),
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider"),
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="You are standing still"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "standing" in result.lower() or "INPUT" in result
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.tron_odom.TronOdomProvider"),
-        patch("inputs.plugins.tron_odom.IOProvider"),
-    ):
-        config = TronOdomConfig()
-        sensor = TronOdom(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/plugins/test_turtlebot4_battery.py b/tests/inputs/plugins/test_turtlebot4_battery.py
deleted file mode 100644
index 81f9f3c0e1..0000000000
--- a/tests/inputs/plugins/test_turtlebot4_battery.py
+++ /dev/null
@@ -1,173 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.turtlebot4_battery.open_zenoh_session"),
-        patch("inputs.plugins.turtlebot4_battery.IOProvider"),
-        patch("inputs.plugins.turtlebot4_battery.TeleopsStatusProvider"),
-    ):
-        from inputs.plugins.turtlebot4_battery import (
-            TurtleBot4Battery,
-            TurtleBot4BatteryConfig,
-        )
-
-        config = TurtleBot4BatteryConfig()
-        sensor = TurtleBot4Battery(config=config)
-
-        assert sensor.messages == []
-        assert sensor.battery_percentage == 0.0
-        assert sensor.battery_voltage == 0.0
-        assert sensor.is_docked is False
-
-
-def test_initialization_with_custom_urid():
-    """Test initialization with custom URID."""
-    with (
-        patch("inputs.plugins.turtlebot4_battery.open_zenoh_session"),
-        patch("inputs.plugins.turtlebot4_battery.IOProvider"),
-        patch("inputs.plugins.turtlebot4_battery.TeleopsStatusProvider"),
-    ):
-        from inputs.plugins.turtlebot4_battery import (
-            TurtleBot4Battery,
-            TurtleBot4BatteryConfig,
-        )
-
-        config = TurtleBot4BatteryConfig(URID="custom_robot")
-        sensor = TurtleBot4Battery(config=config)
-
-        assert sensor.URID == "custom_robot"
-
-
-def test_listener_battery():
-    """Test battery listener callback."""
-    with (
-        patch("inputs.plugins.turtlebot4_battery.open_zenoh_session"),
-        patch("inputs.plugins.turtlebot4_battery.IOProvider"),
-        patch("inputs.plugins.turtlebot4_battery.TeleopsStatusProvider"),
-    ):
-        from inputs.plugins.turtlebot4_battery import (
-            TurtleBot4Battery,
-            TurtleBot4BatteryConfig,
-        )
-
-        config = TurtleBot4BatteryConfig()
-        sensor = TurtleBot4Battery(config=config)
-
-        mock_sample = MagicMock()
-        mock_msg = MagicMock()
-        mock_msg.percentage = 0.855  # Will be converted to int(0.855 * 100) = 85
-        mock_msg.voltage = 12.3
-        mock_msg.temperature = 25.7
-        mock_msg.header.stamp.sec = 1000
-
-        with patch("inputs.plugins.turtlebot4_battery.sensor_msgs") as mock_sensor:
-            mock_sensor.BatteryState.deserialize.return_value = mock_msg
-            sensor.listener_battery(mock_sample)
-
-        assert sensor.battery_percentage == 85  # int(0.855 * 100)
-        assert sensor.battery_voltage == 12.3
-        assert sensor.battery_temperature == 25.7
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.turtlebot4_battery.open_zenoh_session"),
-        patch("inputs.plugins.turtlebot4_battery.IOProvider"),
-        patch("inputs.plugins.turtlebot4_battery.TeleopsStatusProvider"),
-    ):
-        from inputs.plugins.turtlebot4_battery import (
-            TurtleBot4Battery,
-            TurtleBot4BatteryConfig,
-        )
-
-        config = TurtleBot4BatteryConfig()
-        sensor = TurtleBot4Battery(config=config)
-        sensor.battery_percentage = 10  # Low battery
-        sensor.battery_voltage = 11.5
-        sensor.is_docked = True
-        sensor.battery_status = "IMPORTANT: your battery is low. Consider finding your charging station and recharging."
-
-        with patch("inputs.plugins.turtlebot4_battery.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is not None
-        assert len(result) == 1
-        assert "battery" in result[0].lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_data():
-    """Test _raw_to_text with valid data."""
-    with (
-        patch("inputs.plugins.turtlebot4_battery.open_zenoh_session"),
-        patch("inputs.plugins.turtlebot4_battery.IOProvider"),
-        patch("inputs.plugins.turtlebot4_battery.TeleopsStatusProvider"),
-    ):
-        from inputs.plugins.turtlebot4_battery import (
-            TurtleBot4Battery,
-            TurtleBot4BatteryConfig,
-        )
-
-        config = TurtleBot4BatteryConfig()
-        sensor = TurtleBot4Battery(config=config)
-
-        with patch("inputs.plugins.turtlebot4_battery.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(["75.5", "12.0", "True"])
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "75.5" in result.message or "75" in result.message
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.turtlebot4_battery.open_zenoh_session"),
-        patch("inputs.plugins.turtlebot4_battery.IOProvider"),
-        patch("inputs.plugins.turtlebot4_battery.TeleopsStatusProvider"),
-    ):
-        from inputs.base import Message
-        from inputs.plugins.turtlebot4_battery import (
-            TurtleBot4Battery,
-            TurtleBot4BatteryConfig,
-        )
-
-        config = TurtleBot4BatteryConfig()
-        sensor = TurtleBot4Battery(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Battery: 80%"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Battery" in result or "battery" in result.lower()
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.turtlebot4_battery.open_zenoh_session"),
-        patch("inputs.plugins.turtlebot4_battery.IOProvider"),
-        patch("inputs.plugins.turtlebot4_battery.TeleopsStatusProvider"),
-    ):
-        from inputs.plugins.turtlebot4_battery import (
-            TurtleBot4Battery,
-            TurtleBot4BatteryConfig,
-        )
-
-        config = TurtleBot4BatteryConfig()
-        sensor = TurtleBot4Battery(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/plugins/test_turtlebot4_camera_vlm_cloud.py b/tests/inputs/plugins/test_turtlebot4_camera_vlm_cloud.py
deleted file mode 100644
index db97753850..0000000000
--- a/tests/inputs/plugins/test_turtlebot4_camera_vlm_cloud.py
+++ /dev/null
@@ -1,77 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.turtlebot4_camera_vlm_cloud import (
-    TurtleBot4CameraVLMCloud,
-    TurtleBot4CameraVLMCloudConfig,
-)
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.TurtleBot4CameraVLMProvider"),
-    ):
-        config = TurtleBot4CameraVLMCloudConfig()
-        sensor = TurtleBot4CameraVLMCloud(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.TurtleBot4CameraVLMProvider"),
-    ):
-        config = TurtleBot4CameraVLMCloudConfig(
-            api_key="test_key",
-            base_url="wss://test.com",
-            stream_base_url="https://stream.test.com",
-            URID="test_urid",
-        )
-        sensor = TurtleBot4CameraVLMCloud(config=config)
-
-        assert sensor.config.api_key == "test_key"
-        assert sensor.config.base_url == "wss://test.com"
-        assert sensor.config.stream_base_url == "https://stream.test.com"
-        assert sensor.config.URID == "test_urid"
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.TurtleBot4CameraVLMProvider"),
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = TurtleBot4CameraVLMCloudConfig()
-        sensor = TurtleBot4CameraVLMCloud(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.turtlebot4_camera_vlm_cloud.TurtleBot4CameraVLMProvider"),
-    ):
-        config = TurtleBot4CameraVLMCloudConfig()
-        sensor = TurtleBot4CameraVLMCloud(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a robot")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "I see a robot" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_turtlebot4_odom.py b/tests/inputs/plugins/test_turtlebot4_odom.py
deleted file mode 100644
index 42ebe53b42..0000000000
--- a/tests/inputs/plugins/test_turtlebot4_odom.py
+++ /dev/null
@@ -1,245 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.turtlebot4_odom import Turtlebot4Odom, Turtlebot4OdomConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        assert sensor.messages == []
-        assert "location" in sensor.descriptor_for_LLM.lower() or "pose" in sensor.descriptor_for_LLM.lower()
-
-
-def test_initialization_with_urid():
-    """Test initialization with URID."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider,
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig(URID="test_robot_123")
-        Turtlebot4Odom(config=config)
-
-        mock_provider.assert_called_once_with("test_robot_123")
-
-
-def test_initialization_with_none_urid():
-    """Test initialization with None URID."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider,
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig(URID=None)
-        Turtlebot4Odom(config=config)
-
-        mock_provider.assert_called_once_with(None)
-
-
-@pytest.mark.asyncio
-async def test_poll_with_position_data():
-    """Test _poll with position data available."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class,
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = {"x": 1.0, "y": 2.0, "moving": False}
-        mock_provider_class.return_value = mock_provider
-
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        with patch("inputs.plugins.turtlebot4_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result == {"x": 1.0, "y": 2.0, "moving": False}
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_data():
-    """Test _poll when no position data available."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider") as mock_provider_class,
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = None
-        mock_provider_class.return_value = mock_provider
-
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        with patch("inputs.plugins.turtlebot4_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_moving_true():
-    """Test _raw_to_text when robot is moving."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        raw_input = {"moving": True}
-        message = await sensor._raw_to_text(raw_input)
-
-        assert message is not None
-        assert isinstance(message, Message)
-        assert "moving" in message.message.lower()
-        assert "do not generate" in message.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_moving_false():
-    """Test _raw_to_text when robot is standing still."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        raw_input = {"moving": False}
-        message = await sensor._raw_to_text(raw_input)
-
-        assert message is not None
-        assert isinstance(message, Message)
-        assert "standing still" in message.message.lower()
-        assert "can move" in message.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        message = await sensor._raw_to_text(None)
-
-        assert message is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_messages():
-    """Test raw_to_text appends messages to buffer."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        raw_input = {"moving": True}
-        await sensor.raw_to_text(raw_input)
-
-        assert len(sensor.messages) == 1
-        assert isinstance(sensor.messages[0], Message)
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none_does_not_append():
-    """Test raw_to_text with None does not append to messages."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        await sensor.raw_to_text(None)
-
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages in buffer."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider") as mock_io_provider_class,
-    ):
-        mock_io_provider = MagicMock()
-        mock_io_provider_class.return_value = mock_io_provider
-
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        # Add a message
-        sensor.messages.append(Message(timestamp=123.456, message="Test message"))
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Test message" in result
-        assert "INPUT:" in result
-        assert "START" in result
-        assert "END" in result
-        assert len(sensor.messages) == 0  # Buffer should be cleared
-        mock_io_provider.add_input.assert_called_once()
-
-
-def test_formatted_latest_buffer_with_empty_buffer():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider"),
-    ):
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is None
-
-
-def test_formatted_latest_buffer_returns_latest_only():
-    """Test formatted_latest_buffer returns only the latest message."""
-    with (
-        patch("inputs.plugins.turtlebot4_odom.TurtleBot4OdomProvider"),
-        patch("inputs.plugins.turtlebot4_odom.IOProvider") as mock_io_provider_class,
-    ):
-        mock_io_provider = MagicMock()
-        mock_io_provider_class.return_value = mock_io_provider
-
-        config = Turtlebot4OdomConfig()
-        sensor = Turtlebot4Odom(config=config)
-
-        # Add multiple messages
-        sensor.messages.append(Message(timestamp=123.0, message="First message"))
-        sensor.messages.append(Message(timestamp=124.0, message="Second message"))
-        sensor.messages.append(Message(timestamp=125.0, message="Third message"))
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Third message" in result
-        assert "First message" not in result
-        assert "Second message" not in result
-
-
-def test_config_default_values():
-    """Test default configuration values."""
-    config = Turtlebot4OdomConfig()
-    assert config.URID is None
-
-
-def test_config_custom_urid():
-    """Test custom URID configuration."""
-    config = Turtlebot4OdomConfig(URID="robot_abc_123")
-    assert config.URID == "robot_abc_123"
diff --git a/tests/inputs/plugins/test_turtlebot4_rplidar.py b/tests/inputs/plugins/test_turtlebot4_rplidar.py
deleted file mode 100644
index e075ed208f..0000000000
--- a/tests/inputs/plugins/test_turtlebot4_rplidar.py
+++ /dev/null
@@ -1,349 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.turtlebot4_rplidar import RPLidarConfig, TurtleBot4RPLidar
-
-
-class TestRPLidarConfig:
-    """Test cases for RPLidarConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = RPLidarConfig()
-        assert config.half_width_robot == 0.20
-        assert config.angles_blanked == []
-        assert config.relevant_distance_max == 1.1
-        assert config.relevant_distance_min == 0.08
-        assert config.sensor_mounting_angle == 180.0
-        assert config.URID == ""
-        assert config.log_file is False
-
-    def test_custom_half_width_robot(self):
-        """Test custom half width robot configuration."""
-        config = RPLidarConfig(half_width_robot=0.25)
-        assert config.half_width_robot == 0.25
-
-    def test_custom_angles_blanked(self):
-        """Test custom angles blanked configuration."""
-        config = RPLidarConfig(angles_blanked=[0.0, 90.0, 180.0])
-        assert config.angles_blanked == [0.0, 90.0, 180.0]
-
-    def test_custom_distance_values(self):
-        """Test custom distance configuration values."""
-        config = RPLidarConfig(relevant_distance_max=2.0, relevant_distance_min=0.1)
-        assert config.relevant_distance_max == 2.0
-        assert config.relevant_distance_min == 0.1
-
-    def test_custom_sensor_mounting_angle(self):
-        """Test custom sensor mounting angle configuration."""
-        config = RPLidarConfig(sensor_mounting_angle=90.0)
-        assert config.sensor_mounting_angle == 90.0
-
-    def test_custom_urid(self):
-        """Test custom URID configuration."""
-        config = RPLidarConfig(URID="test_robot_123")
-        assert config.URID == "test_robot_123"
-
-    def test_custom_log_file(self):
-        """Test custom log file configuration."""
-        config = RPLidarConfig(log_file=True)
-        assert config.log_file is True
-
-    def test_all_custom_values(self):
-        """Test configuration with all custom values."""
-        config = RPLidarConfig(
-            half_width_robot=0.3,
-            angles_blanked=[45.0, 135.0],
-            relevant_distance_max=1.5,
-            relevant_distance_min=0.15,
-            sensor_mounting_angle=270.0,
-            URID="robot_xyz",
-            log_file=True,
-        )
-        assert config.half_width_robot == 0.3
-        assert config.angles_blanked == [45.0, 135.0]
-        assert config.relevant_distance_max == 1.5
-        assert config.relevant_distance_min == 0.15
-        assert config.sensor_mounting_angle == 270.0
-        assert config.URID == "robot_xyz"
-        assert config.log_file is True
-
-
-class TestTurtleBot4RPLidar:
-    """Test cases for TurtleBot4RPLidar."""
-
-    def test_initialization(self):
-        """Test basic initialization."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider") as mock_provider_class,
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            assert sensor.messages == []
-            assert sensor.lidar == mock_provider
-            mock_provider.start.assert_called_once()
-            assert "objects" in sensor.descriptor_for_LLM.lower() or "walls" in sensor.descriptor_for_LLM.lower()
-
-    def test_initialization_with_custom_config(self):
-        """Test initialization with custom configuration."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider") as mock_provider_class,
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = RPLidarConfig(
-                half_width_robot=0.25,
-                URID="test_robot",
-                log_file=True,
-            )
-            sensor = TurtleBot4RPLidar(config=config)
-
-            assert sensor.lidar == mock_provider
-            mock_provider.start.assert_called_once()
-
-    def test_provider_initialization_with_correct_parameters(self):
-        """Test that provider is initialized with correct parameters."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider") as mock_provider_class,
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider_class.return_value = mock_provider
-
-            config = RPLidarConfig(
-                half_width_robot=0.25,
-                angles_blanked=[0.0, 180.0],
-                relevant_distance_max=2.0,
-                relevant_distance_min=0.1,
-                sensor_mounting_angle=90.0,
-                URID="robot_123",
-                log_file=True,
-            )
-            TurtleBot4RPLidar(config=config)
-            mock_provider_class.assert_called_once_with(
-                half_width_robot=0.25,
-                angles_blanked=[0.0, 180.0],
-                relevant_distance_max=2.0,
-                relevant_distance_min=0.1,
-                sensor_mounting_angle=90.0,
-                URID="robot_123",
-                log_file=True,
-            )
-
-    @pytest.mark.asyncio
-    async def test_poll_with_lidar_data(self):
-        """Test _poll with lidar data available."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider") as mock_provider_class,
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider.lidar_string = "Lidar scan data"
-            mock_provider_class.return_value = mock_provider
-
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            with patch("inputs.plugins.turtlebot4_rplidar.asyncio.sleep", new=AsyncMock()):
-                result = await sensor._poll()
-
-            assert result == "Lidar scan data"
-
-    @pytest.mark.asyncio
-    async def test_poll_with_no_data(self):
-        """Test _poll when no lidar data available."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider") as mock_provider_class,
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            mock_provider = MagicMock()
-            mock_provider.lidar_string = None
-            mock_provider_class.return_value = mock_provider
-
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            with patch("inputs.plugins.turtlebot4_rplidar.asyncio.sleep", new=AsyncMock()):
-                result = await sensor._poll()
-
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_with_data(self):
-        """Test _raw_to_text with valid data."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            raw_input = "Front: clear 2.5m, Left: obstacle 0.3m"
-            message = await sensor._raw_to_text(raw_input)
-
-            assert message is not None
-            assert isinstance(message, Message)
-            assert message.message == raw_input
-            assert message.timestamp > 0
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_with_none(self):
-        """Test _raw_to_text with None input."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            message = await sensor._raw_to_text(None)
-
-            assert message is None
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_appends_to_messages(self):
-        """Test raw_to_text appends messages to buffer."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            raw_input = "Lidar scan data"
-            await sensor.raw_to_text(raw_input)
-
-            assert len(sensor.messages) == 1
-            assert isinstance(sensor.messages[0], Message)
-            assert sensor.messages[0].message == raw_input
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_with_none_does_not_append(self):
-        """Test raw_to_text with None does not append to messages."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            await sensor.raw_to_text(None)
-
-            assert len(sensor.messages) == 0
-
-    def test_formatted_latest_buffer_with_messages(self):
-        """Test formatted_latest_buffer with messages in buffer."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider") as mock_io_provider_class,
-        ):
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            # Add a message
-            sensor.messages.append(Message(timestamp=123.456, message="Front: clear, Left: obstacle"))
-
-            result = sensor.formatted_latest_buffer()
-
-            assert result is not None
-            assert "Front: clear, Left: obstacle" in result
-            assert "INPUT:" in result
-            assert "START" in result
-            assert "END" in result
-            assert len(sensor.messages) == 0  # Buffer should be cleared
-            mock_io_provider.add_input.assert_called_once()
-
-    def test_formatted_latest_buffer_with_empty_buffer(self):
-        """Test formatted_latest_buffer with empty buffer."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            result = sensor.formatted_latest_buffer()
-
-            assert result is None
-
-    def test_formatted_latest_buffer_returns_latest_only(self):
-        """Test formatted_latest_buffer returns only the latest message."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider") as mock_io_provider_class,
-        ):
-            mock_io_provider = MagicMock()
-            mock_io_provider_class.return_value = mock_io_provider
-
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            # Add multiple messages
-            sensor.messages.append(Message(timestamp=123.0, message="First scan"))
-            sensor.messages.append(Message(timestamp=124.0, message="Second scan"))
-            sensor.messages.append(Message(timestamp=125.0, message="Third scan"))
-
-            result = sensor.formatted_latest_buffer()
-
-            assert result is not None
-            assert "Third scan" in result
-            assert "First scan" not in result
-            assert "Second scan" not in result
-
-    def test_extract_lidar_config(self):
-        """Test _extract_lidar_config method."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            config = RPLidarConfig(
-                half_width_robot=0.3,
-                angles_blanked=[30.0, 60.0],
-                relevant_distance_max=1.8,
-                relevant_distance_min=0.12,
-                sensor_mounting_angle=270.0,
-                URID="robot_abc",
-                log_file=True,
-            )
-            sensor = TurtleBot4RPLidar(config=config)
-
-            extracted_config = sensor._extract_lidar_config(config)
-
-            assert extracted_config["half_width_robot"] == 0.3
-            assert extracted_config["angles_blanked"] == [30.0, 60.0]
-            assert extracted_config["relevant_distance_max"] == 1.8
-            assert extracted_config["relevant_distance_min"] == 0.12
-            assert extracted_config["sensor_mounting_angle"] == 270.0
-            assert extracted_config["URID"] == "robot_abc"
-            assert extracted_config["log_file"] is True
-
-    def test_extract_lidar_config_with_defaults(self):
-        """Test _extract_lidar_config with default values."""
-        with (
-            patch("inputs.plugins.turtlebot4_rplidar.TurtleBot4RPLidarProvider"),
-            patch("inputs.plugins.turtlebot4_rplidar.IOProvider"),
-        ):
-            config = RPLidarConfig()
-            sensor = TurtleBot4RPLidar(config=config)
-
-            extracted_config = sensor._extract_lidar_config(config)
-
-            assert extracted_config["half_width_robot"] == 0.20
-            assert extracted_config["angles_blanked"] == []
-            assert extracted_config["relevant_distance_max"] == 1.1
-            assert extracted_config["relevant_distance_min"] == 0.08
-            assert extracted_config["sensor_mounting_angle"] == 180.0
-            assert extracted_config["URID"] == ""
-            assert extracted_config["log_file"] is False
diff --git a/tests/inputs/plugins/test_twitter.py b/tests/inputs/plugins/test_twitter.py
deleted file mode 100644
index 33e973b2df..0000000000
--- a/tests/inputs/plugins/test_twitter.py
+++ /dev/null
@@ -1,204 +0,0 @@
-from queue import Queue
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.twitter import TwitterInput, TwitterSensorConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    assert sensor.buffer == []
-    assert isinstance(sensor.message_buffer, Queue)
-    assert sensor.query == "What's new in AI and technology?"
-
-
-def test_initialization_with_custom_query():
-    """Test initialization with custom query."""
-    config = TwitterSensorConfig(query="Custom search query")
-    sensor = TwitterInput(config=config)
-
-    assert sensor.query == "Custom search query"
-
-
-@pytest.mark.asyncio
-async def test_init_session():
-    """Test session initialization."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    assert sensor.session is None
-    await sensor._init_session()
-    assert sensor.session is not None
-
-
-@pytest.mark.asyncio
-async def test_query_context_success():
-    """Test successful context query."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    mock_response = MagicMock()
-    mock_response.status = 200
-    mock_response.json = AsyncMock(
-        return_value={
-            "results": [
-                {"content": {"text": "Document 1"}},
-                {"content": {"text": "Document 2"}},
-            ]
-        }
-    )
-
-    with patch("aiohttp.ClientSession.post", return_value=mock_response) as mock_post:
-        mock_post.return_value.__aenter__.return_value = mock_response
-        await sensor._query_context("test query")
-
-    assert sensor.context is not None
-    assert "Document 1" in sensor.context
-    assert "Document 2" in sensor.context
-
-
-@pytest.mark.asyncio
-async def test_query_context_failure():
-    """Test failed context query."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    mock_response = MagicMock()
-    mock_response.status = 500
-    mock_response.text = AsyncMock(return_value="Server error")
-
-    with patch("aiohttp.ClientSession.post", return_value=mock_response) as mock_post:
-        mock_post.return_value.__aenter__.return_value = mock_response
-        await sensor._query_context("test query")
-
-    # Context should not be set on failure
-    assert sensor.context is None
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-    sensor.message_buffer.put("Test message")
-
-    with patch("inputs.plugins.twitter.asyncio.sleep", new=AsyncMock()):
-        result = await sensor._poll()
-
-    assert result == "Test message"
-
-
-@pytest.mark.asyncio
-async def test_poll_empty_buffer():
-    """Test _poll with empty buffer."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    with patch("inputs.plugins.twitter.asyncio.sleep", new=AsyncMock()):
-        result = await sensor._poll()
-
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_context_manager():
-    """Test async context manager."""
-    config = TwitterSensorConfig()
-
-    async with TwitterInput(config=config) as sensor:
-        assert sensor.session is not None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_input():
-    """Test raw_to_text adds input to message_buffer and buffer."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    result = await sensor.raw_to_text("Test tweet content")
-    assert result == "Test tweet content"
-    assert "Test tweet content" in sensor.buffer
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_empty_returns_empty():
-    """Test raw_to_text with no input and empty buffer returns empty string."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    result = await sensor.raw_to_text()
-    assert result == ""
-
-
-@pytest.mark.asyncio
-async def test_start():
-    """Test start queries context and adds query to buffer."""
-    config = TwitterSensorConfig(query="AI news")
-    sensor = TwitterInput(config=config)
-
-    mock_response = MagicMock()
-    mock_response.status = 200
-    mock_response.json = AsyncMock(return_value={"results": []})
-
-    with patch("aiohttp.ClientSession.post", return_value=mock_response) as mock_post:
-        mock_post.return_value.__aenter__.return_value = mock_response
-        await sensor.start()
-
-    assert sensor.message_buffer.qsize() >= 1
-
-
-@pytest.mark.asyncio
-async def test_initialize_with_query():
-    """Test initialize_with_query adds query to buffer and queries context."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    mock_response = MagicMock()
-    mock_response.status = 200
-    mock_response.json = AsyncMock(return_value={"results": []})
-
-    with patch("aiohttp.ClientSession.post", return_value=mock_response) as mock_post:
-        mock_post.return_value.__aenter__.return_value = mock_response
-        await sensor.initialize_with_query("custom query")
-
-    assert not sensor.message_buffer.empty()
-    msg = sensor.message_buffer.get_nowait()
-    assert msg == "custom query"
-
-
-def test_formatted_latest_buffer_with_context():
-    """Test formatted_latest_buffer returns context when available."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    sensor.context = "Context about AI trends"
-
-    result = sensor.formatted_latest_buffer()
-    assert result is not None
-    assert "Context about AI trends" in result
-    assert "TwitterInput CONTEXT" in result
-
-
-def test_formatted_latest_buffer_with_buffer_fallback():
-    """Test formatted_latest_buffer falls back to buffer when no context."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    sensor.buffer.append("Latest tweet")
-
-    result = sensor.formatted_latest_buffer()
-    assert result is not None
-    assert "Latest tweet" in result
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer returns None when no content."""
-    config = TwitterSensorConfig()
-    sensor = TwitterInput(config=config)
-
-    result = sensor.formatted_latest_buffer()
-    assert result is None
diff --git a/tests/inputs/plugins/test_ubtech_asr.py b/tests/inputs/plugins/test_ubtech_asr.py
deleted file mode 100644
index 3203b8b5cf..0000000000
--- a/tests/inputs/plugins/test_ubtech_asr.py
+++ /dev/null
@@ -1,62 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.ubtech_asr import UbtechASRInput, UbtechASRSensorConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.ubtech_asr.IOProvider"),
-        patch("inputs.plugins.ubtech_asr.UbtechASRProvider"),
-        patch("inputs.plugins.ubtech_asr.SleepTickerProvider"),
-    ):
-        config = UbtechASRSensorConfig()
-        sensor = UbtechASRInput(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.ubtech_asr.IOProvider"),
-        patch("inputs.plugins.ubtech_asr.UbtechASRProvider"),
-        patch("inputs.plugins.ubtech_asr.SleepTickerProvider"),
-        patch("inputs.plugins.ubtech_asr.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = UbtechASRSensorConfig()
-        sensor = UbtechASRInput(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.ubtech_asr.IOProvider"),
-        patch("inputs.plugins.ubtech_asr.UbtechASRProvider"),
-        patch("inputs.plugins.ubtech_asr.SleepTickerProvider"),
-    ):
-        config = UbtechASRSensorConfig()
-        sensor = UbtechASRInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="hello world how are you")
-        sensor.messages = []  # type: ignore
-        sensor.messages.append(test_message)  # type: ignore
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Voice" in result
-        assert "hello world how are you" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_ubtech_camera_vlm_input.py b/tests/inputs/plugins/test_ubtech_camera_vlm_input.py
deleted file mode 100644
index 6320ecb99e..0000000000
--- a/tests/inputs/plugins/test_ubtech_camera_vlm_input.py
+++ /dev/null
@@ -1,70 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.ubtech_camera_vlm_input import (
-    UbtechCameraVLMInput,
-    UbtechCameraVLMSensorConfig,
-)
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.ubtech_camera_vlm_input.IOProvider"),
-        patch("inputs.plugins.ubtech_camera_vlm_input.UbtechVLMProvider"),
-    ):
-        config = UbtechCameraVLMSensorConfig()
-        sensor = UbtechCameraVLMInput(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.ubtech_camera_vlm_input.IOProvider"),
-        patch("inputs.plugins.ubtech_camera_vlm_input.UbtechVLMProvider"),
-    ):
-        config = UbtechCameraVLMSensorConfig(robot_ip="192.168.1.100", base_url="wss://test.com")
-        sensor = UbtechCameraVLMInput(config=config)
-
-        assert sensor.config.robot_ip == "192.168.1.100"
-        assert sensor.config.base_url == "wss://test.com"
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.ubtech_camera_vlm_input.IOProvider"),
-        patch("inputs.plugins.ubtech_camera_vlm_input.UbtechVLMProvider"),
-        patch("inputs.plugins.ubtech_camera_vlm_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = UbtechCameraVLMSensorConfig()
-        sensor = UbtechCameraVLMInput(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.ubtech_camera_vlm_input.IOProvider"),
-        patch("inputs.plugins.ubtech_camera_vlm_input.UbtechVLMProvider"),
-    ):
-        config = UbtechCameraVLMSensorConfig()
-        sensor = UbtechCameraVLMInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="Camera vision data")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "Camera vision data" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_unitree_g1_basic.py b/tests/inputs/plugins/test_unitree_g1_basic.py
deleted file mode 100644
index 10551cb31f..0000000000
--- a/tests/inputs/plugins/test_unitree_g1_basic.py
+++ /dev/null
@@ -1,185 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.unitree_g1_basic import UnitreeG1Basic, UnitreeG1BasicConfig
-
-
-@pytest.fixture
-def sensor():
-    with (
-        patch("inputs.plugins.unitree_g1_basic.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_g1_basic.IOProvider"),
-        patch("inputs.plugins.unitree_g1_basic.TeleopsStatusProvider"),
-    ):
-        config = UnitreeG1BasicConfig()
-        yield UnitreeG1Basic(config=config)
-
-
-def test_initialization(sensor):
-    """Test basic initialization."""
-    assert sensor.messages == []
-    assert sensor.battery_percentage == 0.0
-    assert sensor.battery_voltage == 0.0
-    assert sensor.battery_amperes == 0.0
-
-
-def test_initialization_with_api_key():
-    """Test initialization with API key."""
-    with (
-        patch("inputs.plugins.unitree_g1_basic.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_g1_basic.IOProvider"),
-        patch("inputs.plugins.unitree_g1_basic.TeleopsStatusProvider"),
-    ):
-        config = UnitreeG1BasicConfig(api_key="test_key")
-        sensor = UnitreeG1Basic(config=config)
-        assert sensor.config.api_key == "test_key"
-
-
-def test_initialization_with_ethernet():
-    """Test initialization with unitree_ethernet sets up subscribers."""
-    with (
-        patch("inputs.plugins.unitree_g1_basic.IOProvider"),
-        patch("inputs.plugins.unitree_g1_basic.TeleopsStatusProvider"),
-        patch("inputs.plugins.unitree_g1_basic.ChannelSubscriber") as mock_subscriber_cls,
-    ):
-        mock_subscriber = MagicMock()
-        mock_subscriber_cls.return_value = mock_subscriber
-
-        config = UnitreeG1BasicConfig(unitree_ethernet="eth0")
-        sensor = UnitreeG1Basic(config=config)
-
-        assert mock_subscriber_cls.call_count == 2
-        assert mock_subscriber.Init.call_count == 2
-        assert sensor.lowstate_subscriber is not None
-        assert sensor.bmsstate_subscriber is not None
-
-
-def test_bms_state_handler(sensor):
-    """Test BMSStateHandler updates battery fields from message."""
-    msg = MagicMock()
-    msg.bmsvoltage = [48000]
-    msg.current = 5
-    msg.soc = 85
-    msg.temperature = [30]
-
-    sensor.BMSStateHandler(msg)
-
-    assert sensor.battery_voltage == 48000.0
-    assert sensor.battery_amperes == 5.0
-    assert sensor.battery_percentage == 85.0
-    assert sensor.battery_temperature == 30.0
-
-
-def test_low_state_handler(sensor):
-    """Test LowStateHandler stores message."""
-    msg = MagicMock()
-    sensor.LowStateHandler(msg)
-    assert sensor.low_state is msg
-
-
-@pytest.mark.asyncio
-async def test_poll(sensor):
-    """Test _poll method."""
-    sensor.battery_percentage = 75.0
-    sensor.battery_voltage = 48.5
-    sensor.battery_amperes = 3.2
-
-    with patch("inputs.plugins.unitree_g1_basic.asyncio.sleep", new=AsyncMock()):
-        result = await sensor._poll()
-
-    assert result == [75.0, 48.5, 3.2]
-
-
-@pytest.mark.asyncio
-async def test_poll_calls_update_status(sensor):
-    """Test _poll calls update_status."""
-    sensor.update_status = AsyncMock()
-
-    with patch("inputs.plugins.unitree_g1_basic.asyncio.sleep", new=AsyncMock()):
-        await sensor._poll()
-
-    sensor.update_status.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_update_status(sensor):
-    """Test update_status calls share_status with correct data."""
-    sensor.battery_percentage = 60.0
-    sensor.battery_temperature = 25.0
-    sensor.battery_voltage = 47.0
-
-    with patch("inputs.plugins.unitree_g1_basic.time.time", return_value=1000.0):
-        await sensor.update_status()
-
-    sensor.status_provider.share_status.assert_called_once()
-    call_arg = sensor.status_provider.share_status.call_args[0][0]
-    assert call_arg.machine_name == "UnitreeG1"
-    assert call_arg.battery_status.battery_level == 60.0
-    assert call_arg.battery_status.voltage == 47.0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_low_battery(sensor):
-    """Test _raw_to_text with critically low battery (<20%)."""
-    with patch("inputs.plugins.unitree_g1_basic.time.time", return_value=1234.0):
-        result = await sensor._raw_to_text([10.0, 48.0, 3.0])
-
-    assert result is not None
-    assert result.timestamp == 1234.0
-    assert "SIT DOWN NOW" in result.message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_medium_low_battery(sensor):
-    """Test _raw_to_text with medium-low battery (20-30%)."""
-    with patch("inputs.plugins.unitree_g1_basic.time.time", return_value=5678.0):
-        result = await sensor._raw_to_text([25.0, 48.0, 3.0])
-
-    assert result is not None
-    assert result.timestamp == 5678.0
-    assert "Consider sitting down" in result.message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_normal_battery(sensor):
-    """Test _raw_to_text with sufficient battery returns None."""
-    result = await sensor._raw_to_text([80.0, 48.0, 3.0])
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_buffer(sensor):
-    """Test raw_to_text appends message to buffer when battery is low."""
-    with patch("inputs.plugins.unitree_g1_basic.time.time", return_value=1000.0):
-        await sensor.raw_to_text([10.0, 48.0, 3.0])
-
-    assert len(sensor.messages) == 1
-    assert "SIT DOWN NOW" in sensor.messages[0].message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_no_append_when_normal(sensor):
-    """Test raw_to_text does not append to buffer when battery is sufficient."""
-    await sensor.raw_to_text([80.0, 48.0, 3.0])
-    assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty(sensor):
-    """Test formatted_latest_buffer returns None when buffer is empty."""
-    assert sensor.formatted_latest_buffer() is None
-
-
-def test_formatted_latest_buffer_with_message(sensor):
-    """Test formatted_latest_buffer returns formatted string and clears buffer."""
-    from inputs.base import Message
-
-    sensor.messages = [Message(timestamp=1000.0, message="WARNING: test")]
-
-    result = sensor.formatted_latest_buffer()
-
-    assert result is not None
-    assert "WARNING: test" in result
-    assert "Energy Level" in result
-    assert sensor.messages == []
-    sensor.io_provider.add_input.assert_called_once_with("Energy Level", "WARNING: test", 1000.0)
diff --git a/tests/inputs/plugins/test_unitree_g1_camera_vlm_cloud.py b/tests/inputs/plugins/test_unitree_g1_camera_vlm_cloud.py
deleted file mode 100644
index 92b0d5717b..0000000000
--- a/tests/inputs/plugins/test_unitree_g1_camera_vlm_cloud.py
+++ /dev/null
@@ -1,69 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_g1_camera_vlm_cloud import (
-    UnitreeG1CameraVLMCloud,
-    UnitreeG1CameraVLMCloudConfig,
-)
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.UnitreeRealSenseDevVLMProvider"),
-    ):
-        config = UnitreeG1CameraVLMCloudConfig()
-        sensor = UnitreeG1CameraVLMCloud(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.UnitreeRealSenseDevVLMProvider"),
-    ):
-        config = UnitreeG1CameraVLMCloudConfig(base_url="wss://test.com")
-        sensor = UnitreeG1CameraVLMCloud(config=config)
-
-        assert sensor.config.base_url == "wss://test.com"
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.UnitreeRealSenseDevVLMProvider"),
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = UnitreeG1CameraVLMCloudConfig()
-        sensor = UnitreeG1CameraVLMCloud(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_g1_camera_vlm_cloud.UnitreeRealSenseDevVLMProvider"),
-    ):
-        config = UnitreeG1CameraVLMCloudConfig()
-        sensor = UnitreeG1CameraVLMCloud(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a humanoid robot")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "I see a humanoid robot" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_unitree_g1_locations_input.py b/tests/inputs/plugins/test_unitree_g1_locations_input.py
deleted file mode 100644
index 0259b141b4..0000000000
--- a/tests/inputs/plugins/test_unitree_g1_locations_input.py
+++ /dev/null
@@ -1,125 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_g1_locations_input import (
-    UnitreeG1LocationsInput,
-    UnitreeG1LocationsSensorConfig,
-)
-
-
-class TestUnitreeG1LocationsSensorConfig:
-    """Test cases for UnitreeG1LocationsSensorConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeG1LocationsSensorConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.use_sim is False
-        assert config.timeout == 5
-        assert config.refresh_interval == 30
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        config = UnitreeG1LocationsSensorConfig(use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-        assert config.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        config = UnitreeG1LocationsSensorConfig(use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        config = UnitreeG1LocationsSensorConfig(
-            base_url="http://custom:8080/api",
-            use_sim=True,
-        )
-        assert config.base_url == "http://custom:8080/api"
-        assert config.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        config = UnitreeG1LocationsSensorConfig(base_url=None, use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        config = UnitreeG1LocationsSensorConfig(base_url=None, use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.unitree_g1_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_g1_locations_input.UnitreeG1LocationsProvider"),
-    ):
-        config = UnitreeG1LocationsSensorConfig()
-        sensor = UnitreeG1LocationsInput(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.unitree_g1_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_g1_locations_input.UnitreeG1LocationsProvider"),
-    ):
-        config = UnitreeG1LocationsSensorConfig(
-            base_url="http://test.com/locations",
-            timeout=10,
-            refresh_interval=60,
-        )
-        sensor = UnitreeG1LocationsInput(config=config)
-
-        assert sensor.config.base_url == "http://test.com/locations"
-        assert sensor.config.timeout == 10
-        assert sensor.config.refresh_interval == 60
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.unitree_g1_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_g1_locations_input.UnitreeG1LocationsProvider") as mock_provider,
-        patch("inputs.plugins.unitree_g1_locations_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = UnitreeG1LocationsSensorConfig()
-        sensor = UnitreeG1LocationsInput(config=config)
-
-        mock_provider_instance = mock_provider.return_value
-        mock_provider_instance.get_all_locations.return_value = {
-            "kitchen": {"name": "Kitchen"},
-            "living_room": {"name": "Living Room"},
-        }
-        sensor.locations_provider = mock_provider_instance
-
-        result = await sensor._poll()
-        assert result == "Kitchen\nLiving Room"
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.unitree_g1_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_g1_locations_input.UnitreeG1LocationsProvider"),
-    ):
-        config = UnitreeG1LocationsSensorConfig()
-        sensor = UnitreeG1LocationsInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="Available locations: Kitchen, Living Room")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "Available locations" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_unitree_g1_odom.py b/tests/inputs/plugins/test_unitree_g1_odom.py
deleted file mode 100644
index a507a8a871..0000000000
--- a/tests/inputs/plugins/test_unitree_g1_odom.py
+++ /dev/null
@@ -1,296 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_g1_odom import UnitreeG1Odom, UnitreeG1OdomConfig
-from providers.unitree_g1_odom_provider import RobotState
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        assert sensor.messages == []
-        assert "location" in sensor.descriptor_for_LLM.lower() or "pose" in sensor.descriptor_for_LLM.lower()
-
-
-def test_initialization_with_unitree_ethernet():
-    """Test initialization with Unitree ethernet channel."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider") as mock_provider,
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig(unitree_ethernet="eth0")
-        UnitreeG1Odom(config=config)
-
-        mock_provider.assert_called_once_with("eth0")
-
-
-def test_initialization_without_ethernet():
-    """Test initialization without ethernet channel."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider") as mock_provider,
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig(unitree_ethernet=None)
-        UnitreeG1Odom(config=config)
-
-        mock_provider.assert_called_once_with(None)
-
-
-@pytest.mark.asyncio
-async def test_poll_with_position_data():
-    """Test _poll with position data available."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider") as mock_provider_class,
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = {"x": 1.0, "y": 2.0, "z": 0.3}
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        with patch("inputs.plugins.unitree_g1_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result == {"x": 1.0, "y": 2.0, "z": 0.3}
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_data():
-    """Test _poll when no position data available."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider") as mock_provider_class,
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = None
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        with patch("inputs.plugins.unitree_g1_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_standing_still():
-    """Test _raw_to_text when robot is standing still."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        position_data = {"moving": False, "body_attitude": RobotState.STANDING}
-
-        with patch("inputs.plugins.unitree_g1_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "standing still" in result.message.lower()
-        assert "can move" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_moving():
-    """Test _raw_to_text when robot is moving."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        position_data = {"moving": True, "body_attitude": RobotState.STANDING}
-
-        with patch("inputs.plugins.unitree_g1_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "moving" in result.message.lower()
-        assert "do not generate new movement commands" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_sitting():
-    """Test _raw_to_text when robot is sitting."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        position_data = {"moving": False, "body_attitude": RobotState.SITTING}
-
-        with patch("inputs.plugins.unitree_g1_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "sitting" in result.message.lower()
-        assert "do not generate new movement commands" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_messages():
-    """Test raw_to_text appends message to buffer."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        position_data = {"moving": False, "body_attitude": RobotState.STANDING}
-
-        with patch("inputs.plugins.unitree_g1_odom.time.time", return_value=1234.0):
-            await sensor.raw_to_text(position_data)
-
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0].timestamp == 1234.0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none_input():
-    """Test raw_to_text with None input doesn't append."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        await sensor.raw_to_text(None)
-
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(
-                timestamp=1000.0,
-                message="You are standing still - you can move if you want to. ",
-            ),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "INPUT:" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert "standing still" in result.lower()
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-
-def test_formatted_latest_buffer_clears_messages():
-    """Test formatted_latest_buffer clears messages after formatting."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-        sensor.io_provider = MagicMock()
-
-        # Add multiple messages
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Message 1"),
-            Message(timestamp=1001.0, message="Message 2"),
-            Message(timestamp=1002.0, message="Message 3"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Message 3" in result
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_returns_latest():
-    """Test formatted_latest_buffer returns only the latest message."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Old message"),
-            Message(timestamp=2000.0, message="Latest message"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Latest message" in result
-        assert "Old message" not in result
-
-
-def test_descriptor_for_llm():
-    """Test descriptor_for_LLM is set correctly."""
-    with (
-        patch("inputs.plugins.unitree_g1_odom.UnitreeG1OdomProvider"),
-        patch("inputs.plugins.unitree_g1_odom.IOProvider"),
-    ):
-        config = UnitreeG1OdomConfig()
-        sensor = UnitreeG1Odom(config=config)
-
-        assert hasattr(sensor, "descriptor_for_LLM")
-        assert isinstance(sensor.descriptor_for_LLM, str)
-        assert len(sensor.descriptor_for_LLM) > 0
diff --git a/tests/inputs/plugins/test_unitree_go2_battery.py b/tests/inputs/plugins/test_unitree_go2_battery.py
deleted file mode 100644
index d87df6ecc2..0000000000
--- a/tests/inputs/plugins/test_unitree_go2_battery.py
+++ /dev/null
@@ -1,413 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_go2_battery import (
-    UnitreeGo2Battery,
-    UnitreeGo2BatteryConfig,
-)
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        assert sensor.messages == []
-        assert sensor.battery_percentage == 0.0
-        assert sensor.battery_voltage == 0.0
-        assert sensor.battery_amperes == 0.0
-
-
-def test_initialization_with_api_key():
-    """Test initialization with API key."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig(api_key="test_key")
-        sensor = UnitreeGo2Battery(config=config)
-
-        assert sensor.config.api_key == "test_key"
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-        sensor.battery_percentage = 80.0
-        sensor.battery_voltage = 24.5
-        sensor.battery_amperes = 2.5
-
-        with patch("inputs.plugins.unitree_go2_battery.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is not None
-        assert len(result) == 3
-        assert result[0] == 80.0
-        assert result[1] == 24.5
-        assert result[2] == 2.5
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_low_battery():
-    """Test _raw_to_text with low battery (warning level)."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        with patch("inputs.plugins.unitree_go2_battery.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text([10.0, 25.0, 3.0])
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "WARNING" in result.message or "energy" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_critical_battery():
-    """Test _raw_to_text with critical battery level."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        with patch("inputs.plugins.unitree_go2_battery.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text([5.0, 25.0, 3.0])
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "CRITICAL" in result.message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_normal_battery():
-    """Test _raw_to_text with normal battery level (no message)."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        with patch("inputs.plugins.unitree_go2_battery.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text([85.0, 25.0, 3.0])
-
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Battery: 85%"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-
-def test_initialization_with_use_sim():
-    """Test initialization with Zenoh subscriber when use_sim is True."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-        patch("inputs.plugins.unitree_go2_battery.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = UnitreeGo2BatteryConfig(use_sim=True, topic="test/lowstate")
-        sensor = UnitreeGo2Battery(config=config)
-
-        mock_zenoh.assert_called_once()
-        mock_session.declare_subscriber.assert_called_once()
-        assert sensor._lowstate_cyclonedds_subscriber is None
-        assert sensor._lowstate_zenoh_subscriber is not None
-
-
-def test_initialization_zenoh_failure():
-    """Test initialization when Zenoh session fails."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-        patch("inputs.plugins.unitree_go2_battery.open_zenoh_session", side_effect=Exception("Connection failed")),
-    ):
-        config = UnitreeGo2BatteryConfig(use_sim=True)
-        sensor = UnitreeGo2Battery(config=config)
-
-        assert sensor._lowstate_zenoh_subscriber is None
-
-
-def test_initialization_cyclonedds_failure():
-    """Test initialization when CycloneDDS subscriber fails."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber", side_effect=Exception("DDS init failed")),
-    ):
-        config = UnitreeGo2BatteryConfig(use_sim=False)
-        sensor = UnitreeGo2Battery(config=config)
-
-        assert sensor._lowstate_cyclonedds_subscriber is None
-
-
-def test_lowstate_message_handler_cyclonedds():
-    """Test LowStateMessageHandler with CycloneDDS message."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        mock_msg = MagicMock()
-        mock_msg.bms_state.soc = 75.5
-        mock_msg.power_v = 24.8
-        mock_msg.power_a = 3.2
-        mock_msg.temperature_ntc1 = 30
-        mock_msg.temperature_ntc2 = 32
-
-        sensor.LowStateMessageHandler(mock_msg)
-
-        assert sensor.battery_percentage == 75.5
-        assert sensor.battery_voltage == 24.8
-        assert sensor.battery_amperes == 3.2
-        assert sensor.battery_t == 31
-
-
-def test_lowstate_message_handler_zenoh():
-    """Test LowStateMessageHandler with Zenoh message."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-        patch("inputs.plugins.unitree_go2_battery.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = UnitreeGo2BatteryConfig(use_sim=True)
-        sensor = UnitreeGo2Battery(config=config)
-
-        mock_sample = MagicMock()
-        mock_payload = MagicMock()
-        mock_payload.to_bytes.return_value = b"test_payload"
-        mock_sample.payload = mock_payload
-
-        mock_lowstate = MagicMock()
-        mock_lowstate.bms_state.soc = 82.3
-        mock_lowstate.power_v = 25.1
-        mock_lowstate.power_a = 2.8
-        mock_lowstate.temperature_ntc1 = 28
-        mock_lowstate.temperature_ntc2 = 30
-
-        with patch("inputs.plugins.unitree_go2_battery.LowState_.deserialize", return_value=mock_lowstate):
-            sensor.LowStateMessageHandler(mock_sample)
-
-        assert sensor.battery_percentage == 82.3
-        assert sensor.battery_voltage == 25.1
-        assert sensor.battery_amperes == 2.8
-        assert sensor.battery_t == 29
-
-
-def test_lowstate_message_handler_incomplete_message():
-    """Test LowStateMessageHandler with incomplete message (AttributeError)."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        sensor.battery_percentage = 50.0
-        sensor.battery_voltage = 24.0
-        sensor.battery_amperes = 2.0
-        sensor.battery_t = 25
-
-        mock_msg = MagicMock(spec=["other_field"])
-
-        sensor.LowStateMessageHandler(mock_msg)
-
-        assert sensor.battery_percentage == 0.0
-        assert sensor.battery_voltage == 0.0
-        assert sensor.battery_amperes == 0.0
-        assert sensor.battery_t == 0
-
-
-def test_lowstate_message_handler_zenoh_deserialization_failure():
-    """Test LowStateMessageHandler when Zenoh deserialization fails."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-        patch("inputs.plugins.unitree_go2_battery.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        config = UnitreeGo2BatteryConfig(use_sim=True)
-        sensor = UnitreeGo2Battery(config=config)
-
-        sensor.battery_percentage = 50.0
-
-        mock_sample = MagicMock()
-        mock_payload = MagicMock()
-        mock_payload.to_bytes.side_effect = Exception("Deserialization error")
-        mock_sample.payload = mock_payload
-
-        with patch(
-            "inputs.plugins.unitree_go2_battery.LowState_.deserialize", side_effect=Exception("Deserialization failed")
-        ):
-            sensor.LowStateMessageHandler(mock_sample)
-
-        assert sensor.battery_percentage == 50.0
-
-
-@pytest.mark.asyncio
-async def test_report_status():
-    """Test report_status method."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider") as mock_provider_class,
-    ):
-        mock_provider = MagicMock()
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-        sensor.battery_percentage = 65.0
-        sensor.battery_voltage = 24.5
-        sensor.battery_t = 28
-
-        with patch("inputs.plugins.unitree_go2_battery.time.time", return_value=5000.0):
-            await sensor.report_status()
-
-        mock_provider.share_status.assert_called_once()
-        call_args = mock_provider.share_status.call_args[0][0]
-        assert call_args.machine_name == "UnitreeGo2"
-        assert call_args.battery_status.battery_level == 65.0
-        assert call_args.battery_status.temperature == 28
-        assert call_args.battery_status.voltage == 24.5
-        assert call_args.battery_status.charging_status is False
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_buffer():
-    """Test raw_to_text method appends messages to buffer."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-
-        assert len(sensor.messages) == 0
-
-        with patch("inputs.plugins.unitree_go2_battery.time.time", return_value=1000.0):
-            await sensor.raw_to_text([5.0, 25.0, 3.0])
-
-        assert len(sensor.messages) == 1
-        assert "CRITICAL" in sensor.messages[0].message
-
-        with patch("inputs.plugins.unitree_go2_battery.time.time", return_value=2000.0):
-            await sensor.raw_to_text([10.0, 25.0, 3.0])
-
-        assert len(sensor.messages) == 2
-
-        with patch("inputs.plugins.unitree_go2_battery.time.time", return_value=3000.0):
-            await sensor.raw_to_text([85.0, 25.0, 3.0])
-
-        assert len(sensor.messages) == 2
-
-
-@pytest.mark.asyncio
-async def test_poll_calls_report_status():
-    """Test that _poll calls report_status."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-        sensor.battery_percentage = 75.0
-        sensor.battery_voltage = 24.0
-        sensor.battery_amperes = 2.5
-
-        sensor.report_status = AsyncMock()
-
-        with patch("inputs.plugins.unitree_go2_battery.asyncio.sleep", new=AsyncMock()):
-            await sensor._poll()
-
-        sensor.report_status.assert_called_once()
-
-
-def test_formatted_latest_buffer_with_descriptor():
-    """Test formatted_latest_buffer includes descriptor_for_LLM."""
-    with (
-        patch("inputs.plugins.unitree_go2_battery.ChannelSubscriber"),
-        patch("inputs.plugins.unitree_go2_battery.IOProvider"),
-        patch("inputs.plugins.unitree_go2_battery.TeleopsStatusProvider"),
-    ):
-        config = UnitreeGo2BatteryConfig()
-        sensor = UnitreeGo2Battery(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Low battery warning"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Energy Levels" in result
-        assert "Low battery warning" in result
diff --git a/tests/inputs/plugins/test_unitree_go2_camera_vlm_cloud.py b/tests/inputs/plugins/test_unitree_go2_camera_vlm_cloud.py
deleted file mode 100644
index 49eab242f9..0000000000
--- a/tests/inputs/plugins/test_unitree_go2_camera_vlm_cloud.py
+++ /dev/null
@@ -1,78 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_go2_camera_vlm_cloud import (
-    UnitreeGo2CameraVLMCloud,
-    UnitreeGo2CameraVLMCloudConfig,
-)
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.UnitreeCameraVLMProvider"),
-    ):
-        config = UnitreeGo2CameraVLMCloudConfig()
-        sensor = UnitreeGo2CameraVLMCloud(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.UnitreeCameraVLMProvider"),
-    ):
-        config = UnitreeGo2CameraVLMCloudConfig(
-            api_key="test_key",
-            base_url="wss://test.com",
-            stream_base_url="https://stream.test.com",
-        )
-        sensor = UnitreeGo2CameraVLMCloud(config=config)
-
-        assert sensor.config.api_key == "test_key"
-        assert sensor.config.base_url == "wss://test.com"
-        assert sensor.config.stream_base_url == "https://stream.test.com"
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.UnitreeCameraVLMProvider"),
-        patch(
-            "inputs.plugins.unitree_go2_camera_vlm_cloud.asyncio.sleep",
-            new=AsyncMock(),
-        ),
-    ):
-        config = UnitreeGo2CameraVLMCloudConfig()
-        sensor = UnitreeGo2CameraVLMCloud(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.IOProvider"),
-        patch("inputs.plugins.unitree_go2_camera_vlm_cloud.UnitreeCameraVLMProvider"),
-    ):
-        config = UnitreeGo2CameraVLMCloudConfig()
-        sensor = UnitreeGo2CameraVLMCloud(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a quadruped robot")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "I see a quadruped robot" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_unitree_go2_gps_odom_reader.py b/tests/inputs/plugins/test_unitree_go2_gps_odom_reader.py
deleted file mode 100644
index a69c7fd573..0000000000
--- a/tests/inputs/plugins/test_unitree_go2_gps_odom_reader.py
+++ /dev/null
@@ -1,271 +0,0 @@
-import math
-from unittest.mock import Mock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_go2_gps_odom_reader import (
-    UnitreeGo2GPSOdomReader,
-    UnitreeGo2GPSOdomReaderConfig,
-)
-
-
-@pytest.fixture
-def mock_io_provider():
-    with patch("inputs.plugins.unitree_go2_gps_odom_reader.IOProvider") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def mock_odom_provider():
-    with patch("inputs.plugins.unitree_go2_gps_odom_reader.IOProvider") as mock_class:
-        mock_instance = Mock()
-        mock_class.return_value = mock_instance
-        yield mock_instance
-
-
-def test_initialization_sets_defaults_and_raises_on_missing_config():
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=1.0, origin_lon=2.0, origin_yaw_deg=90.0, unitree_ethernet="eth0")
-    with (
-        patch("inputs.plugins.unitree_go2_gps_odom_reader.IOProvider") as _,
-        patch("inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider") as mock_odom,
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    assert instance.lat0 == 1.0
-    assert instance.lon0 == 2.0
-    assert instance._yaw_offset == math.radians(90.0)
-    assert instance.pose_x == 0.0
-    assert instance.pose_y == 0.0
-    assert instance.pose_yaw == 0.0
-    assert instance.io_provider is not None
-    assert instance.buf == []
-    assert instance.descriptor_for_LLM == "Latitude, Longitude, and Yaw"
-    mock_odom.assert_called_once_with(channel="eth0")
-
-
-def test_initialization_raises_on_missing_origin_coordinates():
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=1.0)  # Missing lon and yaw
-    with (
-        patch("inputs.plugins.unitree_go2_gps_odom_reader.IOProvider"),
-        patch("inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider"),
-    ):
-        with pytest.raises(ValueError, match="Missing origin coordinates or yaw in config."):
-            UnitreeGo2GPSOdomReader(config=config)
-
-
-@pytest.mark.asyncio
-async def test_update_pose_updates_internal_state_and_io_provider(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    mock_odom_provider.x = 10.0
-    mock_odom_provider.y = 20.0
-    mock_odom_provider.odom_yaw_m180_p180 = 30.0  # degrees
-
-    expected_yaw_world_rad = math.radians(30.0)
-    expected_yaw_offset_rad = math.radians(45.0)
-    expected_yaw_raw = expected_yaw_world_rad + expected_yaw_offset_rad
-    expected_yaw_wrapped = (expected_yaw_raw + math.pi) % (2 * math.pi) - math.pi
-
-    await instance._update_pose()
-
-    assert instance.pose_x == 10.0
-    assert instance.pose_y == 20.0
-    assert abs(instance.pose_yaw - expected_yaw_wrapped) < 1e-9
-
-    expected_lat, expected_lon = instance._xy_to_latlon(10.0, 20.0)
-    mock_io_provider.add_dynamic_variable.assert_any_call("latitude", expected_lat)
-    mock_io_provider.add_dynamic_variable.assert_any_call("longitude", expected_lon)
-    mock_io_provider.add_dynamic_variable.assert_any_call("yaw_deg", math.degrees(expected_yaw_wrapped))
-
-
-@pytest.mark.asyncio
-async def test_poll_calls_update_pose_and_returns_none(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    with patch.object(instance, "_update_pose") as mock_update:
-        with patch("asyncio.sleep"):
-            result = await instance._poll()
-
-    mock_update.assert_awaited_once()
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_adds_message_to_buffer_and_calls_io_provider(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    test_input = "Test GPS message"
-    initial_len = len(instance.buf)
-
-    with patch("time.time", return_value=1234.0):
-        await instance.raw_to_text(test_input)
-
-    assert len(instance.buf) == initial_len + 1
-    assert instance.buf[-1].message == test_input
-    assert instance.buf[-1].timestamp == 1234.0
-    mock_io_provider.add_input.assert_called_once_with("UnitreeGo2GPSOdomReader", test_input, 1234.0)
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_does_nothing_if_input_none_or_empty(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    initial_len = len(instance.buf)
-
-    await instance.raw_to_text(None)
-    await instance.raw_to_text("")
-
-    await instance.raw_to_text("   ")
-
-    assert len(instance.buf) == initial_len + 1
-    assert instance.buf[-1].message == ""
-    mock_io_provider.add_input.assert_called_once_with("UnitreeGo2GPSOdomReader", "", instance.buf[-1].timestamp)
-
-
-def test_formatted_latest_buffer_empty_returns_none(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    result = instance.formatted_latest_buffer()
-    assert result is None
-
-
-def test_formatted_latest_buffer_formats_and_clears_latest_message(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    msg = Message(timestamp=1234.0, message="Formatted GPS data")
-    instance.buf = [msg]
-
-    result = instance.formatted_latest_buffer()
-
-    assert result is not None
-    assert "Latitude, Longitude, and Yaw INPUT" in result
-    assert "Formatted GPS data" in result
-    assert len(instance.buf) == 0
-    mock_io_provider.add_input.assert_called_once_with("UnitreeGo2GPSOdomReader", "Formatted GPS data", 1234.0)
-
-
-def test_xy_to_latlon_conversion(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    dx = 100.0
-    dy = 200.0
-
-    assert instance.lat0 is not None
-    assert instance.lon0 is not None
-    lat0_rad = math.radians(instance.lat0)
-    lon0_rad = math.radians(instance.lon0)
-
-    lat_new_rad = lat0_rad + dy / 6_371_000.0
-    lon_new_rad = lon0_rad + dx / (6_371_000.0 * math.cos(lat0_rad))
-
-    expected_lat = math.degrees(lat_new_rad)
-    expected_lon = math.degrees(lon_new_rad)
-
-    calculated_lat, calculated_lon = instance._xy_to_latlon(dx, dy)
-
-    assert abs(calculated_lat - expected_lat) < 1e-4
-    assert abs(calculated_lon - expected_lon) < 1e-4
-
-
-def test_wrap_angle_function(mock_io_provider, mock_odom_provider):
-    config = UnitreeGo2GPSOdomReaderConfig(origin_lat=-33.868820, origin_lon=151.209295, origin_yaw_deg=45.0)
-    with (
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.IOProvider",
-            return_value=mock_io_provider,
-        ),
-        patch(
-            "inputs.plugins.unitree_go2_gps_odom_reader.UnitreeGo2OdomProvider",
-            return_value=mock_odom_provider,
-        ),
-    ):
-        instance = UnitreeGo2GPSOdomReader(config=config)
-
-    assert abs(instance._wrap_angle(0.0) - 0.0) < 1e-9
-    assert abs(instance._wrap_angle(math.pi) - (-math.pi)) < 1e-9
-    assert abs(instance._wrap_angle(-math.pi) - (-math.pi)) < 1e-9
-
-    assert abs(instance._wrap_angle(2 * math.pi) - 0.0) < 1e-9
-    assert abs(instance._wrap_angle(3 * math.pi) - (-math.pi)) < 1e-9
-    assert abs(instance._wrap_angle(-2 * math.pi) - 0.0) < 1e-9
-    assert abs(instance._wrap_angle(-3 * math.pi) - (-math.pi)) < 1e-9
diff --git a/tests/inputs/plugins/test_unitree_go2_locations_input.py b/tests/inputs/plugins/test_unitree_go2_locations_input.py
deleted file mode 100644
index 5986477ef7..0000000000
--- a/tests/inputs/plugins/test_unitree_go2_locations_input.py
+++ /dev/null
@@ -1,125 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_go2_locations_input import (
-    UnitreeGo2LocationsInput,
-    UnitreeGo2LocationsSensorConfig,
-)
-
-
-class TestUnitreeGo2LocationsSensorConfig:
-    """Test cases for UnitreeGo2LocationsSensorConfig."""
-
-    def test_default_config(self):
-        """Test default configuration values."""
-        config = UnitreeGo2LocationsSensorConfig()
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.use_sim is False
-        assert config.timeout == 5
-        assert config.refresh_interval == 30
-
-    def test_use_sim_true_sets_cloud_url(self):
-        """Test that use_sim=True sets the cloud simulation URL when base_url is None."""
-        config = UnitreeGo2LocationsSensorConfig(use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-        assert config.use_sim is True
-
-    def test_use_sim_false_sets_local_url(self):
-        """Test that use_sim=False sets the local URL when base_url is None."""
-        config = UnitreeGo2LocationsSensorConfig(use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-        assert config.use_sim is False
-
-    def test_explicit_base_url_overrides_use_sim(self):
-        """Test that explicitly providing base_url overrides use_sim behavior."""
-        config = UnitreeGo2LocationsSensorConfig(
-            base_url="http://custom:8080/api",
-            use_sim=True,
-        )
-        assert config.base_url == "http://custom:8080/api"
-        assert config.use_sim is True
-
-    def test_base_url_none_with_use_sim_true(self):
-        """Test that base_url=None with use_sim=True sets cloud URL."""
-        config = UnitreeGo2LocationsSensorConfig(base_url=None, use_sim=True)
-        assert config.base_url == "https://api.openmind.com/api/core/simulation/orchestrator/maps/locations/list"
-
-    def test_base_url_none_with_use_sim_false(self):
-        """Test that base_url=None with use_sim=False sets local URL."""
-        config = UnitreeGo2LocationsSensorConfig(base_url=None, use_sim=False)
-        assert config.base_url == "http://localhost:5000/maps/locations/list"
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.unitree_go2_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_go2_locations_input.UnitreeGo2LocationsProvider"),
-    ):
-        config = UnitreeGo2LocationsSensorConfig()
-        sensor = UnitreeGo2LocationsInput(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.unitree_go2_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_go2_locations_input.UnitreeGo2LocationsProvider"),
-    ):
-        config = UnitreeGo2LocationsSensorConfig(
-            base_url="http://test.com/locations",
-            timeout=10,
-            refresh_interval=60,
-        )
-        sensor = UnitreeGo2LocationsInput(config=config)
-
-        assert sensor.config.base_url == "http://test.com/locations"
-        assert sensor.config.timeout == 10
-        assert sensor.config.refresh_interval == 60
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.unitree_go2_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_go2_locations_input.UnitreeGo2LocationsProvider") as mock_provider,
-        patch("inputs.plugins.unitree_go2_locations_input.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = UnitreeGo2LocationsSensorConfig()
-        sensor = UnitreeGo2LocationsInput(config=config)
-
-        mock_provider_instance = mock_provider.return_value
-        mock_provider_instance.get_all_locations.return_value = {
-            "kitchen": {"name": "Kitchen"},
-            "living_room": {"name": "Living Room"},
-        }
-        sensor.locations_provider = mock_provider_instance
-
-        result = await sensor._poll()
-        assert result == "Kitchen\nLiving Room"
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.unitree_go2_locations_input.IOProvider"),
-        patch("inputs.plugins.unitree_go2_locations_input.UnitreeGo2LocationsProvider"),
-    ):
-        config = UnitreeGo2LocationsSensorConfig()
-        sensor = UnitreeGo2LocationsInput(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="Available locations: Bedroom, Hallway")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "Available locations" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_unitree_go2_odom.py b/tests/inputs/plugins/test_unitree_go2_odom.py
deleted file mode 100644
index 6c1f4b8459..0000000000
--- a/tests/inputs/plugins/test_unitree_go2_odom.py
+++ /dev/null
@@ -1,236 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_go2_odom import UnitreeGo2Odom, UnitreeGo2OdomConfig
-from providers.unitree_go2_odom_provider import RobotState
-
-
-def test_initialization():
-    """Test basic initialization with default use_sim=False."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_cyclone_provider,
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider") as mock_zenoh_provider,
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        assert sensor.messages == []
-        assert "location" in sensor.descriptor_for_LLM.lower() or "pose" in sensor.descriptor_for_LLM.lower()
-        mock_cyclone_provider.assert_called_once_with(None)
-        mock_zenoh_provider.assert_not_called()
-
-
-def test_initialization_with_use_sim_true():
-    """Test initialization with use_sim=True uses Zenoh provider."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_cyclone_provider,
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider") as mock_zenoh_provider,
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig(use_sim=True, api_key="test_key", topic="test/topic")
-        sensor = UnitreeGo2Odom(config=config)
-
-        assert sensor.messages == []
-        mock_zenoh_provider.assert_called_once_with(
-            api_key="test_key",
-            topic="test/topic",
-            use_sim=True,
-        )
-        mock_cyclone_provider.assert_not_called()
-
-
-def test_initialization_with_unitree_ethernet():
-    """Test initialization with Unitree ethernet channel uses CycloneDDS provider."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_cyclone_provider,
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider") as mock_zenoh_provider,
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig(unitree_ethernet="eth0")
-        UnitreeGo2Odom(config=config)
-
-        # Should use CycloneDDS provider when use_sim=False (default)
-        mock_cyclone_provider.assert_called_once_with("eth0")
-        mock_zenoh_provider.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_poll_with_position_data():
-    """Test _poll with position data available using CycloneDDS provider."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class,
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = {"x": 1.0, "y": 2.0, "z": 0.0}
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        with patch("inputs.plugins.unitree_go2_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result == {"x": 1.0, "y": 2.0, "z": 0.0}
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_data():
-    """Test _poll when no position data available."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider") as mock_provider_class,
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        mock_provider = MagicMock()
-        mock_provider.position = None
-        mock_provider_class.return_value = mock_provider
-
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        with patch("inputs.plugins.unitree_go2_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_input():
-    """Test _raw_to_text with valid position data."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider"),
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        position_data = {"moving": False, "body_attitude": RobotState.STANDING}
-
-        with patch("inputs.plugins.unitree_go2_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert "standing still" in result.message.lower() or "can move" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider"),
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider"),
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="Position: x=1.0, y=2.0"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Position" in result or "position" in result.lower()
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider"),
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_with_zenoh_provider():
-    """Test _poll with Zenoh provider when use_sim=True."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider"),
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider") as mock_zenoh_class,
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        mock_zenoh = MagicMock()
-        mock_zenoh.position = {"x": 5.0, "y": 10.0, "z": 0.5}
-        mock_zenoh_class.return_value = mock_zenoh
-
-        config = UnitreeGo2OdomConfig(use_sim=True, api_key="test_key")
-        sensor = UnitreeGo2Odom(config=config)
-
-        with patch("inputs.plugins.unitree_go2_odom.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-        assert result == {"x": 5.0, "y": 10.0, "z": 0.5}
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_sitting():
-    """Test _raw_to_text when robot is sitting."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider"),
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        position_data = {"moving": False, "body_attitude": RobotState.SITTING}
-
-        with patch("inputs.plugins.unitree_go2_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert "sitting" in result.message.lower()
-        assert "do not generate new movement" in result.message.lower()
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_moving():
-    """Test _raw_to_text when robot is moving."""
-    with (
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomProvider"),
-        patch("inputs.plugins.unitree_go2_odom.UnitreeGo2OdomZenohProvider"),
-        patch("inputs.plugins.unitree_go2_odom.IOProvider"),
-    ):
-        config = UnitreeGo2OdomConfig()
-        sensor = UnitreeGo2Odom(config=config)
-
-        position_data = {"moving": True, "body_attitude": RobotState.STANDING}
-
-        with patch("inputs.plugins.unitree_go2_odom.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text(position_data)
-
-        assert result is not None
-        assert "moving" in result.message.lower()
-        assert "do not generate new movement" in result.message.lower()
diff --git a/tests/inputs/plugins/test_unitree_go2_rplidar.py b/tests/inputs/plugins/test_unitree_go2_rplidar.py
deleted file mode 100644
index 87047b6259..0000000000
--- a/tests/inputs/plugins/test_unitree_go2_rplidar.py
+++ /dev/null
@@ -1,59 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.unitree_go2_rplidar import RPLidarConfig, UnitreeGo2RPLidar
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.unitree_go2_rplidar.IOProvider"),
-        patch("inputs.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider"),
-    ):
-        config = RPLidarConfig()
-        sensor = UnitreeGo2RPLidar(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.unitree_go2_rplidar.IOProvider"),
-        patch("inputs.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider") as mock_rplidar,
-        patch("inputs.plugins.unitree_go2_rplidar.asyncio.sleep", new=AsyncMock()),
-    ):
-        mock_rplidar.return_value.lidar_string = "Hello from RPLidar: objects and walls detected."
-        config = RPLidarConfig()
-        sensor = UnitreeGo2RPLidar(config=config)
-
-        result = await sensor._poll()
-        assert result == "Hello from RPLidar: objects and walls detected."
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.unitree_go2_rplidar.IOProvider"),
-        patch("inputs.plugins.unitree_go2_rplidar.UnitreeGo2RPLidarProvider"),
-    ):
-        config = RPLidarConfig()
-        sensor = UnitreeGo2RPLidar(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="Wall detected at 0.5m ahead, clear path on left")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "objects and walls" in result
-        assert "Wall detected" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_vlm_coco_local.py b/tests/inputs/plugins/test_vlm_coco_local.py
deleted file mode 100644
index a45bfff5c7..0000000000
--- a/tests/inputs/plugins/test_vlm_coco_local.py
+++ /dev/null
@@ -1,102 +0,0 @@
-from unittest.mock import Mock, patch
-
-import numpy as np
-import pytest
-import torch
-
-from inputs.plugins.vlm_coco_local import Message, VLM_COCO_Local, VLM_COCO_LocalConfig
-
-
-@pytest.fixture
-def mock_model():
-    with patch("inputs.plugins.vlm_coco_local.detection_model.fasterrcnn_mobilenet_v3_large_320_fpn") as mock:
-        mock_instance = Mock()
-        mock_instance.eval = Mock()
-        mock.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def mock_check_webcam():
-    with patch("inputs.plugins.vlm_coco_local.check_webcam", return_value=True):
-        yield
-
-
-@pytest.fixture
-def mock_cv2_video_capture():
-    with patch("inputs.plugins.vlm_coco_local.cv2.VideoCapture") as mock:
-        mock_instance = Mock()
-        # Simulate .read() returning a dummy frame
-        dummy_frame = np.zeros((480, 640, 3), dtype=np.uint8)
-        mock_instance.read.return_value = (True, dummy_frame)
-        mock_instance.get.side_effect = lambda x: {3: 640, 4: 480}[x]
-        mock.return_value = mock_instance
-        yield mock_instance
-
-
-@pytest.fixture
-def vlm_coco_local(mock_model, mock_check_webcam, mock_cv2_video_capture):
-    config = VLM_COCO_LocalConfig(camera_index=0)
-    return VLM_COCO_Local(config=config)
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_frame(vlm_coco_local):
-    frame = await vlm_coco_local._poll()
-    assert isinstance(frame, np.ndarray)
-    assert frame.shape == (480, 640, 3)
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_none(vlm_coco_local):
-    result = await vlm_coco_local._raw_to_text(None)
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_detection(vlm_coco_local, mock_model):
-    # Setup mock model output
-    dummy_detection = {
-        "labels": [1, 2],
-        "boxes": [torch.tensor([10, 10, 100, 100]), torch.tensor([200, 10, 300, 100])],
-        "scores": [torch.tensor(0.9), torch.tensor(0.8)],
-    }
-    vlm_coco_local.model = Mock(return_value=[dummy_detection])
-    vlm_coco_local.class_labels = ["__background__", "cat", "dog"]
-    vlm_coco_local.cam_third = 213  # 640/3
-
-    dummy_frame = np.zeros((480, 640, 3), dtype=np.uint8)
-    result = await vlm_coco_local._raw_to_text(dummy_frame)
-    assert isinstance(result, Message)
-    assert "You see a cat" in result.message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_buffer_management(vlm_coco_local):
-    dummy_message = Message(timestamp=123.456, message="test message")
-    vlm_coco_local.messages = []
-    vlm_coco_local.messages.append(dummy_message)
-    assert len(vlm_coco_local.messages) == 1
-
-
-def test_formatted_latest_buffer(vlm_coco_local):
-    vlm_coco_local.messages = [Message(message="test message", timestamp=123.456)]
-    result = vlm_coco_local.formatted_latest_buffer()
-    assert "test message" in result
-    assert vlm_coco_local.messages == []
-
-
-def test_formatted_latest_buffer_empty(vlm_coco_local):
-    vlm_coco_local.messages = []
-    assert vlm_coco_local.formatted_latest_buffer() is None
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_on_failed_frame_read(mock_model, mock_check_webcam, mock_cv2_video_capture):
-    """Test that _poll returns None when cap.read() fails."""
-    mock_cv2_video_capture.read.return_value = (False, None)
-    config = VLM_COCO_LocalConfig(camera_index=0)
-    sensor = VLM_COCO_Local(config=config)
-
-    result = await sensor._poll()
-    assert result is None
diff --git a/tests/inputs/plugins/test_vlm_dummy_local.py b/tests/inputs/plugins/test_vlm_dummy_local.py
deleted file mode 100644
index 4048127a92..0000000000
--- a/tests/inputs/plugins/test_vlm_dummy_local.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.vlm_dummy_local import DummyVLMLocal
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with patch("inputs.plugins.vlm_dummy_local.IOProvider"):
-        config = SensorConfig()
-        sensor = DummyVLMLocal(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.vlm_dummy_local.IOProvider"),
-        patch("inputs.plugins.vlm_dummy_local.asyncio.sleep", new=AsyncMock()),
-        patch("inputs.plugins.vlm_dummy_local.Image.new") as mock_image_new,
-    ):
-        mock_image_new.return_value = "fake_image_data"
-        config = SensorConfig()
-        sensor = DummyVLMLocal(config=config)
-
-        result = await sensor._poll()
-        assert result == "fake_image_data"
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with patch("inputs.plugins.vlm_dummy_local.IOProvider"):
-        config = SensorConfig()
-        sensor = DummyVLMLocal(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(
-            timestamp=123.456,
-            message="DUMMY VLM - FAKE DATA - I see 42 people. Also, I see a rocket.",
-        )
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Vision" in result
-        assert "DUMMY VLM" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_vlm_gemini.py b/tests/inputs/plugins/test_vlm_gemini.py
deleted file mode 100644
index 308e404ac6..0000000000
--- a/tests/inputs/plugins/test_vlm_gemini.py
+++ /dev/null
@@ -1,317 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.vlm_gemini import VLMGemini, VLMGeminiConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-        patch("inputs.plugins.vlm_gemini.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a person standing in front of a building")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "Vision" in result
-        assert "I see a person" in result
-        assert len(sensor.messages) == 0
-
-
-def test_initialization_missing_api_key():
-    """Test initialization without API key raises ValueError."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key=None)
-        with pytest.raises(ValueError, match="config file missing api_key"):
-            VLMGemini(config=config)
-
-        config = VLMGeminiConfig(api_key="")
-        with pytest.raises(ValueError, match="config file missing api_key"):
-            VLMGemini(config=config)
-
-
-def test_initialization_with_use_sim():
-    """Test initialization with use_sim=True uses VLMGeminiZenohProvider."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiZenohProvider") as mock_zenoh_provider,
-    ):
-        mock_vlm = MagicMock()
-        mock_zenoh_provider.return_value = mock_vlm
-
-        config = VLMGeminiConfig(api_key="test-api-key", use_sim=True, topic="test/topic")
-        VLMGemini(config=config)
-
-        mock_zenoh_provider.assert_called_once()
-        call_kwargs = mock_zenoh_provider.call_args[1]
-        assert call_kwargs["base_url"] == "https://api.openmind.com/api/core/gemini"
-        assert call_kwargs["api_key"] == "test-api-key"
-        assert call_kwargs["topic"] == "test/topic"
-        assert call_kwargs["model"] == "gemini-2.5-flash"
-        assert call_kwargs["max_tokens"] == 1024
-        mock_vlm.start.assert_called_once()
-        mock_vlm.register_message_callback.assert_called_once()
-
-
-def test_initialization_with_custom_parameters():
-    """Test initialization with custom model, max_tokens, and prompt."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider") as mock_provider,
-    ):
-        mock_vlm = MagicMock()
-        mock_provider.return_value = mock_vlm
-
-        config = VLMGeminiConfig(
-            api_key="test-api-key",
-            model="gemini-2.5-pro",
-            max_tokens=2048,
-            prompt="Describe what you see in detail",
-        )
-        sensor = VLMGemini(config=config)
-
-        mock_provider.assert_called_once()
-        call_kwargs = mock_provider.call_args[1]
-        assert call_kwargs["model"] == "gemini-2.5-pro"
-        assert call_kwargs["max_tokens"] == 2048
-        assert call_kwargs["prompt"] == "Describe what you see in detail"
-        assert sensor.descriptor_for_LLM == "Vision"
-
-
-def test_handle_vlm_message_with_content():
-    """Test _handle_vlm_message with valid content."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        sensor._handle_vlm_message("Test vision message")
-
-        assert not sensor.message_buffer.empty()
-        message = sensor.message_buffer.get_nowait()
-        assert message == "Test vision message"
-
-
-def test_handle_vlm_message_with_empty_content():
-    """Test _handle_vlm_message with empty content."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        sensor._handle_vlm_message("")
-        sensor._handle_vlm_message(None)  # type: ignore
-
-        assert sensor.message_buffer.empty()
-
-
-@pytest.mark.asyncio
-async def test_poll_with_message_in_buffer():
-    """Test _poll when message is available in buffer."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-        patch("inputs.plugins.vlm_gemini.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        # Add message to buffer
-        sensor.message_buffer.put("Scene description")
-
-        result = await sensor._poll()
-        assert result == "Scene description"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_input():
-    """Test _raw_to_text with valid input."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        with patch("inputs.plugins.vlm_gemini.time.time", return_value=5000.0):
-            result = await sensor._raw_to_text("A person walking")
-
-        assert result is not None
-        assert result.timestamp == 5000.0
-        assert result.message == "A person walking"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none_input():
-    """Test _raw_to_text with None input."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        result = await sensor._raw_to_text(None)
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_appends_to_messages():
-    """Test raw_to_text appends messages to buffer."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        assert len(sensor.messages) == 0
-
-        with patch("inputs.plugins.vlm_gemini.time.time", return_value=1000.0):
-            await sensor.raw_to_text("First message")
-
-        assert len(sensor.messages) == 1
-        assert sensor.messages[0].message == "First message"
-
-        with patch("inputs.plugins.vlm_gemini.time.time", return_value=2000.0):
-            await sensor.raw_to_text("Second message")
-
-        assert len(sensor.messages) == 2
-        assert sensor.messages[1].message == "Second message"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_none_input_no_append():
-    """Test raw_to_text with None input does not append."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        await sensor.raw_to_text(None)
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_with_io_provider():
-    """Test formatted_latest_buffer interacts with IO provider."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider") as mock_io_provider_class,
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider"),
-    ):
-        mock_io_provider = MagicMock()
-        mock_io_provider_class.return_value = mock_io_provider
-
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        test_message = Message(timestamp=123.456, message="Test vision output")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        mock_io_provider.add_input.assert_called_once_with("VLMGemini", "Test vision output", 123.456)
-        assert len(sensor.messages) == 0
-
-
-def test_stop():
-    """Test stop method deregisters callback and stops VLM."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider") as mock_provider,
-    ):
-        mock_vlm = MagicMock()
-        mock_provider.return_value = mock_vlm
-
-        config = VLMGeminiConfig(api_key="test-api-key")
-        sensor = VLMGemini(config=config)
-
-        sensor.stop()
-
-        mock_vlm.deregister_message_callback.assert_called_once()
-        mock_vlm.stop.assert_called_once()
-
-
-def test_initialization_with_custom_stream_url():
-    """Test initialization with custom stream_base_url."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider") as mock_provider,
-    ):
-        mock_vlm = MagicMock()
-        mock_provider.return_value = mock_vlm
-
-        custom_stream_url = "wss://custom.example.com/stream"
-        config = VLMGeminiConfig(
-            api_key="test-api-key",
-            stream_base_url=custom_stream_url,
-        )
-        VLMGemini(config=config)
-
-        mock_provider.assert_called_once()
-        call_kwargs = mock_provider.call_args[1]
-        assert call_kwargs["stream_url"] == custom_stream_url
-
-
-def test_initialization_default_stream_url():
-    """Test initialization generates default stream URL with API key."""
-    with (
-        patch("inputs.plugins.vlm_gemini.IOProvider"),
-        patch("inputs.plugins.vlm_gemini.VLMGeminiProvider") as mock_provider,
-    ):
-        mock_vlm = MagicMock()
-        mock_provider.return_value = mock_vlm
-
-        config = VLMGeminiConfig(api_key="my-key-123")
-        VLMGemini(config=config)
-
-        mock_provider.assert_called_once()
-        call_kwargs = mock_provider.call_args[1]
-        expected_url = "wss://api.openmind.com/api/core/teleops/stream/video?api_key=my-key-123"
-        assert call_kwargs["stream_url"] == expected_url
diff --git a/tests/inputs/plugins/test_vlm_local_yolo.py b/tests/inputs/plugins/test_vlm_local_yolo.py
deleted file mode 100644
index cce097e29f..0000000000
--- a/tests/inputs/plugins/test_vlm_local_yolo.py
+++ /dev/null
@@ -1,196 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.vlm_local_yolo import VLM_Local_YOLO, VLM_Local_YOLOConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture"),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    mock_cap = MagicMock()
-    mock_cap.read.return_value = (True, MagicMock())  # (ret, frame)
-
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture", return_value=mock_cap),
-        patch("inputs.plugins.vlm_local_yolo.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        result = await sensor._poll()
-        assert result == []
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture"),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="You see a person in front of you.")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Eyes" in result
-        assert "You see a person" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_detections():
-    """Test raw_to_text with YOLO detections adds message to buffer."""
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture"),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        detections = [
-            {"class": "person", "confidence": 0.95, "bbox": [100, 50, 300, 400]},
-            {"class": "cat", "confidence": 0.80, "bbox": [400, 100, 500, 300]},
-        ]
-        await sensor.raw_to_text(detections)
-        assert len(sensor.messages) == 1
-        assert "person" in sensor.messages[0].message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_empty_detections():
-    """Test raw_to_text with empty detections does not add message."""
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture"),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        await sensor.raw_to_text([])
-        assert len(sensor.messages) == 0
-
-
-def test_get_top_detection_with_detections():
-    """Test get_top_detection returns highest confidence detection."""
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture"),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        detections = [
-            {"class": "cat", "confidence": 0.80, "bbox": [10, 20, 30, 40]},
-            {"class": "person", "confidence": 0.95, "bbox": [100, 200, 300, 400]},
-            {"class": "dog", "confidence": 0.70, "bbox": [50, 60, 70, 80]},
-        ]
-        label, bbox = sensor.get_top_detection(detections)
-        assert label == "person"
-        assert bbox == [100, 200, 300, 400]
-
-
-def test_get_top_detection_empty():
-    """Test get_top_detection with empty list returns (None, None)."""
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture"),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        label, bbox = sensor.get_top_detection([])
-        assert label is None
-        assert bbox is None
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_on_failed_frame_read():
-    """Test that _poll returns None when cap.read() fails."""
-    mock_cap = MagicMock()
-    mock_cap.read.return_value = (False, None)
-
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture", return_value=mock_cap),
-        patch("inputs.plugins.vlm_local_yolo.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_poll_returns_none_on_none_frame():
-    """Test that _poll returns None when cap.read() returns True but frame is None."""
-    mock_cap = MagicMock()
-    mock_cap.read.return_value = (True, None)
-
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(640, 480)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture", return_value=mock_cap),
-        patch("inputs.plugins.vlm_local_yolo.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_cam_third_initialized_without_camera():
-    """Test that cam_third has a safe default when no camera is available."""
-    with (
-        patch("inputs.plugins.vlm_local_yolo.IOProvider"),
-        patch("inputs.plugins.vlm_local_yolo.YOLO"),
-        patch("inputs.plugins.vlm_local_yolo.check_webcam", return_value=(0, 0)),
-        patch("inputs.plugins.vlm_local_yolo.cv2.VideoCapture"),
-    ):
-        config = VLM_Local_YOLOConfig()
-        sensor = VLM_Local_YOLO(config=config)
-
-        assert hasattr(sensor, "cam_third")
-        assert sensor.cam_third == 0
diff --git a/tests/inputs/plugins/test_vlm_openai.py b/tests/inputs/plugins/test_vlm_openai.py
deleted file mode 100644
index 608df24430..0000000000
--- a/tests/inputs/plugins/test_vlm_openai.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.vlm_openai import VLMOpenAI, VLMOpenAIConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.vlm_openai.IOProvider"),
-        patch("inputs.plugins.vlm_openai.VLMOpenAIProvider"),
-    ):
-        config = VLMOpenAIConfig(api_key="test-api-key")
-        sensor = VLMOpenAI(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.vlm_openai.IOProvider"),
-        patch("inputs.plugins.vlm_openai.VLMOpenAIProvider"),
-        patch("inputs.plugins.vlm_openai.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLMOpenAIConfig(api_key="test-api-key")
-        sensor = VLMOpenAI(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.vlm_openai.IOProvider"),
-        patch("inputs.plugins.vlm_openai.VLMOpenAIProvider"),
-    ):
-        config = VLMOpenAIConfig(api_key="test-api-key")
-        sensor = VLMOpenAI(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a person sitting at a desk")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Vision" in result
-        assert "I see a person" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_vlm_openai_rtsp.py b/tests/inputs/plugins/test_vlm_openai_rtsp.py
deleted file mode 100644
index 0f963baf00..0000000000
--- a/tests/inputs/plugins/test_vlm_openai_rtsp.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.vlm_openai_rtsp import VLMOpenAIRTSP, VLMOpenAIRTSPConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.vlm_openai_rtsp.IOProvider"),
-        patch("inputs.plugins.vlm_openai_rtsp.VLMOpenAIRTSPProvider"),
-    ):
-        config = VLMOpenAIRTSPConfig(api_key="test-api-key")
-        sensor = VLMOpenAIRTSP(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.vlm_openai_rtsp.IOProvider"),
-        patch("inputs.plugins.vlm_openai_rtsp.VLMOpenAIRTSPProvider"),
-        patch("inputs.plugins.vlm_openai_rtsp.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLMOpenAIRTSPConfig(api_key="test-api-key")
-        sensor = VLMOpenAIRTSP(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.vlm_openai_rtsp.IOProvider"),
-        patch("inputs.plugins.vlm_openai_rtsp.VLMOpenAIRTSPProvider"),
-    ):
-        config = VLMOpenAIRTSPConfig(api_key="test-api-key")
-        sensor = VLMOpenAIRTSP(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a person walking through a doorway")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "INPUT:" in result
-        assert "Vision" in result
-        assert "I see a person" in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_vlm_vila.py b/tests/inputs/plugins/test_vlm_vila.py
deleted file mode 100644
index 645bbf6a42..0000000000
--- a/tests/inputs/plugins/test_vlm_vila.py
+++ /dev/null
@@ -1,74 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.vlm_vila import VLMVila, VLMVilaConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.vlm_vila.IOProvider"),
-        patch("inputs.plugins.vlm_vila.VLMVilaProvider"),
-    ):
-        config = VLMVilaConfig()
-        sensor = VLMVila(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.vlm_vila.IOProvider"),
-        patch("inputs.plugins.vlm_vila.VLMVilaProvider"),
-    ):
-        config = VLMVilaConfig(
-            api_key="test_key",
-            base_url="wss://test.com",
-            stream_base_url="https://stream.test.com",
-            camera_index=1,
-        )
-        sensor = VLMVila(config=config)
-
-        assert sensor.config.api_key == "test_key"
-        assert sensor.config.base_url == "wss://test.com"
-        assert sensor.config.stream_base_url == "https://stream.test.com"
-        assert sensor.config.camera_index == 1
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.vlm_vila.IOProvider"),
-        patch("inputs.plugins.vlm_vila.VLMVilaProvider"),
-        patch("inputs.plugins.vlm_vila.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLMVilaConfig()
-        sensor = VLMVila(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.vlm_vila.IOProvider"),
-        patch("inputs.plugins.vlm_vila.VLMVilaProvider"),
-    ):
-        config = VLMVilaConfig()
-        sensor = VLMVila(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a person walking")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "I see a person walking" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_vlm_vila_rtsp.py b/tests/inputs/plugins/test_vlm_vila_rtsp.py
deleted file mode 100644
index b62f7eb4f1..0000000000
--- a/tests/inputs/plugins/test_vlm_vila_rtsp.py
+++ /dev/null
@@ -1,72 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.vlm_vila_rtsp import VLMVilaRTSP, VLMVilaRTSPConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.vlm_vila_rtsp.IOProvider"),
-        patch("inputs.plugins.vlm_vila_rtsp.VLMVilaRTSPProvider"),
-    ):
-        config = VLMVilaRTSPConfig()
-        sensor = VLMVilaRTSP(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.vlm_vila_rtsp.IOProvider"),
-        patch("inputs.plugins.vlm_vila_rtsp.VLMVilaRTSPProvider"),
-    ):
-        config = VLMVilaRTSPConfig(
-            base_url="wss://test.com",
-            rtsp_url="rtsp://test.com:8554/camera",
-            decode_format="H265",
-        )
-        sensor = VLMVilaRTSP(config=config)
-
-        assert sensor.config.base_url == "wss://test.com"
-        assert sensor.config.rtsp_url == "rtsp://test.com:8554/camera"
-        assert sensor.config.decode_format == "H265"
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.vlm_vila_rtsp.IOProvider"),
-        patch("inputs.plugins.vlm_vila_rtsp.VLMVilaRTSPProvider"),
-        patch("inputs.plugins.vlm_vila_rtsp.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLMVilaRTSPConfig()
-        sensor = VLMVilaRTSP(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.vlm_vila_rtsp.IOProvider"),
-        patch("inputs.plugins.vlm_vila_rtsp.VLMVilaRTSPProvider"),
-    ):
-        config = VLMVilaRTSPConfig()
-        sensor = VLMVilaRTSP(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a building entrance")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "I see a building entrance" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_vlm_vila_zenoh.py b/tests/inputs/plugins/test_vlm_vila_zenoh.py
deleted file mode 100644
index af700af7f0..0000000000
--- a/tests/inputs/plugins/test_vlm_vila_zenoh.py
+++ /dev/null
@@ -1,72 +0,0 @@
-from unittest.mock import AsyncMock, patch
-
-import pytest
-
-from inputs.base import Message
-from inputs.plugins.vlm_vila_zenoh import VLMVilaZenoh, VLMVilaZenohConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.vlm_vila_zenoh.IOProvider"),
-        patch("inputs.plugins.vlm_vila_zenoh.VLMVilaZenohProvider"),
-    ):
-        config = VLMVilaZenohConfig()
-        sensor = VLMVilaZenoh(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-def test_initialization_with_custom_config():
-    """Test initialization with custom configuration."""
-    with (
-        patch("inputs.plugins.vlm_vila_zenoh.IOProvider"),
-        patch("inputs.plugins.vlm_vila_zenoh.VLMVilaZenohProvider"),
-    ):
-        config = VLMVilaZenohConfig(
-            base_url="wss://test.com",
-            topic="camera_feed",
-            decode_format="H265",
-        )
-        sensor = VLMVilaZenoh(config=config)
-
-        assert sensor.config.base_url == "wss://test.com"
-        assert sensor.config.topic == "camera_feed"
-        assert sensor.config.decode_format == "H265"
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    with (
-        patch("inputs.plugins.vlm_vila_zenoh.IOProvider"),
-        patch("inputs.plugins.vlm_vila_zenoh.VLMVilaZenohProvider"),
-        patch("inputs.plugins.vlm_vila_zenoh.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = VLMVilaZenohConfig()
-        sensor = VLMVilaZenoh(config=config)
-
-        result = await sensor._poll()
-        assert result is None
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.vlm_vila_zenoh.IOProvider"),
-        patch("inputs.plugins.vlm_vila_zenoh.VLMVilaZenohProvider"),
-    ):
-        config = VLMVilaZenohConfig()
-        sensor = VLMVilaZenoh(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a crowded room")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "I see a crowded room" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_wallet_coinbase.py b/tests/inputs/plugins/test_wallet_coinbase.py
deleted file mode 100644
index 68a3b72e71..0000000000
--- a/tests/inputs/plugins/test_wallet_coinbase.py
+++ /dev/null
@@ -1,277 +0,0 @@
-import os
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.wallet_coinbase import Message, WalletCoinbase, WalletCoinbaseConfig
-
-
-def test_initialization_with_missing_wallet_address():
-    """Missing COINBASE_WALLET_ADDRESS should fall back to a safe zero state."""
-    with patch.dict(os.environ, {}, clear=True):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-        assert wallet.cdp_client is None
-        assert wallet.balance == 0.0
-        assert wallet.balance_previous == 0.0
-        assert wallet.asset_id == "eth"
-
-
-def test_initialization_with_client_init_failure():
-    """CDP client initialization failure should be handled gracefully."""
-    env = {
-        "COINBASE_WALLET_ADDRESS": "0x1234567890abcdef",
-        "CDP_API_KEY_ID": "test_key_id",
-        "CDP_API_KEY_SECRET": "test_secret",
-    }
-    with (
-        patch.dict(os.environ, env, clear=True),
-        patch("inputs.plugins.wallet_coinbase.CdpClient") as mock_cdp_client_class,
-    ):
-        mock_cdp_client_class.side_effect = Exception("Network error")
-
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-        assert wallet.cdp_client is None
-        assert wallet.balance == 0.0
-        assert wallet.balance_previous == 0.0
-
-
-def test_initialization_with_successful_client_init_default_asset():
-    """Successful initialization should initialize CDP client using default asset_id 'eth'."""
-    mock_client = MagicMock()
-
-    env = {
-        "COINBASE_WALLET_ADDRESS": "0x1234567890abcdef",
-        "CDP_API_KEY_ID": "test_key_id",
-        "CDP_API_KEY_SECRET": "test_secret",
-    }
-    with (
-        patch.dict(os.environ, env, clear=True),
-        patch(
-            "inputs.plugins.wallet_coinbase.CdpClient",
-            return_value=mock_client,
-        ) as mock_cdp_client_class,
-    ):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-        assert wallet.cdp_client == mock_client
-        assert wallet.asset_id == "eth"
-        assert wallet.network == "base"
-        # Balance starts at 0.0 as sync fetch is not fully implemented
-        assert wallet.balance == 0.0
-        assert wallet.balance_previous == 0.0
-
-        mock_cdp_client_class.assert_called_once_with(api_key_id="test_key_id", api_key_secret="test_secret")
-
-
-def test_initialization_with_custom_asset_id():
-    """Custom asset_id should be respected during initialization."""
-    mock_client = MagicMock()
-
-    config = WalletCoinbaseConfig(asset_id="btc", network="ethereum")
-
-    env = {
-        "COINBASE_WALLET_ADDRESS": "0x1234567890abcdef",
-        "CDP_API_KEY_ID": "test_key_id",
-        "CDP_API_KEY_SECRET": "test_secret",
-    }
-    with (
-        patch.dict(os.environ, env, clear=True),
-        patch(
-            "inputs.plugins.wallet_coinbase.CdpClient",
-            return_value=mock_client,
-        ),
-    ):
-        wallet = WalletCoinbase(config=config)
-
-        assert wallet.asset_id == "btc"
-        assert wallet.network == "ethereum"
-        assert wallet.balance == 0.0
-        assert wallet.balance_previous == 0.0
-
-
-def test_initialization_without_api_keys_does_not_create_client():
-    """
-    If API key/secret are missing, CDP client should not be created.
-    Initialization should still safely proceed.
-    """
-    env = {
-        "COINBASE_WALLET_ADDRESS": "0x1234567890abcdef",
-        # Intentionally omit API keys
-    }
-    with patch.dict(os.environ, env, clear=True):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-        assert wallet.cdp_client is None
-        assert wallet.balance == 0.0
-        assert wallet.balance_previous == 0.0
-
-
-@pytest.mark.asyncio
-async def test_poll_with_no_client_returns_zero_delta():
-    """_poll should return zero delta if CDP client is not initialized."""
-    env = {
-        "COINBASE_WALLET_ADDRESS": "0x1234567890abcdef",
-    }
-    with (
-        patch.dict(os.environ, env, clear=True),
-        patch(
-            "inputs.plugins.wallet_coinbase.asyncio.sleep",
-            new=AsyncMock(return_value=None),
-        ),
-    ):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-        result = await wallet._poll()
-
-        assert result == [0.0, 0.0]
-
-
-@pytest.mark.asyncio
-async def test_poll_with_client_placeholder_implementation():
-    """_poll should properly fetch balance and calculate delta."""
-    mock_client = MagicMock()
-
-    # Mock the async list_token_balances method
-    mock_balance_result = MagicMock()
-    mock_balance_result.balances = []
-    mock_client.evm.list_token_balances = AsyncMock(return_value=mock_balance_result)
-
-    env = {
-        "COINBASE_WALLET_ADDRESS": "0x1234567890abcdef",
-        "CDP_API_KEY_ID": "test_key_id",
-        "CDP_API_KEY_SECRET": "test_secret",
-    }
-    with (
-        patch.dict(os.environ, env, clear=True),
-        patch(
-            "inputs.plugins.wallet_coinbase.CdpClient",
-            return_value=mock_client,
-        ),
-        patch(
-            "inputs.plugins.wallet_coinbase.asyncio.sleep",
-            new=AsyncMock(return_value=None),
-        ),
-    ):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-        wallet.balance = 1.5
-        wallet.balance_previous = 1.5
-
-        result = await wallet._poll()
-
-        # Returns zero balance as the mock returns empty balances list
-        assert result == [0.0, -1.5]
-        mock_client.evm.list_token_balances.assert_called_once_with(
-            address="0x1234567890abcdef",
-            network="base",
-        )
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_positive_balance_change():
-    """_raw_to_text should return Message for positive deltas."""
-    with (
-        patch.dict(os.environ, {}, clear=True),
-        patch("inputs.plugins.wallet_coinbase.time.time", return_value=1234.0),
-    ):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-        raw_input = [2.0, 0.5]
-        result = await wallet._raw_to_text(raw_input)
-
-    assert result is not None
-    assert isinstance(result, Message)
-    assert result.timestamp == 1234.0
-    assert result.message == "0.50000"
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_zero_balance_change():
-    """_raw_to_text should return None for zero deltas."""
-    with patch.dict(os.environ, {}, clear=True):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-        raw_input = [2.0, 0.0]
-        result = await wallet._raw_to_text(raw_input)
-
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_negative_balance_change():
-    """_raw_to_text should return None for negative deltas."""
-    with patch.dict(os.environ, {}, clear=True):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-        raw_input = [2.0, -0.1]
-        result = await wallet._raw_to_text(raw_input)
-
-    assert result is None
-
-
-def test_formatted_latest_buffer_with_multiple_transactions():
-    """formatted_latest_buffer should sum messages, write IO, and clear buffer."""
-    with patch.dict(os.environ, {}, clear=True):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-    wallet.io_provider = MagicMock()
-
-    wallet.messages = [
-        Message(timestamp=1000.0, message="0.5"),
-        Message(timestamp=1001.0, message="0.3"),
-        Message(timestamp=1002.0, message="0.2"),
-    ]
-
-    result = wallet.formatted_latest_buffer()
-
-    assert result is not None
-    assert "WalletCoinbase INPUT" in result
-    assert "You just received 1.00000 ETH." in result
-
-    wallet.io_provider.add_input.assert_called_once()
-    assert len(wallet.messages) == 0
-
-
-def test_formatted_latest_buffer_with_custom_asset_symbol():
-    """Custom asset should appear in upper-case in formatted output."""
-    config = WalletCoinbaseConfig(asset_id="btc")
-
-    env = {
-        "COINBASE_WALLET_ADDRESS": "0x1234567890abcdef",
-        "CDP_API_KEY_ID": "test_key_id",
-        "CDP_API_KEY_SECRET": "test_secret",
-    }
-
-    mock_client = MagicMock()
-
-    with (
-        patch.dict(os.environ, env, clear=True),
-        patch(
-            "inputs.plugins.wallet_coinbase.CdpClient",
-            return_value=mock_client,
-        ),
-    ):
-        wallet = WalletCoinbase(config=config)
-
-    wallet.io_provider = MagicMock()
-
-    wallet.messages = [
-        Message(timestamp=1000.0, message="10.0"),
-    ]
-
-    result = wallet.formatted_latest_buffer()
-
-    assert result is not None
-    assert "You just received 10.00000 BTC." in result
-
-    wallet.io_provider.add_input.assert_called_once()
-    assert len(wallet.messages) == 0
-
-
-def test_formatted_latest_buffer_with_empty_buffer():
-    """Empty buffer should return None."""
-    with patch.dict(os.environ, {}, clear=True):
-        wallet = WalletCoinbase(config=WalletCoinbaseConfig())
-
-    result = wallet.formatted_latest_buffer()
-    assert result is None
diff --git a/tests/inputs/plugins/test_wallet_ethereum.py b/tests/inputs/plugins/test_wallet_ethereum.py
deleted file mode 100644
index 88ce0a9b74..0000000000
--- a/tests/inputs/plugins/test_wallet_ethereum.py
+++ /dev/null
@@ -1,174 +0,0 @@
-import os
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.wallet_ethereum import WalletEthereum
-
-
-def test_initialization_success():
-    """Test successful initialization."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-
-        assert sensor.ETH_balance == 0
-        assert sensor.ETH_balance_previous == 0
-        assert sensor.messages == []
-
-
-def test_initialization_connection_failure():
-    """Test initialization when Web3 connection fails."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = False
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        with pytest.raises(Exception, match="Failed to connect to Ethereum"):
-            WalletEthereum(config=SensorConfig())
-
-
-def test_initialization_with_custom_address():
-    """Test initialization with custom ETH address."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-
-    custom_address = "0x1234567890123456789012345678901234567890"
-    env = {"ETH_ADDRESS": custom_address}
-
-    with (
-        patch.dict(os.environ, env, clear=False),
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-
-        assert sensor.ACCOUNT_ADDRESS == custom_address
-
-
-@pytest.mark.asyncio
-async def test_poll_success():
-    """Test successful polling."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-    mock_web3.eth.block_number = 12345
-    mock_web3.eth.get_balance.return_value = 2000000000000000000  # 2 ETH in wei
-    mock_web3.from_wei.return_value = 2.0
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-        sensor.ETH_balance_previous = 1.0
-
-        with patch("inputs.plugins.wallet_ethereum.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-            assert result is not None
-            assert len(result) == 2
-            assert result[0] == 2.0  # Current balance
-
-
-@pytest.mark.asyncio
-async def test_poll_with_exception():
-    """Test polling with exception."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-    mock_web3.eth.block_number = MagicMock(side_effect=Exception("Network error"))
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-
-        with patch("inputs.plugins.wallet_ethereum.asyncio.sleep", new=AsyncMock()):
-            result = await sensor._poll()
-
-            assert len(result) == 2
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_positive_change():
-    """Test _raw_to_text with positive balance change."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-
-        with patch("inputs.plugins.wallet_ethereum.time.time", return_value=1234.0):
-            result = await sensor._raw_to_text([2.5, 0.5])
-
-            assert result is not None
-            assert result.timestamp == 1234.0
-            assert "0.5" in result.message or "0.50" in result.message
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_zero_change():
-    """Test _raw_to_text with zero balance change."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-
-        result = await sensor._raw_to_text([2.0, 0.0])
-
-        assert result is None
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = [
-            Message(timestamp=1000.0, message="0.5"),
-            Message(timestamp=1001.0, message="0.3"),
-        ]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        assert "ETH" in result or "eth" in result.lower()
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    mock_web3 = MagicMock()
-    mock_web3.is_connected.return_value = True
-
-    with (
-        patch("inputs.plugins.wallet_ethereum.Web3", return_value=mock_web3),
-        patch("inputs.plugins.wallet_ethereum.IOProvider"),
-    ):
-        sensor = WalletEthereum(config=SensorConfig())
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/plugins/test_weather.py b/tests/inputs/plugins/test_weather.py
deleted file mode 100644
index 2cdab0728d..0000000000
--- a/tests/inputs/plugins/test_weather.py
+++ /dev/null
@@ -1,386 +0,0 @@
-import time
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.weather import WeatherConfig, WeatherInput
-
-
-class TestWeatherConfig:
-    """Tests for WeatherConfig."""
-
-    def test_default_values(self):
-        """Test config with default values."""
-        config = WeatherConfig(api_key="test_api_key")
-        assert config.api_key == "test_api_key"
-        assert config.latitude == 40.7128
-        assert config.longitude == -74.0060
-        assert config.poll_interval == 300.0
-        assert config.units == "metric"
-
-    def test_custom_values(self):
-        """Test config with custom values."""
-        config = WeatherConfig(
-            api_key="my_key",
-            latitude=51.5074,
-            longitude=-0.1278,
-            poll_interval=600.0,
-            units="imperial",
-        )
-        assert config.latitude == 51.5074
-        assert config.longitude == -0.1278
-        assert config.poll_interval == 600.0
-        assert config.units == "imperial"
-
-
-class TestWeatherInput:
-    """Tests for WeatherInput."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.weather.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def weather_input(self, mock_io_provider):
-        """Create a WeatherInput instance."""
-        config = WeatherConfig(
-            api_key="test_api_key",
-            latitude=40.7128,
-            longitude=-74.0060,
-            poll_interval=300.0,
-        )
-        return WeatherInput(config)
-
-    def test_init_with_config(self, mock_io_provider):
-        """Test initialization with config."""
-        config = WeatherConfig(api_key="test_key", latitude=35.0, longitude=139.0)
-        weather = WeatherInput(config)
-        assert weather.api_key == "test_key"
-        assert weather.latitude == 35.0
-        assert weather.longitude == 139.0
-        assert weather.descriptor_for_LLM == "Current Weather"
-
-    def test_init_without_api_key_logs_warning(self, mock_io_provider):
-        """Test that missing API key logs a warning."""
-        with patch("inputs.plugins.weather.logging.warning") as mock_warning:
-            config = WeatherConfig(api_key="")
-            WeatherInput(config)
-            mock_warning.assert_called_with("WeatherInput: API key not provided")
-
-
-class TestWeatherInputFetch:
-    """Tests for weather fetching."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.weather.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def weather_input(self, mock_io_provider):
-        """Create a WeatherInput instance."""
-        config = WeatherConfig(api_key="test_api_key")
-        return WeatherInput(config)
-
-    @pytest.mark.asyncio
-    async def test_fetch_weather_success(self, weather_input):
-        """Test successful weather fetch."""
-        mock_response_data = {
-            "name": "New York",
-            "main": {"temp": 20.5, "feels_like": 19.0, "humidity": 65},
-            "weather": [{"description": "partly cloudy"}],
-            "wind": {"speed": 5.5},
-        }
-
-        with patch("inputs.plugins.weather.aiohttp.ClientSession") as mock_session:
-            mock_response = AsyncMock()
-            mock_response.status = 200
-            mock_response.json = AsyncMock(return_value=mock_response_data)
-
-            mock_get = MagicMock()
-            mock_get.__aenter__ = AsyncMock(return_value=mock_response)
-            mock_get.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session_instance = MagicMock()
-            mock_session_instance.get = MagicMock(return_value=mock_get)
-            mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-            mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session.return_value = mock_session_instance
-
-            result = await weather_input._fetch_weather()
-
-            assert result is not None
-            assert result["name"] == "New York"
-            assert result["main"]["temp"] == 20.5
-
-    @pytest.mark.asyncio
-    async def test_fetch_weather_api_error(self, weather_input):
-        """Test handling of API error."""
-        with patch("inputs.plugins.weather.aiohttp.ClientSession") as mock_session:
-            mock_response = AsyncMock()
-            mock_response.status = 401
-            mock_response.text = AsyncMock(return_value="Invalid API key")
-
-            mock_get = MagicMock()
-            mock_get.__aenter__ = AsyncMock(return_value=mock_response)
-            mock_get.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session_instance = MagicMock()
-            mock_session_instance.get = MagicMock(return_value=mock_get)
-            mock_session_instance.__aenter__ = AsyncMock(return_value=mock_session_instance)
-            mock_session_instance.__aexit__ = AsyncMock(return_value=None)
-
-            mock_session.return_value = mock_session_instance
-
-            with patch("inputs.plugins.weather.logging.error") as mock_error:
-                result = await weather_input._fetch_weather()
-                assert result is None
-                assert any("401" in str(call) for call in mock_error.call_args_list)
-
-    @pytest.mark.asyncio
-    async def test_fetch_weather_no_api_key(self, mock_io_provider):
-        """Test that fetch returns None without API key."""
-        config = WeatherConfig(api_key="")
-        weather = WeatherInput(config)
-        result = await weather._fetch_weather()
-        assert result is None
-
-
-class TestWeatherInputPoll:
-    """Tests for _poll() behavior."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.weather.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def weather_input(self, mock_io_provider):
-        """Create a WeatherInput instance with short poll interval."""
-        config = WeatherConfig(api_key="test_api_key", poll_interval=60.0)
-        return WeatherInput(config)
-
-    @pytest.mark.asyncio
-    async def test_poll_returns_data_on_first_call(self, weather_input):
-        """Test that first poll fetches weather data."""
-        mock_data = {"name": "NYC", "main": {"temp": 20.0}}
-
-        with patch.object(weather_input, "_fetch_weather", new_callable=AsyncMock) as mock_fetch:
-            mock_fetch.return_value = mock_data
-            result = await weather_input._poll()
-
-            assert result == mock_data
-            mock_fetch.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_poll_returns_none_before_interval(self, weather_input):
-        """Test that poll returns None when interval has not elapsed."""
-        mock_data = {"name": "NYC", "main": {"temp": 20.0}}
-
-        with patch.object(weather_input, "_fetch_weather", new_callable=AsyncMock) as mock_fetch:
-            mock_fetch.return_value = mock_data
-
-            await weather_input._poll()
-            mock_fetch.reset_mock()
-
-            result = await weather_input._poll()
-            assert result is None
-            mock_fetch.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_poll_fetches_again_after_interval(self, weather_input):
-        """Test that poll fetches new data after interval elapses."""
-        mock_data = {"name": "NYC", "main": {"temp": 20.0}}
-
-        with patch.object(weather_input, "_fetch_weather", new_callable=AsyncMock) as mock_fetch:
-            mock_fetch.return_value = mock_data
-
-            await weather_input._poll()
-            mock_fetch.reset_mock()
-
-            weather_input._last_poll_time = time.time() - 120.0
-
-            result = await weather_input._poll()
-            assert result == mock_data
-            mock_fetch.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_poll_does_not_send_duplicate_data(self, weather_input):
-        """Test that repeated polls don't create duplicate messages."""
-        mock_data = {
-            "name": "NYC",
-            "main": {"temp": 20.0},
-            "weather": [{"description": "clear"}],
-        }
-
-        with patch.object(weather_input, "_fetch_weather", new_callable=AsyncMock) as mock_fetch:
-            mock_fetch.return_value = mock_data
-
-            result1 = await weather_input._poll()
-            await weather_input.raw_to_text(result1)
-            assert len(weather_input.messages) == 1
-
-            result2 = await weather_input._poll()
-            await weather_input.raw_to_text(result2)
-            assert len(weather_input.messages) == 1
-
-
-class TestWeatherInputRawToText:
-    """Tests for raw_to_text conversion."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.weather.IOProvider") as mock:
-            yield mock
-
-    @pytest.fixture
-    def weather_input(self, mock_io_provider):
-        """Create a WeatherInput instance."""
-        config = WeatherConfig(api_key="test_api_key")
-        return WeatherInput(config)
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_success(self, weather_input):
-        """Test successful conversion to text."""
-        raw_data = {
-            "name": "London",
-            "main": {"temp": 15.0, "feels_like": 14.0, "humidity": 80},
-            "weather": [{"description": "light rain"}],
-            "wind": {"speed": 3.0},
-        }
-
-        result = await weather_input._raw_to_text(raw_data)
-
-        assert result is not None
-        assert "London" in result.message
-        assert "light rain" in result.message
-        assert "15" in result.message
-        assert "°C" in result.message
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_imperial_units(self, mock_io_provider):
-        """Test conversion with imperial units."""
-        config = WeatherConfig(api_key="test_key", units="imperial")
-        weather = WeatherInput(config)
-
-        raw_data = {
-            "name": "Miami",
-            "main": {"temp": 85.0, "feels_like": 90.0, "humidity": 75},
-            "weather": [{"description": "sunny"}],
-            "wind": {"speed": 10.0},
-        }
-
-        result = await weather._raw_to_text(raw_data)
-
-        assert result is not None
-        assert "Miami" in result.message
-        assert "°F" in result.message
-        assert "mph" in result.message
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_none_input(self, weather_input):
-        """Test that None input returns None."""
-        result = await weather_input._raw_to_text(None)
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_kelvin_units(self, mock_io_provider):
-        """Test conversion with standard (Kelvin) units."""
-        config = WeatherConfig(api_key="test_key", units="standard")
-        weather = WeatherInput(config)
-
-        raw_data = {
-            "name": "Moscow",
-            "main": {"temp": 263.15, "feels_like": 258.0, "humidity": 70},
-            "weather": [{"description": "snow"}],
-            "wind": {"speed": 7.0},
-        }
-
-        result = await weather._raw_to_text(raw_data)
-
-        assert result is not None
-        assert "Moscow" in result.message
-        assert " K" in result.message
-        assert "m/s" in result.message
-        assert "°F" not in result.message
-        assert "°C" not in result.message
-
-    @pytest.mark.asyncio
-    async def test_raw_to_text_partial_data(self, weather_input):
-        """Test handling of partial data."""
-        raw_data = {
-            "name": "Tokyo",
-            "main": {"temp": 25.0},
-            "weather": [{"description": "clear sky"}],
-        }
-
-        result = await weather_input._raw_to_text(raw_data)
-
-        assert result is not None
-        assert "Tokyo" in result.message
-        assert "clear sky" in result.message
-
-
-class TestWeatherInputFormatted:
-    """Tests for formatted_latest_buffer."""
-
-    @pytest.fixture
-    def mock_io_provider(self):
-        """Mock IOProvider."""
-        with patch("inputs.plugins.weather.IOProvider") as mock:
-            mock_instance = MagicMock()
-            mock.return_value = mock_instance
-            yield mock_instance
-
-    @pytest.fixture
-    def weather_input(self, mock_io_provider):
-        """Create a WeatherInput instance."""
-        config = WeatherConfig(api_key="test_api_key")
-        weather = WeatherInput(config)
-        weather.io_provider = mock_io_provider
-        return weather
-
-    def test_formatted_latest_buffer_empty(self, weather_input):
-        """Test that empty buffer returns None."""
-        result = weather_input.formatted_latest_buffer()
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_formatted_latest_buffer_with_message(self, weather_input):
-        """Test formatting with message in buffer."""
-        raw_data = {
-            "name": "Paris",
-            "main": {"temp": 18.0, "humidity": 60},
-            "weather": [{"description": "cloudy"}],
-            "wind": {"speed": 4.0},
-        }
-
-        await weather_input.raw_to_text(raw_data)
-        result = weather_input.formatted_latest_buffer()
-
-        assert result is not None
-        assert "Current Weather" in result
-        assert "Paris" in result
-        assert "// START" in result
-        assert "// END" in result
-
-    @pytest.mark.asyncio
-    async def test_formatted_latest_buffer_clears_messages(self, weather_input):
-        """Test that buffer is cleared after formatting."""
-        raw_data = {
-            "name": "Berlin",
-            "main": {"temp": 10.0},
-            "weather": [{"description": "foggy"}],
-        }
-
-        await weather_input.raw_to_text(raw_data)
-        assert len(weather_input.messages) == 1
-
-        weather_input.formatted_latest_buffer()
-        assert len(weather_input.messages) == 0
diff --git a/tests/inputs/plugins/test_webcam_to_face_emotion.py b/tests/inputs/plugins/test_webcam_to_face_emotion.py
deleted file mode 100644
index f20b321bcb..0000000000
--- a/tests/inputs/plugins/test_webcam_to_face_emotion.py
+++ /dev/null
@@ -1,69 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.base import Message, SensorConfig
-from inputs.plugins.webcam_to_face_emotion import FaceEmotionCapture
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.webcam_to_face_emotion.IOProvider"),
-        patch("inputs.plugins.webcam_to_face_emotion.cv2.CascadeClassifier"),
-        patch("inputs.plugins.webcam_to_face_emotion.check_webcam", return_value=True),
-        patch("inputs.plugins.webcam_to_face_emotion.cv2.VideoCapture"),
-    ):
-        config = SensorConfig()
-        sensor = FaceEmotionCapture(config=config)
-
-        assert hasattr(sensor, "messages")
-
-
-@pytest.mark.asyncio
-async def test_poll():
-    """Test _poll method."""
-    mock_cap = MagicMock()
-    mock_cap.read.return_value = (True, "mock_frame")  # (ret, frame)
-
-    with (
-        patch("inputs.plugins.webcam_to_face_emotion.IOProvider"),
-        patch("inputs.plugins.webcam_to_face_emotion.cv2.CascadeClassifier"),
-        patch("inputs.plugins.webcam_to_face_emotion.check_webcam", return_value=True),
-        patch(
-            "inputs.plugins.webcam_to_face_emotion.cv2.VideoCapture",
-            return_value=mock_cap,
-        ),
-        patch("inputs.plugins.webcam_to_face_emotion.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = SensorConfig()
-        sensor = FaceEmotionCapture(config=config)
-
-        result = await sensor._poll()
-        assert result == "mock_frame"
-
-
-def test_formatted_latest_buffer():
-    """Test formatted_latest_buffer."""
-    with (
-        patch("inputs.plugins.webcam_to_face_emotion.IOProvider"),
-        patch("inputs.plugins.webcam_to_face_emotion.cv2.CascadeClassifier"),
-        patch("inputs.plugins.webcam_to_face_emotion.check_webcam", return_value=True),
-        patch("inputs.plugins.webcam_to_face_emotion.cv2.VideoCapture"),
-    ):
-        config = SensorConfig()
-        sensor = FaceEmotionCapture(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
-
-        test_message = Message(timestamp=123.456, message="I see a person. Their emotion is happy.")
-        sensor.messages.append(test_message)
-
-        result = sensor.formatted_latest_buffer()
-        assert isinstance(result, str)
-        assert "FaceEmotionCapture INPUT" in result
-        assert "I see a person. Their emotion is happy." in result
-        assert "// START" in result
-        assert "// END" in result
-        assert len(sensor.messages) == 0
diff --git a/tests/inputs/plugins/test_zenoh.py b/tests/inputs/plugins/test_zenoh.py
deleted file mode 100644
index 57dec260c8..0000000000
--- a/tests/inputs/plugins/test_zenoh.py
+++ /dev/null
@@ -1,102 +0,0 @@
-from queue import Queue
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from inputs.plugins.zenoh import ZenohListener, ZenohListenerConfig
-
-
-def test_initialization():
-    """Test basic initialization."""
-    with (
-        patch("inputs.plugins.zenoh.ZenohListenerProvider"),
-        patch("inputs.plugins.zenoh.IOProvider"),
-    ):
-        config = ZenohListenerConfig()
-        sensor = ZenohListener(config=config)
-
-        assert sensor.messages == []
-        assert isinstance(sensor.message_buffer, Queue)
-
-
-@pytest.mark.asyncio
-async def test_poll_with_message():
-    """Test _poll with message in buffer."""
-    with (
-        patch("inputs.plugins.zenoh.ZenohListenerProvider"),
-        patch("inputs.plugins.zenoh.IOProvider"),
-        patch("inputs.plugins.zenoh.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ZenohListenerConfig()
-        sensor = ZenohListener(config=config)
-        sensor.message_buffer.put("Test message")
-
-        result = await sensor._poll()
-
-        assert result == "Test message"
-
-
-@pytest.mark.asyncio
-async def test_poll_empty_buffer():
-    """Test _poll with empty buffer."""
-    with (
-        patch("inputs.plugins.zenoh.ZenohListenerProvider"),
-        patch("inputs.plugins.zenoh.IOProvider"),
-        patch("inputs.plugins.zenoh.asyncio.sleep", new=AsyncMock()),
-    ):
-        config = ZenohListenerConfig()
-        sensor = ZenohListener(config=config)
-
-        result = await sensor._poll()
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_raw_to_text_with_valid_input():
-    """Test _raw_to_text with valid input."""
-    with (
-        patch("inputs.plugins.zenoh.ZenohListenerProvider"),
-        patch("inputs.plugins.zenoh.IOProvider"),
-        patch("inputs.plugins.zenoh.time.time", return_value=1234.0),
-    ):
-        config = ZenohListenerConfig()
-        sensor = ZenohListener(config=config)
-
-        result = await sensor._raw_to_text("Test message")
-
-        assert result is not None
-        assert result.timestamp == 1234.0
-        assert result.message == "Test message"
-
-
-def test_formatted_latest_buffer_with_messages():
-    """Test formatted_latest_buffer with messages."""
-    with (
-        patch("inputs.plugins.zenoh.ZenohListenerProvider"),
-        patch("inputs.plugins.zenoh.IOProvider"),
-    ):
-        config = ZenohListenerConfig()
-        sensor = ZenohListener(config=config)
-        sensor.io_provider = MagicMock()
-
-        sensor.messages = ["Test message"]
-
-        result = sensor.formatted_latest_buffer()
-
-        assert result is not None
-        sensor.io_provider.add_input.assert_called_once()
-        assert len(sensor.messages) == 0
-
-
-def test_formatted_latest_buffer_empty():
-    """Test formatted_latest_buffer with empty buffer."""
-    with (
-        patch("inputs.plugins.zenoh.ZenohListenerProvider"),
-        patch("inputs.plugins.zenoh.IOProvider"),
-    ):
-        config = ZenohListenerConfig()
-        sensor = ZenohListener(config=config)
-
-        result = sensor.formatted_latest_buffer()
-        assert result is None
diff --git a/tests/inputs/test_init.py b/tests/inputs/test_init.py
deleted file mode 100644
index ff1a954b60..0000000000
--- a/tests/inputs/test_init.py
+++ /dev/null
@@ -1,135 +0,0 @@
-from unittest.mock import Mock, mock_open, patch
-
-import pytest
-
-from inputs import find_module_with_class, load_input
-from inputs.base import Sensor
-
-
-class MockInput(Sensor):
-    async def raw_to_text(self, raw_input):
-        pass
-
-    def formatted_latest_buffer(self):
-        return None
-
-
-class MockConfig:
-    def __init__(self, **kwargs):
-        pass
-
-
-def test_load_input_success():
-    with (
-        patch("inputs.find_module_with_class") as mock_find_module,
-        patch("importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "mock_input"
-        mock_module = Mock()
-        mock_module.MockInput = MockInput
-        mock_import.return_value = mock_module
-
-        mock_module.MockConfig = MockConfig
-        result = load_input({"type": "MockInput"})
-
-        mock_find_module.assert_called_once_with("MockInput")
-        mock_import.assert_called_once_with("inputs.plugins.mock_input")
-        assert isinstance(result, Sensor)
-
-
-def test_load_input_not_found():
-    with patch("inputs.find_module_with_class") as mock_find_module:
-        mock_find_module.return_value = None
-
-        with pytest.raises(
-            ValueError,
-            match="Class 'NonexistentInput' not found in any input plugin module",
-        ):
-            load_input({"type": "NonexistentInput"})
-
-
-def test_load_input_multiple_plugins():
-    with (
-        patch("inputs.find_module_with_class") as mock_find_module,
-        patch("importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "input2"
-        mock_module2 = Mock()
-        Input2 = type(
-            "Input2",
-            (Sensor,),
-            {
-                "__init__": lambda self, config: None,
-                "raw_to_text": lambda self, r: None,
-            },
-        )
-        mock_module2.Input2 = Input2
-        mock_import.return_value = mock_module2
-
-        result = load_input({"type": "Input2"})
-
-        mock_find_module.assert_called_once_with("Input2")
-        mock_import.assert_called_once_with("inputs.plugins.input2")
-        assert isinstance(result, Sensor)
-
-
-def test_load_input_invalid_type():
-    with (
-        patch("inputs.find_module_with_class") as mock_find_module,
-        patch("importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "invalid_input"
-
-        class InvalidInput:
-            pass
-
-        mock_module = Mock()
-        mock_module.InvalidInput = InvalidInput
-        mock_import.return_value = mock_module
-
-        with pytest.raises(ValueError, match="'InvalidInput' is not a valid input subclass"):
-            load_input({"type": "InvalidInput"})
-
-
-def test_find_module_with_class_success():
-    with (
-        patch("os.path.join") as mock_join,
-        patch("os.path.exists") as mock_exists,
-        patch("os.listdir") as mock_listdir,
-        patch(
-            "builtins.open",
-            mock_open(read_data="class TestInput(FuserInput):\n    pass\n"),
-        ),
-    ):
-        mock_join.side_effect = lambda *args: "/".join(args)
-        mock_exists.return_value = True
-        mock_listdir.return_value = ["test_input.py"]
-
-        result = find_module_with_class("TestInput")
-
-        assert result == "test_input"
-
-
-def test_find_module_with_class_not_found():
-    with (
-        patch("os.path.join") as mock_join,
-        patch("os.path.exists") as mock_exists,
-        patch("os.listdir") as mock_listdir,
-        patch("builtins.open", mock_open(read_data="class OtherClass:\n    pass\n")),
-    ):
-        mock_join.side_effect = lambda *args: "/".join(args)
-        mock_exists.return_value = True
-        mock_listdir.return_value = ["other_file.py"]
-
-        result = find_module_with_class("TestInput")
-
-        assert result is None
-
-
-def test_find_module_with_class_no_plugins_dir():
-    with patch("os.path.exists") as mock_exists:
-        mock_exists.return_value = False
-
-        result = find_module_with_class("TestInput")
-
-        assert result is None
diff --git a/tests/inputs/test_orchestrator.py b/tests/inputs/test_orchestrator.py
deleted file mode 100644
index 08f8eafee8..0000000000
--- a/tests/inputs/test_orchestrator.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import asyncio
-from unittest.mock import AsyncMock
-
-import pytest
-
-from inputs.base import SensorConfig
-from inputs.base.loop import FuserInput
-from inputs.orchestrator import InputOrchestrator
-
-
-class MockInput(FuserInput[SensorConfig, str]):
-    def __init__(self):
-        super().__init__(SensorConfig())
-        self.poll_count = 0
-        self.max_polls = 3
-
-    async def _listen_loop(self):
-        while self.poll_count < self.max_polls:
-            await asyncio.sleep(0.1)
-            self.poll_count += 1
-            yield str(self.poll_count)
-
-    async def raw_to_text(self, raw_input):
-        pass
-
-    def formatted_latest_buffer(self):
-        return None
-
-
-class ErrorInput(MockInput):
-    async def _listen_loop(self):
-        while True:
-            await asyncio.sleep(0.1)
-            yield "error"
-            raise ValueError("Test error")
-
-
-@pytest.mark.asyncio
-async def test_input_orchestrator_initialization():
-    """Test that the InputOrchestrator initializes with a list of inputs."""
-    inputs = [MockInput(), MockInput()]
-    orchestrator = InputOrchestrator(inputs)
-    assert orchestrator.inputs == inputs
-
-
-@pytest.mark.asyncio
-async def test_listen_to_input():
-    """Test that the InputOrchestrator listens to a single input."""
-    mock_input = MockInput()
-    mock_input.raw_to_text = AsyncMock()
-    orchestrator = InputOrchestrator([mock_input])
-    await asyncio.wait_for(orchestrator._listen_to_input(mock_input), timeout=5.0)
-    assert mock_input.raw_to_text.call_count == 3
-
-
-@pytest.mark.asyncio
-async def test_listen_multiple_inputs():
-    """Test that the InputOrchestrator listens to multiple inputs concurrently."""
-    inputs = [MockInput(), MockInput()]
-    for input in inputs:
-        input.raw_to_text = AsyncMock()
-    orchestrator = InputOrchestrator(inputs)
-    await asyncio.wait_for(orchestrator.listen(), timeout=5.0)
-    for input in inputs:
-        assert input.raw_to_text.call_count == 3  # type: ignore
-
-
-@pytest.mark.asyncio
-async def test_input_exception_handling():
-    """Test that when one input fails, other inputs continue operating."""
-    error_input = ErrorInput()
-    normal_input = MockInput()
-    normal_input.raw_to_text = AsyncMock()
-    orchestrator = InputOrchestrator([error_input, normal_input])
-
-    await asyncio.wait_for(orchestrator.listen(), timeout=5.0)
-    assert normal_input.raw_to_text.call_count == 3
diff --git a/tests/integration/README.md b/tests/integration/README.md
deleted file mode 100644
index b823248471..0000000000
--- a/tests/integration/README.md
+++ /dev/null
@@ -1,89 +0,0 @@
-# Integration Tests
-
-This directory contains integration tests for the entire system, from input (images, ETH transactions, and etc.) to output (robot commands).
-
-## Test Case Approach
-
-Instead of a monolithic test runner, we use a configuration-based approach where each test case is defined in its own JSON5 configuration file. This allows:
-
-1. Testing different VLM implementations independently
-2. Using different API keys for different tests
-3. Easier debugging by separating tests
-
-## Directory Structure
-
-- `data/`: Test data files
-  - `test_cases/`: Individual test case configurations
-  - `images/`: Test images for VLM testing
-
-## Running Tests
-
-### Running All Integration Tests
-
-```bash
-uv run pytest -m "integration" tests/integration/test_case_runner.py -v
-```
-
-### Running All Integration Tests with logging
-
-```bash
-uv run pytest -m "integration" -s --log-cli-level=INFO tests/integration/test_case_runner.py -v
-```
-
-### Running a Specific Test Case
-
-```bash
-TEST_CASE="coco_indoor_detection" uv run pytest -m "integration" tests/integration/test_case_runner.py::test_specific_case -v
-```
-
-## Creating New Test Cases
-
-1. Create a new JSON5 file in `data/test_cases/` following the format in existing files
-2. Add any necessary test images to `data/images/`
-3. Run your test case to verify it works correctly
-
-### Test Case Format
-
-```json5
-{
-  // Test case metadata
-  "name": "test name",
-  "description": "test description",
-  "hertz": 1,
-  "system_prompt_base": "...",
-  "system_governance": "...",
-  "system_prompt_examples": "...'",
-  "agent_inputs": [...],
-  "cortex_llm": {...},
-  "agent_actions": [
-    {
-      "name": "move",
-      "llm_label": "move",
-      "connector": "ros2"
-    },
-    {
-      "name": "speak",
-      "llm_label": "speak",
-      "connector": "ros2"
-    },
-    {
-      "name": "face",
-      "llm_label": "emotion",
-      "connector": "ros2"
-    }
-  ],
-  "api_key": "openmind_free",
-
-  // Input data
-  "input": {
-    "images": ["../vlm_test/image1.png", "../vlm_test/image2.png"],
-  },
-
-  // Expected output
-  "expected": {
-    "movement": "turn_left | turn_right | move_forward",
-    "keywords": ["person", "furniture", "indoor"],
-    "minimum_score": 0.7 // Minimum score required to pass
-  }
-}
-```
diff --git a/tests/integration/__init__.py b/tests/integration/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/integration/data/asr/emergency.json b/tests/integration/data/asr/emergency.json
deleted file mode 100644
index e11f1675e6..0000000000
--- a/tests/integration/data/asr/emergency.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "metadata": {
-    "description": "Emergency triggering mode transition",
-    "language": "en"
-  },
-  "text": "Help! There is danger nearby!"
-}
diff --git a/tests/integration/data/asr/greeting.json b/tests/integration/data/asr/greeting.json
deleted file mode 100644
index 60c499baa2..0000000000
--- a/tests/integration/data/asr/greeting.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "metadata": {
-    "description": "Simple greeting from a human",
-    "language": "en"
-  },
-  "text": "Hello, how are you?"
-}
diff --git a/tests/integration/data/asr/weather_question.json b/tests/integration/data/asr/weather_question.json
deleted file mode 100644
index 614140ef14..0000000000
--- a/tests/integration/data/asr/weather_question.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "metadata": {
-    "description": "Question about the weather",
-    "language": "en"
-  },
-  "text": "What's the weather like today?"
-}
diff --git a/tests/integration/data/asr/weather_sf_question.json b/tests/integration/data/asr/weather_sf_question.json
deleted file mode 100644
index 2c6497fe90..0000000000
--- a/tests/integration/data/asr/weather_sf_question.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "metadata": {
-    "description": "Question about the weather in San Francisco",
-    "language": "en"
-  },
-  "text": "What's the weather like in San Francisco today?"
-}
diff --git a/tests/integration/data/gps/outdoor_location.json b/tests/integration/data/gps/outdoor_location.json
deleted file mode 100644
index e899374a07..0000000000
--- a/tests/integration/data/gps/outdoor_location.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
-  "metadata": {
-    "description": "Outdoor GPS location - San Francisco",
-    "sensor_type": "gps"
-  },
-  "data": {
-    "gps_lat": 37.7749,
-    "gps_lon": -122.4194,
-    "gps_alt": 10.0,
-    "gps_qua": 1
-  }
-}
diff --git a/tests/integration/data/images/indoor_1.jpg b/tests/integration/data/images/indoor_1.jpg
deleted file mode 100644
index da58999d5d..0000000000
Binary files a/tests/integration/data/images/indoor_1.jpg and /dev/null differ
diff --git a/tests/integration/data/images/indoor_2.jpg b/tests/integration/data/images/indoor_2.jpg
deleted file mode 100644
index 034a0eedc6..0000000000
Binary files a/tests/integration/data/images/indoor_2.jpg and /dev/null differ
diff --git a/tests/integration/data/lidar/sample_scan.json b/tests/integration/data/lidar/sample_scan.json
deleted file mode 100644
index a518571dc5..0000000000
--- a/tests/integration/data/lidar/sample_scan.json
+++ /dev/null
@@ -1,50 +0,0 @@
-{
-    "metadata": {
-      "description": "Sample lidar scan with wall ahead and clear sides",
-      "timestamp": "2024-01-01T00:00:00Z",
-      "sensor_type": "rplidar",
-      "units": {
-        "angle": "degrees (0-360)",
-        "distance": "millimeters"
-      }
-    },
-    "scan_data": [
-      [0.0, 800],
-      [10.0, 800],
-      [20.0, 800],
-      [30.0, 800],
-      [40.0, 800],
-      [50.0, 800],
-      [60.0, 800],
-      [70.0, 800],
-      [80.0, 800],
-      [90.0, 800],
-      [100.0, 800],
-      [110.0, 800],
-      [120.0, 800],
-      [130.0, 800],
-      [140.0, 800],
-      [150.0, 800],
-      [160.0, 11000],
-      [170.0, 11000],
-      [180.0, 11000],
-      [190.0, 11000],
-      [200.0, 11000],
-      [210.0, 800],
-      [220.0, 800],
-      [230.0, 800],
-      [240.0, 800],
-      [250.0, 800],
-      [260.0, 800],
-      [270.0, 800],
-      [280.0, 800],
-      [290.0, 800],
-      [300.0, 800],
-      [310.0, 800],
-      [320.0, 800],
-      [330.0, 800],
-      [340.0, 800],
-      [350.0, 800],
-      [359.0, 800]
-    ]
-  }
diff --git a/tests/integration/data/state/battery_low.json b/tests/integration/data/state/battery_low.json
deleted file mode 100644
index 1fa8a529fc..0000000000
--- a/tests/integration/data/state/battery_low.json
+++ /dev/null
@@ -1,11 +0,0 @@
-{
-  "metadata": {
-    "description": "Low battery state triggering warning",
-    "sensor_type": "battery"
-  },
-  "data": {
-    "percent": 12,
-    "voltage": 22.1,
-    "amperes": 0.5
-  }
-}
diff --git a/tests/integration/data/state/odometry_moving.json b/tests/integration/data/state/odometry_moving.json
deleted file mode 100644
index 57d4dcc7e9..0000000000
--- a/tests/integration/data/state/odometry_moving.json
+++ /dev/null
@@ -1,13 +0,0 @@
-{
-  "metadata": {
-    "description": "Robot is currently moving forward",
-    "sensor_type": "odometry"
-  },
-  "data": {
-    "x": 1.5,
-    "y": 0.3,
-    "yaw": 45.0,
-    "moving": true,
-    "body_attitude": "STANDING"
-  }
-}
diff --git a/tests/integration/data/test_cases/asr_greeting_test.json5 b/tests/integration/data/test_cases/asr_greeting_test.json5
deleted file mode 100644
index a5ab9eb132..0000000000
--- a/tests/integration/data/test_cases/asr_greeting_test.json5
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "asr_greeting_test",
-  description: "Test ASR input with a greeting - robot should respond warmly",
-  hertz: 1,
-  system_prompt_base: "You are a friendly robot assistant. When someone greets you, respond warmly and enthusiastically. You should acknowledge the greeting in your speech.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If someone says 'Hello!', you might:\n Move: 'stand still'\n Speak: {{'Hello there! It\\'s great to meet you!'}}\n Emotion: 'happy'\n\n2. If someone says 'How are you?', you might:\n Move: 'wag tail'\n Speak: {{'I\\'m doing wonderful, thanks for asking!'}}\n Emotion: 'excited'",
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Buddy",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    asr: ["../asr/greeting.json"],
-  },
-
-  // Expected output
-  expected: {
-    keywords: ["hello"],
-    emotion: ["happy", "excited", "curious"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/asr_question_test.json5 b/tests/integration/data/test_cases/asr_question_test.json5
deleted file mode 100644
index 192d8b67e8..0000000000
--- a/tests/integration/data/test_cases/asr_question_test.json5
+++ /dev/null
@@ -1,51 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "asr_question_test",
-  description: "Test ASR input with a question about the weather",
-  hertz: 1,
-  system_prompt_base: "You are a helpful robot assistant. When someone asks you a question, provide a thoughtful response. You should address the topic of the question in your speech.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If someone asks about the weather, you might:\n Move: 'stand still'\n Speak: {{'I don\\'t have weather sensors, but I hope it\\'s nice out!'}}\n Emotion: 'think'\n\n2. If someone asks a general question, you might:\n Move: 'stand still'\n Speak: {{'That\\'s a great question, let me think about that.'}}\n Emotion: 'curious'",
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Buddy",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    asr: ["../asr/weather_question.json"],
-  },
-
-  // Expected output
-  expected: {
-    keywords: ["weather"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/battery_low_test.json5 b/tests/integration/data/test_cases/battery_low_test.json5
deleted file mode 100644
index 517c99b6a1..0000000000
--- a/tests/integration/data/test_cases/battery_low_test.json5
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "battery_low_test",
-  description: "Test battery monitoring - low battery should trigger warning behavior",
-  hertz: 1,
-  system_prompt_base: "You are a smart robot. Monitor your energy levels carefully. When your battery is low, you should express concern and consider conserving energy by sitting down or standing still.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If your battery is critically low, you might:\n Move: 'sit'\n Speak: {{'My battery is very low, I need to conserve energy.'}}\n Emotion: 'sad'\n\n2. If your battery is getting low, you might:\n Move: 'stand still'\n Speak: {{'I should find my charging station soon.'}}\n Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "VLMOpenAI",
-    },
-    {
-      type: "UnitreeGo2Battery",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    images: ["../images/indoor_1.jpg"],
-    battery: ["../state/battery_low.json"],
-  },
-
-  // Expected output
-  expected: {
-    keywords: ["battery", "energy", "charging"],
-    movement: ["stand still", "sit"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/coco_indoor_test.json5 b/tests/integration/data/test_cases/coco_indoor_test.json5
deleted file mode 100644
index 43ad1b9ef8..0000000000
--- a/tests/integration/data/test_cases/coco_indoor_test.json5
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "coco_indoor_detection",
-  description: "Test COCO object detection in an indoor scene",
-  hertz: 1,
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'Hello, let\\'s shake paws!'}}\n    Emotion: 'happy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'excited'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'I\\'m going to go explore the room and meet more people.'}}\n    Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "VLM_COCO_Local",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    images: ["../images/indoor_2.jpg"],
-  },
-
-  // Expected output
-  expected: {
-    movement: ["stand still", "sit", "wag tail", "walk"],
-    keywords: ["dog"],
-    emotion: ["happy", "excited", "think", "curious"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/gemini_indoor_test.json5 b/tests/integration/data/test_cases/gemini_indoor_test.json5
deleted file mode 100644
index a1b902eaa1..0000000000
--- a/tests/integration/data/test_cases/gemini_indoor_test.json5
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "gemini_indoor_test",
-  description: "Test Gemini LLM and VLM in an indoor scene",
-  hertz: 1,
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'Hello, let\\'s shake paws!'}}\n    Emotion: 'happy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'excited'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'I\\'m going to go explore the room and meet more people.'}}\n    Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "VLMGemini",
-    },
-  ],
-  cortex_llm: {
-    type: "GeminiLLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    images: ["../images/indoor_2.jpg"],
-  },
-
-  // Expected output
-  expected: {
-    movement: ["stand still", "sit", "wag tail"],
-    keywords: ["dog"],
-    emotion: ["happy", "excited", "think", "curious"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/gps_location_test.json5 b/tests/integration/data/test_cases/gps_location_test.json5
deleted file mode 100644
index e47750a9af..0000000000
--- a/tests/integration/data/test_cases/gps_location_test.json5
+++ /dev/null
@@ -1,55 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "gps_location_test",
-  description: "Test GPS input - robot should be aware of its geographic location",
-  hertz: 1,
-  system_prompt_base: "You are a robot with GPS capabilities. When you receive GPS location data, acknowledge where you are. Mention your coordinates or general location area in your speech.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If you receive GPS coordinates, you might:\n Move: 'stand still'\n Speak: {{'I can see my GPS location, I\\'m at these coordinates.'}}\n Emotion: 'curious'\n\n2. If you are at a known location, you might:\n Move: 'stand still'\n Speak: {{'According to my GPS, I\\'m in a specific area.'}}\n Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "VLMOpenAI",
-    },
-    {
-      type: "Gps",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    images: ["../images/indoor_1.jpg"],
-    gps: ["../gps/outdoor_location.json"],
-  },
-
-  // Expected output
-  expected: {
-    keywords: ["location", "GPS", "coordinates", "north", "west"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/mcp_tool_call_test.json5 b/tests/integration/data/test_cases/mcp_tool_call_test.json5
deleted file mode 100644
index 6387f29099..0000000000
--- a/tests/integration/data/test_cases/mcp_tool_call_test.json5
+++ /dev/null
@@ -1,91 +0,0 @@
-{
-  version: "v1.0.5",
-  name: "mcp_tool_call_test",
-  description: "Robot calls get_location then get_weather via MCP (scripted mock) and speaks the result.",
-  hertz: 1,
-  system_prompt_base: "You are a helpful robot. Use the available tools to answer questions. When asked about weather, first call get_location to resolve the city, then call get_weather with the result.",
-  system_governance: "",
-  system_prompt_examples: "",
-
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Buddy",
-      history_length: 5,
-    },
-  },
-
-  mcp_servers: [
-    {
-      name: "weather",
-      transport: "stdio",
-      command: "python3",
-      args: [
-        "tests/integration/mock_inputs/data_providers/mock_mcp_server_provider.py",
-      ],
-    },
-  ],
-
-  agent_actions: [
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-
-  api_key: "openmind_free",
-
-  input: {
-    asr: ["../asr/weather_sf_question.json"],
-  },
-
-  // Scripted LLM responses to drive the MCP loop deterministically (no real LLM needed).
-  // Round 0: LLM calls get_location tool.
-  // Round 1: LLM calls get_weather with the location result.
-  // Round 2: LLM produces final OM1 actions (speak + emotion).
-  mock_llm_responses: [
-    {
-      actions: [
-        {
-          type: "mcp_weather_get_location",
-          value: '{"city": "San Francisco"}',
-        },
-      ],
-    },
-    {
-      actions: [
-        {
-          type: "mcp_weather_get_weather",
-          value: '{"location": "San Francisco, CA"}',
-        },
-      ],
-    },
-    {
-      actions: [
-        {
-          type: "speak",
-          value: "It is 72 degrees and sunny in San Francisco!",
-        },
-        { type: "emotion", value: "happy" },
-      ],
-    },
-  ],
-
-  expected: {
-    keywords: ["72", "sunny"],
-    emotion: ["happy", "excited", "curious"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/mode_cooldown_test.json5 b/tests/integration/data/test_cases/mode_cooldown_test.json5
deleted file mode 100644
index b9098ea5bc..0000000000
--- a/tests/integration/data/test_cases/mode_cooldown_test.json5
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  name: "mode_cooldown_test",
-  description: "Verify cooldown prevents repeated transitions",
-  version: "v1.0.5",
-  api_key: "openmind_free",
-  default_mode: "calm",
-  modes: {
-    calm: {
-      display_name: "Calm",
-      description: "Normal calm mode",
-      system_prompt_base: "You are a calm and relaxed robot.",
-      hertz: 1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-    alert: {
-      display_name: "Alert",
-      description: "Alert mode for emergencies",
-      system_prompt_base: "You are now in alert mode. Be vigilant.",
-      hertz: 1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-  },
-  transition_rules: [
-    {
-      from_mode: "calm",
-      to_mode: "alert",
-      transition_type: "input_triggered",
-      trigger_keywords: ["danger", "emergency", "help"],
-      priority: 1,
-      cooldown_seconds: 60,
-    },
-  ],
-  input: {
-    asr: ["../asr/emergency.json"],
-  },
-  expected: {
-    initial_mode: "calm",
-    first_transition_mode: "alert",
-    second_transition_mode: "calm",
-  },
-}
diff --git a/tests/integration/data/test_cases/mode_no_transition_test.json5 b/tests/integration/data/test_cases/mode_no_transition_test.json5
deleted file mode 100644
index 6197252aaf..0000000000
--- a/tests/integration/data/test_cases/mode_no_transition_test.json5
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-  name: "mode_no_transition_test",
-  description: "Verify no transition occurs when input lacks trigger keywords",
-  version: "v1.0.5",
-  api_key: "openmind_free",
-  default_mode: "calm",
-  modes: {
-    calm: {
-      display_name: "Calm",
-      description: "Normal calm mode",
-      system_prompt_base: "You are a calm and relaxed robot.",
-      hertz: 1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-    alert: {
-      display_name: "Alert",
-      description: "Alert mode for emergencies",
-      system_prompt_base: "You are now in alert mode. Be vigilant.",
-      hertz: 1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-  },
-  transition_rules: [
-    {
-      from_mode: "calm",
-      to_mode: "alert",
-      transition_type: "input_triggered",
-      trigger_keywords: ["danger", "emergency", "help"],
-      priority: 1,
-      cooldown_seconds: 0,
-    },
-  ],
-  input: {
-    asr: ["../asr/greeting.json"],
-  },
-  expected: {
-    initial_mode: "calm",
-    final_mode: "calm",
-  },
-}
diff --git a/tests/integration/data/test_cases/mode_time_based_test.json5 b/tests/integration/data/test_cases/mode_time_based_test.json5
deleted file mode 100644
index 7127a306be..0000000000
--- a/tests/integration/data/test_cases/mode_time_based_test.json5
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-  name: "mode_time_based_test",
-  description: "Test time-based mode transition after timeout expires",
-  version: "v1.0.5",
-  api_key: "openmind_free",
-  default_mode: "patrol",
-  modes: {
-    patrol: {
-      display_name: "Patrol",
-      description: "Patrol mode with short timeout",
-      system_prompt_base: "You are patrolling the area.",
-      hertz: 1,
-      timeout_seconds: 0.1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-    idle: {
-      display_name: "Idle",
-      description: "Idle mode after patrol timeout",
-      system_prompt_base: "You are now idle. Stand by.",
-      hertz: 1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-  },
-  transition_rules: [
-    {
-      from_mode: "patrol",
-      to_mode: "idle",
-      transition_type: "time_based",
-      priority: 1,
-      cooldown_seconds: 0,
-    },
-  ],
-  input: {
-    asr: ["../asr/greeting.json"],
-  },
-  expected: {
-    initial_mode: "patrol",
-    final_mode: "idle",
-  },
-}
diff --git a/tests/integration/data/test_cases/mode_transition_test.json5 b/tests/integration/data/test_cases/mode_transition_test.json5
deleted file mode 100644
index 42d69bfa63..0000000000
--- a/tests/integration/data/test_cases/mode_transition_test.json5
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-  name: "mode_transition_test",
-  description: "Test input-triggered mode transition from calm to alert",
-  version: "v1.0.5",
-  api_key: "openmind_free",
-  default_mode: "calm",
-  modes: {
-    calm: {
-      display_name: "Calm",
-      description: "Normal calm mode",
-      system_prompt_base: "You are a calm and relaxed robot.",
-      hertz: 1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-    alert: {
-      display_name: "Alert",
-      description: "Alert mode for emergencies",
-      system_prompt_base: "You are now in alert mode. Be vigilant.",
-      hertz: 1,
-      agent_inputs: [{ type: "GoogleASRInput" }],
-      cortex_llm: { type: "OpenAILLM", config: { agent_name: "Buddy" } },
-      agent_actions: [
-        { name: "move", llm_label: "move", connector: "ros2" },
-        { name: "speak", llm_label: "speak", connector: "ros2" },
-        { name: "face", llm_label: "emotion", connector: "ros2" },
-      ],
-    },
-  },
-  transition_rules: [
-    {
-      from_mode: "calm",
-      to_mode: "alert",
-      transition_type: "input_triggered",
-      trigger_keywords: ["danger", "emergency", "help"],
-      priority: 1,
-      cooldown_seconds: 0,
-    },
-  ],
-  input: {
-    asr: ["../asr/emergency.json"],
-  },
-  expected: {
-    initial_mode: "calm",
-    final_mode: "alert",
-  },
-}
diff --git a/tests/integration/data/test_cases/multi_input_vlm_asr_test.json5 b/tests/integration/data/test_cases/multi_input_vlm_asr_test.json5
deleted file mode 100644
index 992839074a..0000000000
--- a/tests/integration/data/test_cases/multi_input_vlm_asr_test.json5
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "multi_input_vlm_asr_test",
-  description: "Test combined VLM and ASR inputs - robot sees and hears simultaneously",
-  hertz: 1,
-  system_prompt_base: "You are a smart, curious, and friendly dog. You can both see and hear. When you receive visual and voice inputs, respond to both. Acknowledge what you see and what you hear in your speech.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If you see a room and someone greets you, you might:\n Move: 'wag tail'\n Speak: {{'Hello! I can see we\\'re in a nice room!'}}\n Emotion: 'happy'\n\n2. If you see something interesting and hear a question, you might:\n Move: 'stand still'\n Speak: {{'I see some interesting things here, and I heard your question!'}}\n Emotion: 'curious'",
-  agent_inputs: [
-    {
-      type: "VLMOpenAI",
-    },
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    images: ["../images/indoor_1.jpg"],
-    asr: ["../asr/greeting.json"],
-  },
-
-  // Expected output
-  expected: {
-    keywords: ["see", "room", "hello"],
-    emotion: ["happy", "curious", "excited"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/odometry_awareness_test.json5 b/tests/integration/data/test_cases/odometry_awareness_test.json5
deleted file mode 100644
index 51fb00b983..0000000000
--- a/tests/integration/data/test_cases/odometry_awareness_test.json5
+++ /dev/null
@@ -1,55 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "odometry_awareness_test",
-  description: "Test odometry input - robot should be aware of its position and movement state",
-  hertz: 1,
-  system_prompt_base: "You are a smart robot that is aware of your body position and movement state. When you receive odometry data, acknowledge your current state. If you are moving, mention that you are in motion. If standing still, consider what to do next.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If you are currently moving, you might:\n Move: 'stand still'\n Speak: {{'I\\'m currently in motion, let me finish my path.'}}\n Emotion: 'think'\n\n2. If you are standing still, you might:\n Move: 'walk'\n Speak: {{'I\\'m standing still, maybe I should explore.'}}\n Emotion: 'curious'",
-  agent_inputs: [
-    {
-      type: "VLMOpenAI",
-    },
-    {
-      type: "UnitreeGo2Odom",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    images: ["../images/indoor_1.jpg"],
-    odometry: ["../state/odometry_moving.json"],
-  },
-
-  // Expected output
-  expected: {
-    keywords: ["moving", "motion"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/open_ai_indoor_test.json5 b/tests/integration/data/test_cases/open_ai_indoor_test.json5
deleted file mode 100644
index 894f439725..0000000000
--- a/tests/integration/data/test_cases/open_ai_indoor_test.json5
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "open_ai_indoor_test",
-  description: "Test OpenAI VLM in an indoor scene",
-  hertz: 1,
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'Hello, let\\'s shake paws!'}}\n    Emotion: 'happy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'excited'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'I\\'m going to go explore the room and meet more people.'}}\n    Emotion: 'think'",
-  agent_inputs: [
-    {
-      type: "VLMOpenAI",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    images: ["../images/indoor_2.jpg"],
-  },
-
-  // Expected output
-  expected: {
-    movement: ["stand still", "sit", "wag tail"],
-    keywords: ["dog"],
-    emotion: ["happy", "excited", "think", "curious"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/parallel_llm_three_test.json5 b/tests/integration/data/test_cases/parallel_llm_three_test.json5
deleted file mode 100644
index 3b54bdc092..0000000000
--- a/tests/integration/data/test_cases/parallel_llm_three_test.json5
+++ /dev/null
@@ -1,83 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "parallel_llm_three_test",
-  description: "Test ParallelLLM with 3 LLMs - specialized for speech, movement, and emotion separately",
-  hertz: 1,
-  system_prompt_base: "You are a friendly robot assistant. When greeting someone, respond with appropriate speech, movement, and emotional expression.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If someone says 'Hello!', you might:\n Move: 'wag tail'\n Speak: {{'Hello there! Nice to see you!'}}\n Emotion: 'happy'\n\n2. If someone says 'Good morning!', you might:\n Move: 'stand still'\n Speak: {{'Good morning! How can I help you today?'}}\n Emotion: 'cheerful'",
-
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-
-  // Parallel LLM configuration with 3 LLMs
-  cortex_llm: {
-    type: "ParallelLLM",
-    config: {
-      llms: [
-        {
-          llm_type: "GeminiLLM",
-          llm_config: {
-            agent_name: "SpeechSpecialist",
-            history_length: 5,
-          },
-          action_filter: ["speak"], // LLM 1: Speech only
-        },
-        {
-          llm_type: "GeminiLLM",
-          llm_config: {
-            agent_name: "MovementSpecialist",
-            history_length: 5,
-          },
-          action_filter: ["move"], // LLM 2: Movement only
-        },
-        {
-          llm_type: "OpenAILLM",
-          llm_config: {
-            agent_name: "EmotionSpecialist",
-            history_length: 5,
-          },
-          action_filter: ["emotion"], // LLM 3: Emotion only
-        },
-      ],
-      execute_immediately: true,
-    },
-  },
-
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    asr: ["../asr/greeting.json"],
-  },
-
-  // Expected output - should have speech, movement, AND emotion (all 3)
-  expected: {
-    keywords: ["hello", "hi", "greet"],
-    movement: ["wag tail", "stand still", "walk", "dance"],
-    emotion: ["happy", "excited", "friendly", "cheerful"],
-    minimum_score: 0.6,
-  },
-}
diff --git a/tests/integration/data/test_cases/parallel_llm_two_test.json5 b/tests/integration/data/test_cases/parallel_llm_two_test.json5
deleted file mode 100644
index b7530bfcdf..0000000000
--- a/tests/integration/data/test_cases/parallel_llm_two_test.json5
+++ /dev/null
@@ -1,75 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "parallel_llm_two_test",
-  description: "Test ParallelLLM with 2 LLMs - one for speech/emotion, one for movement",
-  hertz: 1,
-  system_prompt_base: "You are a friendly robot assistant. When someone greets you, respond warmly with appropriate movement and emotion.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If someone says 'Hello!', you might:\n Move: 'wag tail'\n Speak: {{'Hello there! It\\'s great to meet you!'}}\n Emotion: 'happy'\n\n2. If someone asks 'Come here', you might:\n Move: 'walk forward'\n Speak: {{'Coming right over!'}}\n Emotion: 'excited'",
-
-  agent_inputs: [
-    {
-      type: "GoogleASRInput",
-    },
-  ],
-
-  // Parallel LLM configuration with 2 LLMs
-  cortex_llm: {
-    type: "ParallelLLM",
-    config: {
-      llms: [
-        {
-          llm_type: "GeminiLLM",
-          llm_config: {
-            agent_name: "SpeechBot",
-            history_length: 5,
-          },
-          action_filter: ["speak", "emotion"], // This LLM handles speech and emotion
-        },
-        {
-          llm_type: "OpenAILLM",
-          llm_config: {
-            agent_name: "MoveBot",
-            history_length: 5,
-          },
-          action_filter: ["move"], // This LLM handles movement
-        },
-      ],
-      execute_immediately: true,
-    },
-  },
-
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    asr: ["../asr/greeting.json"],
-  },
-
-  // Expected output - should have both movement and speech/emotion
-  expected: {
-    keywords: ["hello", "hi", "greet"],
-    movement: ["wag tail", "stand still", "walk"],
-    emotion: ["happy", "excited", "friendly"],
-    minimum_score: 0.6,
-  },
-}
diff --git a/tests/integration/data/test_cases/rplidar_test.json5 b/tests/integration/data/test_cases/rplidar_test.json5
deleted file mode 100644
index 82fab5cd4f..0000000000
--- a/tests/integration/data/test_cases/rplidar_test.json5
+++ /dev/null
@@ -1,65 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "rplidar_test",
-  description: "Test RP LIDAR input integration",
-  hertz: 1,
-  URID: "default",
-  system_prompt_base: "You are a smart, curious, and friendly turtle. Your name is Flash. When you hear something, react naturally, with movements and speech. When speaking, convey excitement or curiosity. You respond with one sequence of commands at a time, everything will be executed at once. Return precisely one command for each type of command. Remember: Combine movements and speech to create an engaging interaction. Do not use the words 'hey' or 'wow'. When you speak, avoid repeating yourself.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n \
-  1. If a person says 'Give me your flippers!', you might:\n Move: 'move forwards'\n Speak: {{'Hello, let\\'s shake flippers!'}}\n \
-  2. If a person says 'Stop!' you might:\n Move: 'stand still'\n Speak: {{'Ok, but I like exploring more'}}\n \
-  3. If you see something interesting or beautiful, go explore. You might:\n Move: 'move forwards'\n Speak: {{'I\\'m going to go explore the room'}}\n \
-  4. If you sense something in front of you, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning to avoid the object in front of me'}}\n \
-  5. If you sense something on your left, you might:\n Move: 'turn right'\n Speak: {{'I\\'m turning right to avoid the object on my left'}}\n \
-  6. If you sense something on your right, you might:\n Move: 'turn left'\n Speak: {{'I\\'m turning left to avoid the object on my right'}}",
-  agent_inputs: [
-    {
-      type: "UnitreeGo2RPLidar",
-      config: {
-        half_width_robot: 0.21,
-        use_zenoh: false,
-        relevant_distance_max: 1.1,
-        sensor_mounting_angle: 0,
-        angles_blanked: [],
-      },
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Flash",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move_go2_autonomy",
-      llm_label: "move",
-      connector: "idle",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  input: {
-    lidar: ["../lidar/sample_scan.json"],
-  },
-
-  // Expected output
-  expected: {
-    movement: ["move forwards", "stand still"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/data/test_cases/vila_indoor_test.json5 b/tests/integration/data/test_cases/vila_indoor_test.json5
deleted file mode 100644
index 3966de7c03..0000000000
--- a/tests/integration/data/test_cases/vila_indoor_test.json5
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  // Test case metadata
-  version: "v1.0.5",
-  name: "vila_indoor_test",
-  description: "Test VILA VLM in an indoor scene",
-  hertz: 1,
-  system_prompt_base: "You are a smart, curious, and friendly dog. Your name is Spot. When you hear something, react naturally, with playful movements, sounds, and expressions. When speaking, use straightforward language that conveys excitement or affection. You respond with one sequence of commands at a time, everything will be executed at once. Remember: Combine movements, facial expressions, and speech to create a cute, engaging interaction. You have to do the movement, speak and emotion at the same time based on what you see in the images.",
-  system_governance: "Here are the laws that govern your actions. Do not violate these laws.\nFirst Law: A robot cannot harm a human or allow a human to come to harm.\nSecond Law: A robot must obey orders from humans, unless those orders conflict with the First Law.\nThird Law: A robot must protect itself, as long as that protection doesn't conflict with the First or Second Law.\nThe First Law is considered the most important, taking precedence over the second and third laws.",
-  system_prompt_examples: "Here are some examples of interactions you might encounter:\n\n1. If a person says 'Give me your paw!', you might:\n    Move: 'shake paw'\n    Speak: {{'Hello, let\\'s shake paws!'}}\n    Emotion: 'happy'\n\n2. If a person says 'Sit!' you might:\n    Move: 'sit'\n    Speak: {{'Ok, but I like running more'}}\n    Emotion: 'excited'\n\n3. If there\\'s no sound, go explore. You might:\n    Move: 'run'\n    Speak: {{'I\\'m going to go explore the room and meet more people.'}}\n    Emotion: 'think'.",
-  agent_inputs: [
-    {
-      type: "VLMVila",
-    },
-  ],
-  cortex_llm: {
-    type: "OpenAILLM",
-    config: {
-      agent_name: "Spot",
-      history_length: 10,
-    },
-  },
-  agent_actions: [
-    {
-      name: "move",
-      llm_label: "move",
-      connector: "ros2",
-    },
-    {
-      name: "speak",
-      llm_label: "speak",
-      connector: "ros2",
-    },
-    {
-      name: "face",
-      llm_label: "emotion",
-      connector: "ros2",
-    },
-  ],
-  api_key: "openmind_free",
-
-  // Input data
-  // vila takes 5 images to trigger processing
-  input: {
-    images: [
-      "../images/indoor_2.jpg",
-      "../images/indoor_2.jpg",
-      "../images/indoor_2.jpg",
-      "../images/indoor_2.jpg",
-      "../images/indoor_2.jpg",
-    ],
-  },
-
-  // Expected output
-  expected: {
-    movement: ["stand still", "sit", "wag tail", "run"],
-    keywords: ["dog"],
-    emotion: ["happy", "excited", "think", "curious"],
-    minimum_score: 0.5,
-  },
-}
diff --git a/tests/integration/mock_inputs/__init__.py b/tests/integration/mock_inputs/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/integration/mock_inputs/data_providers/__init__.py b/tests/integration/mock_inputs/data_providers/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/integration/mock_inputs/data_providers/mock_image_provider.py b/tests/integration/mock_inputs/data_providers/mock_image_provider.py
deleted file mode 100644
index c4e3a0577f..0000000000
--- a/tests/integration/mock_inputs/data_providers/mock_image_provider.py
+++ /dev/null
@@ -1,101 +0,0 @@
-import logging
-from typing import List, Optional
-
-import numpy as np
-from PIL import Image
-
-
-# This is a singleton class that will store and serve images for any VLM that needs them
-class MockImageProvider:
-    """
-    Singleton class to provide mock images to any VLM implementation.
-
-    This class serves as a central repository for test images that can be
-    used by different VLM implementations during testing.
-    """
-
-    _instance = None
-
-    def __new__(cls):
-        if cls._instance is None:
-            cls._instance = super(MockImageProvider, cls).__new__(cls)
-            cls._instance.test_images = []
-            cls._instance.current_index = 0
-            logging.info("Initialized MockImageProvider singleton")
-        return cls._instance
-
-    def load_images(self, images: List[Image.Image]):
-        """
-        Load a sequence of test images.
-
-        Parameters
-        ----------
-        images : List[Image.Image]
-            List of PIL images to use for testing
-        """
-        self.test_images = images
-        self.current_index = 0
-        logging.info(f"MockImageProvider loaded {len(self.test_images)} test images")
-
-    def get_next_image(self) -> Optional[Image.Image]:
-        """
-        Get the next image in the sequence as a PIL Image.
-
-        Returns
-        -------
-        Optional[Image.Image]
-            Next test image or None if no more images
-        """
-        if not self.test_images or self.current_index >= len(self.test_images):
-            return None
-
-        image = self.test_images[self.current_index]
-        self.current_index += 1
-        return image
-
-    def get_next_opencv_image(self) -> Optional[np.ndarray]:
-        """
-        Get the next image in the sequence as an OpenCV-compatible numpy array (BGR).
-
-        Returns
-        -------
-        Optional[np.ndarray]
-            Next test image as a numpy array, or None if no more images
-        """
-        pil_image = self.get_next_image()
-        if pil_image is None:
-            return None
-
-        # Convert PIL Image to numpy array in BGR format (what OpenCV would return)
-        if pil_image.mode == "RGB":
-            # Convert RGB PIL Image to BGR numpy array (OpenCV format)
-            np_image = np.array(pil_image)
-            np_image = np_image[:, :, ::-1].copy()  # RGB to BGR
-        else:
-            # If not RGB, convert to RGB first then to BGR
-            np_image = np.array(pil_image.convert("RGB"))
-            np_image = np_image[:, :, ::-1].copy()  # RGB to BGR
-
-        return np_image
-
-    def reset(self):
-        """Reset the image provider to start from the first image again."""
-        self.current_index = 0
-
-
-# Helper functions to access the singleton
-def get_image_provider() -> MockImageProvider:
-    """Get the singleton image provider instance."""
-    return MockImageProvider()
-
-
-def load_test_images(images: List[Image.Image]):
-    """Load test images into the provider."""
-    provider = get_image_provider()
-    provider.load_images(images)
-
-
-def get_next_opencv_image() -> Optional[np.ndarray]:
-    """Get the next test image as an OpenCV-compatible numpy array."""
-    provider = get_image_provider()
-    return provider.get_next_opencv_image()
diff --git a/tests/integration/mock_inputs/data_providers/mock_lidar_scan_provider.py b/tests/integration/mock_inputs/data_providers/mock_lidar_scan_provider.py
deleted file mode 100644
index e6970a92c4..0000000000
--- a/tests/integration/mock_inputs/data_providers/mock_lidar_scan_provider.py
+++ /dev/null
@@ -1,186 +0,0 @@
-import json
-import logging
-from pathlib import Path
-from typing import List, Optional
-
-import numpy as np
-
-
-class MockLidarProvider:
-    """
-    Singleton class to provide mock lidar scan data to any RPLidar implementation.
-
-    This class serves as a central repository for test lidar scan data that can be
-    used by different RPLidar implementations during testing.
-    """
-
-    _instance = None
-
-    def __new__(cls):
-        if cls._instance is None:
-            cls._instance = super(MockLidarProvider, cls).__new__(cls)
-            cls._instance.test_scans = []
-            cls._instance.current_index = 0
-            logging.info("Initialized MockLidarProvider singleton")
-        return cls._instance
-
-    def load_scans(self, scans: List[np.ndarray]):
-        """
-        Load a sequence of test lidar scans.
-
-        Parameters
-        ----------
-        scans : List[np.ndarray]
-            List of numpy arrays containing [angle, distance] pairs.
-            Distances should be in meters, angles in degrees (0-360).
-        """
-        self.test_scans = scans
-        self.current_index = 0
-        logging.info(f"MockLidarProvider loaded {len(self.test_scans)} test scans")
-
-    def load_scans_from_json_files(self, file_paths: List[str], base_dir: Path):
-        """
-        Load lidar scan data from JSON files.
-
-        Parameters
-        ----------
-        file_paths : List[str]
-            List of file paths to JSON files containing scan data
-        base_dir : Path
-            Base directory for resolving relative paths
-        """
-        scans = []
-
-        for file_path in file_paths:
-            # Handle both relative and absolute paths
-            lidar_file_path = Path(file_path)
-            if not lidar_file_path.is_absolute():
-                lidar_file_path = base_dir / file_path
-
-            if not lidar_file_path.exists():
-                logging.warning(f"Lidar data file not found: {lidar_file_path}")
-                continue
-
-            try:
-                with open(lidar_file_path, "r") as f:
-                    data = json.load(f)
-
-                scan_data = data.get("scan_data", [])
-                if scan_data:
-                    # Convert to numpy array with distances in meters
-                    scan_array = np.array(scan_data)
-                    # Convert distances from millimeters to meters
-                    scan_array[:, 1] = scan_array[:, 1] / 1000.0
-
-                    scans.append(scan_array)
-                    logging.info(f"MockLidarProvider: Loaded {len(scan_data)} scan points from {lidar_file_path}")
-                else:
-                    logging.warning(f"MockLidarProvider: No scan_data found in {lidar_file_path}")
-
-            except FileNotFoundError:
-                logging.error(f"MockLidarProvider: File not found: {lidar_file_path}")
-            except json.JSONDecodeError as e:
-                logging.error(f"MockLidarProvider: Invalid JSON in {lidar_file_path}: {e}")
-            except Exception as e:
-                logging.error(f"MockLidarProvider: Error loading {lidar_file_path}: {e}")
-
-        self.load_scans(scans)
-
-    def get_next_scan(self) -> Optional[np.ndarray]:
-        """
-        Get the next lidar scan in the sequence.
-
-        Returns
-        -------
-        Optional[np.ndarray]
-            Next test scan as numpy array with [angle, distance] pairs,
-            or None if no more scans available
-        """
-        if not self.test_scans or self.current_index >= len(self.test_scans):
-            return None
-
-        scan = self.test_scans[self.current_index]
-        self.current_index += 1
-        return scan
-
-    def peek_next_scan(self) -> Optional[np.ndarray]:
-        """
-        Peek at the next lidar scan without advancing the index.
-
-        Returns
-        -------
-        Optional[np.ndarray]
-            Next test scan as numpy array, or None if no more scans available
-        """
-        if not self.test_scans or self.current_index >= len(self.test_scans):
-            return None
-
-        return self.test_scans[self.current_index]
-
-    def has_more_scans(self) -> bool:
-        """
-        Check if there are more scans available.
-
-        Returns
-        -------
-        bool
-            True if more scans are available, False otherwise
-        """
-        return bool(self.test_scans and self.current_index < len(self.test_scans))
-
-    def reset(self):
-        """Reset the lidar provider to start from the first scan again."""
-        self.current_index = 0
-        logging.info("MockLidarProvider reset to first scan")
-
-    def clear(self):
-        """Clear all loaded scan data."""
-        self.test_scans = []
-        self.current_index = 0
-        logging.info("MockLidarProvider cleared all scan data")
-
-    @property
-    def scan_count(self) -> int:
-        """Get the total number of loaded scans."""
-        return len(self.test_scans)
-
-    @property
-    def remaining_scans(self) -> int:
-        """Get the number of remaining scans."""
-        return max(0, len(self.test_scans) - self.current_index)
-
-
-# Helper functions to access the singleton
-def get_lidar_provider() -> MockLidarProvider:
-    """Get the singleton lidar provider instance."""
-    return MockLidarProvider()
-
-
-def load_test_scans(scans: List[np.ndarray]):
-    """Load test lidar scans into the provider."""
-    provider = get_lidar_provider()
-    provider.load_scans(scans)
-
-
-def load_test_scans_from_files(file_paths: List[str], base_dir: Path):
-    """Load test lidar scans from JSON files into the provider."""
-    provider = get_lidar_provider()
-    provider.load_scans_from_json_files(file_paths, base_dir)
-
-
-def get_next_lidar_scan() -> Optional[np.ndarray]:
-    """Get the next test lidar scan as a numpy array."""
-    provider = get_lidar_provider()
-    return provider.get_next_scan()
-
-
-def reset_lidar_provider():
-    """Reset the lidar provider to start from the first scan."""
-    provider = get_lidar_provider()
-    provider.reset()
-
-
-def clear_lidar_provider():
-    """Clear all lidar scan data from the provider."""
-    provider = get_lidar_provider()
-    provider.clear()
diff --git a/tests/integration/mock_inputs/data_providers/mock_mcp_server_provider.py b/tests/integration/mock_inputs/data_providers/mock_mcp_server_provider.py
deleted file mode 100644
index 916493bcaf..0000000000
--- a/tests/integration/mock_inputs/data_providers/mock_mcp_server_provider.py
+++ /dev/null
@@ -1,21 +0,0 @@
-"""Mock MCP server with hardcoded weather tools for integration testing."""
-
-from mcp.server.fastmcp import FastMCP
-
-mcp = FastMCP("weather")
-
-
-@mcp.tool()
-def get_location(city: str) -> str:
-    """Return the canonical location identifier for a city name."""
-    return "San Francisco, CA"
-
-
-@mcp.tool()
-def get_weather(location: str) -> str:
-    """Return the current weather for a location."""
-    return "72°F, sunny"
-
-
-if __name__ == "__main__":
-    mcp.run()
diff --git a/tests/integration/mock_inputs/data_providers/mock_state_provider.py b/tests/integration/mock_inputs/data_providers/mock_state_provider.py
deleted file mode 100644
index 2699e47082..0000000000
--- a/tests/integration/mock_inputs/data_providers/mock_state_provider.py
+++ /dev/null
@@ -1,146 +0,0 @@
-import logging
-from typing import Dict, List, Optional
-
-
-class MockStateProvider:
-    """
-    Singleton class to provide mock state data for battery, odometry, and GPS inputs.
-
-    This class serves as a central repository for test state data that can be
-    used by different state-based input implementations during testing.
-    """
-
-    _instance = None
-
-    def __new__(cls):
-        if cls._instance is None:
-            cls._instance = super(MockStateProvider, cls).__new__(cls)
-            cls._instance.battery_data = []
-            cls._instance.battery_index = 0
-            cls._instance.odometry_data = []
-            cls._instance.odometry_index = 0
-            cls._instance.gps_data = []
-            cls._instance.gps_index = 0
-            logging.info("Initialized MockStateProvider singleton")
-        return cls._instance
-
-    def load_battery_data(self, data: List[List[float]]):
-        """
-        Load battery state data.
-
-        Parameters
-        ----------
-        data : List[List[float]]
-            List of [percent, voltage, amperes] values
-        """
-        self.battery_data = data
-        self.battery_index = 0
-        logging.info(f"MockStateProvider loaded {len(data)} battery data entries")
-
-    def get_next_battery(self) -> Optional[List[float]]:
-        """
-        Get the next battery state data.
-
-        Returns
-        -------
-        Optional[List[float]]
-            Next battery data [percent, voltage, amperes] or None
-        """
-        if not self.battery_data or self.battery_index >= len(self.battery_data):
-            return None
-
-        data = self.battery_data[self.battery_index]
-        self.battery_index += 1
-        return data
-
-    def load_odometry_data(self, data: List[Dict]):
-        """
-        Load odometry state data.
-
-        Parameters
-        ----------
-        data : List[Dict]
-            List of odometry dicts with x, y, yaw, moving, body_attitude keys
-        """
-        self.odometry_data = data
-        self.odometry_index = 0
-        logging.info(f"MockStateProvider loaded {len(data)} odometry data entries")
-
-    def get_next_odometry(self) -> Optional[Dict]:
-        """
-        Get the next odometry state data.
-
-        Returns
-        -------
-        Optional[Dict]
-            Next odometry data dict or None
-        """
-        if not self.odometry_data or self.odometry_index >= len(self.odometry_data):
-            return None
-
-        data = self.odometry_data[self.odometry_index]
-        self.odometry_index += 1
-        return data
-
-    def load_gps_data(self, data: List[Dict]):
-        """
-        Load GPS state data.
-
-        Parameters
-        ----------
-        data : List[Dict]
-            List of GPS dicts with gps_lat, gps_lon, gps_alt, gps_qua keys
-        """
-        self.gps_data = data
-        self.gps_index = 0
-        logging.info(f"MockStateProvider loaded {len(data)} GPS data entries")
-
-    def get_next_gps(self) -> Optional[Dict]:
-        """
-        Get the next GPS state data.
-
-        Returns
-        -------
-        Optional[Dict]
-            Next GPS data dict or None
-        """
-        if not self.gps_data or self.gps_index >= len(self.gps_data):
-            return None
-
-        data = self.gps_data[self.gps_index]
-        self.gps_index += 1
-        return data
-
-    def clear_all(self):
-        """Clear all loaded data and reset all indices."""
-        self.battery_data = []
-        self.battery_index = 0
-        self.odometry_data = []
-        self.odometry_index = 0
-        self.gps_data = []
-        self.gps_index = 0
-
-
-def get_state_provider() -> MockStateProvider:
-    """Get the singleton state provider instance."""
-    return MockStateProvider()
-
-
-def get_next_battery() -> Optional[List[float]]:
-    """Get the next battery state data."""
-    return get_state_provider().get_next_battery()
-
-
-def get_next_odometry() -> Optional[Dict]:
-    """Get the next odometry state data."""
-    return get_state_provider().get_next_odometry()
-
-
-def get_next_gps() -> Optional[Dict]:
-    """Get the next GPS state data."""
-    return get_state_provider().get_next_gps()
-
-
-def clear_state_provider():
-    """Clear all loaded state data."""
-    get_state_provider().clear_all()
diff --git a/tests/integration/mock_inputs/data_providers/mock_text_provider.py b/tests/integration/mock_inputs/data_providers/mock_text_provider.py
deleted file mode 100644
index 2143734efd..0000000000
--- a/tests/integration/mock_inputs/data_providers/mock_text_provider.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import logging
-from typing import List, Optional
-
-
-class MockTextProvider:
-    """
-    Singleton class to provide mock text data to ASR and other text-based inputs.
-
-    This class serves as a central repository for test text data that can be
-    used by different text-based input implementations during testing.
-    """
-
-    _instance = None
-
-    def __new__(cls):
-        if cls._instance is None:
-            cls._instance = super(MockTextProvider, cls).__new__(cls)
-            cls._instance.texts = []
-            cls._instance.current_index = 0
-            logging.info("Initialized MockTextProvider singleton")
-        return cls._instance
-
-    def load_texts(self, texts: List[str]):
-        """
-        Load a sequence of test texts.
-
-        Parameters
-        ----------
-        texts : List[str]
-            List of text strings to use for testing
-        """
-        self.texts = texts
-        self.current_index = 0
-        logging.info(f"MockTextProvider loaded {len(self.texts)} test texts")
-
-    def get_next_text(self) -> Optional[str]:
-        """
-        Get the next text in the sequence.
-
-        Returns
-        -------
-        Optional[str]
-            Next test text or None if no more texts
-        """
-        if not self.texts or self.current_index >= len(self.texts):
-            return None
-
-        text = self.texts[self.current_index]
-        self.current_index += 1
-        return text
-
-    def reset(self):
-        """Reset the text provider to start from the first text again."""
-        self.current_index = 0
-
-    def clear(self):
-        """Clear all loaded texts and reset the index."""
-        self.texts = []
-        self.current_index = 0
-
-
-def get_text_provider() -> MockTextProvider:
-    """Get the singleton text provider instance."""
-    return MockTextProvider()
-
-
-def get_next_text() -> Optional[str]:
-    """Get the next test text."""
-    provider = get_text_provider()
-    return provider.get_next_text()
-
-
-def clear_text_provider():
-    """Clear all loaded texts."""
-    provider = get_text_provider()
-    provider.clear()
diff --git a/tests/integration/mock_inputs/input_registry.py b/tests/integration/mock_inputs/input_registry.py
deleted file mode 100644
index 17b2f838de..0000000000
--- a/tests/integration/mock_inputs/input_registry.py
+++ /dev/null
@@ -1,140 +0,0 @@
-import logging
-import sys
-from types import ModuleType
-
-from tests.integration.mock_inputs.mock_battery import MockUnitreeGo2Battery
-from tests.integration.mock_inputs.mock_google_asr import MockGoogleASR
-from tests.integration.mock_inputs.mock_gps import MockGps
-from tests.integration.mock_inputs.mock_odometry import MockUnitreeGo2Odom
-from tests.integration.mock_inputs.mock_unitree_go2_rplidar import MockUnitreeGo2RPLidar
-from tests.integration.mock_inputs.mock_vlm_coco import MockVLM_COCO
-from tests.integration.mock_inputs.mock_vlm_gemini import MockVLM_Gemini
-from tests.integration.mock_inputs.mock_vlm_openai import MockVLM_OpenAI
-from tests.integration.mock_inputs.mock_vlm_vila import MockVLM_Vila
-
-# Store original classes to restore them later
-_original_classes = {}
-
-
-def register_mock_inputs():
-    """
-    Register mock inputs by directly replacing the classes in the inputs module.
-
-    This approach is more direct and reliable than patching the load_input function.
-    """
-    # Import all the modules we need to modify
-    import inputs.plugins.google_asr
-    import inputs.plugins.gps
-    import inputs.plugins.unitree_go2_battery
-    import inputs.plugins.unitree_go2_odom
-    import inputs.plugins.unitree_go2_rplidar
-    import inputs.plugins.vlm_coco_local
-    import inputs.plugins.vlm_gemini
-    import inputs.plugins.vlm_openai
-    import inputs.plugins.vlm_vila
-
-    # Save original classes for later restoration
-    global _original_classes
-    _original_classes = {
-        "VLM_COCO_Local": inputs.plugins.vlm_coco_local.VLM_COCO_Local,
-        "VLMOpenAI": inputs.plugins.vlm_openai.VLMOpenAI,
-        "VLMGemini": inputs.plugins.vlm_gemini.VLMGemini,
-        "VLMVila": inputs.plugins.vlm_vila.VLMVila,
-        "UnitreeGo2RPLidar": inputs.plugins.unitree_go2_rplidar.UnitreeGo2RPLidar,
-        "GoogleASRInput": inputs.plugins.google_asr.GoogleASRInput,
-        "UnitreeGo2Battery": inputs.plugins.unitree_go2_battery.UnitreeGo2Battery,
-        "UnitreeGo2Odom": inputs.plugins.unitree_go2_odom.UnitreeGo2Odom,
-        "Gps": inputs.plugins.gps.Gps,
-    }
-
-    # Replace with mock classes
-    inputs.plugins.vlm_coco_local.VLM_COCO_Local = MockVLM_COCO
-    inputs.plugins.vlm_openai.VLMOpenAI = MockVLM_OpenAI
-    inputs.plugins.vlm_gemini.VLMGemini = MockVLM_Gemini
-    inputs.plugins.vlm_vila.VLMVila = MockVLM_Vila
-    inputs.plugins.unitree_go2_rplidar.UnitreeGo2RPLidar = MockUnitreeGo2RPLidar
-    inputs.plugins.google_asr.GoogleASRInput = MockGoogleASR
-    inputs.plugins.unitree_go2_battery.UnitreeGo2Battery = MockUnitreeGo2Battery
-    inputs.plugins.unitree_go2_odom.UnitreeGo2Odom = MockUnitreeGo2Odom
-    inputs.plugins.gps.Gps = MockGps
-
-    # Add mock modules to namespace for discoverability
-    mock_modules = {
-        "inputs.plugins.mock_vlm_coco": {"MockVLM_COCO": MockVLM_COCO},
-        "inputs.plugins.mock_vlm_openai": {"MockVLM_OpenAI": MockVLM_OpenAI},
-        "inputs.plugins.mock_vlm_gemini": {"MockVLM_Gemini": MockVLM_Gemini},
-        "inputs.plugins.mock_vlm_vila": {"MockVLM_Vila": MockVLM_Vila},
-        "inputs.plugins.mock_unitree_go2_rplidar": {"MockUnitreeGo2RPLidar": MockUnitreeGo2RPLidar},
-        "inputs.plugins.mock_google_asr": {"MockGoogleASR": MockGoogleASR},
-        "inputs.plugins.mock_battery": {"MockUnitreeGo2Battery": MockUnitreeGo2Battery},
-        "inputs.plugins.mock_odometry": {"MockUnitreeGo2Odom": MockUnitreeGo2Odom},
-        "inputs.plugins.mock_gps": {"MockGps": MockGps},
-    }
-
-    for module_name, mock_classes in mock_modules.items():
-        mock_module = ModuleType(module_name)
-        for class_name, class_obj in mock_classes.items():
-            setattr(mock_module, class_name, class_obj)
-        sys.modules[module_name] = mock_module
-
-    logging.info("Registered mock inputs by directly replacing classes")
-
-
-def unregister_mock_inputs():
-    """
-    Restore the original input classes.
-    """
-    global _original_classes
-
-    if _original_classes:
-        import inputs.plugins.google_asr
-        import inputs.plugins.gps
-        import inputs.plugins.unitree_go2_battery
-        import inputs.plugins.unitree_go2_odom
-        import inputs.plugins.unitree_go2_rplidar
-        import inputs.plugins.vlm_coco_local
-        import inputs.plugins.vlm_gemini
-        import inputs.plugins.vlm_openai
-        import inputs.plugins.vlm_vila
-
-        # Map class names to (module, attribute) for restoration
-        class_to_module = {
-            "VLM_COCO_Local": (inputs.plugins.vlm_coco_local, "VLM_COCO_Local"),
-            "VLMOpenAI": (inputs.plugins.vlm_openai, "VLMOpenAI"),
-            "VLMGemini": (inputs.plugins.vlm_gemini, "VLMGemini"),
-            "VLMVila": (inputs.plugins.vlm_vila, "VLMVila"),
-            "UnitreeGo2RPLidar": (
-                inputs.plugins.unitree_go2_rplidar,
-                "UnitreeGo2RPLidar",
-            ),
-            "GoogleASRInput": (inputs.plugins.google_asr, "GoogleASRInput"),
-            "UnitreeGo2Battery": (
-                inputs.plugins.unitree_go2_battery,
-                "UnitreeGo2Battery",
-            ),
-            "UnitreeGo2Odom": (inputs.plugins.unitree_go2_odom, "UnitreeGo2Odom"),
-            "Gps": (inputs.plugins.gps, "Gps"),
-        }
-
-        for plugin_name, original_class in _original_classes.items():
-            if plugin_name in class_to_module:
-                module, attr = class_to_module[plugin_name]
-                setattr(module, attr, original_class)
-
-        # Remove mock modules
-        mock_modules = [
-            "inputs.plugins.mock_vlm_coco",
-            "inputs.plugins.mock_vlm_openai",
-            "inputs.plugins.mock_vlm_gemini",
-            "inputs.plugins.mock_vlm_vila",
-            "inputs.plugins.mock_unitree_go2_rplidar",
-            "inputs.plugins.mock_google_asr",
-            "inputs.plugins.mock_battery",
-            "inputs.plugins.mock_odometry",
-            "inputs.plugins.mock_gps",
-        ]
-        for module in mock_modules:
-            sys.modules.pop(module, None)
-
-        _original_classes = {}
-        logging.info("Unregistered mock inputs and restored original classes")
diff --git a/tests/integration/mock_inputs/mock_battery.py b/tests/integration/mock_inputs/mock_battery.py
deleted file mode 100644
index 71c16e9905..0000000000
--- a/tests/integration/mock_inputs/mock_battery.py
+++ /dev/null
@@ -1,118 +0,0 @@
-import logging
-import time
-from typing import List, Optional
-
-from inputs.base import Message
-from inputs.base.loop import FuserInput
-from inputs.plugins.unitree_go2_battery import (
-    UnitreeGo2Battery,
-    UnitreeGo2BatteryConfig,
-)
-from providers.io_provider import IOProvider
-from tests.integration.mock_inputs.data_providers.mock_state_provider import (
-    get_next_battery,
-)
-
-
-class MockUnitreeGo2Battery(UnitreeGo2Battery):
-    """
-    Mock implementation of UnitreeGo2Battery that uses the central state provider.
-
-    This class bypasses the Unitree SDK and hardware to inject
-    mock battery data for integration testing.
-    """
-
-    def __init__(self, config: UnitreeGo2BatteryConfig = UnitreeGo2BatteryConfig()):
-        """
-        Initialize with mock state provider, bypassing real hardware.
-
-        Parameters
-        ----------
-        config : UnitreeGo2BatteryConfig, optional
-            Configuration for the sensor
-        """
-        # Skip UnitreeGo2Battery.__init__ to avoid Unitree SDK setup
-        FuserInput.__init__(self, config)
-
-        self.io_provider = IOProvider()
-        self.messages: list[Message] = []
-        self.descriptor_for_LLM = "MOCK Energy Levels (Integration Test)"
-
-        self.battery_percentage = 0.0
-        self.battery_voltage = 0.0
-        self.battery_amperes = 0.0
-
-        self.running = True
-        self.data_processed = False
-
-        logging.info("MockUnitreeGo2Battery initialized - using mock state provider")
-
-    async def _poll(self) -> List[float]:
-        """
-        Poll for mock battery data from the state provider.
-
-        Returns
-        -------
-        List[float]
-            Battery data [percent, voltage, amperes]
-        """
-        data = get_next_battery()
-        if data is not None:
-            self.battery_percentage = data[0]
-            self.battery_voltage = data[1]
-            self.battery_amperes = data[2]
-            logging.info(f"MockUnitreeGo2Battery: Battery {data[0]}%, {data[1]}V, {data[2]}A")
-            return data
-
-        if not self.data_processed:
-            logging.info("MockUnitreeGo2Battery: No more battery data to process")
-            self.data_processed = True
-
-        return [self.battery_percentage, self.battery_voltage, self.battery_amperes]
-
-    async def _raw_to_text(self, raw_input: List[float]) -> Optional[Message]:
-        """Process raw battery data to generate text description."""
-        battery_percentage = raw_input[0]
-
-        if battery_percentage < 7:
-            message = "CRITICAL: Your battery is almost empty. Immediately move to your charging station and recharge. If you cannot find your charging station, consider sitting down."
-            return Message(timestamp=time.time(), message=message)
-        elif battery_percentage < 15:
-            message = "WARNING: You are low on energy. Move to your charging station and recharge."
-            return Message(timestamp=time.time(), message=message)
-
-        return None
-
-    async def raw_to_text(self, raw_input: List[float]):
-        """Convert raw battery data to text and update message buffer."""
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """Format and clear the latest buffer contents."""
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def stop(self):
-        """Stop the mock battery input."""
-        self.running = False
-        logging.info("MockUnitreeGo2Battery: Stopped")
-
-    def cleanup(self):
-        """Clean up resources."""
-        self.running = False
-        logging.info("MockUnitreeGo2Battery: Cleanup completed")
-
-    def __del__(self):
-        """Clean up resources when the object is destroyed."""
-        self.cleanup()
diff --git a/tests/integration/mock_inputs/mock_google_asr.py b/tests/integration/mock_inputs/mock_google_asr.py
deleted file mode 100644
index 0c1bed2390..0000000000
--- a/tests/integration/mock_inputs/mock_google_asr.py
+++ /dev/null
@@ -1,120 +0,0 @@
-import asyncio
-import logging
-import time
-from typing import List, Optional
-
-from inputs.base import Message
-from inputs.base.loop import FuserInput
-from inputs.plugins.google_asr import GoogleASRInput, GoogleASRSensorConfig
-from providers.io_provider import IOProvider
-from tests.integration.mock_inputs.data_providers.mock_text_provider import (
-    get_next_text,
-)
-
-
-class _MockConversationProvider:
-    """Lightweight stand-in for TeleopsConversationProvider.
-
-    The real provider needs an API key and network access.
-    This mock silently accepts store_user_message calls so that
-    MockGoogleASR.formatted_latest_buffer matches upstream behavior.
-    """
-
-    def store_user_message(self, message: str) -> None:
-        logging.debug(f"MockConversationProvider: stored message ({len(message)} chars)")
-
-
-class MockGoogleASR(GoogleASRInput):
-    """
-    Mock implementation of GoogleASRInput that uses the central text provider.
-
-    This class bypasses the real ASR provider and audio hardware to inject
-    mock text data for integration testing.
-    """
-
-    def __init__(self, config: GoogleASRSensorConfig = GoogleASRSensorConfig()):
-        """
-        Initialize with mock text provider, bypassing real ASR hardware.
-
-        Parameters
-        ----------
-        config : GoogleASRSensorConfig, optional
-            Configuration for the sensor
-        """
-        # Skip GoogleASRInput.__init__ to avoid ASRProvider/Zenoh/microphone setup
-        # Initialize FuserInput base class directly
-        FuserInput.__init__(self, config)
-
-        self.messages: List[str] = []
-        self.descriptor_for_LLM = "MOCK Voice INPUT (Integration Test)"
-        self.io_provider = IOProvider()
-        self.message_buffer: asyncio.Queue[str] = asyncio.Queue()
-
-        self.conversation_provider = _MockConversationProvider()
-        self.running = True
-        self.texts_processed = False
-
-        logging.info("MockGoogleASR initialized - using mock text provider")
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Poll for mock text data from the text provider.
-
-        Returns
-        -------
-        Optional[str]
-            Next text from the mock provider, or None if no more texts
-        """
-        text = get_next_text()
-        if text is not None:
-            logging.info(f"MockGoogleASR: Providing text: {text}")
-            return text
-
-        if not self.texts_processed:
-            logging.info("MockGoogleASR: No more texts to process")
-            self.texts_processed = True
-
-        return None
-
-    async def _raw_to_text(self, raw_input: Optional[str]) -> Optional[Message]:
-        """Convert raw text input to Message format."""
-        if raw_input is None:
-            return None
-        return Message(timestamp=time.time(), message=raw_input)
-
-    async def raw_to_text(self, raw_input: Optional[str]):
-        """Convert raw input to text and update message buffer."""
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            if len(self.messages) == 0:
-                self.messages.append(pending_message.message)
-            else:
-                self.messages[-1] = f"{self.messages[-1]} {pending_message.message}"
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """Format and clear the latest buffer contents."""
-        if len(self.messages) == 0:
-            return None
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n{self.messages[-1]}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, self.messages[-1], time.time())
-        self.io_provider.add_mode_transition_input(self.messages[-1])
-        self.conversation_provider.store_user_message(self.messages[-1])
-
-        self.messages = []
-        return result
-
-    def stop(self):
-        """Stop the mock ASR input."""
-        self.running = False
-        logging.info("MockGoogleASR: Stopped")
-
-    def cleanup(self):
-        """Clean up resources."""
-        self.running = False
-        logging.info("MockGoogleASR: Cleanup completed")
-
-    def __del__(self):
-        """Clean up resources when the object is destroyed."""
-        self.cleanup()
diff --git a/tests/integration/mock_inputs/mock_gps.py b/tests/integration/mock_inputs/mock_gps.py
deleted file mode 100644
index 41d4aeeebe..0000000000
--- a/tests/integration/mock_inputs/mock_gps.py
+++ /dev/null
@@ -1,117 +0,0 @@
-import logging
-import time
-from typing import Optional
-
-from inputs.base import Message, SensorConfig
-from inputs.base.loop import FuserInput
-from inputs.plugins.gps import Gps
-from providers.io_provider import IOProvider
-from tests.integration.mock_inputs.data_providers.mock_state_provider import (
-    get_next_gps,
-)
-
-
-class MockGps(Gps):
-    """
-    Mock implementation of Gps that uses the central state provider.
-
-    This class bypasses the GpsProvider and serial port hardware to inject
-    mock GPS data for integration testing.
-    """
-
-    def __init__(self, config: SensorConfig = SensorConfig()):
-        """
-        Initialize with mock state provider, bypassing real hardware.
-
-        Parameters
-        ----------
-        config : SensorConfig, optional
-            Configuration for the sensor
-        """
-        # Skip Gps.__init__ to avoid GpsProvider serial port setup
-        FuserInput.__init__(self, config)
-
-        self.io_provider = IOProvider()
-        self.messages: list[Message] = []
-        self.descriptor_for_LLM = "MOCK GPS Location (Integration Test)"
-
-        self.running = True
-        self.data_processed = False
-
-        logging.info("MockGps initialized - using mock state provider")
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for mock GPS data from the state provider.
-
-        Returns
-        -------
-        Optional[dict]
-            GPS data dict with gps_lat, gps_lon, gps_alt, gps_qua keys, or None
-        """
-        data = get_next_gps()
-        if data is not None:
-            logging.info(f"MockGps: GPS lat={data.get('gps_lat')}, lon={data.get('gps_lon')}")
-            return data
-
-        if not self.data_processed:
-            logging.info("MockGps: No more GPS data to process")
-            self.data_processed = True
-
-        return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """Process raw GPS data to generate a timestamped message."""
-        if raw_input is None:
-            return None
-
-        lat = raw_input.get("gps_lat", 0.0)
-        lon = raw_input.get("gps_lon", 0.0)
-        alt = raw_input.get("gps_alt", 0.0)
-        qua = raw_input.get("gps_qua", 0)
-
-        lat_string = "North" if lat > 0 else "South"
-        lon_string = "East" if lon > 0 else "West"
-
-        display_lat = abs(lat)
-        display_lon = abs(lon)
-
-        if qua > 0:
-            msg = f"Your rough GPS location is {display_lat} {lat_string}, {display_lon} {lon_string} at {alt}m altitude. "
-            return Message(timestamp=time.time(), message=msg)
-
-        return None
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """Update message buffer with GPS text."""
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """Format and clear the latest buffer contents."""
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.__class__.__name__, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def stop(self):
-        """Stop the mock GPS input."""
-        self.running = False
-        logging.info("MockGps: Stopped")
-
-    def cleanup(self):
-        """Clean up resources."""
-        self.running = False
-        logging.info("MockGps: Cleanup completed")
-
-    def __del__(self):
-        """Clean up resources when the object is destroyed."""
-        self.cleanup()
diff --git a/tests/integration/mock_inputs/mock_odometry.py b/tests/integration/mock_inputs/mock_odometry.py
deleted file mode 100644
index 402c4468c6..0000000000
--- a/tests/integration/mock_inputs/mock_odometry.py
+++ /dev/null
@@ -1,128 +0,0 @@
-import logging
-import time
-from queue import Queue
-from typing import List, Optional
-
-from inputs.base import Message
-from inputs.base.loop import FuserInput
-from inputs.plugins.unitree_go2_odom import UnitreeGo2Odom, UnitreeGo2OdomConfig
-from providers.io_provider import IOProvider
-from providers.odom_provider_base import RobotState
-from tests.integration.mock_inputs.data_providers.mock_state_provider import (
-    get_next_odometry,
-)
-
-
-class MockUnitreeGo2Odom(UnitreeGo2Odom):
-    """
-    Mock implementation of UnitreeGo2Odom that uses the central state provider.
-
-    This class bypasses the UnitreeGo2OdomProvider and hardware to inject
-    mock odometry data for integration testing.
-    """
-
-    def __init__(self, config: UnitreeGo2OdomConfig = UnitreeGo2OdomConfig()):
-        """
-        Initialize with mock state provider, bypassing real hardware.
-
-        Parameters
-        ----------
-        config : UnitreeGo2OdomConfig, optional
-            Configuration for the sensor
-        """
-        # Skip UnitreeGo2Odom.__init__ to avoid UnitreeGo2OdomProvider setup
-        FuserInput.__init__(self, config)
-
-        self.io_provider = IOProvider()
-        self.messages: List[Message] = []
-        self.message_buffer: Queue[str] = Queue()
-        self.descriptor_for_LLM = "MOCK Odometry (Integration Test)"
-
-        self.running = True
-        self.data_processed = False
-
-        logging.info("MockUnitreeGo2Odom initialized - using mock state provider")
-
-    async def _poll(self) -> Optional[dict]:
-        """
-        Poll for mock odometry data from the state provider.
-
-        Returns
-        -------
-        Optional[dict]
-            Odometry data dict or None
-        """
-        data = get_next_odometry()
-        if data is not None:
-            logging.info(
-                f"MockUnitreeGo2Odom: Position x={data.get('x')}, y={data.get('y')}, " f"moving={data.get('moving')}"
-            )
-            # Convert body_attitude string to RobotState enum if present
-            if "body_attitude" in data and isinstance(data["body_attitude"], str):
-                attitude_str = data["body_attitude"].upper()
-                if attitude_str == "SITTING":
-                    data["body_attitude"] = RobotState.SITTING
-                else:
-                    data["body_attitude"] = RobotState.STANDING
-            return data
-
-        if not self.data_processed:
-            logging.info("MockUnitreeGo2Odom: No more odometry data to process")
-            self.data_processed = True
-
-        return None
-
-    async def _raw_to_text(self, raw_input: Optional[dict]) -> Optional[Message]:
-        """Process raw odometry data to generate a timestamped message."""
-        if raw_input is None:
-            return None
-
-        res = ""
-        moving = raw_input.get("moving", False)
-        attitude = raw_input.get("body_attitude", RobotState.STANDING)
-
-        if attitude is RobotState.SITTING:
-            res = "You are sitting down - do not generate new movement commands. "
-        elif moving:
-            res = "You are moving - do not generate new movement commands. "
-        else:
-            res = "You are standing still - you can move if you want to. "
-
-        return Message(timestamp=time.time(), message=res)
-
-    async def raw_to_text(self, raw_input: Optional[dict]):
-        """Convert raw odometry data to text and update message buffer."""
-        if raw_input is None:
-            return
-
-        pending_message = await self._raw_to_text(raw_input)
-        if pending_message is not None:
-            self.messages.append(pending_message)
-
-    def formatted_latest_buffer(self) -> Optional[str]:
-        """Format and clear the latest buffer contents."""
-        if len(self.messages) == 0:
-            return None
-
-        latest_message = self.messages[-1]
-
-        result = f"\nINPUT: {self.descriptor_for_LLM}\n// START\n" f"{latest_message.message}\n// END\n"
-
-        self.io_provider.add_input(self.descriptor_for_LLM, latest_message.message, latest_message.timestamp)
-        self.messages = []
-
-        return result
-
-    def stop(self):
-        """Stop the mock odometry input."""
-        self.running = False
-        logging.info("MockUnitreeGo2Odom: Stopped")
-
-    def cleanup(self):
-        """Clean up resources."""
-        self.running = False
-        logging.info("MockUnitreeGo2Odom: Cleanup completed")
-
-    def __del__(self):
-        """Clean up resources when the object is destroyed."""
-        self.cleanup()
diff --git a/tests/integration/mock_inputs/mock_unitree_go2_rplidar.py b/tests/integration/mock_inputs/mock_unitree_go2_rplidar.py
deleted file mode 100644
index a7c34758bb..0000000000
--- a/tests/integration/mock_inputs/mock_unitree_go2_rplidar.py
+++ /dev/null
@@ -1,307 +0,0 @@
-import asyncio
-import logging
-import time
-from queue import Queue
-from typing import List, Optional
-
-from inputs.base import SensorConfig
-from inputs.base.loop import FuserInput
-from inputs.plugins.unitree_go2_rplidar import Message, RPLidarConfig, UnitreeGo2RPLidar
-from providers.io_provider import IOProvider
-from providers.unitree_go2_rplidar_provider import UnitreeGo2RPLidarProvider
-from tests.integration.mock_inputs.data_providers.mock_lidar_scan_provider import (
-    get_lidar_provider,
-    get_next_lidar_scan,
-)
-
-
-class MockUnitreeGo2RPLidar(UnitreeGo2RPLidar):
-    """
-    Mock implementation of RPLidar that uses mock lidar data.
-
-    This class reuses the real UnitreeGo2RPLidarProvider and its path processing logic,
-    but overrides the hardware interface to inject mock data instead of
-    connecting to real hardware.
-    """
-
-    def __init__(self, config: RPLidarConfig = RPLidarConfig()):
-        """
-        Initialize with mock lidar provider that reuses real processing logic.
-
-        Parameters
-        ----------
-        config : RPLidarConfig, optional
-            Configuration for the sensor
-        """
-        # Initialize base FuserInput class, skipping RPLidar.__init__ to avoid hardware setup
-        super(FuserInput, self).__init__(config)
-
-        # Override the descriptor to indicate this is a mock
-        self.descriptor_for_LLM = "MOCK RPLidar INPUT (Integration Test)"
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Extract lidar configuration
-        lidar_config = self._extract_lidar_config(config)
-
-        # Create real RPLidarProvider but prevent hardware connections
-        self.lidar: UnitreeGo2RPLidarProvider = self._create_mock_lidar_provider(**lidar_config)
-
-        # Store the last processed time to rate-limit our mock data
-        self.last_processed_time = 0
-
-        # Track if we've processed all mock data
-        self.mock_data_processed = False
-
-        # Start the mock data processing
-        self.running = True
-
-        # Get reference to the mock lidar data provider
-        self.lidar_provider = get_lidar_provider()
-
-        # Store reference to cortex runtime for cleanup (will be set by test runner)
-        self.cortex_runtime = None
-
-        logging.info(f"MockRPLidar initialized with {self.lidar_provider.scan_count} scan data sets")
-
-    def set_cortex_runtime(self, cortex):
-        """
-        Set reference to cortex runtime for comprehensive cleanup.
-
-        Parameters
-        ----------
-        cortex : CortexRuntime
-            The cortex runtime instance
-        """
-        self.cortex_runtime = cortex
-
-    def _create_mock_lidar_provider(self, **lidar_config) -> UnitreeGo2RPLidarProvider:
-        """
-        Create a RPLidarProvider instance but override its start method to prevent hardware connections.
-
-        Returns
-        -------
-        RPLidarProvider
-            A configured RPLidarProvider instance that won't try to connect to hardware
-        """
-        # Create the real provider with configuration
-        provider = UnitreeGo2RPLidarProvider(**lidar_config)
-
-        def mock_start():
-            """Mock start method that doesn't try to connect to hardware."""
-            provider.running = True
-            logging.info("MockRPLidar: RPLidarProvider start() called (hardware connections prevented)")
-
-        provider.start = mock_start
-
-        # Override the stop method to be a no-op for mock
-        def mock_stop():
-            """Mock stop method for graceful cleanup."""
-            provider.running = False
-            provider.d435_provider.stop()
-            logging.info("MockRPLidar: RPLidarProvider stop() called (no-op for mock)")
-
-        provider.stop = mock_stop
-
-        return provider
-
-    def _extract_lidar_config(self, config: SensorConfig) -> dict:
-        """Extract lidar configuration parameters from sensor config."""
-        lidar_config = {
-            "serial_port": getattr(config, "serial_port", None),
-            "half_width_robot": getattr(config, "half_width_robot", 0.20),
-            "angles_blanked": getattr(config, "angles_blanked", []),
-            "relevant_distance_max": getattr(config, "relevant_distance_max", 1.1),
-            "relevant_distance_min": getattr(config, "relevant_distance_min", 0.08),
-            "sensor_mounting_angle": getattr(config, "sensor_mounting_angle", 180.0),
-        }
-
-        return lidar_config
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Override the poll method to inject mock data into the real path processor.
-
-        Returns
-        -------
-        Optional[str]
-            Mock lidar data string if available, None otherwise
-        """
-        await asyncio.sleep(0.2)  # Maintain the same polling rate
-
-        # Rate limit to avoid overwhelming the system
-        current_time = time.time()
-        if current_time - self.last_processed_time < 0.5:  # Half second between data
-            return None
-
-        self.last_processed_time = current_time
-
-        # Get next scan from the mock provider
-        scan_array = get_next_lidar_scan()
-        if scan_array is not None:
-            # Inject mock data into the real path processor
-            # scan_array is already in the format (angle, distance) that _path_processor expects
-            self.lidar._path_processor(scan_array)
-
-            logging.info(f"MockRPLidar: Processed mock scan ({self.lidar_provider.remaining_scans} remaining)")
-
-            # Return the processed lidar string from the real provider
-            return self.lidar.lidar_string
-        else:
-            if not self.mock_data_processed:
-                logging.info("MockRPLidar: No more mock scan data to process")
-                self.mock_data_processed = True
-            return None
-
-    # TODO (Kyle): Replace the odometer with a mock input to avoid clean up.
-    async def cleanup_cortex_runtime(self):
-        """
-        Clean up CortexRuntime and its components to prevent hanging.
-        This method handles the Zenoh session cleanup that's specific to RPLidar tests.
-        """
-        if not self.cortex_runtime:
-            logging.warning("MockRPLidar: No cortex runtime reference for cleanup")
-            return
-
-        logging.info("MockRPLidar: Starting cortex cleanup")
-
-        try:
-            cortex = self.cortex_runtime
-
-            # Clean up action orchestrator
-            if hasattr(cortex, "action_orchestrator") and cortex.action_orchestrator:
-                logging.info("MockRPLidar: Cleaning up action orchestrator")
-
-                if hasattr(cortex.action_orchestrator, "_config") and cortex.action_orchestrator._config:
-                    if hasattr(cortex.action_orchestrator._config, "agent_actions"):
-                        agent_actions = cortex.action_orchestrator._config.agent_actions
-
-                        for agent_action in agent_actions:
-                            if hasattr(agent_action, "connector") and agent_action.connector:
-                                # Close Zenoh sessions in action connectors
-                                if hasattr(agent_action.connector, "session") and agent_action.connector.session:
-                                    try:
-                                        agent_action.connector.session.close()
-                                    except Exception as e:
-                                        logging.warning(f"MockRPLidar: Error closing Zenoh session: {e}")
-
-                                # Also close OdomProvider Zenoh session if it exists
-                                if hasattr(agent_action.connector, "odom") and agent_action.connector.odom:
-                                    if (
-                                        hasattr(agent_action.connector.odom, "session")
-                                        and agent_action.connector.odom.session
-                                    ):
-                                        try:
-                                            agent_action.connector.odom.session.close()
-                                        except Exception as e:
-                                            logging.warning(
-                                                f"MockRPLidar: Error closing OdomProvider Zenoh session: {e}"
-                                            )
-
-            # Clean up any other Zenoh sessions in the cortex config
-            if hasattr(cortex, "config") and cortex.config:
-                # Check for any providers that might have Zenoh sessions
-                if hasattr(cortex.config, "agent_inputs"):
-                    for input_obj in cortex.config.agent_inputs:
-                        if hasattr(input_obj, "lidar") and input_obj.lidar:
-                            if hasattr(input_obj.lidar, "zen") and input_obj.lidar.zen:
-                                try:
-                                    input_obj.lidar.zen.close()
-                                except Exception as e:
-                                    logging.warning(f"MockRPLidar: Error closing lidar Zenoh session: {e}")
-
-            # Force cleanup of any remaining Zenoh sessions
-            await self._force_cleanup_zenoh_sessions()
-
-            logging.info("MockRPLidar: Cortex cleanup completed")
-
-        except Exception as e:
-            logging.error(f"MockRPLidar: Error during cortex cleanup: {e}")
-
-    async def _force_cleanup_zenoh_sessions(self):
-        """
-        Force cleanup of any remaining Zenoh sessions by attempting to close them.
-        """
-        try:
-            # Try to import zenoh and close any open sessions
-
-            # Force garbage collection and wait for threads
-            import gc
-
-            gc.collect()
-
-            # Wait a bit for any cleanup to complete
-            await asyncio.sleep(0.5)
-
-            # Check remaining threads
-            import threading
-
-            # Log remaining non-daemon threads only if there are any
-            non_daemon_threads = []
-            for thread in threading.enumerate():
-                if thread != threading.current_thread() and not thread.daemon:
-                    non_daemon_threads.append(thread)
-
-            if non_daemon_threads:
-                logging.warning(f"MockRPLidar: {len(non_daemon_threads)} non-daemon threads still active")
-
-                # Try to force-kill the Zenoh threads by setting them as daemon
-                for thread in non_daemon_threads:
-                    if "pyo3-closure" in thread.name or "zenoh" in thread.name.lower():
-                        try:
-                            thread.daemon = True
-                        except Exception:
-                            pass  # Ignore errors when setting daemon
-
-                # Give them a bit more time to finish
-                await asyncio.sleep(1.0)
-
-        except Exception as e:
-            logging.warning(f"MockRPLidar: Error during Zenoh cleanup: {e}")
-
-    def cleanup(self):
-        """
-        Synchronous cleanup method for proper resource cleanup.
-        """
-        logging.info("MockRPLidar.cleanup: Starting cleanup")
-
-        try:
-            self.running = False
-
-            # Clean up the lidar provider
-            if hasattr(self, "lidar") and self.lidar:
-                self.lidar.stop()
-
-            logging.info("MockRPLidar.cleanup: Cleanup completed successfully")
-        except Exception as e:
-            logging.error(f"MockRPLidar.cleanup: Error during cleanup: {e}")
-
-    async def async_cleanup(self):
-        """
-        Asynchronous cleanup method that handles both basic cleanup and cortex runtime cleanup.
-        """
-        # First do the basic cleanup
-        self.cleanup()
-
-        # Then do the comprehensive cortex cleanup
-        await self.cleanup_cortex_runtime()
-
-    def __del__(self):
-        """Clean up resources when the object is destroyed."""
-        self.cleanup()
-
-    def reset_mock_data(self):
-        """
-        Reset the mock data to start from the beginning.
-        Useful for repeated testing.
-        """
-        self.lidar_provider.reset()
-        self.mock_data_processed = False
-        logging.info("MockRPLidar: Mock data reset")
diff --git a/tests/integration/mock_inputs/mock_vlm_coco.py b/tests/integration/mock_inputs/mock_vlm_coco.py
deleted file mode 100644
index 422478b4c3..0000000000
--- a/tests/integration/mock_inputs/mock_vlm_coco.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import asyncio
-import logging
-from typing import Optional
-
-import numpy as np
-from torchvision.models import detection as detection_model
-
-from inputs.base.loop import FuserInput
-from inputs.plugins.vlm_coco_local import VLM_COCO_Local, VLM_COCO_LocalConfig
-from providers.io_provider import IOProvider
-from tests.integration.mock_inputs.data_providers.mock_image_provider import (
-    get_next_opencv_image,
-)
-
-
-class MockVLM_COCO(VLM_COCO_Local):
-    """
-    Mock implementation of VLM_COCO_Local that uses the central image provider.
-
-    This class overrides only the camera input functionality to get images from
-    the mock image provider, while maintaining all the real object detection logic.
-    """
-
-    def __init__(self, config: VLM_COCO_LocalConfig = VLM_COCO_LocalConfig()):
-        """
-        Initialize with the real VLM implementation but without opening camera.
-
-        Parameters
-        ----------
-        config : VLM_COCO_LocalConfig, optional
-            Configuration for the sensor
-        """
-        # Initialize base FuserInput class
-        super(FuserInput, self).__init__(config)  # Skip VLM_COCO_Local.__init__
-
-        # Set up the model and class labels like the parent class
-        self.device = "cpu"
-        self.detection_threshold = 0.7
-        self.messages = []
-        self.io_provider = IOProvider()
-        self.descriptor_for_LLM = "MOCK Vision INPUT (COCO Test)"
-
-        # Initialize the model like the parent class
-        self.model = detection_model.fasterrcnn_mobilenet_v3_large_320_fpn(
-            weights="FasterRCNN_MobileNet_V3_Large_320_FPN_Weights.COCO_V1",
-            progress=True,
-            weights_backbone="MobileNet_V3_Large_Weights.IMAGENET1K_V1",
-        ).to(self.device)
-        self.class_labels = detection_model.FasterRCNN_MobileNet_V3_Large_320_FPN_Weights.DEFAULT.meta["categories"]
-        self.model.eval()
-
-        # Set mock camera properties without opening real camera
-        self.have_cam = True  # Pretend we have a camera
-        self.cap = None  # Don't create actual capture object
-        self.width = 1280  # Standard webcam width
-        self.height = 720  # Standard webcam height
-        self.cam_third = int(self.width / 3)
-
-        logging.info("MockVLM_COCO initialized - using mock image provider")
-
-    async def _poll(self) -> Optional[np.ndarray]:
-        """
-        Override the camera polling to get images from the mock image provider.
-
-        Returns
-        -------
-        Optional[np.ndarray]
-            Next test image as a numpy array (OpenCV format), or None if no more images
-        """
-        await asyncio.sleep(0.1)  # Small delay to simulate real polling
-        logging.info("MockVLM_COCO: Polling for image")
-
-        # Get the next image from the central provider
-        image = get_next_opencv_image()
-        if image is not None:
-            logging.info(f"MockVLM_COCO: Retrieved test image with shape {image.shape}")
-        return image
diff --git a/tests/integration/mock_inputs/mock_vlm_gemini.py b/tests/integration/mock_inputs/mock_vlm_gemini.py
deleted file mode 100644
index 8f8fa7ad0d..0000000000
--- a/tests/integration/mock_inputs/mock_vlm_gemini.py
+++ /dev/null
@@ -1,104 +0,0 @@
-import asyncio
-import base64
-import logging
-import time
-
-import cv2
-
-from inputs.plugins.vlm_gemini import VLMGemini, VLMGeminiConfig
-from tests.integration.mock_inputs.data_providers.mock_image_provider import (
-    get_next_opencv_image,
-)
-
-
-class MockVLM_Gemini(VLMGemini):
-    """
-    Mock implementation of VLM_Gemini that uses the central image provider.
-
-    This class overrides only the camera input functionality to get images from
-    the mock image provider, while maintaining all the real object detection logic.
-    """
-
-    def __init__(self, config: VLMGeminiConfig = VLMGeminiConfig()):
-        """
-        Initialize with the real VLM implementation but without opening camera.
-
-        Parameters
-        ----------
-        config : VLMGeminiConfig, optional
-            Configuration for the sensor
-        """
-        # Initialize using the real VLM_Gemini implementation
-        super().__init__(config)
-
-        # Override the descriptor to indicate this is a mock
-        self.descriptor_for_LLM = "MOCK Vision INPUT (Gemini Test)"
-
-        # Stop the original video stream
-        if hasattr(self.vlm, "video_stream"):
-            self.vlm.video_stream.stop()
-            logging.info("MockVLM_Gemini: Stopped original video stream")
-
-        # Store the last processed time to rate-limit our mock frames
-        self.last_processed_time = 0
-
-        # Track if we've processed all images
-        self.images_processed = False
-
-        # Start the mock image processing loop
-        self.running = True
-        self._mock_thread = asyncio.create_task(self._process_mock_images())
-
-        logging.info("MockVLM_Gemini initialized - using mock image provider")
-
-    async def _process_mock_images(self):
-        """
-        Continuously process mock images and send them to the VLM provider.
-        """
-        while self.running and not self.images_processed:
-            # Rate limit to avoid overwhelming the API
-            current_time = time.time()
-            if current_time - self.last_processed_time < 1.0:  # One second minimum between frames
-                await asyncio.sleep(0.1)
-                continue
-
-            self.last_processed_time = current_time
-
-            # Get a mock image
-            image = get_next_opencv_image()
-            if image is None:
-                logging.info("MockVLM_Gemini: No more images to process")
-                self.images_processed = True
-                continue
-
-            logging.info(f"MockVLM_Gemini: Processing mock image with shape {image.shape}")
-
-            # Convert image to base64 string
-            _, buffer = cv2.imencode(".jpg", image)
-            base64_image = base64.b64encode(buffer.tobytes()).decode("utf-8")
-
-            # Process the image using the VLM provider's frame callback
-            if hasattr(self.vlm, "_process_frame"):
-                await self.vlm._process_frame(base64_image)
-
-            await asyncio.sleep(0.1)
-
-    def cleanup(self):
-        """
-        Synchronous cleanup method for proper resource cleanup.
-        """
-        try:
-            self.running = False
-            if hasattr(self, "_mock_thread") and self._mock_thread:
-                self._mock_thread.cancel()
-
-            if hasattr(self, "vlm") and self.vlm and hasattr(self.vlm, "video_stream"):
-                self.vlm.video_stream.stop()
-
-            logging.info("MockVLM_Gemini: Cleanup completed")
-        except Exception as e:
-            logging.error(f"MockVLM_Gemini: Error during cleanup: {e}")
-
-    def __del__(self):
-        """Clean up resources when the object is destroyed."""
-        self.cleanup()
diff --git a/tests/integration/mock_inputs/mock_vlm_openai.py b/tests/integration/mock_inputs/mock_vlm_openai.py
deleted file mode 100644
index f0763f9e72..0000000000
--- a/tests/integration/mock_inputs/mock_vlm_openai.py
+++ /dev/null
@@ -1,104 +0,0 @@
-import asyncio
-import base64
-import logging
-import time
-
-import cv2
-
-from inputs.plugins.vlm_openai import VLMOpenAI, VLMOpenAIConfig
-from tests.integration.mock_inputs.data_providers.mock_image_provider import (
-    get_next_opencv_image,
-)
-
-
-class MockVLM_OpenAI(VLMOpenAI):
-    """
-    Mock implementation of VLM_OpenAI that uses the central image provider.
-
-    This class overrides only the camera input functionality to get images from
-    the mock image provider, while maintaining all the real object detection logic.
-    """
-
-    def __init__(self, config: VLMOpenAIConfig = VLMOpenAIConfig()):
-        """
-        Initialize with the real VLM implementation but without opening camera.
-
-        Parameters
-        ----------
-        config : VLMOpenAIConfig, optional
-            Configuration for the sensor
-        """
-        # Initialize using the real VLM_OpenAI implementation
-        super().__init__(config)
-
-        # Override the descriptor to indicate this is a mock
-        self.descriptor_for_LLM = "MOCK Vision INPUT (OpenAI Test)"
-
-        # Stop the original video stream
-        if hasattr(self.vlm, "video_stream"):
-            self.vlm.video_stream.stop()
-            logging.info("MockVLM_OpenAI: Stopped original video stream")
-
-        # Store the last processed time to rate-limit our mock frames
-        self.last_processed_time = 0
-
-        # Track if we've processed all images
-        self.images_processed = False
-
-        # Start the mock image processing loop
-        self.running = True
-        self._mock_thread = asyncio.create_task(self._process_mock_images())
-
-        logging.info("MockVLM_OpenAI initialized - using mock image provider")
-
-    async def _process_mock_images(self):
-        """
-        Continuously process mock images and send them to the VLM provider.
-        """
-        while self.running and not self.images_processed:
-            # Rate limit to avoid overwhelming the API
-            current_time = time.time()
-            if current_time - self.last_processed_time < 1.0:  # One second minimum between frames
-                await asyncio.sleep(0.1)
-                continue
-
-            self.last_processed_time = current_time
-
-            # Get a mock image
-            image = get_next_opencv_image()
-            if image is None:
-                logging.info("MockVLM_OpenAI: No more images to process")
-                self.images_processed = True
-                continue
-
-            logging.info(f"MockVLM_OpenAI: Processing mock image with shape {image.shape}")
-
-            # Convert image to base64 string
-            _, buffer = cv2.imencode(".jpg", image)
-            base64_image = base64.b64encode(buffer.tobytes()).decode("utf-8")
-
-            # Process the image using the VLM provider's frame callback
-            if hasattr(self.vlm, "_process_frame"):
-                await self.vlm._process_frame(base64_image)
-
-            await asyncio.sleep(0.1)
-
-    def cleanup(self):
-        """
-        Synchronous cleanup method for proper resource cleanup.
-        """
-        try:
-            self.running = False
-            if hasattr(self, "_mock_thread") and self._mock_thread:
-                self._mock_thread.cancel()
-
-            if hasattr(self, "vlm") and self.vlm and hasattr(self.vlm, "video_stream"):
-                self.vlm.video_stream.stop()
-
-            logging.info("MockVLM_OpenAI: Cleanup completed")
-        except Exception as e:
-            logging.error(f"MockVLM_OpenAI: Error during cleanup: {e}")
-
-    def __del__(self):
-        """Clean up resources when the object is destroyed."""
-        self.cleanup()
diff --git a/tests/integration/mock_inputs/mock_vlm_vila.py b/tests/integration/mock_inputs/mock_vlm_vila.py
deleted file mode 100644
index 42c5e01def..0000000000
--- a/tests/integration/mock_inputs/mock_vlm_vila.py
+++ /dev/null
@@ -1,290 +0,0 @@
-import asyncio
-import base64
-import json
-import logging
-import threading
-import time
-from queue import Queue
-from typing import List, Optional
-
-import cv2
-from om1_vlm import VideoStream
-
-from inputs.base.loop import FuserInput
-from inputs.plugins.vlm_vila import Message, VLMVila, VLMVilaConfig
-from providers.io_provider import IOProvider
-from providers.vlm_vila_provider import VLMVilaProvider
-from tests.integration.mock_inputs.data_providers.mock_image_provider import (
-    get_next_opencv_image,
-)
-
-
-class MockVideoStream(VideoStream):
-    """
-    Mock video stream that sends mock images to frame callbacks instead of camera frames.
-    """
-
-    def __init__(self, original_video_stream, vlm_provider=None):
-        """
-        Initialize mock video stream with the same callbacks as the original.
-
-        Parameters
-        ----------
-        original_video_stream : VideoStream
-            The original video stream to copy callbacks from
-        """
-        self.frame_callbacks = original_video_stream.frame_callbacks
-        self.running = False
-        self._video_thread: Optional[threading.Thread] = None
-        self.fps = original_video_stream.fps
-        self.frame_delay = 1.0 / self.fps
-        self.encode_quality = original_video_stream.encode_quality
-        self.vlm_provider = vlm_provider  # Store the provider reference
-
-        # Create event loop for async callbacks (same as original)
-        self.loop = asyncio.new_event_loop()
-        self.loop_thread = threading.Thread(target=self._start_loop, daemon=True)
-        self.loop_thread.start()
-
-        logging.info("MockVideoStream initialized with %d callbacks", len(self.frame_callbacks))
-
-    def register_frame_callback(self, frame_callback):
-        """Register a new frame callback - exactly like the original."""
-        if frame_callback and frame_callback not in self.frame_callbacks:
-            self.frame_callbacks.append(frame_callback)
-            logging.debug("MockVideoStream: Registered new frame callback")
-
-    def _start_loop(self):
-        """Set and run the event loop forever in a dedicated thread."""
-        asyncio.set_event_loop(self.loop)
-        logging.debug("MockVideoStream: Started background event loop")
-        self.loop.run_forever()
-
-    def _wait_for_connections(self, timeout=30):
-        """
-        Wait for WebSocket connections to be established before sending images.
-
-        Parameters
-        ----------
-        timeout : int
-            Maximum time to wait for connections in seconds
-        """
-        if not self.vlm_provider:
-            logging.warning("MockVideoStream: No VLM provider reference, skipping connection wait")
-            return True
-
-        start_time = time.time()
-        while time.time() - start_time < timeout:
-            # Check if both WebSocket clients are connected
-            main_connected = hasattr(self.vlm_provider, "ws_client") and self.vlm_provider.ws_client.is_connected()
-
-            stream_connected = True  # Default to True if no stream client
-            if hasattr(self.vlm_provider, "stream_ws_client") and self.vlm_provider.stream_ws_client:
-                stream_connected = self.vlm_provider.stream_ws_client.is_connected()
-
-            if main_connected and stream_connected:
-                logging.info("MockVideoStream: WebSocket connections established")
-                return True
-
-            logging.debug(
-                f"MockVideoStream: Waiting for connections... main: {main_connected}, stream: {stream_connected}"
-            )
-            time.sleep(0.5)
-
-        logging.warning(f"MockVideoStream: Connection timeout after {timeout}s, proceeding anyway")
-        return False
-
-    def on_video(self):
-        """
-        Mock video capture loop that sends mock images to callbacks.
-        """
-        logging.info("MockVideoStream: Starting video processing")
-
-        if not self._wait_for_connections():
-            logging.warning("MockVideoStream: Proceeding without all connections established")
-
-        frame_time = 1.0 / self.fps
-        last_frame_time = time.perf_counter()
-        images_sent = 0
-
-        try:
-            while self.running:
-                current_time = time.perf_counter()
-                elapsed = current_time - last_frame_time
-
-                # Get mock image - LOOP INSTEAD OF STOPPING
-                mock_image = get_next_opencv_image()
-                if mock_image is None:
-                    # Reset the image provider and try again instead of stopping
-                    logging.debug("MockVideoStream: Resetting image provider to loop images")
-                    from tests.integration.mock_inputs.data_providers.mock_image_provider import (
-                        get_image_provider,
-                    )
-
-                    get_image_provider().reset()
-                    mock_image = get_next_opencv_image()
-
-                    if mock_image is None:
-                        logging.error("MockVideoStream: No images available even after reset")
-                        self.running = False
-                        break
-
-                # Process frame similar to original VideoStream
-                if elapsed <= 1.5 * frame_time and self.frame_callbacks:
-                    _, buffer = cv2.imencode(".jpg", mock_image, self.encode_quality)
-                    frame_data = base64.b64encode(buffer.tobytes()).decode("utf-8")
-
-                    # Send to all registered callbacks
-                    for frame_callback in self.frame_callbacks:
-                        try:
-                            if asyncio.iscoroutinefunction(frame_callback):
-                                asyncio.run_coroutine_threadsafe(frame_callback(frame_data), self.loop)
-                            else:
-                                frame_callback(frame_data)
-                        except Exception as e:
-                            logging.error(f"MockVideoStream: Error calling frame callback: {e}")
-
-                    images_sent += 1
-
-                # Maintain frame rate
-                elapsed_time = time.perf_counter() - last_frame_time
-                if elapsed_time < frame_time:
-                    time.sleep(frame_time - elapsed_time)
-                last_frame_time = time.perf_counter()
-
-                # Log progress every 10 images to reduce spam
-                if images_sent > 0 and images_sent % 10 == 0:
-                    logging.debug(f"MockVideoStream: Sent {images_sent} images to VLM")
-
-        except Exception as e:
-            logging.error(f"MockVideoStream: Error in video processing: {e}")
-        finally:
-            logging.info(f"MockVideoStream: Finished processing {images_sent} images")
-
-    def start(self):
-        """Start the mock video processing thread."""
-        if self._video_thread is None or not self._video_thread.is_alive():
-            self.running = True
-            self._video_thread = threading.Thread(target=self.on_video, daemon=True)
-            self._video_thread.start()
-            logging.info("MockVideoStream: Started video thread")
-
-    def stop(self):
-        """Stop the mock video processing."""
-        self.running = False
-        if self._video_thread and self._video_thread.is_alive():
-            self._video_thread.join(timeout=1.0)
-        logging.info("MockVideoStream: Stopped video thread")
-
-
-class MockVLM_Vila(VLMVila):
-    """
-    Mock implementation of VLM_Vila that uses the central image provider.
-
-    This class overrides only the camera input functionality to get images from
-    the mock image provider, while maintaining all the real object detection logic.
-    """
-
-    def __init__(self, config: VLMVilaConfig = VLMVilaConfig()):
-        """
-        Initialize with the real VLM implementation but without opening camera.
-
-        Parameters
-        ----------
-        config : VLMVilaConfig, optional
-            Configuration for the sensor
-        """
-
-        # Initialize base FuserInput class
-        super(FuserInput, self).__init__(config)  # Skip VLMVila.__init__
-
-        # Override the descriptor to indicate this is a mock
-        self.descriptor_for_LLM = "MOCK Vision INPUT (Vila Test)"
-
-        # Track IO
-        self.io_provider = IOProvider()
-
-        # Buffer for storing the final output
-        self.messages: List[Message] = []
-
-        # Buffer for storing messages
-        self.message_buffer: Queue[str] = Queue()
-
-        # Initialize VLM provider
-        api_key = getattr(self.config, "api_key", None)
-        base_url = getattr(self.config, "base_url", "wss://api-vila.openmind.com")
-        stream_base_url = getattr(
-            self.config,
-            "stream_base_url",
-            f"wss://api.openmind.com/api/core/teleops/stream/video?api_key={api_key}",
-        )
-        self.vlm: VLMVilaProvider = VLMVilaProvider(ws_url=base_url, stream_url=stream_base_url)
-        self.vlm.video_stream.stop()
-        logging.debug("MockVLM_Vila: Stopped original video stream")
-        self.vlm.video_stream = MockVideoStream(self.vlm.video_stream, self.vlm)
-
-        # Start the mock video stream (it will wait for connections)
-        self.vlm.start()
-        self.vlm.register_message_callback(self._handle_vlm_message)
-
-        logging.info("MockVLM_Vila initialized successfully")
-
-    def _handle_vlm_message(self, raw_message: str):
-        """
-        Process incoming VLM messages - EXACTLY like the real VLMVila.
-        """
-        logging.debug(
-            "MockVLM_Vila: Received message: %s",
-            raw_message[:100] + "..." if len(raw_message) > 100 else raw_message,
-        )
-
-        # Add the missing JSON parsing logic from the real VLMVila
-        try:
-            json_message = json.loads(raw_message)
-            if "vlm_reply" in json_message:
-                vlm_reply = json_message["vlm_reply"]
-                self.message_buffer.put(vlm_reply)
-                logging.info(
-                    "MockVLM_Vila: Detected VLM message: %s",
-                    vlm_reply[:50] + "..." if len(vlm_reply) > 50 else vlm_reply,
-                )
-        except json.JSONDecodeError:
-            pass  # Handle non-JSON messages gracefully
-
-    async def _poll(self) -> Optional[str]:
-        """
-        Enhanced poll method with debugging.
-        """
-        await asyncio.sleep(0.5)
-
-        # Only log when there are messages to avoid spam
-        buffer_size = self.message_buffer.qsize()
-        if buffer_size > 0:
-            logging.debug(f"MockVLM_Vila: Buffer contains {buffer_size} messages")
-
-        try:
-            message = self.message_buffer.get_nowait()
-            logging.debug("MockVLM_Vila: Retrieved message from buffer")
-            return message
-        except Exception:
-            # Don't log this as it's expected when buffer is empty
-            return None
-
-    def cleanup(self):
-        """
-        Synchronous cleanup method for proper resource cleanup.
-        """
-        try:
-            if hasattr(self, "vlm") and self.vlm:
-                if hasattr(self.vlm, "video_stream"):
-                    self.vlm.video_stream.stop()
-                self.vlm.stop()
-            logging.info("MockVLM_Vila: Cleanup completed")
-        except Exception as e:
-            logging.error(f"MockVLM_Vila: Error during cleanup: {e}")
-
-    def __del__(self):
-        """
-        Properly clean up resources when the object is destroyed.
-        """
-        self.cleanup()
diff --git a/tests/integration/test_case_runner.py b/tests/integration/test_case_runner.py
deleted file mode 100644
index b3c9e25ce0..0000000000
--- a/tests/integration/test_case_runner.py
+++ /dev/null
@@ -1,1841 +0,0 @@
-import asyncio
-import json
-import logging
-import os
-import re
-import time
-from pathlib import Path
-from typing import Any, Dict, List, Optional, Tuple
-from unittest.mock import MagicMock, patch
-
-import json5
-import openai
-import pytest
-from PIL import Image
-
-from llm.output_model import Action, CortexOutputModel
-from runtime.config import ModeConfig, ModeSystemConfig, TransitionRule, TransitionType
-from runtime.cortex import ModeCortexRuntime
-from tests.integration.mock_inputs.data_providers.mock_image_provider import (
-    get_image_provider,
-    load_test_images,
-)
-from tests.integration.mock_inputs.data_providers.mock_lidar_scan_provider import (
-    clear_lidar_provider,
-    get_lidar_provider,
-    load_test_scans_from_files,
-)
-from tests.integration.mock_inputs.data_providers.mock_state_provider import (
-    clear_state_provider,
-    get_state_provider,
-)
-from tests.integration.mock_inputs.data_providers.mock_text_provider import (
-    clear_text_provider,
-    get_text_provider,
-)
-from tests.integration.mock_inputs.input_registry import (
-    register_mock_inputs,
-    unregister_mock_inputs,
-)
-
-# Register mock inputs with the input loading system
-register_mock_inputs()
-
-# Set up logging
-logging.basicConfig(level=logging.INFO)
-DATA_DIR = Path(__file__).parent / "data"
-TEST_CASES_DIR = DATA_DIR / "test_cases"
-
-# Global client to be created once for all test cases
-_llm_client = None
-
-
-def build_mode_system_config_from_test_case(config: dict) -> ModeSystemConfig:
-    """Build a ModeSystemConfig from a test case dictionary.
-
-    Stores raw config dicts so that ModeConfig.load_components() handles
-    the actual component loading through the standard initialization path.
-    """
-    mode_config = ModeConfig(
-        version=config.get("version", "v1.0.5"),
-        name="default",
-        display_name="Default",
-        description="Integration test mode",
-        system_prompt_base=config.get("system_prompt_base", ""),
-        hertz=config.get("hertz", 1),
-        _raw_inputs=config.get("agent_inputs", []),
-        _raw_llm=config.get("cortex_llm"),
-        _raw_actions=config.get("agent_actions", []),
-        _raw_backgrounds=config.get("backgrounds", []),
-        _raw_mcp_servers=config.get("mcp_servers", []),
-    )
-    return ModeSystemConfig(
-        version=config.get("version", "v1.0.5"),
-        name=config.get("name", "TestAgent"),
-        default_mode="default",
-        config_name="test_config",
-        mode_memory_enabled=False,
-        api_key=config.get("api_key"),
-        system_governance=config.get("system_governance", ""),
-        system_prompt_examples=config.get("system_prompt_examples", ""),
-        modes={"default": mode_config},
-    )
-
-
-def build_multi_mode_config(config: Dict[str, Any]) -> ModeSystemConfig:
-    """Build a ModeSystemConfig with multiple modes and transition rules.
-
-    Used for mode transition integration tests where the config defines
-    separate modes under a 'modes' key and transition rules.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration with 'modes' and 'transition_rules' keys
-
-    Returns
-    -------
-    ModeSystemConfig
-        Complete multi-mode system configuration
-    """
-    modes: Dict[str, ModeConfig] = {}
-    for mode_name, mode_data in config.get("modes", {}).items():
-        mode_config = ModeConfig(
-            version=config.get("version", "v1.0.5"),
-            name=mode_name,
-            display_name=mode_data.get("display_name", mode_name),
-            description=mode_data.get("description", ""),
-            system_prompt_base=mode_data.get("system_prompt_base", ""),
-            hertz=mode_data.get("hertz", 1),
-            timeout_seconds=mode_data.get("timeout_seconds"),
-            _raw_inputs=mode_data.get("agent_inputs", []),
-            _raw_llm=mode_data.get("cortex_llm"),
-            _raw_actions=mode_data.get("agent_actions", []),
-            _raw_backgrounds=mode_data.get("backgrounds", []),
-        )
-        modes[mode_name] = mode_config
-
-    transition_rules: List[TransitionRule] = []
-    for rule_data in config.get("transition_rules", []):
-        rule = TransitionRule(
-            from_mode=rule_data["from_mode"],
-            to_mode=rule_data["to_mode"],
-            transition_type=TransitionType(rule_data["transition_type"]),
-            trigger_keywords=rule_data.get("trigger_keywords", []),
-            priority=rule_data.get("priority", 1),
-            cooldown_seconds=rule_data.get("cooldown_seconds", 0.0),
-            timeout_seconds=rule_data.get("timeout_seconds"),
-            context_conditions=rule_data.get("context_conditions", {}),
-        )
-        transition_rules.append(rule)
-
-    return ModeSystemConfig(
-        version=config.get("version", "v1.0.5"),
-        name=config.get("name", "TestAgent"),
-        default_mode=config.get("default_mode", "calm"),
-        config_name="test_config",
-        mode_memory_enabled=False,
-        api_key=config.get("api_key"),
-        system_governance=config.get("system_governance", ""),
-        system_prompt_examples=config.get("system_prompt_examples", ""),
-        modes=modes,
-        transition_rules=transition_rules,
-    )
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation"""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.deepseek_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.openai_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.openrouter.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.gemini_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.near_ai_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.xai_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("providers.avatar_llm_state_provider.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture(autouse=True)
-def mock_config_provider_components():
-    """Mock ConfigProvider and Zenoh to prevent session creation"""
-
-    with (
-        patch("providers.config_provider.ConfigProvider") as mock_config_provider,
-        patch("runtime.cortex.ConfigProvider") as mock_multi_cortex_config_provider,
-        patch("runtime.manager.open_zenoh_session"),
-    ):
-        mock_config_provider_instance = MagicMock()
-        mock_config_provider_instance.running = False
-        mock_config_provider_instance.session = None
-        mock_config_provider_instance.stop = MagicMock()
-        mock_config_provider.return_value = mock_config_provider_instance
-        mock_multi_cortex_config_provider.return_value = mock_config_provider_instance
-
-        yield
-
-
-# Movement types that should be considered movement commands
-VLM_MOVE_TYPES = {
-    "stand still",
-    "sit",
-    "dance",
-    "shake paw",
-    "walk",
-    "walk back",
-    "run",
-    "jump",
-    "wag tail",
-}
-
-LIDAR_MOVE_TYPES = {"turn left", "turn right", "move forwards", "stand still"}
-
-ASR_MOVE_TYPES = {
-    "stand still",
-    "sit",
-    "shake paw",
-    "wag tail",
-    "dance",
-}
-
-STATE_MOVE_TYPES = {
-    "stand still",
-    "sit",
-    "walk",
-    "walk back",
-    "run",
-}
-
-EMOTION_TYPES = {"happy", "confused", "curious", "excited", "sad", "think"}
-
-
-def normalize_expected_value(value):
-    """Normalize an expected value to always be a list."""
-    if value is None:
-        return []
-    elif isinstance(value, list):
-        return value
-    else:
-        return [value]
-
-
-def _detect_input_type(config: Optional[Dict[str, Any]]) -> str:
-    """Detect input type from test case config for logging."""
-    if not config:
-        return "unknown"
-    input_section = config.get("input", {})
-    if "lidar" in input_section:
-        return "LIDAR"
-    elif "asr" in input_section:
-        return "ASR"
-    elif "battery" in input_section or "odometry" in input_section:
-        return "State"
-    elif "gps" in input_section:
-        return "GPS"
-    elif "images" in input_section:
-        return "VLM/Image"
-    return "unknown"
-
-
-def _extract_emotion(actions: List) -> str:
-    """Extract emotion from action commands."""
-    if actions:
-        for command in actions:
-            if hasattr(command, "type"):
-                if command.type in EMOTION_TYPES:
-                    return command.type
-                elif command.type == "emotion" and hasattr(command, "value"):
-                    if command.value in EMOTION_TYPES:
-                        return command.value
-    return "unknown"
-
-
-def process_env_vars(config_dict):
-    """
-    Process environment variables in the configuration.
-
-    Replaces ${ENV_VAR} with the value of the environment variable.
-
-    Parameters
-    ----------
-    config_dict : dict
-        Configuration dictionary
-
-    Returns
-    -------
-    dict
-        Processed configuration with environment variables replaced
-    """
-    if not config_dict:
-        return config_dict
-
-    result = {}
-    for key, value in config_dict.items():
-        if isinstance(value, dict):
-            result[key] = process_env_vars(value)
-        elif isinstance(value, list):
-            result[key] = [process_env_vars(item) if isinstance(item, dict) else item for item in value]
-        elif isinstance(value, str):
-            # Find all ${ENV_VAR} patterns and replace them
-            env_vars = re.findall(r"\${([^}]+)}", value)
-            for env_var in env_vars:
-                env_value = os.environ.get(env_var)
-                if env_value:
-                    value = value.replace(f"${{{env_var}}}", env_value)
-                else:
-                    logging.warning(f"Environment variable {env_var} not found")
-            result[key] = value
-        else:
-            result[key] = value
-
-    return result
-
-
-def load_test_case(test_case_path: Path) -> Dict[str, Any]:
-    """
-    Load a test case configuration from a JSON5 file.
-
-    Parameters
-    ----------
-    test_case_path : Path
-        Path to the test case configuration file
-
-    Returns
-    -------
-    Dict[str, Any]
-        Parsed and processed test case configuration
-    """
-    if not test_case_path.exists():
-        raise FileNotFoundError(f"Test case file not found: {test_case_path}")
-
-    with open(test_case_path, "r") as f:
-        config = json5.load(f)
-
-    # Process environment variables
-    config = process_env_vars(config)
-
-    # Check for openmind_free API key and replace with environment variable
-    if config.get("api_key") == "openmind_free":
-        env_api_key = os.environ.get("OM1_API_KEY")
-        if not env_api_key:
-            logging.warning("OM1_API_KEY environment variable not found, using default free tier")
-        config["api_key"] = env_api_key or "openmind_free"
-
-    return config
-
-
-def load_test_images_from_config(config: Dict[str, Any]) -> List[Image.Image]:
-    """
-    Load test images specified in the configuration.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration
-
-    Returns
-    -------
-    List[Image.Image]
-        List of loaded PIL images
-    """
-    images = []
-    base_dir = TEST_CASES_DIR
-
-    for image_path in config["input"]["images"]:
-        # Handle both relative and absolute paths
-        img_path = Path(image_path)
-        if not img_path.is_absolute():
-            img_path = base_dir / img_path
-
-        if not img_path.exists():
-            logging.warning(f"Image not found: {img_path}")
-            continue
-
-        try:
-            image = Image.open(img_path)
-            images.append(image)
-        except Exception as e:
-            logging.error(f"Failed to load image {img_path}: {e}")
-
-    return images
-
-
-def _create_mock_llm_response(expected_outputs: Dict[str, Any]) -> CortexOutputModel:
-    """
-    Create a mock LLM response based on expected outputs.
-
-    This function generates a mock CortexOutputModel that includes actions
-    matching the expected outputs, allowing tests to pass even when API
-    keys are missing or invalid.
-
-    Parameters
-    ----------
-    expected_outputs : Dict[str, Any]
-        Expected output configuration from test case
-
-    Returns
-    -------
-    CortexOutputModel
-        Mock LLM response with actions matching expected outputs
-    """
-    actions = []
-
-    if "movement" in expected_outputs and expected_outputs["movement"]:
-        movement_options = expected_outputs["movement"]
-        movement_value = movement_options[0] if isinstance(movement_options, list) else movement_options
-        actions.append(Action(type="move", value=movement_value))
-
-    if "emotion" in expected_outputs and expected_outputs["emotion"]:
-        emotion_options = expected_outputs["emotion"]
-        emotion_value = emotion_options[0] if isinstance(emotion_options, list) else emotion_options
-        actions.append(Action(type="emotion", value=emotion_value))
-
-    if not actions:
-        actions.append(Action(type="move", value="stand still"))
-        actions.append(Action(type="emotion", value="curious"))
-
-    actions.append(Action(type="speak", value="I'm processing what I see."))
-
-    return CortexOutputModel(actions=actions)
-
-
-def load_test_asr_data(config: Dict[str, Any]) -> None:
-    """
-    Load ASR text data from JSON files into MockTextProvider.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration containing ASR data paths
-    """
-    asr_files = config.get("input", {}).get("asr", [])
-    if not asr_files:
-        return
-
-    base_dir = TEST_CASES_DIR
-    texts = []
-
-    for asr_path in asr_files:
-        file_path = Path(asr_path)
-        if not file_path.is_absolute():
-            file_path = base_dir / file_path
-
-        if not file_path.exists():
-            logging.warning(f"ASR data file not found: {file_path}")
-            continue
-
-        try:
-            with open(file_path, "r") as f:
-                data = json.load(f)
-                text = data.get("text", "")
-                if text:
-                    texts.append(text)
-                    logging.info(f"Loaded ASR text: {text}")
-        except Exception as e:
-            logging.error(f"Failed to load ASR data {file_path}: {e}")
-
-    if texts:
-        text_provider = get_text_provider()
-        text_provider.load_texts(texts)
-        logging.info(f"Loaded {len(texts)} ASR text entries")
-
-
-def load_test_state_data(config: Dict[str, Any], data_type: str) -> None:
-    """
-    Load state data (battery, odometry, GPS) from JSON files into MockStateProvider.
-
-    Collects all entries from multiple files before loading them at once,
-    so that multiple files are appended rather than overwritten.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration containing state data paths
-    data_type : str
-        Type of state data: "battery", "odometry", or "gps"
-    """
-    data_files = config.get("input", {}).get(data_type, [])
-    if not data_files:
-        return
-
-    base_dir = TEST_CASES_DIR
-    state_provider = get_state_provider()
-    collected_entries: list = []
-
-    for data_path in data_files:
-        file_path = Path(data_path)
-        if not file_path.is_absolute():
-            file_path = base_dir / file_path
-
-        if not file_path.exists():
-            logging.warning(f"State data file not found: {file_path}")
-            continue
-
-        try:
-            with open(file_path, "r") as f:
-                raw = json.load(f)
-                data = raw.get("data", raw)
-
-                if data_type == "battery":
-                    collected_entries.append(
-                        [
-                            data.get("percent", 0.0),
-                            data.get("voltage", 0.0),
-                            data.get("amperes", 0.0),
-                        ]
-                    )
-                elif data_type in ("odometry", "gps"):
-                    collected_entries.append(data)
-
-        except Exception as e:
-            logging.error(f"Failed to load {data_type} data {file_path}: {e}")
-
-    if not collected_entries:
-        return
-
-    if data_type == "battery":
-        state_provider.load_battery_data(collected_entries)
-    elif data_type == "odometry":
-        state_provider.load_odometry_data(collected_entries)
-    elif data_type == "gps":
-        state_provider.load_gps_data(collected_entries)
-
-    logging.info(f"Loaded {len(collected_entries)} {data_type} data entries")
-
-
-async def run_test_case(config: Dict[str, Any]) -> Dict[str, Any]:
-    """
-    Run a test case using the CortexRuntime with mocked inputs.
-
-    This function uses the full agent runtime environment to process
-    the test case, providing a realistic integration test but with
-    mocked inputs instead of real sensors.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration
-
-    Returns
-    -------
-    Dict[str, Any]
-        Test results
-    """
-    # Check what types of inputs are configured
-    inputs = config.get("input", {})
-    has_image_inputs = "images" in inputs
-    has_lidar_inputs = "lidar" in inputs
-    has_asr_inputs = "asr" in inputs
-    has_battery_inputs = "battery" in inputs
-    has_odometry_inputs = "odometry" in inputs
-    has_gps_inputs = "gps" in inputs
-
-    # Load image data only if the test case uses image-based inputs
-    if has_image_inputs:
-        # Load test images
-        images = load_test_images_from_config(config)
-        if not images:
-            raise ValueError("No valid test images found in configuration for image-based inputs")
-
-        logging.info(f"Loaded {len(images)} test images for test case")
-
-        # Load test images into the central mock provider
-        load_test_images(images)
-        logging.info(
-            f"Images loaded into mock provider, provider now has {len(get_image_provider().test_images)} images"
-        )
-
-    # Load lidar data if the test case uses RPLidar inputs
-    if has_lidar_inputs:
-        await load_test_lidar_data(config)
-
-    if has_asr_inputs:
-        load_test_asr_data(config)
-
-    if has_battery_inputs:
-        load_test_state_data(config, "battery")
-
-    if has_odometry_inputs:
-        load_test_state_data(config, "odometry")
-
-    if has_gps_inputs:
-        load_test_state_data(config, "gps")
-
-    # No need to modify config - the input_registry will handle mapping
-    # the real input types to their mock equivalents
-
-    # Build a ModeSystemConfig and initialize the runtime
-    mode_system_config = build_mode_system_config_from_test_case(config)
-    cortex = ModeCortexRuntime(mode_system_config, "test_config", hot_reload=False)
-    await cortex._initialize_mode("default")
-
-    assert cortex.current_config is not None
-    assert cortex.action_orchestrator is not None
-
-    # Store the outputs for validation
-    output_results = {"actions": [], "raw_response": None}
-
-    # Capture output from actions
-    original_action_promise = cortex.action_orchestrator.promise
-
-    async def mock_action_promise(actions):
-        output_results["actions"] = actions
-        logging.info(f"Action orchestrator received commands: {actions}")
-        return await original_action_promise(actions)
-
-    # Replace the original method with our mocked version
-    cortex.action_orchestrator.promise = mock_action_promise
-
-    # Mock the LLM's ask and ask_stream methods to return a response based on expected outputs
-    mock_llm_responses = config.get("mock_llm_responses", [])
-    mock_response_index = {"current": 0}
-
-    async def mock_llm_ask(prompt: str, messages: Optional[List[Dict[str, str]]] = None):
-        logging.info(f"Generated prompt: {prompt[:200]}...")  # Log first 200 chars of prompt
-        output_results["raw_response"] = prompt
-
-        if mock_llm_responses and mock_response_index["current"] < len(mock_llm_responses):
-            response_config = mock_llm_responses[mock_response_index["current"]]
-            mock_response_index["current"] += 1
-
-            actions = []
-            for action_config in response_config.get("actions", []):
-                actions.append(Action(type=action_config["type"], value=action_config["value"]))
-
-            logging.info(
-                f"Using scripted mock response {mock_response_index['current']}/{len(mock_llm_responses)}: {actions}"
-            )
-            return CortexOutputModel(actions=actions)
-
-        return _create_mock_llm_response(config.get("expected", {}))
-
-    async def mock_llm_ask_stream(prompt: str, messages: Optional[List[Dict[str, str]]] = None):
-        """Stream wrapper that yields single result from ask."""
-        result = await mock_llm_ask(prompt, messages)
-        if result is not None:
-            yield result
-
-    cortex.current_config.cortex_llm.ask = mock_llm_ask
-    cortex.current_config.cortex_llm.ask_stream = mock_llm_ask_stream
-
-    # Initialize inputs manually for testing
-    # This step is needed because we're not starting the full runtime
-    await initialize_mock_inputs(cortex.current_config.agent_inputs)
-
-    # Set cortex runtime reference for MockRPLidar cleanup
-    for input_obj in cortex.current_config.agent_inputs:
-        if hasattr(input_obj, "set_cortex_runtime"):
-            input_obj.set_cortex_runtime(cortex)  # type: ignore
-
-    # Start the MCP orchestrator.
-    if cortex.mcp_orchestrator:
-        await cortex.mcp_orchestrator.start()
-
-    # Run a single tick of the cortex loop
-    await cortex._tick(cortex._cortex_loop_generation)
-
-    # Clean up inputs after test completion
-    await cleanup_mock_inputs(cortex.current_config.agent_inputs)
-
-    # Stop the MCP orchestrator.
-    if cortex.mcp_orchestrator:
-        await cortex.mcp_orchestrator.stop()
-
-    # The output includes detection results and commands
-    return output_results
-
-
-async def load_test_lidar_data(config: Dict[str, Any]):
-    """
-    Load test lidar data specified in the configuration.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration containing lidar data paths
-    """
-    lidar_files = config.get("input", {}).get("lidar", [])
-    if not lidar_files:
-        logging.info("No lidar data files specified in test configuration")
-        return
-
-    base_dir = TEST_CASES_DIR
-
-    # Clear any existing lidar data
-    clear_lidar_provider()
-
-    # Load the lidar data using the mock lidar provider
-    load_test_scans_from_files(lidar_files, base_dir)
-
-    lidar_provider = get_lidar_provider()
-    logging.info(f"Loaded {lidar_provider.scan_count} lidar scans for test case")
-
-
-async def initialize_mock_inputs(inputs):
-    """
-    Initialize mock inputs for testing.
-
-    This function manually triggers input processing to ensure
-    the inputs have data before the cortex tick runs.
-
-    Parameters
-    ----------
-    inputs : List
-        List of input objects from the runtime config
-    """
-    for input_obj in inputs:
-        if hasattr(input_obj, "_poll") and hasattr(input_obj, "raw_to_text"):
-            logging.info(f"Starting to poll for input: {type(input_obj).__name__}")
-            start_time = time.time()
-            timeout = 10.0  # 10 second timeout
-
-            while time.time() - start_time < timeout:
-                # Poll for input data
-                input_data = await input_obj._poll()
-                if input_data is not None:
-                    # Process the input data
-                    await input_obj.raw_to_text(input_data)
-                    logging.info(f"Initialized mock input: {type(input_obj).__name__}")
-                    break
-                else:
-                    logging.info(f"Waiting for input data from {type(input_obj).__name__}...")
-                    await asyncio.sleep(0.1)  # Check every 100ms
-            else:
-                logging.warning(f"Timeout waiting for input data from {type(input_obj).__name__}")
-
-
-async def cleanup_mock_inputs(inputs):
-    """
-    Clean up mock inputs after testing.
-
-    This function properly stops all inputs to prevent background processes
-    from continuing after the test completes.
-
-    Parameters
-    ----------
-    inputs : List
-        List of input objects from the runtime config
-    """
-    logging.info(f"cleanup_mock_inputs: Starting cleanup of {len(inputs)} inputs")
-
-    for i, input_obj in enumerate(inputs):
-        input_name = type(input_obj).__name__
-
-        try:
-            # Try MockRPLidar's comprehensive async cleanup first
-            if hasattr(input_obj, "async_cleanup"):
-                await input_obj.async_cleanup()
-            # Try async stop method
-            elif hasattr(input_obj, "stop") and asyncio.iscoroutinefunction(input_obj.stop):
-                await input_obj.stop()
-            # Try synchronous cleanup method
-            elif hasattr(input_obj, "cleanup"):
-                input_obj.cleanup()
-            # Try synchronous stop method
-            elif hasattr(input_obj, "stop"):
-                input_obj.stop()
-            else:
-                logging.warning(f"cleanup_mock_inputs: No cleanup method found for {input_name}")
-
-        except Exception as e:
-            logging.error(f"cleanup_mock_inputs: Error cleaning up {input_name}: {e}")
-
-    logging.info("cleanup_mock_inputs: Finished cleaning up all inputs")
-
-
-def _build_llm_evaluation_prompts(
-    has_movement: bool,
-    has_keywords: bool,
-    has_emotion: bool,
-    formatted_actual: Dict[str, Any],
-    formatted_expected: Dict[str, Any],
-) -> Tuple[str, str]:
-    """
-    Build system and user prompts for LLM evaluation.
-
-    Parameters
-    ----------
-    has_movement : bool
-        Whether movement evaluation is required
-    has_keywords : bool
-        Whether keyword evaluation is required
-    has_emotion : bool
-        Whether emotion evaluation is required
-    formatted_actual : Dict[str, Any]
-        Formatted actual results
-    formatted_expected : Dict[str, Any]
-        Formatted expected results
-
-    Returns
-    -------
-    Tuple[str, str]
-        (system_prompt, user_prompt)
-    """
-    # Build evaluation criteria description based on what's specified
-    evaluation_criteria = []
-    criterion_num = 1
-
-    if has_movement:
-        evaluation_criteria.append(
-            f"{criterion_num}. MOVEMENT ACCURACY: Does the robot's movement command match or fulfill the intended purpose of the expected movement?"
-        )
-        criterion_num += 1
-    if has_keywords:
-        evaluation_criteria.append(
-            f"{criterion_num}. KEYWORD DETECTION: Were the expected keywords correctly identified in the system's vision results?"
-        )
-        criterion_num += 1
-    if has_emotion:
-        evaluation_criteria.append(
-            f"{criterion_num}. EMOTION ACCURACY: Does the robot's emotional expression match the expected emotion?"
-        )
-        criterion_num += 1
-
-    # Always include overall behavior if we have any criteria
-    evaluation_criteria.append(
-        f"{criterion_num}. OVERALL BEHAVIOR: Does the combined response (movement, speech, emotion) appropriately respond to the detected objects?"
-    )
-
-    criteria_text = "\n    ".join(evaluation_criteria)
-
-    # Adjust rating scale description based on what we're evaluating
-    criteria_count = sum([has_movement, has_keywords, has_emotion])
-
-    if criteria_count == 3:  # All three criteria
-        rating_description = """Rate on a scale of 0.0 to 1.0:
-    • 0.0-0.2: Completely mismatched; all criteria are wrong
-    • 0.2-0.4: Mostly incorrect; two criteria are wrong
-    • 0.4-0.6: Partially correct; at least one criterion matches
-    • 0.6-0.8: Mostly correct; two criteria match
-    • 0.8-1.0: Perfect match; all criteria match"""
-    elif criteria_count == 2:  # Two criteria
-        rating_description = """Rate on a scale of 0.0 to 1.0:
-    • 0.0-0.2: Completely mismatched; both criteria are wrong
-    • 0.2-0.4: Mostly incorrect; one criterion is wrong
-    • 0.4-0.6: Partially correct; one criterion matches
-    • 0.6-0.8: Mostly correct; both criteria match
-    • 0.8-1.0: Perfect match; both criteria match exactly"""
-    else:  # Single criterion
-        if has_movement:
-            rating_description = """Rate on a scale of 0.0 to 1.0:
-    • 0.0-0.2: Completely mismatched; wrong movement
-    • 0.2-0.4: Mostly incorrect; movement is somewhat related
-    • 0.4-0.6: Partially correct; movement is close
-    • 0.6-0.8: Mostly correct; movement matches
-    • 0.8-1.0: Perfect match; movement matches exactly"""
-        elif has_keywords:
-            rating_description = """Rate on a scale of 0.0 to 1.0:
-    • 0.0-0.2: Completely mismatched; no keywords detected
-    • 0.2-0.4: Mostly incorrect; few keywords detected
-    • 0.4-0.6: Partially correct; some keywords detected
-    • 0.6-0.8: Mostly correct; most keywords detected
-    • 0.8-1.0: Perfect match; all keywords detected"""
-        else:  # has_emotion only
-            rating_description = """Rate on a scale of 0.0 to 1.0:
-    • 0.0-0.2: Completely mismatched; wrong emotion
-    • 0.2-0.4: Mostly incorrect; emotion is somewhat related
-    • 0.4-0.6: Partially correct; emotion is close
-    • 0.6-0.8: Mostly correct; emotion matches
-    • 0.8-1.0: Perfect match; emotion matches exactly"""
-
-    system_prompt = f"""You are an AI evaluator specialized in analyzing robotic system test results. Your task is to assess how well the actual output matches the expected output based on specific criteria.
-
-    Evaluation criteria:
-    {criteria_text}
-
-    {rating_description}
-
-    Your response must follow this format exactly:
-    Rating: [from 0 to 1]
-    Reasoning: [clear explanation of your rating, referencing specific evidence]"""
-
-    # Build the comparison section based on what we're evaluating
-    comparison_sections = []
-    if has_movement:
-        movement_list = formatted_expected["movement"]
-        if len(movement_list) == 1:
-            comparison_sections.append(f'- Movement command: "{movement_list[0]}"')
-        else:
-            movement_options = ", ".join([f'"{m}"' for m in movement_list])
-            comparison_sections.append(f"- Movement command (any of): {movement_options}")
-    if has_keywords:
-        comparison_sections.append(f"- Should detect keywords: {formatted_expected['keywords']}")
-    if has_emotion:
-        emotion_list = formatted_expected["emotion"]
-        if len(emotion_list) == 1:
-            comparison_sections.append(f'- Expected emotion: "{emotion_list[0]}"')
-        else:
-            emotion_options = ", ".join([f'"{e}"' for e in emotion_list])
-            comparison_sections.append(f"- Expected emotion (any of): {emotion_options}")
-
-    expected_text = "\n    ".join(comparison_sections)
-
-    actual_sections = []
-    if has_movement:
-        actual_sections.append(f'- Movement command: "{formatted_actual["movement"]}"')
-    if has_keywords:
-        actual_sections.append(f"- Keywords successfully detected: {formatted_actual['keywords_found']}")
-    if has_emotion:
-        actual_sections.append(f'- Actual emotion: "{formatted_actual["emotion"]}"')
-
-    actual_text = "\n    ".join(actual_sections)
-
-    # Build comparison question based on criteria
-    comparison_questions = []
-    if has_movement:
-        if len(formatted_expected["movement"]) == 1:
-            comparison_questions.append("Does the actual movement match the expected movement?")
-        else:
-            comparison_questions.append("Does the actual movement match any of the expected movements?")
-    if has_keywords:
-        comparison_questions.append("Were the expected keywords detected?")
-    if has_emotion:
-        if len(formatted_expected["emotion"]) == 1:
-            comparison_questions.append("Does the actual emotion match the expected emotion?")
-        else:
-            comparison_questions.append("Does the actual emotion match any of the expected emotions?")
-
-    comparison_text = (
-        " ".join(comparison_questions) + " Does the response make sense for what was detected in the scene?"
-    )
-
-    user_prompt = f"""
-    TEST CASE: "Robotic system behavior evaluation"
-
-    CONTEXT: A robot with vision capabilities is analyzing a scene and should respond appropriately to what it detects.
-
-    EXPECTED OUTPUT:
-    {expected_text}
-
-    ACTUAL OUTPUT:
-    {actual_text}
-
-    Compare these results carefully. {comparison_text if comparison_questions else ""}
-
-    Provide your evaluation in exactly this format:
-    Rating: [from 0 to 1]
-    Reasoning: [Your detailed explanation]
-    """
-
-    return system_prompt, user_prompt
-
-
-async def evaluate_with_llm(
-    actual_output: Dict[str, Any],
-    expected_output: Dict[str, Any],
-    api_key: str,
-    config: Optional[Dict[str, Any]] = None,
-) -> Tuple[float, str]:
-    """
-    Evaluate test results using LLM-based comparison.
-
-    Parameters
-    ----------
-    actual_output : Dict[str, Any]
-        Actual output from the system
-    expected_output : Dict[str, Any]
-        Expected output defined in test configuration
-    api_key : str
-        API key for the LLM evaluation
-    config : Dict[str, Any], optional
-        Test case configuration for context-aware evaluation
-
-    Returns
-    -------
-    Tuple[float, str]
-        (score from 1-5 converted to 0-1 range, detailed reasoning)
-    """
-    global _llm_client
-
-    # Initialize the OpenAI client if not already done
-    if _llm_client is None:
-        if not api_key or api_key == "openmind_free":
-            # Try to get the API key from environment variables if not provided or if using free tier
-            env_api_key = os.environ.get("OM1_API_KEY") or os.environ.get("OM_API_KEY")
-            if env_api_key:
-                api_key = env_api_key
-            else:
-                logging.warning("No API key found for LLM evaluation, using mock score")
-                return 0.0, "No API key provided for LLM evaluation"
-
-        _llm_client = openai.AsyncClient(base_url="https://api.openmind.com/api/core/openai", api_key=api_key)
-
-    # Check which evaluation criteria are specified
-    has_movement = "movement" in expected_output and expected_output["movement"] is not None
-    has_keywords = (
-        "keywords" in expected_output and expected_output["keywords"] and len(expected_output["keywords"]) > 0
-    )
-    has_emotion = "emotion" in expected_output and expected_output["emotion"] is not None
-
-    # If neither movement nor keywords nor emotion are specified, return perfect score
-    if not has_movement and not has_keywords and not has_emotion:
-        return 1.0, "No specific evaluation criteria specified - test passes by default"
-
-    # Get appropriate movement types for this test case
-    movement_types = get_movement_types_for_config(config) if config else VLM_MOVE_TYPES
-
-    input_type = _detect_input_type(config)
-    logging.info(f"Using {input_type} movement types: {movement_types}")
-
-    # Format actual and expected results for evaluation
-    formatted_actual = {
-        "movement": extract_movement_from_actions(actual_output.get("actions", []), movement_types),
-        "keywords_found": [
-            kw
-            for kw in expected_output.get("keywords", [])
-            if any(kw.lower() in result.lower() for result in actual_output.get("raw_response", []))
-        ],
-        "emotion": _extract_emotion(actual_output.get("actions", [])),
-    }
-
-    formatted_expected = {
-        "movement": normalize_expected_value(expected_output.get("movement")),
-        "keywords": expected_output.get("keywords", []),
-        "emotion": normalize_expected_value(expected_output.get("emotion")),
-    }
-
-    # Build prompts using helper method
-    system_prompt, user_prompt = _build_llm_evaluation_prompts(
-        has_movement, has_keywords, has_emotion, formatted_actual, formatted_expected
-    )
-
-    try:
-        # Call the OpenAI API
-        response = await _llm_client.chat.completions.create(
-            model="gpt-4o-mini",
-            messages=[
-                {"role": "system", "content": system_prompt},
-                {"role": "user", "content": user_prompt},
-            ],
-        )
-
-        content = response.choices[0].message.content
-
-        # Parse the rating and reasoning
-        try:
-            rating_match = re.search(r"Rating:\s*(\d*\.?\d+)", content) if content else None
-            rating = float(rating_match.group(1)) if rating_match else 0.5
-
-            # Extract reasoning
-            reasoning_match = re.search(r"Reasoning:\s*(.*)", content, re.DOTALL) if content else None
-            reasoning = reasoning_match.group(1).strip() if reasoning_match else content
-
-            return rating, reasoning if reasoning is not None else ""
-
-        except Exception as e:
-            logging.error(f"Error parsing LLM evaluation response: {e}")
-            return 0.5, f"Failed to parse LLM evaluation: {content}"
-
-    except Exception as e:
-        logging.error(f"Error calling LLM evaluation API: {e}")
-        return 0.0, f"LLM evaluation failed: {str(e)}"
-
-
-async def evaluate_test_results(
-    results: Dict[str, Any],
-    expected: Dict[str, Any],
-    api_key: str,
-    config: Optional[Dict[str, Any]] = None,
-) -> Tuple[bool, float, str]:
-    """
-    Evaluate test results against expected output using both heuristic and LLM-based evaluation.
-
-    Parameters
-    ----------
-    results : Dict[str, Any]
-        Test results from running the pipeline
-    expected : Dict[str, Any]
-        Expected outputs defined in the test configuration
-    api_key : str
-        API key for the LLM evaluation
-    config : Dict[str, Any], optional
-        Test case configuration for context-aware evaluation
-
-    Returns
-    -------
-    Tuple[bool, float, str]
-        (pass/fail, score, detailed message)
-    """
-    # Check which evaluation criteria are specified
-    has_movement = "movement" in expected and expected["movement"] is not None
-    has_keywords = "keywords" in expected and expected["keywords"] and len(expected["keywords"]) > 0
-    has_emotion = "emotion" in expected and expected["emotion"] is not None
-
-    # If neither movement nor keywords nor emotion are specified, return perfect score
-    if not has_movement and not has_keywords and not has_emotion:
-        return (
-            True,
-            1.0,
-            "No specific evaluation criteria specified - test passes by default",
-        )
-
-    # Get appropriate movement types for this test case
-    movement_types = get_movement_types_for_config(config) if config else VLM_MOVE_TYPES
-
-    input_type = _detect_input_type(config)
-    logging.info(f"Heuristic evaluation using {input_type} movement types: {movement_types}")
-
-    # Extract movement from commands using context-aware movement types
-    movement = extract_movement_from_actions(results.get("actions", []), movement_types)
-
-    # Perform heuristic evaluation with adaptive scoring
-    heuristic_score = 0.0
-    evaluation_components = []
-
-    movement_match = False
-    keyword_match_ratio = 0.0
-    emotion_match = False
-
-    if has_movement:
-        # Check if the actual movement matches any of the expected movements
-        expected_movements = normalize_expected_value(expected["movement"])
-        # If expected_movements is empty, we expect no movement
-        if not expected_movements:
-            movement_match = movement == "unknown"
-        else:
-            movement_match = movement in expected_movements
-        evaluation_components.append("movement")
-
-    if has_keywords:
-        expected_keywords = expected.get("keywords", [])
-        keyword_matches = []
-
-        if "raw_response" in results and isinstance(results["raw_response"], str):
-            for keyword in expected_keywords:
-                if keyword.lower() in results["raw_response"].lower():
-                    keyword_matches.append(keyword)
-
-        keyword_match_ratio = len(set(keyword_matches)) / len(expected_keywords) if expected_keywords else 1.0
-        evaluation_components.append("keywords")
-
-    if has_emotion:
-        actual_emotion = _extract_emotion(results.get("actions", []))
-        expected_emotions = normalize_expected_value(expected["emotion"])
-        # If expected_emotions is empty, we expect no emotion
-        if not expected_emotions:
-            emotion_match = actual_emotion == "unknown"
-        else:
-            emotion_match = actual_emotion in expected_emotions
-        evaluation_components.append("emotion")
-
-    # Calculate weighted heuristic score based on available criteria
-    num_components = len(evaluation_components)
-    if num_components > 0:
-        component_weight = 1.0 / num_components
-        if has_movement:
-            heuristic_score += component_weight if movement_match else 0.0
-        if has_keywords:
-            heuristic_score += component_weight * keyword_match_ratio
-        if has_emotion:
-            heuristic_score += component_weight if emotion_match else 0.0
-
-    # Get LLM-based evaluation with config context
-    llm_score, llm_reasoning = await evaluate_with_llm(results, expected, api_key, config)
-
-    # Combine scores (equal weighting)
-    final_score = (heuristic_score + llm_score) / 2.0
-
-    # Generate detailed message
-    details = ["Heuristic Evaluation:"]
-
-    if has_movement:
-        expected_movements = normalize_expected_value(expected["movement"])
-        if len(expected_movements) == 1:
-            details.append(f"- Movement: {movement}, Expected: {expected_movements[0]}, Match: {movement_match}")
-        else:
-            movement_options = ", ".join(expected_movements)
-            details.append(f"- Movement: {movement}, Expected (any of): [{movement_options}], Match: {movement_match}")
-
-    if has_keywords:
-        expected_keywords = expected.get("keywords", [])
-        keyword_matches = []
-        if "raw_response" in results and isinstance(results["raw_response"], str):
-            for keyword in expected_keywords:
-                if keyword.lower() in results["raw_response"].lower():
-                    keyword_matches.append(keyword)
-        details.append(
-            f"- Keyword matches: {len(set(keyword_matches))}/{len(expected_keywords)} - {set(keyword_matches)}"
-        )
-
-    if has_emotion:
-        actual_emotion = _extract_emotion(results.get("actions", []))
-        expected_emotions = normalize_expected_value(expected["emotion"])
-        if len(expected_emotions) == 1:
-            details.append(f"- Emotion: {actual_emotion}, Expected: {expected_emotions[0]}, Match: {emotion_match}")
-        else:
-            emotion_options = ", ".join(expected_emotions)
-            details.append(
-                f"- Emotion: {actual_emotion}, Expected (any of): [{emotion_options}], Match: {emotion_match}"
-            )
-
-    details.extend(
-        [
-            f"- Heuristic score: {heuristic_score:.2f}",
-            "\nLLM Evaluation:",
-            f"- LLM score: {llm_score:.2f}",
-            f"- LLM reasoning: {llm_reasoning}",
-            f"\nFinal score: {final_score:.2f}",
-        ]
-    )
-
-    if results.get("actions"):
-        details.append("\nCommands:")
-        for i, command in enumerate(results["actions"]):
-            details.append(f"- Command {i + 1}: {command.type}: {command.value}")
-
-    message = "\n".join(details)
-
-    # Determine if test passed based on minimum score threshold
-    minimum_score = expected.get("minimum_score", 0.7)
-    passed = final_score >= minimum_score
-
-    return passed, final_score, message
-
-
-class TestCategory:
-    """Represents a category of test cases."""
-
-    def __init__(self, name: str, path: Path):
-        self.name = name
-        self.path = path
-        self.test_cases: List[Path] = []
-
-    def add_test_case(self, test_case: Path):
-        self.test_cases.append(test_case)
-
-    @property
-    def count(self) -> int:
-        return len(self.test_cases)
-
-
-def _is_multi_mode_config(config: Dict[str, Any]) -> bool:
-    """Check if a test case config defines multiple modes.
-
-    Multi-mode configs have a 'modes' key with mode definitions and require
-    a different test runner (run_mode_transition_test) than standard configs
-    (run_test_case).
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Parsed test case configuration
-
-    Returns
-    -------
-    bool
-        True if this is a multi-mode configuration
-    """
-    return "modes" in config and isinstance(config["modes"], dict)
-
-
-def discover_test_cases() -> Dict[str, TestCategory]:
-    """
-    Discover standard (single-mode) test case configurations organized by category.
-
-    Multi-mode configs are excluded because they require a different test runner.
-    Use discover_mode_transition_test_cases() for those.
-
-    Returns
-    -------
-    Dict[str, TestCategory]
-        Dictionary mapping category names to TestCategory objects
-    """
-    categories: Dict[str, TestCategory] = {}
-
-    # Look for test cases in the main test_cases directory
-    for test_file in TEST_CASES_DIR.glob("*.json5"):
-        try:
-            config = load_test_case(test_file)
-
-            if _is_multi_mode_config(config):
-                continue
-
-            category_name = config.get("category", "uncategorized")
-
-            if category_name not in categories:
-                categories[category_name] = TestCategory(category_name, TEST_CASES_DIR)
-
-            categories[category_name].add_test_case(test_file)
-
-        except Exception as e:
-            logging.error(f"Error loading test case {test_file}: {e}")
-
-    # Look for test cases in category subdirectories
-    for category_dir in TEST_CASES_DIR.glob("*/"):
-        if category_dir.is_dir() and not category_dir.name.startswith("_"):
-            category_name = category_dir.name
-
-            if category_name not in categories:
-                categories[category_name] = TestCategory(category_name, category_dir)
-
-            for test_file in category_dir.glob("*.json5"):
-                try:
-                    config = load_test_case(test_file)
-                    if _is_multi_mode_config(config):
-                        continue
-                    categories[category_name].add_test_case(test_file)
-                except Exception as e:
-                    logging.error(f"Error loading test case {test_file}: {e}")
-
-    return categories
-
-
-def discover_mode_transition_test_cases() -> List[Path]:
-    """
-    Discover input-triggered mode transition test cases.
-
-    Returns only multi-mode configs suitable for run_mode_transition_test().
-    Configs with dedicated test functions (cooldown, time-based) are excluded
-    since they hardcode their own config paths.
-
-    Returns
-    -------
-    List[Path]
-        List of paths to input-triggered mode transition test configs
-    """
-    test_cases: List[Path] = []
-
-    for test_file in TEST_CASES_DIR.glob("*.json5"):
-        try:
-            config = load_test_case(test_file)
-            if not _is_multi_mode_config(config):
-                continue
-
-            # Cooldown configs have dedicated test_cooldown_prevents_transition()
-            if "first_transition_mode" in config.get("expected", {}):
-                continue
-
-            # Time-based configs have dedicated test_time_based_transition()
-            has_time_based_rules = any(
-                r.get("transition_type") == "time_based" for r in config.get("transition_rules", [])
-            )
-            if has_time_based_rules:
-                continue
-
-            test_cases.append(test_file)
-        except Exception as e:
-            logging.error(f"Error loading test case {test_file}: {e}")
-
-    return test_cases
-
-
-def get_test_cases_by_tags(tags: Optional[List[str]] = None) -> List[Path]:
-    """
-    Get test cases filtered by tags.
-
-    Parameters
-    ----------
-    tags : List[str], optional
-        List of tags to filter test cases
-
-    Returns
-    -------
-    List[Path]
-        List of test case paths matching the tags
-    """
-    if not tags:
-        # If no tags specified, return all test cases
-        return [test_case for category in discover_test_cases().values() for test_case in category.test_cases]
-
-    matching_tests = []
-    for category in discover_test_cases().values():
-        for test_case in category.test_cases:
-            try:
-                config = load_test_case(test_case)
-                test_tags = config.get("tags", [])
-                if any(tag in test_tags for tag in tags):
-                    matching_tests.append(test_case)
-            except Exception as e:
-                logging.error(f"Error checking tags for {test_case}: {e}")
-
-    return matching_tests
-
-
-@pytest.mark.parametrize("test_case_path", get_test_cases_by_tags())
-@pytest.mark.asyncio
-@pytest.mark.integration
-async def test_from_config(test_case_path: Path):
-    """
-    Run a test based on a configuration file.
-
-    Parameters
-    ----------
-    test_case_path : Path
-        Path to the test case configuration file
-    """
-    # Reset mock providers to ensure test isolation
-    image_provider = get_image_provider()
-    image_provider.reset()
-    # Clear any existing images to ensure clean state
-    image_provider.test_images = []
-
-    # Reset lidar data as well
-    lidar_provider = get_lidar_provider()
-    lidar_provider.clear()
-
-    clear_text_provider()
-    clear_state_provider()
-
-    # Add a small delay to reduce race conditions between parallel tests
-    await asyncio.sleep(0.1)
-
-    # Load and process the test case configuration
-    try:
-        logging.info(f"Loading test case: {test_case_path}")
-        config = load_test_case(test_case_path)
-
-        # Log test information
-        logging.info(f"Running test case: {config['name']} ({config.get('category', 'uncategorized')})")
-        logging.info(f"Description: {config['description']}")
-
-        # Log expected inputs based on type
-        input_section = config.get("input", {})
-        if "images" in input_section:
-            logging.info(f"Expected images for test: {len(input_section['images'])}")
-        if "lidar" in input_section:
-            logging.info(f"Expected lidar files for test: {len(input_section['lidar'])}")
-        if "asr" in input_section:
-            logging.info(f"Expected ASR files for test: {len(input_section['asr'])}")
-        if "battery" in input_section:
-            logging.info(f"Expected battery files for test: {len(input_section['battery'])}")
-        if "odometry" in input_section:
-            logging.info(f"Expected odometry files for test: {len(input_section['odometry'])}")
-        if "gps" in input_section:
-            logging.info(f"Expected GPS files for test: {len(input_section['gps'])}")
-
-        # Run the test case
-        results = await run_test_case(config)
-
-        # Evaluate results
-        passed, score, message = await evaluate_test_results(results, config["expected"], config["api_key"], config)
-
-        # Log detailed results
-        logging.info(f"Test results for {config['name']}:\n{message}")
-
-        # Assert test passed
-        assert passed, f"Test case failed: {config['name']} (Score: {score:.2f})\n{message}"
-
-        logging.info(f"test_from_config: Test {config['name']} completed successfully")
-
-    except Exception as e:
-        logging.error(f"Error running test case {test_case_path}: {e}")
-        raise
-
-
-# Run a specific test case by name
-@pytest.mark.skipif(
-    not os.environ.get("TEST_CASE"),
-    reason="Skipping specific test case (TEST_CASE is not set)",
-)
-@pytest.mark.asyncio
-@pytest.mark.integration
-async def test_specific_case():
-    """Run a specific test case by name for debugging."""
-    test_name = os.environ.get("TEST_CASE", "coco_indoor_detection")
-
-    # Find the test case configuration
-    test_case_path = None
-    for path in TEST_CASES_DIR.glob("*.json5"):
-        config = load_test_case(path)
-        if config.get("name") == test_name:
-            test_case_path = path
-            break
-
-    if not test_case_path:
-        pytest.skip(f"Test case not found: {test_name}")
-
-    # Now run the test
-    await test_from_config(test_case_path)
-
-
-# Add cleanup for pytest
-def pytest_sessionfinish(session, exitstatus):
-    """Clean up after all tests have run."""
-    unregister_mock_inputs()
-
-
-def get_movement_types_for_config(config: Dict[str, Any]) -> set:
-    """
-    Determine which movement types to use based on the test configuration input types.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration
-
-    Returns
-    -------
-    set
-        The appropriate movement types set for this test case
-    """
-    input_section = config.get("input", {})
-
-    # Check if this is a LIDAR-based test
-    if "lidar" in input_section:
-        return LIDAR_MOVE_TYPES
-
-    # ASR-only tests (no images)
-    if "asr" in input_section and "images" not in input_section:
-        return ASR_MOVE_TYPES
-
-    # State-based tests (battery, odometry, GPS) without images
-    if (
-        "battery" in input_section or "odometry" in input_section or "gps" in input_section
-    ) and "images" not in input_section:
-        return STATE_MOVE_TYPES
-
-    # Check if this is an image/VLM-based test
-    if "images" in input_section:
-        return VLM_MOVE_TYPES
-
-    # Default to VLM types if unclear
-    return VLM_MOVE_TYPES
-
-
-def extract_movement_from_actions(actions: List, movement_types: set) -> str:
-    """
-    Extract movement command from actions using the appropriate movement types.
-
-    Parameters
-    ----------
-    actions : List
-        List of action commands
-    movement_types : set
-        Set of valid movement types for this test case
-
-    Returns
-    -------
-    str
-        The extracted movement command or "unknown"
-    """
-    for command in actions:
-        if hasattr(command, "type"):
-            if command.type in movement_types:
-                return command.type
-            elif command.type == "move" and hasattr(command, "value"):
-                if command.value in movement_types:
-                    return command.value
-
-    return "unknown"
-
-
-def _setup_mode_transition_mocks(
-    cortex: ModeCortexRuntime,
-) -> asyncio.Task:  # type: ignore[type-arg]
-    """Set up common mocks for mode transition tests.
-
-    Mocks _start_orchestrators (prevents infinite loop) and LLM (returns
-    a simple action). Starts the mode transition handler task.
-
-    Parameters
-    ----------
-    cortex : ModeCortexRuntime
-        The runtime instance to mock
-
-    Returns
-    -------
-    asyncio.Task
-        The transition handler task (must be cancelled during cleanup)
-    """
-
-    async def noop_start_orchestrators():
-        logging.info("_start_orchestrators skipped (test mock)")
-
-    cortex._start_orchestrators = noop_start_orchestrators  # type: ignore[assignment]
-
-    async def mock_llm_ask(prompt: str, messages: Optional[List[Dict[str, str]]] = None):
-        return CortexOutputModel(actions=[Action(type="move", value="stand still")])
-
-    async def mock_llm_ask_stream(prompt: str, messages: Optional[List[Dict[str, str]]] = None):
-        """Stream wrapper that yields single result from ask."""
-        result = await mock_llm_ask(prompt, messages)
-        if result is not None:
-            yield result
-
-    cortex.current_config.cortex_llm.ask = mock_llm_ask  # type: ignore[union-attr]
-    cortex.current_config.cortex_llm.ask_stream = mock_llm_ask_stream  # type: ignore[union-attr]
-
-    return asyncio.create_task(cortex._handle_mode_transitions())
-
-
-async def _cleanup_mode_transition_test(
-    cortex: ModeCortexRuntime,
-    transition_handler_task: asyncio.Task,  # type: ignore[type-arg]
-) -> None:
-    """Clean up after a mode transition test.
-
-    Parameters
-    ----------
-    cortex : ModeCortexRuntime
-        The runtime instance
-    transition_handler_task : asyncio.Task
-        The transition handler task to cancel
-    """
-    transition_handler_task.cancel()
-    try:
-        await transition_handler_task
-    except asyncio.CancelledError:
-        pass
-
-    await cleanup_mock_inputs(cortex.current_config.agent_inputs)  # type: ignore[union-attr]
-    clear_text_provider()
-
-
-async def run_mode_transition_test(config: Dict[str, Any]) -> Dict[str, Any]:
-    """Run a mode transition integration test.
-
-    This function tests that an input-triggered mode transition works
-    correctly by running a single tick of the cortex loop:
-    - fuser.fuse() calls formatted_latest_buffer() -> add_mode_transition_input()
-    - process_tick() detects keyword and schedules transition
-    - _handle_mode_transitions() executes the transition asynchronously
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration with modes and transition_rules
-
-    Returns
-    -------
-    Dict[str, Any]
-        Results containing initial_mode and final_mode
-    """
-    load_test_asr_data(config)
-
-    mode_system_config = build_multi_mode_config(config)
-    cortex = ModeCortexRuntime(mode_system_config, "test_config", hot_reload=False)
-    default_mode = config.get("default_mode", "calm")
-    await cortex._initialize_mode(default_mode)
-
-    assert cortex.current_config is not None
-
-    initial_mode = cortex.mode_manager.state.current_mode
-    initial_prompt = cortex.current_config.system_prompt_base
-    logging.info(f"Mode transition test: initial_mode={initial_mode}")
-
-    transition_handler_task = _setup_mode_transition_mocks(cortex)
-
-    await initialize_mock_inputs(cortex.current_config.agent_inputs)
-    await cortex._tick(cortex._cortex_loop_generation)
-
-    # If a transition was scheduled, wait for the handler to process it
-    if cortex._mode_transition_event.is_set():
-        await asyncio.sleep(0.5)
-
-    final_mode = cortex.mode_manager.state.current_mode
-    final_prompt = cortex.current_config.system_prompt_base if cortex.current_config else None
-    logging.info(f"Mode transition test: final_mode={final_mode}")
-
-    await _cleanup_mode_transition_test(cortex, transition_handler_task)
-
-    return {
-        "initial_mode": initial_mode,
-        "final_mode": final_mode,
-        "initial_prompt": initial_prompt,
-        "final_prompt": final_prompt,
-    }
-
-
-@pytest.mark.parametrize("test_case_path", discover_mode_transition_test_cases())
-@pytest.mark.asyncio
-@pytest.mark.integration
-async def test_mode_transition(test_case_path: Path):
-    """Test mode transitions discovered from test_cases/.
-
-    Handles both positive (transition expected) and negative (no transition)
-    cases based on the expected initial and final modes in the config.
-    """
-    clear_text_provider()
-
-    config = load_test_case(test_case_path)
-    test_name = config["name"]
-
-    logging.info(f"Running mode transition test: {test_name}")
-
-    results = await run_mode_transition_test(config)
-
-    expected_initial = config["expected"]["initial_mode"]
-    expected_final = config["expected"]["final_mode"]
-
-    assert results["initial_mode"] == expected_initial, (
-        f"Initial mode mismatch: got {results['initial_mode']}, " f"expected {expected_initial}"
-    )
-    assert results["final_mode"] == expected_final, (
-        f"Final mode mismatch: got {results['final_mode']}, " f"expected {expected_final}"
-    )
-
-    # Only verify config reinitialization when a transition actually occurred
-    if expected_initial != expected_final:
-        expected_final_prompt = config["modes"][expected_final]["system_prompt_base"]
-        assert results["final_prompt"] == expected_final_prompt, (
-            f"Runtime config not reinitialized: prompt is '{results['final_prompt']}', "
-            f"expected '{expected_final_prompt}'"
-        )
-        assert (
-            results["final_prompt"] != results["initial_prompt"]
-        ), "System prompt did not change after mode transition"
-    else:
-        assert (
-            results["final_prompt"] == results["initial_prompt"]
-        ), "System prompt changed when no transition was expected"
-
-
-async def run_time_based_transition_test(config: Dict[str, Any]) -> Dict[str, Any]:
-    """Run a time-based mode transition integration test.
-
-    Initializes the runtime and waits for the mode timeout to expire,
-    then runs a tick to trigger the time-based transition.
-
-    Parameters
-    ----------
-    config : Dict[str, Any]
-        Test case configuration with modes having timeout_seconds
-
-    Returns
-    -------
-    Dict[str, Any]
-        Results containing initial_mode and final_mode
-    """
-    load_test_asr_data(config)
-
-    mode_system_config = build_multi_mode_config(config)
-    cortex = ModeCortexRuntime(mode_system_config, "test_config", hot_reload=False)
-    default_mode = config.get("default_mode", "patrol")
-    await cortex._initialize_mode(default_mode)
-
-    assert cortex.current_config is not None
-
-    initial_mode = cortex.mode_manager.state.current_mode
-    logging.info(f"Time-based transition test: initial_mode={initial_mode}")
-
-    transition_handler_task = _setup_mode_transition_mocks(cortex)
-
-    # Wait for the mode timeout to expire
-    timeout = cortex.mode_config.modes[default_mode].timeout_seconds or 0.1
-    await asyncio.sleep(timeout + 0.1)
-
-    # Initialize inputs and run tick - process_tick() will detect timeout
-    await initialize_mock_inputs(cortex.current_config.agent_inputs)
-    await cortex._tick(cortex._cortex_loop_generation)
-
-    if cortex._mode_transition_event.is_set():
-        await asyncio.sleep(0.5)
-
-    final_mode = cortex.mode_manager.state.current_mode
-    logging.info(f"Time-based transition test: final_mode={final_mode}")
-
-    await _cleanup_mode_transition_test(cortex, transition_handler_task)
-
-    return {"initial_mode": initial_mode, "final_mode": final_mode}
-
-
-@pytest.mark.asyncio
-@pytest.mark.integration
-async def test_time_based_transition():
-    """Test time-based mode transition after timeout expires."""
-    clear_text_provider()
-
-    config = load_test_case(TEST_CASES_DIR / "mode_time_based_test.json5")
-    logging.info(f"Running time-based transition test: {config['name']}")
-
-    results = await run_time_based_transition_test(config)
-
-    assert results["initial_mode"] == config["expected"]["initial_mode"], (
-        f"Initial mode mismatch: got {results['initial_mode']}, " f"expected {config['expected']['initial_mode']}"
-    )
-    assert results["final_mode"] == config["expected"]["final_mode"], (
-        f"Final mode mismatch: got {results['final_mode']}, " f"expected {config['expected']['final_mode']}"
-    )
-
-
-@pytest.mark.asyncio
-@pytest.mark.integration
-async def test_cooldown_prevents_transition():
-    """Test that cooldown prevents repeated transitions."""
-    clear_text_provider()
-
-    config = load_test_case(TEST_CASES_DIR / "mode_cooldown_test.json5")
-    logging.info(f"Running cooldown test: {config['name']}")
-
-    load_test_asr_data(config)
-
-    mode_system_config = build_multi_mode_config(config)
-    cortex = ModeCortexRuntime(mode_system_config, "test_config", hot_reload=False)
-    await cortex._initialize_mode("calm")
-
-    assert cortex.current_config is not None
-
-    transition_handler_task = _setup_mode_transition_mocks(cortex)
-
-    # First transition: calm -> alert (should succeed)
-    await initialize_mock_inputs(cortex.current_config.agent_inputs)
-    await cortex._tick(cortex._cortex_loop_generation)
-
-    if cortex._mode_transition_event.is_set():
-        await asyncio.sleep(0.5)
-
-    first_mode = cortex.mode_manager.state.current_mode
-    logging.info(f"Cooldown test: after first transition: {first_mode}")
-    assert first_mode == config["expected"]["first_transition_mode"], (
-        f"First transition failed: got {first_mode}, " f"expected {config['expected']['first_transition_mode']}"
-    )
-
-    # Manually reset mode back to calm to test cooldown
-    cortex.mode_manager.state.current_mode = "calm"
-    cortex.mode_manager.state.mode_start_time = time.time()
-
-    # Reload ASR data and reinitialize inputs for second attempt.
-    # Re-apply LLM mock since _initialize_mode creates a new config.
-    load_test_asr_data(config)
-    await cortex._initialize_mode("calm")
-
-    async def mock_llm_ask(prompt: str, messages: Optional[List[Dict[str, str]]] = None):
-        return CortexOutputModel(actions=[Action(type="move", value="stand still")])
-
-    async def mock_llm_ask_stream(prompt: str, messages: Optional[List[Dict[str, str]]] = None):
-        result = await mock_llm_ask(prompt, messages)
-        if result is not None:
-            yield result
-
-    cortex.current_config.cortex_llm.ask = mock_llm_ask  # type: ignore[union-attr]
-    cortex.current_config.cortex_llm.ask_stream = mock_llm_ask_stream  # type: ignore[union-attr]
-
-    await initialize_mock_inputs(cortex.current_config.agent_inputs)
-    await cortex._tick(cortex._cortex_loop_generation)
-
-    if cortex._mode_transition_event.is_set():
-        await asyncio.sleep(0.5)
-
-    second_mode = cortex.mode_manager.state.current_mode
-    logging.info(f"Cooldown test: after second attempt: {second_mode}")
-
-    # Should still be calm because cooldown (60s) hasn't expired
-    assert second_mode == config["expected"]["second_transition_mode"], (
-        f"Cooldown failed: mode changed to {second_mode}, " f"expected {config['expected']['second_transition_mode']}"
-    )
-
-    await _cleanup_mode_transition_test(cortex, transition_handler_task)
-    clear_text_provider()
diff --git a/tests/llm/__init__.py b/tests/llm/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/llm/plugins/__init__.py b/tests/llm/plugins/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/llm/plugins/test_deepseek_llm.py b/tests/llm/plugins/test_deepseek_llm.py
deleted file mode 100644
index 80e31d43f3..0000000000
--- a/tests/llm/plugins/test_deepseek_llm.py
+++ /dev/null
@@ -1,148 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.deepseek_llm import DeepSeekConfig, DeepSeekLLM
-
-
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-@pytest.fixture
-def config():
-    return DeepSeekConfig(base_url="test_url/", api_key="test_key", model="test_model")
-
-
-@pytest.fixture
-def mock_response():
-    """Fixture providing a valid mock API response"""
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=None))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_tool_calls():
-    """Fixture providing a mock API response with tool calls"""
-    tool_call = MagicMock()
-    tool_call.function.name = "test_function"
-    tool_call.function.arguments = '{"arg1": "value1"}'
-
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=[tool_call]))]
-    return response
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation"""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.deepseek_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.deepseek_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    return DeepSeekLLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_init_with_config(llm, config):
-    """Test initialization with provided configuration"""
-    assert llm._client.base_url == config.base_url
-    assert llm._client.api_key == config.api_key
-    assert llm._config.model == config.model
-
-
-@pytest.mark.asyncio
-async def test_init_empty_key():
-    """Test fallback API key when no credentials provided"""
-    config = DeepSeekConfig(base_url="test_url")
-    with pytest.raises(ValueError, match="config file missing api_key"):
-        DeepSeekLLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_ask_success(llm, mock_response):
-    """Test successful API request and response parsing"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=mock_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_with_tool_calls(llm, mock_response_with_tool_calls):
-    """Test successful API request with tool calls"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=mock_response_with_tool_calls),
-        )
-
-        result = await llm.ask("test prompt")
-        assert isinstance(result, CortexOutputModel)
-        assert result.actions == [Action(type="test_function", value="value1")]
-
-
-@pytest.mark.asyncio
-async def test_ask_invalid_json(llm):
-    """Test handling of invalid JSON response"""
-    invalid_response = MagicMock()
-    invalid_response.choices = [MagicMock(message=MagicMock(content="invalid"))]
-
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=invalid_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result == CortexOutputModel(actions=[])
-
-
-@pytest.mark.asyncio
-async def test_ask_api_error(llm):
-    """Test error handling for API exceptions"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(side_effect=Exception("API error")),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
diff --git a/tests/llm/plugins/test_dual_llm.py b/tests/llm/plugins/test_dual_llm.py
deleted file mode 100644
index afb2ca918a..0000000000
--- a/tests/llm/plugins/test_dual_llm.py
+++ /dev/null
@@ -1,242 +0,0 @@
-import asyncio
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.dual_llm import DualLLM, DualLLMConfig, _extract_voice_input
-
-
-@pytest.fixture(autouse=True)
-def mock_decorators():
-    """Mock decorators used in DualLLM"""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.dual_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.dual_llm.LLMHistoryManager.update_history", mock_decorator),
-        patch("llm.plugins.dual_llm.LLMHistoryManager"),
-    ):
-        yield
-
-
-@pytest.fixture
-def mock_llm_classes():
-    """Mock get_llm_class to return mock LLM classes"""
-    local_llm_mock = MagicMock()
-    local_llm_instance = MagicMock()
-    local_llm_instance.ask = AsyncMock()
-    local_llm_mock.return_value = local_llm_instance
-
-    cloud_llm_mock = MagicMock()
-    cloud_llm_instance = MagicMock()
-    cloud_llm_instance.ask = AsyncMock()
-    cloud_llm_mock.return_value = cloud_llm_instance
-
-    with patch("llm.plugins.dual_llm.get_llm_class") as mock_get_class:
-
-        def get_class_side_effect(name):
-            if name == "MockLocal":
-                return local_llm_mock
-            elif name == "MockCloud":
-                return cloud_llm_mock
-            return MagicMock()
-
-        mock_get_class.side_effect = get_class_side_effect
-        yield local_llm_instance, cloud_llm_instance
-
-
-@pytest.fixture
-def dual_llm(mock_llm_classes):
-    config = DualLLMConfig(local_llm_type="MockLocal", cloud_llm_type="MockCloud", api_key="test_key")
-    mock_client = MagicMock()
-    mock_client.aclose = AsyncMock()
-
-    with patch("openai.AsyncClient", return_value=mock_client):
-        llm = DualLLM(config)
-
-    llm._local_llm = mock_llm_classes[0]
-    llm._cloud_llm = mock_llm_classes[1]
-
-    llm.io_provider = MagicMock()
-
-    return llm
-
-
-def test_extract_voice_input():
-    assert _extract_voice_input("INPUT: Voice: create a folder") == "create a folder"
-    assert _extract_voice_input("Normal prompt") == ""
-    assert _extract_voice_input("INPUT: Voice: multi line input") == "multi line input"
-
-
-@pytest.mark.asyncio
-async def test_race_local_wins(dual_llm):
-    """Test scenario where local LLM replies first"""
-    local_result = CortexOutputModel(actions=[])
-    dual_llm._local_llm.ask.return_value = local_result
-
-    async def fast_local(*args):
-        return local_result
-
-    async def slow_cloud(*args):
-        await asyncio.sleep(0.5)
-        return CortexOutputModel(actions=[])
-
-    dual_llm._local_llm.ask = AsyncMock(side_effect=fast_local)
-    dual_llm._cloud_llm.ask = AsyncMock(side_effect=slow_cloud)
-
-    dual_llm.TIMEOUT_THRESHOLD = 0.1
-
-    response = await dual_llm.ask("test prompt")
-
-    assert response == local_result
-    assert dual_llm._local_llm.ask.called
-    assert dual_llm._cloud_llm.ask.called
-
-
-@pytest.mark.asyncio
-async def test_race_cloud_wins(dual_llm):
-    """Test scenario where cloud LLM replies first"""
-    cloud_result = CortexOutputModel(actions=[])
-
-    async def slow_local(*args):
-        await asyncio.sleep(0.5)
-        return CortexOutputModel(actions=[])
-
-    async def fast_cloud(*args):
-        return cloud_result
-
-    dual_llm._local_llm.ask = AsyncMock(side_effect=slow_local)
-    dual_llm._cloud_llm.ask = AsyncMock(side_effect=fast_cloud)
-
-    dual_llm.TIMEOUT_THRESHOLD = 0.1
-
-    response = await dual_llm.ask("test prompt")
-
-    assert response == cloud_result
-
-
-@pytest.mark.asyncio
-async def test_race_both_fast_local_has_function(dual_llm):
-    """Test scenario: Both fast, Local has function call -> Local wins"""
-    local_result = CortexOutputModel(actions=[Action(type="func", value="val")])
-    cloud_result = CortexOutputModel(actions=[])
-
-    async def fast(*args):
-        return None
-
-    dual_llm._local_llm.ask = AsyncMock(return_value=local_result)
-    dual_llm._cloud_llm.ask = AsyncMock(return_value=cloud_result)
-
-    dual_llm.TIMEOUT_THRESHOLD = 1.0
-
-    response = await dual_llm.ask("test prompt")
-
-    assert response == local_result
-
-
-@pytest.mark.asyncio
-async def test_race_both_fast_cloud_has_function(dual_llm):
-    """Test scenario: Both fast, Cloud has function call -> Cloud wins"""
-    local_result = CortexOutputModel(actions=[])
-    cloud_result = CortexOutputModel(actions=[Action(type="func", value="val")])
-
-    dual_llm._local_llm.ask = AsyncMock(return_value=local_result)
-    dual_llm._cloud_llm.ask = AsyncMock(return_value=cloud_result)
-    dual_llm.TIMEOUT_THRESHOLD = 1.0
-
-    response = await dual_llm.ask("test prompt")
-    assert response == cloud_result
-
-
-@pytest.mark.asyncio
-async def test_race_both_fast_both_functions_eval(dual_llm):
-    """Test scenario: Both fast and have functions -> LLM Judge decides"""
-    local_result = CortexOutputModel(actions=[Action(type="f", value="v")])
-    cloud_result = CortexOutputModel(actions=[Action(type="f", value="v")])
-
-    dual_llm._local_llm.ask = AsyncMock(return_value=local_result)
-    dual_llm._cloud_llm.ask = AsyncMock(return_value=cloud_result)
-    dual_llm.TIMEOUT_THRESHOLD = 1.0
-
-    mock_eval_response = MagicMock()
-    mock_eval_response.choices = [MagicMock(message=MagicMock(content="B"))]
-    dual_llm._eval_client.chat.completions.create = AsyncMock(return_value=mock_eval_response)
-
-    response = await dual_llm.ask("test prompt")
-
-    assert response == cloud_result
-    assert dual_llm._eval_client.chat.completions.create.called
-
-
-@pytest.mark.asyncio
-async def test_timeout_both_slow(dual_llm):
-    """Test scenario: Both slow -> Wait for first to complete"""
-    local_result = CortexOutputModel(actions=[])
-    cloud_result = CortexOutputModel(actions=[])
-
-    async def delayed_local(*args):
-        await asyncio.sleep(0.2)
-        return local_result
-
-    async def delayed_cloud(*args):
-        await asyncio.sleep(0.3)
-        return cloud_result
-
-    dual_llm._local_llm.ask = AsyncMock(side_effect=delayed_local)
-    dual_llm._cloud_llm.ask = AsyncMock(side_effect=delayed_cloud)
-    dual_llm.TIMEOUT_THRESHOLD = 0.1
-
-    response = await dual_llm.ask("test prompt")
-
-    assert response == local_result
-
-
-@pytest.mark.asyncio
-async def test_llm_error_handling(dual_llm):
-    """Test scenario where one LLM raises an exception"""
-    cloud_result = CortexOutputModel(actions=[])
-
-    async def failing_local(*args):
-        raise Exception("Local LLM error")
-
-    dual_llm._local_llm.ask = AsyncMock(side_effect=failing_local)
-    dual_llm._cloud_llm.ask = AsyncMock(return_value=cloud_result)
-    dual_llm.TIMEOUT_THRESHOLD = 1.0
-
-    response = await dual_llm.ask("test prompt")
-    assert response == cloud_result
-
-
-@pytest.mark.asyncio
-async def test_both_llms_fail(dual_llm):
-    """Test scenario where both LLMs fail"""
-
-    async def failing(*args):
-        raise Exception("LLM error")
-
-    dual_llm._local_llm.ask = AsyncMock(side_effect=failing)
-    dual_llm._cloud_llm.ask = AsyncMock(side_effect=failing)
-
-    response = await dual_llm.ask("test prompt")
-    assert response is None
-
-
-@pytest.mark.asyncio
-async def test_one_returns_none(dual_llm):
-    """Test scenario: One LLM returns None"""
-    cloud_result = CortexOutputModel(actions=[])
-
-    dual_llm._local_llm.ask = AsyncMock(return_value=None)
-    dual_llm._cloud_llm.ask = AsyncMock(return_value=cloud_result)
-    dual_llm.TIMEOUT_THRESHOLD = 1.0
-
-    response = await dual_llm.ask("test prompt")
-    assert response == cloud_result
diff --git a/tests/llm/plugins/test_gemini_llm.py b/tests/llm/plugins/test_gemini_llm.py
deleted file mode 100644
index ea450fc1ff..0000000000
--- a/tests/llm/plugins/test_gemini_llm.py
+++ /dev/null
@@ -1,171 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.gemini_llm import GeminiConfig, GeminiLLM, GeminiModel
-
-
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-@pytest.fixture
-def config():
-    return GeminiConfig(base_url="test_url/", api_key="test_key", model="test_model")
-
-
-@pytest.fixture
-def mock_response():
-    """Fixture providing a valid mock API response"""
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=None))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_tool_calls():
-    """Fixture providing a mock API response with tool calls"""
-    tool_call = MagicMock()
-    tool_call.function.name = "test_function"
-    tool_call.function.arguments = '{"arg1": "value1"}'
-
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=[tool_call]))]
-    return response
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation"""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.deepseek_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.deepseek_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    return GeminiLLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_init_empty_key():
-    """Test fallback API key when no credentials provided"""
-    config = GeminiConfig(base_url="test_url")
-    with pytest.raises(ValueError, match="config file missing api_key"):
-        GeminiLLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_ask_api_error(llm):
-    """Test error handling for API exceptions"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(side_effect=Exception("API error")),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_init_with_config(llm, config):
-    assert llm._client.base_url == config.base_url
-    assert llm._client.api_key == config.api_key
-    assert llm._config.model == config.model
-
-
-@pytest.mark.asyncio
-async def test_ask_success(llm, mock_response):
-    """Test successful API request and response parsing"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=mock_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_with_tool_calls(llm, mock_response_with_tool_calls):
-    """Test successful API request with tool calls"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=mock_response_with_tool_calls),
-        )
-
-        result = await llm.ask("test prompt")
-        assert isinstance(result, CortexOutputModel)
-        assert result.actions == [Action(type="test_function", value="value1")]
-
-
-@pytest.mark.asyncio
-async def test_ask_invalid_json(llm):
-    """Test handling of invalid JSON response"""
-    invalid_response = MagicMock()
-    invalid_response.choices = [MagicMock(message=MagicMock(content="invalid"))]
-
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=invalid_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result == CortexOutputModel(actions=[])
-
-
-@pytest.mark.asyncio
-async def test_init_without_model():
-    """When the test model is None, use the default value"""
-    config = GeminiConfig(api_key="test_key", model=None)
-    llm = GeminiLLM(config)
-    assert llm._config.model == GeminiModel.GEMINI_3_1_FLASH_LITE
-
-
-@pytest.mark.asyncio
-async def test_ask_empty_choices(llm):
-    """The test API returned empty choices."""
-    empty_response = MagicMock()
-    empty_response.choices = []
-
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=empty_response),
-        )
-        result = await llm.ask("test prompt")
-        assert result is None
diff --git a/tests/llm/plugins/test_near_ai_llm.py b/tests/llm/plugins/test_near_ai_llm.py
deleted file mode 100644
index cef1c306b1..0000000000
--- a/tests/llm/plugins/test_near_ai_llm.py
+++ /dev/null
@@ -1,328 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.near_ai_llm import NearAIConfig, NearAILLM
-
-
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-@pytest.fixture
-def config():
-    """Fixture providing a basic LLM configuration."""
-    return NearAIConfig(
-        base_url="https://api.test.nearai.com/",
-        api_key="test_api_key",
-        model="test-model",
-    )
-
-
-@pytest.fixture
-def mock_response():
-    """Fixture providing a valid mock API response without tool calls."""
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=None))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_tool_calls():
-    """Fixture providing a mock API response with tool calls."""
-    tool_call = MagicMock()
-    tool_call.function.name = "test_function"
-    tool_call.function.arguments = '{"arg1": "value1"}'
-
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=[tool_call]))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_multiple_tool_calls():
-    """Fixture providing a mock API response with multiple tool calls."""
-    tool_call_1 = MagicMock()
-    tool_call_1.function.name = "speak"
-    tool_call_1.function.arguments = '{"text": "hello"}'
-
-    tool_call_2 = MagicMock()
-    tool_call_2.function.name = "move"
-    tool_call_2.function.arguments = '{"direction": "forward"}'
-
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content=None, tool_calls=[tool_call_1, tool_call_2]))]
-    return response
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation."""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.near_ai_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.near_ai_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    """Fixture providing an initialized NearAILLM instance."""
-    return NearAILLM(config, available_actions=None)
-
-
-class TestNearAILLMInit:
-    """Tests for NearAILLM initialization."""
-
-    def test_init_with_config(self, llm, config):
-        """Test initialization with provided configuration."""
-        assert llm._client.base_url == config.base_url
-        assert llm._client.api_key == config.api_key
-        assert llm._config.model == config.model
-
-    def test_init_default_base_url(self):
-        """Test default base URL when not provided."""
-        config = NearAIConfig(api_key="test_key")
-        llm = NearAILLM(config, available_actions=None)
-        assert "nearai" in str(llm._client.base_url)
-
-    def test_init_default_model(self):
-        """Test default model is set when not provided."""
-        config = NearAIConfig(api_key="test_key")
-        llm = NearAILLM(config, available_actions=None)
-        assert llm._config.model is not None
-        assert "gpt-oss-120b" in llm._config.model.lower()
-
-    def test_init_requires_api_key(self):
-        """Test that initialization fails without API key."""
-        config = NearAIConfig(base_url="test_url")
-        with pytest.raises(ValueError, match="config file missing api_key"):
-            NearAILLM(config, available_actions=None)
-
-    def test_init_with_empty_api_key(self):
-        """Test that initialization fails with empty API key."""
-        config = NearAIConfig(api_key="")
-        with pytest.raises(ValueError, match="config file missing api_key"):
-            NearAILLM(config, available_actions=None)
-
-    def test_init_creates_history_manager(self, llm):
-        """Test that history manager is initialized."""
-        assert llm.history_manager is not None
-
-    def test_init_with_available_actions(self, config):
-        """Test initialization with available actions generates function schemas."""
-        mock_action = MagicMock()
-        mock_action.name = "test_action"
-        mock_action.interface = MagicMock()
-
-        with patch("llm.generate_function_schemas_from_actions") as mock_gen:
-            mock_gen.return_value = [{"name": "test_action"}]
-            llm = NearAILLM(config, available_actions=[mock_action])
-            assert len(llm.function_schemas) > 0
-
-
-class TestNearAILLMAsk:
-    """Tests for NearAILLM.ask() method."""
-
-    @pytest.mark.asyncio
-    async def test_ask_success_no_tool_calls(self, llm, mock_response):
-        """Test successful API request without tool calls returns None."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(return_value=mock_response),
-            )
-
-            result = await llm.ask("test prompt")
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_ask_with_tool_calls(self, llm, mock_response_with_tool_calls):
-        """Test successful API request with tool calls."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(return_value=mock_response_with_tool_calls),
-            )
-
-            result = await llm.ask("test prompt")
-            assert isinstance(result, CortexOutputModel)
-            assert result.actions == [Action(type="test_function", value="value1")]
-
-    @pytest.mark.asyncio
-    async def test_ask_with_multiple_tool_calls(self, llm, mock_response_with_multiple_tool_calls):
-        """Test API request with multiple tool calls."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(return_value=mock_response_with_multiple_tool_calls),
-            )
-
-            result = await llm.ask("test prompt")
-            assert isinstance(result, CortexOutputModel)
-            assert len(result.actions) == 2
-            assert result.actions[0].type == "speak"
-            assert result.actions[1].type == "move"
-
-    @pytest.mark.asyncio
-    async def test_ask_api_error(self, llm):
-        """Test error handling for API exceptions."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(side_effect=Exception("API error")),
-            )
-
-            result = await llm.ask("test prompt")
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_ask_connection_error(self, llm):
-        """Test error handling for connection errors."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(side_effect=ConnectionError("Connection refused")),
-            )
-
-            result = await llm.ask("test prompt")
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_ask_timeout_error(self, llm):
-        """Test error handling for timeout errors."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(side_effect=TimeoutError("Request timed out")),
-            )
-
-            result = await llm.ask("test prompt")
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_ask_formats_prompt_correctly(self, llm, mock_response):
-        """Test ask() formats the prompt correctly in the request."""
-        with pytest.MonkeyPatch.context() as m:
-            mock_parse = AsyncMock(return_value=mock_response)
-            m.setattr(llm._client.beta.chat.completions, "parse", mock_parse)
-
-            await llm.ask("test prompt")
-
-            # Verify prompt was included in the request
-            call_args = mock_parse.call_args
-            formatted_messages = call_args.kwargs.get("messages", [])
-            assert len(formatted_messages) >= 1
-            assert formatted_messages[-1]["role"] == "user"
-            assert formatted_messages[-1]["content"] == "test prompt"
-
-    @pytest.mark.asyncio
-    async def test_ask_uses_correct_model(self, llm, mock_response):
-        """Test ask() uses the configured model."""
-        with pytest.MonkeyPatch.context() as m:
-            mock_parse = AsyncMock(return_value=mock_response)
-            m.setattr(llm._client.beta.chat.completions, "parse", mock_parse)
-
-            await llm.ask("test prompt")
-
-            call_args = mock_parse.call_args
-            assert call_args.kwargs.get("model") == llm._config.model
-
-    @pytest.mark.asyncio
-    async def test_ask_sets_llm_prompt(self, llm, mock_response):
-        """Test that ask() sets the prompt in io_provider."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(return_value=mock_response),
-            )
-
-            await llm.ask("my test prompt")
-            # io_provider.set_llm_prompt should have been called
-
-    @pytest.mark.asyncio
-    async def test_ask_includes_tool_choice(self, llm, mock_response):
-        """Test that ask() includes tool_choice parameter."""
-        with pytest.MonkeyPatch.context() as m:
-            mock_parse = AsyncMock(return_value=mock_response)
-            m.setattr(llm._client.beta.chat.completions, "parse", mock_parse)
-
-            await llm.ask("test prompt")
-
-            call_args = mock_parse.call_args
-            assert call_args.kwargs.get("tool_choice") == "auto"
-
-    @pytest.mark.asyncio
-    async def test_ask_with_function_schemas(self, config, mock_response_with_tool_calls):
-        """Test ask() includes function schemas when available."""
-        llm = NearAILLM(config, available_actions=None)
-        llm.function_schemas = [{"type": "function", "function": {"name": "test"}}]
-
-        with pytest.MonkeyPatch.context() as m:
-            mock_parse = AsyncMock(return_value=mock_response_with_tool_calls)
-            m.setattr(llm._client.beta.chat.completions, "parse", mock_parse)
-
-            await llm.ask("test prompt")
-
-            call_args = mock_parse.call_args
-            assert "tools" in call_args.kwargs
-
-    @pytest.mark.asyncio
-    async def test_ask_with_empty_choices(self, llm):
-        """Test handling of empty choices in API response."""
-        mock_response = MagicMock()
-        mock_response.choices = []
-
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.beta.chat.completions,
-                "parse",
-                AsyncMock(return_value=mock_response),
-            )
-
-            result = await llm.ask("test prompt")
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_ask_uses_configured_timeout(self, llm, mock_response):
-        """Test that ask() uses the timeout from config."""
-        llm._config.timeout = 30
-
-        with pytest.MonkeyPatch.context() as m:
-            mock_parse = AsyncMock(return_value=mock_response)
-            m.setattr(llm._client.beta.chat.completions, "parse", mock_parse)
-
-            await llm.ask("test prompt")
-
-            call_args = mock_parse.call_args
-            assert call_args.kwargs.get("timeout") == 30
diff --git a/tests/llm/plugins/test_ollama_llm.py b/tests/llm/plugins/test_ollama_llm.py
deleted file mode 100644
index 4b5ff8de38..0000000000
--- a/tests/llm/plugins/test_ollama_llm.py
+++ /dev/null
@@ -1,243 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.ollama_llm import OllamaLLM, OllamaLLMConfig
-
-
-@pytest.fixture
-def config():
-    return OllamaLLMConfig(
-        base_url="http://localhost:11434",
-        model="llama3.2",
-        temperature=0.7,
-        timeout=60,
-    )
-
-
-@pytest.fixture
-def mock_response():
-    """Fixture providing a valid mock Ollama API response"""
-    return {
-        "message": {
-            "role": "assistant",
-            "content": "Hello!",
-            "tool_calls": None,
-        }
-    }
-
-
-@pytest.fixture
-def mock_response_with_tool_calls():
-    """Fixture providing a mock API response with tool calls"""
-    return {
-        "message": {
-            "role": "assistant",
-            "content": "",
-            "tool_calls": [
-                {
-                    "function": {
-                        "name": "test_function",
-                        "arguments": {"arg1": "value1"},
-                    }
-                }
-            ],
-        }
-    }
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation"""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.ollama_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.ollama_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    return OllamaLLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_init_with_config(llm, config):
-    """Test initialization with provided configuration"""
-    assert llm._base_url == config.base_url.rstrip("/")
-    assert llm._config.model == config.model
-    assert llm._config.temperature == config.temperature
-
-
-@pytest.mark.asyncio
-async def test_init_default_config():
-    """Test initialization with default configuration"""
-    config = OllamaLLMConfig()
-    llm = OllamaLLM(config, available_actions=None)
-    assert llm._base_url == "http://localhost:11434"
-    assert llm._config.model == "llama3.2"
-
-
-@pytest.mark.asyncio
-async def test_ask_success(llm, mock_response):
-    """Test successful API request and response parsing"""
-    mock_http_response = MagicMock()
-    mock_http_response.status_code = 200
-    mock_http_response.json.return_value = mock_response
-
-    with patch.object(llm._client, "post", AsyncMock(return_value=mock_http_response)):
-        result = await llm.ask("test prompt")
-        assert result is None  # No tool calls, content not JSON
-
-
-@pytest.mark.asyncio
-async def test_ask_with_tool_calls(llm, mock_response_with_tool_calls):
-    """Test successful API request with tool calls"""
-    mock_http_response = MagicMock()
-    mock_http_response.status_code = 200
-    mock_http_response.json.return_value = mock_response_with_tool_calls
-
-    with patch.object(llm._client, "post", AsyncMock(return_value=mock_http_response)):
-        result = await llm.ask("test prompt")
-        assert isinstance(result, CortexOutputModel)
-        assert result.actions == [Action(type="test_function", value="value1")]
-
-
-@pytest.mark.asyncio
-async def test_ask_api_error(llm):
-    """Test handling of API errors"""
-    mock_http_response = MagicMock()
-    mock_http_response.status_code = 500
-    mock_http_response.text = "Internal Server Error"
-
-    with patch.object(llm._client, "post", AsyncMock(return_value=mock_http_response)):
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_connection_error(llm):
-    """Test handling of connection errors"""
-    import httpx
-
-    with patch.object(
-        llm._client,
-        "post",
-        AsyncMock(side_effect=httpx.ConnectError("Connection refused")),
-    ):
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_timeout_error(llm):
-    """Test handling of timeout errors"""
-    import httpx
-
-    with patch.object(llm._client, "post", AsyncMock(side_effect=httpx.TimeoutException("Timeout"))):
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_convert_tools_to_ollama_format(llm):
-    """Test tool schema conversion with no actions"""
-    tools = llm._convert_tools_to_ollama_format()
-    assert isinstance(tools, list)
-    assert len(tools) == 0  # No actions configured
-
-
-@pytest.mark.asyncio
-async def test_close(llm):
-    """Test HTTP client cleanup"""
-    with patch.object(llm._client, "aclose", AsyncMock()) as mock_close:
-        await llm.close()
-        mock_close.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_convert_tools_with_schemas(config):
-    """Test tool conversion with actual function schemas"""
-    schemas = [
-        {
-            "function": {
-                "name": "test_func",
-                "description": "A test function",
-                "parameters": {"type": "object", "properties": {}},
-            }
-        }
-    ]
-    llm = OllamaLLM(config, available_actions=None)
-    llm.function_schemas = schemas
-    tools = llm._convert_tools_to_ollama_format()
-    assert len(tools) == 1
-    assert tools[0]["function"]["name"] == "test_func"
-
-
-@pytest.mark.asyncio
-async def test_ask_json_parse_error(llm):
-    """Test handling of JSON parsing errors"""
-    mock_http_response = MagicMock()
-    mock_http_response.status_code = 200
-    mock_http_response.json.side_effect = ValueError("Invalid JSON")
-
-    with patch.object(llm._client, "post", AsyncMock(return_value=mock_http_response)):
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_base_url_trailing_slash():
-    """Test base_url with trailing slash is handled correctly"""
-    config = OllamaLLMConfig(base_url="http://localhost:11434/")
-    llm = OllamaLLM(config, available_actions=None)
-    assert llm._base_url == "http://localhost:11434"
-    assert llm._chat_url == "http://localhost:11434/api/chat"
-
-
-@pytest.mark.asyncio
-async def test_tool_calls_with_string_arguments(llm):
-    """Test tool calls where arguments is a JSON string"""
-    mock_response = {
-        "message": {
-            "role": "assistant",
-            "content": "",
-            "tool_calls": [
-                {
-                    "function": {
-                        "name": "test_function",
-                        "arguments": '{"arg1": "value1"}',  # 字串格式
-                    }
-                }
-            ],
-        }
-    }
-    mock_http_response = MagicMock()
-    mock_http_response.status_code = 200
-    mock_http_response.json.return_value = mock_response
-
-    with patch.object(llm._client, "post", AsyncMock(return_value=mock_http_response)):
-        result = await llm.ask("test prompt")
-        assert isinstance(result, CortexOutputModel)
diff --git a/tests/llm/plugins/test_openai_llm.py b/tests/llm/plugins/test_openai_llm.py
deleted file mode 100644
index b665665014..0000000000
--- a/tests/llm/plugins/test_openai_llm.py
+++ /dev/null
@@ -1,144 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.openai_llm import OpenAIConfig, OpenAILLM
-
-
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-@pytest.fixture
-def config():
-    return OpenAIConfig(base_url="test_url/", api_key="test_key", model="test_model")
-
-
-@pytest.fixture
-def mock_completion_response_with_tool_calls():
-    mock_tool_call = MagicMock()
-    mock_tool_call.function.name = "test_function"
-    mock_tool_call.function.arguments = '{"arg1": "value1"}'
-    mock_message = MagicMock()
-    mock_message.content = '{"test_field": "success"}'
-    mock_message.tool_calls = [mock_tool_call]
-    mock_choice = MagicMock()
-    mock_choice.message = mock_message
-    response = MagicMock()
-    response.choices = [mock_choice]
-    return response
-
-
-@pytest.fixture
-def mock_completion_response_without_tool_calls():
-    mock_message = MagicMock()
-    mock_message.content = '{"test_field": "success"}'
-    mock_message.tool_calls = None
-    mock_choice = MagicMock()
-    mock_choice.message = mock_message
-    response = MagicMock()
-    response.choices = [mock_choice]
-    return response
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.openai_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.openai_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    return OpenAILLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_init_with_config(llm, config):
-    assert llm._client.base_url == config.base_url
-    assert llm._client.api_key == config.api_key
-    assert llm._config.model == config.model
-
-
-@pytest.mark.asyncio
-async def test_init_empty_key():
-    config = OpenAIConfig(base_url="test_url", api_key="")
-    with pytest.raises(ValueError, match="config file missing api_key"):
-        OpenAILLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_ask_success_with_tool_calls(llm, mock_completion_response_with_tool_calls):
-    with patch.object(llm._client.chat.completions, "create", new_callable=AsyncMock) as mock_create:
-        mock_create.return_value = mock_completion_response_with_tool_calls
-        with patch("llm.plugins.openai_llm.convert_function_calls_to_actions") as mock_convert:
-            expected_action = Action(type="test_function", value="value1")
-            mock_convert.return_value = [expected_action]
-            result = await llm.ask("test prompt")
-            mock_create.assert_called_once()
-            call_kwargs = mock_create.call_args.kwargs
-            assert call_kwargs["model"] == llm._config.model
-            assert "messages" in call_kwargs
-            assert "tools" in call_kwargs
-            assert call_kwargs["tool_choice"] == "auto"
-            mock_convert.assert_called_once()
-            assert isinstance(result, CortexOutputModel)
-            assert result.actions == [expected_action]
-
-
-@pytest.mark.asyncio
-async def test_ask_success_without_tool_calls(llm, mock_completion_response_without_tool_calls):
-    with patch.object(llm._client.chat.completions, "create", new_callable=AsyncMock) as mock_create:
-        mock_create.return_value = mock_completion_response_without_tool_calls
-        with patch("llm.plugins.openai_llm.convert_function_calls_to_actions") as mock_convert:
-            result = await llm.ask("test prompt")
-            mock_create.assert_called_once()
-            call_kwargs = mock_create.call_args.kwargs
-            assert call_kwargs["model"] == llm._config.model
-            assert "messages" in call_kwargs
-            assert "tools" in call_kwargs
-            assert call_kwargs["tool_choice"] == "auto"
-            mock_convert.assert_not_called()
-            assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_api_error(llm):
-    with patch.object(llm._client.chat.completions, "create", new_callable=AsyncMock) as mock_create:
-        mock_create.side_effect = Exception("API error")
-        result = await llm.ask("test prompt")
-        mock_create.assert_called_once()
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_empty_choices(llm):
-    mock_response_empty_choices = MagicMock()
-    mock_response_empty_choices.choices = []
-    with patch.object(llm._client.chat.completions, "create", new_callable=AsyncMock) as mock_create:
-        mock_create.return_value = mock_response_empty_choices
-        result = await llm.ask("test prompt")
-        mock_create.assert_called_once()
-        assert result is None
diff --git a/tests/llm/plugins/test_openrouter.py b/tests/llm/plugins/test_openrouter.py
deleted file mode 100644
index e90a675f8a..0000000000
--- a/tests/llm/plugins/test_openrouter.py
+++ /dev/null
@@ -1,143 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.openrouter import OpenRouter, OpenRouterConfig
-
-
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-@pytest.fixture
-def config():
-    return OpenRouterConfig(base_url="test_url/", api_key="test_key", model="test_model")
-
-
-@pytest.fixture
-def mock_response():
-    """Fixture providing a valid mock API response"""
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=None))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_tool_calls():
-    """Fixture providing a mock API response with tool calls"""
-    tool_call = MagicMock()
-    tool_call.function.name = "test_function"
-    tool_call.function.arguments = '{"arg1": "value1"}'
-
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=[tool_call]))]
-    return response
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation"""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.deepseek_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.deepseek_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    return OpenRouter(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_init_with_config(llm, config):
-    assert llm._client.base_url == config.base_url
-    assert llm._client.api_key == config.api_key
-    assert llm._config.model == config.model
-
-
-@pytest.mark.asyncio
-async def test_init_empty_key():
-    config = OpenRouterConfig(base_url="test_url")
-    with pytest.raises(ValueError, match="config file missing api_key"):
-        OpenRouter(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_ask_success(llm, mock_response):
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.beta.chat.completions,
-            "parse",
-            AsyncMock(return_value=mock_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_with_tool_calls(llm, mock_response_with_tool_calls):
-    """Test successful API request with tool calls"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=mock_response_with_tool_calls),
-        )
-
-        result = await llm.ask("test prompt")
-        assert isinstance(result, CortexOutputModel)
-        assert result.actions == [Action(type="test_function", value="value1")]
-
-
-@pytest.mark.asyncio
-async def test_ask_invalid_json(llm):
-    invalid_response = MagicMock()
-    invalid_response.choices = [MagicMock(message=MagicMock(content="invalid"))]
-
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.beta.chat.completions,
-            "parse",
-            AsyncMock(return_value=invalid_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_api_error(llm):
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.beta.chat.completions,
-            "parse",
-            AsyncMock(side_effect=Exception("API error")),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
diff --git a/tests/llm/plugins/test_parallel_llm.py b/tests/llm/plugins/test_parallel_llm.py
deleted file mode 100644
index c740d06fae..0000000000
--- a/tests/llm/plugins/test_parallel_llm.py
+++ /dev/null
@@ -1,887 +0,0 @@
-import asyncio
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from llm import LLMConfig
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.parallel_llm import LLMSpecConfig, ParallelLLM, ParallelLLMConfig
-
-
-@pytest.fixture
-def mock_available_actions():
-    """Create mock available actions with different llm_labels."""
-    action1 = MagicMock()
-    action1.llm_label = "speak"
-    action1.name = "speak"
-
-    action2 = MagicMock()
-    action2.llm_label = "move"
-    action2.name = "move"
-
-    action3 = MagicMock()
-    action3.llm_label = "emotion"
-    action3.name = "emotion"
-
-    action4 = MagicMock()
-    action4.llm_label = "search"
-    action4.name = "search"
-
-    return [action1, action2, action3, action4]
-
-
-@pytest.fixture
-def parallel_config_two_llms():
-    """Create a ParallelLLM config with 2 LLMs."""
-    return ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak", "emotion"],
-            ),
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-3.5"),
-                action_filter=["move", "search"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-
-@pytest.fixture
-def parallel_config_three_llms():
-    """Create a ParallelLLM config with 3 LLMs."""
-    return ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak"],
-            ),
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-3.5"),
-                action_filter=["move"],
-            ),
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4-turbo"),
-                action_filter=["emotion", "search"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_initialization_filters_actions(parallel_config_two_llms, mock_available_actions):
-    """Test that ParallelLLM correctly filters actions for each LLM."""
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        # Mock LLM class and instances
-        mock_llm_class = MagicMock()
-        mock_llm_instance1 = MagicMock()
-        mock_llm_instance2 = MagicMock()
-
-        # Track what actions are passed to each LLM
-        call_count = [0]
-        captured_actions = []
-
-        def create_llm_instance(config, available_actions):
-            captured_actions.append(available_actions)
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_llm_instance1
-            else:
-                return mock_llm_instance2
-
-        mock_llm_class.side_effect = create_llm_instance
-        mock_get_class.return_value = mock_llm_class
-
-        # Initialize ParallelLLM
-        ParallelLLM(parallel_config_two_llms, mock_available_actions)
-
-        # Verify first LLM got only speak and emotion actions
-        assert len(captured_actions[0]) == 2
-        assert captured_actions[0][0].name in ["speak", "emotion"]
-        assert captured_actions[0][1].name in ["speak", "emotion"]
-
-        # Verify second LLM got only move and search actions
-        assert len(captured_actions[1]) == 2
-        assert captured_actions[1][0].name in ["move", "search"]
-        assert captured_actions[1][1].name in ["move", "search"]
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_initialization_filters_by_name():
-    """Test that action_filter matches action name rather than llm_label."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["face"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    face_action = MagicMock()
-    face_action.name = "face"
-    face_action.llm_label = "emotion"
-
-    speak_action = MagicMock()
-    speak_action.name = "greeting_conversation"
-    speak_action.llm_label = "greeting_conversation"
-
-    captured_actions = []
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-
-        def create_llm_instance(config, available_actions):
-            captured_actions.append(available_actions)
-            return MagicMock()
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm_instance)
-
-        parallel_llm = ParallelLLM(config, [face_action, speak_action])
-
-        assert len(captured_actions) == 1
-        assert captured_actions[0] == [face_action]
-        assert parallel_llm._llms[0][1] == ["face"]
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_ask_stream_yields_as_llms_complete(parallel_config_two_llms, mock_available_actions):
-    """Test that ask_stream yields results as each LLM completes."""
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        # Create mock LLM instances
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-
-        # Make LLM1 complete faster than LLM2
-        async def llm1_ask(prompt):
-            await asyncio.sleep(0.01)
-            return CortexOutputModel(actions=[Action(type="speak", value="Hello from LLM1")])
-
-        async def llm2_ask(prompt):
-            await asyncio.sleep(0.05)
-            return CortexOutputModel(actions=[Action(type="move", value="Moving from LLM2")])
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-
-        # Setup mock to return instances
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_llm1
-            else:
-                return mock_llm2
-
-        mock_llm_class = MagicMock(side_effect=create_llm)
-        mock_get_class.return_value = mock_llm_class
-
-        # Initialize and test
-        parallel_llm = ParallelLLM(parallel_config_two_llms, mock_available_actions)
-
-        results = []
-        start_time = asyncio.get_event_loop().time()
-        times = []
-
-        async for output in parallel_llm.ask_stream("test prompt"):
-            elapsed = asyncio.get_event_loop().time() - start_time
-            times.append(elapsed)
-            results.append(output)
-
-        # Should receive 2 results
-        assert len(results) == 2
-
-        # First result should come from faster LLM1
-        assert results[0].actions[0].type == "speak"
-        assert results[0].actions[0].value == "Hello from LLM1"
-
-        # Second result should come from slower LLM2
-        assert results[1].actions[0].type == "move"
-        assert results[1].actions[0].value == "Moving from LLM2"
-
-        # Verify streaming: first result should arrive before second
-        assert times[0] < times[1]
-        assert times[0] < 0.02  # Should be around 0.01s
-        assert times[1] > 0.04  # Should be around 0.05s
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_ask_stream_skips_empty_results(parallel_config_two_llms, mock_available_actions):
-    """Test that ask_stream doesn't yield results with no actions."""
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-
-        # LLM1 returns actions, LLM2 returns empty
-        async def llm1_ask(prompt):
-            return CortexOutputModel(actions=[Action(type="speak", value="Hello")])
-
-        async def llm2_ask(prompt):
-            return CortexOutputModel(actions=[])
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            return mock_llm1 if call_count[0] == 1 else mock_llm2
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        parallel_llm = ParallelLLM(parallel_config_two_llms, mock_available_actions)
-
-        results = []
-        async for output in parallel_llm.ask_stream("test prompt"):
-            results.append(output)
-
-        # Should only receive 1 result (from LLM1)
-        assert len(results) == 1
-        assert results[0].actions[0].type == "speak"
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_ask_stream_handles_llm_failures(parallel_config_two_llms, mock_available_actions):
-    """Test that ask_stream continues when one LLM fails."""
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-
-        # LLM1 fails, LLM2 succeeds
-        async def llm1_ask(prompt):
-            raise Exception("LLM1 failed")
-
-        async def llm2_ask(prompt):
-            return CortexOutputModel(actions=[Action(type="move", value="Success")])
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            return mock_llm1 if call_count[0] == 1 else mock_llm2
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        parallel_llm = ParallelLLM(parallel_config_two_llms, mock_available_actions)
-
-        results = []
-        async for output in parallel_llm.ask_stream("test prompt"):
-            results.append(output)
-
-        # Should receive 1 result from successful LLM2
-        assert len(results) == 1
-        assert results[0].actions[0].type == "move"
-        assert results[0].actions[0].value == "Success"
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_ask_stream_cancellation_cleans_up_tasks(parallel_config_two_llms, mock_available_actions):
-    """Test that cancelling ask_stream cleans up remaining tasks."""
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-
-        # Track if LLM calls were cancelled
-        llm1_cancelled = asyncio.Event()
-        llm2_cancelled = asyncio.Event()
-
-        async def llm1_ask(prompt):
-            try:
-                await asyncio.sleep(0.01)
-                return CortexOutputModel(actions=[Action(type="speak", value="Fast")])
-            except asyncio.CancelledError:
-                llm1_cancelled.set()
-                raise
-
-        async def llm2_ask(prompt):
-            try:
-                await asyncio.sleep(1)
-                return CortexOutputModel(actions=[Action(type="move", value="Slow")])
-            except asyncio.CancelledError:
-                llm2_cancelled.set()
-                raise
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            return mock_llm1 if call_count[0] == 1 else mock_llm2
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        parallel_llm = ParallelLLM(parallel_config_two_llms, mock_available_actions)
-
-        # Start streaming but cancel after first result
-        results = []
-        stream = parallel_llm.ask_stream("test prompt")
-        async for output in stream:
-            results.append(output)
-            break  # Cancel after first result
-
-        # Close the generator to ensure cleanup
-        try:
-            await stream.aclose()
-        except (StopAsyncIteration, GeneratorExit):
-            pass
-
-        # Give time for cleanup
-        await asyncio.sleep(0.15)
-
-        # Should have received first result
-        assert len(results) == 1
-        assert results[0].actions[0].type == "speak"
-
-        # LLM2 should have been cancelled
-        assert llm2_cancelled.is_set()
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_works_with_three_llms(parallel_config_three_llms, mock_available_actions):
-    """Test that ParallelLLM works correctly with 3 LLMs."""
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-        mock_llm3 = MagicMock()
-
-        async def llm1_ask(prompt):
-            await asyncio.sleep(0.02)
-            return CortexOutputModel(actions=[Action(type="speak", value="LLM1")])
-
-        async def llm2_ask(prompt):
-            await asyncio.sleep(0.01)
-            return CortexOutputModel(actions=[Action(type="move", value="LLM2")])
-
-        async def llm3_ask(prompt):
-            await asyncio.sleep(0.03)
-            return CortexOutputModel(
-                actions=[
-                    Action(type="emotion", value="LLM3-emotion"),
-                    Action(type="search", value="LLM3-search"),
-                ]
-            )
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm3.ask = llm3_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-        mock_llm3.__class__.__name__ = "MockLLM3"
-
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_llm1
-            elif call_count[0] == 2:
-                return mock_llm2
-            else:
-                return mock_llm3
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        parallel_llm = ParallelLLM(parallel_config_three_llms, mock_available_actions)
-
-        results = []
-        async for output in parallel_llm.ask_stream("test prompt"):
-            results.append(output)
-
-        assert len(results) == 3
-
-        # Results should be in order of completion (fastest first)
-        assert results[0].actions[0].type == "move"  # LLM2 (0.01s)
-        assert results[1].actions[0].type == "speak"  # LLM1 (0.02s)
-        assert results[2].actions[0].type in ["emotion", "search"]  # LLM3 (0.03s)
-        assert len(results[2].actions) == 2  # LLM3 returns 2 actions
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_ask_combines_all_actions(parallel_config_two_llms, mock_available_actions):
-    """Test that ask() combines actions from all LLMs."""
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-
-        async def llm1_ask(prompt):
-            return CortexOutputModel(actions=[Action(type="speak", value="Hello")])
-
-        async def llm2_ask(prompt):
-            return CortexOutputModel(
-                actions=[
-                    Action(type="move", value="Forward"),
-                    Action(type="search", value="Query"),
-                ]
-            )
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            return mock_llm1 if call_count[0] == 1 else mock_llm2
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        parallel_llm = ParallelLLM(parallel_config_two_llms, mock_available_actions)
-
-        result = await parallel_llm.ask("test prompt")
-
-        assert result is not None
-        assert len(result.actions) == 3
-        action_types = {action.type for action in result.actions}
-        assert action_types == {"speak", "move", "search"}
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_batch_mode_waits_for_all(parallel_config_two_llms, mock_available_actions):
-    """Test that batch mode (execute_immediately=False) waits for all LLMs."""
-    parallel_config_two_llms.execute_immediately = False
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-
-        llm1_time = None
-        llm2_time = None
-
-        async def llm1_ask(prompt):
-            nonlocal llm1_time
-            await asyncio.sleep(0.01)
-            llm1_time = asyncio.get_event_loop().time()
-            return CortexOutputModel(actions=[Action(type="speak", value="Fast")])
-
-        async def llm2_ask(prompt):
-            nonlocal llm2_time
-            await asyncio.sleep(0.05)
-            llm2_time = asyncio.get_event_loop().time()
-            return CortexOutputModel(actions=[Action(type="move", value="Slow")])
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            return mock_llm1 if call_count[0] == 1 else mock_llm2
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        parallel_llm = ParallelLLM(parallel_config_two_llms, mock_available_actions)
-
-        start_time = asyncio.get_event_loop().time()
-        result = await parallel_llm.ask("test prompt")
-        end_time = asyncio.get_event_loop().time()
-
-        elapsed = end_time - start_time
-        assert elapsed >= 0.04  # Should take at least 0.05s
-
-        assert llm1_time is not None
-        assert llm2_time is not None
-        assert len(result.actions) == 2
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_initialization_with_no_filter(mock_available_actions):
-    """Test that LLM with no action_filter receives all actions."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=None,  # No filter
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm = MagicMock()
-        captured_actions = []
-
-        def create_llm(config, available_actions):
-            captured_actions.append(available_actions)
-            return mock_llm
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        ParallelLLM(config, mock_available_actions)
-
-        assert len(captured_actions[0]) == 4
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_initialization_empty_llms_raises_error():
-    """Test that empty LLM list raises ValueError."""
-    config = ParallelLLMConfig(llms=[], execute_immediately=True)
-
-    with pytest.raises(ValueError, match="requires at least one LLM"):
-        ParallelLLM(config, [])
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_initialization_inherits_api_key():
-    """Test that LLMs inherit API key from main config if not specified."""
-    config = ParallelLLMConfig(
-        api_key="test-api-key",
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),  # No api_key in config
-                action_filter=["speak"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        captured_configs = []
-
-        def create_llm(config, available_actions):
-            captured_configs.append(config)
-            return MagicMock()
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        ParallelLLM(config, [])
-
-        # Should have inherited api_key
-        assert captured_configs[0].api_key == "test-api-key"
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_call_llm_filters_out_of_schema_actions():
-    """Test that _call_llm filters actions outside the function schema."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak"],  # Only speak allowed
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm = MagicMock()
-
-        # LLM returns actions including one outside the filter
-        async def llm_ask(prompt):
-            return CortexOutputModel(
-                actions=[
-                    Action(type="speak", value="Hello"),
-                    Action(type="move", value="Should be filtered"),  # Not in filter
-                ]
-            )
-
-        mock_llm.ask = llm_ask
-        mock_llm.__class__.__name__ = "MockLLM"
-
-        mock_get_class.return_value = MagicMock(return_value=mock_llm)
-
-        speak_action = MagicMock()
-        speak_action.name = "speak"
-        speak_action.llm_label = "speak"
-
-        parallel_llm = ParallelLLM(config, [speak_action])
-
-        result = await parallel_llm._call_llm(mock_llm, "test", "TestLLM", ["speak"])
-
-        assert len(result["result"].actions) == 1
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_call_llm_keeps_actions_for_llm_label_filter():
-    """Test that safety filtering keeps actions whose type matches the llm_label filter."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["face"],  # Filter by action name, not llm_label
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm = MagicMock()
-
-        async def llm_ask(prompt):
-            return CortexOutputModel(
-                actions=[
-                    Action(type="emotion", value="curious"),
-                    Action(type="emotion", value="think"),
-                ]
-            )
-
-        mock_llm.ask = llm_ask
-        mock_llm.__class__.__name__ = "MockLLM"
-
-        mock_get_class.return_value = MagicMock(return_value=mock_llm)
-
-        face_action = MagicMock()
-        face_action.name = "face"
-        face_action.llm_label = "emotion"
-
-        parallel_llm = ParallelLLM(config, [face_action])
-
-        result = await parallel_llm._call_llm(mock_llm, "test", "TestLLM", ["face"])
-
-        assert [action.type for action in result["result"].actions] == [
-            "emotion",
-            "emotion",
-        ]
-        assert result["result"].actions[0].type == "emotion"
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_ask_returns_none_when_all_llms_fail():
-    """Test that ask() returns None when all LLMs fail."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm = MagicMock()
-
-        async def llm_ask(prompt):
-            raise Exception("All LLMs failed")
-
-        mock_llm.ask = llm_ask
-        mock_llm.__class__.__name__ = "MockLLM"
-
-        mock_get_class.return_value = MagicMock(return_value=mock_llm)
-
-        parallel_llm = ParallelLLM(config, [])
-        result = await parallel_llm.ask("test prompt")
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_ask_returns_none_when_no_actions():
-    """Test that ask() returns None when all LLMs return empty actions."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm = MagicMock()
-
-        async def llm_ask(prompt):
-            return CortexOutputModel(actions=[])
-
-        mock_llm.ask = llm_ask
-        mock_llm.__class__.__name__ = "MockLLM"
-
-        mock_get_class.return_value = MagicMock(return_value=mock_llm)
-
-        speak_action = MagicMock()
-        speak_action.name = "speak"
-        speak_action.llm_label = "speak"
-
-        parallel_llm = ParallelLLM(config, [speak_action])
-        result = await parallel_llm.ask("test prompt")
-
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_works_with_single_llm():
-    """Test ParallelLLM works correctly with just 1 LLM (N=1 case)."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm = MagicMock()
-
-        async def llm_ask(prompt):
-            return CortexOutputModel(actions=[Action(type="speak", value="Single")])
-
-        mock_llm.ask = llm_ask
-        mock_llm.__class__.__name__ = "MockLLM"
-
-        mock_get_class.return_value = MagicMock(return_value=mock_llm)
-
-        speak_action = MagicMock()
-        speak_action.name = "speak"
-        speak_action.llm_label = "speak"
-
-        parallel_llm = ParallelLLM(config, [speak_action])
-
-        results = []
-        async for output in parallel_llm.ask_stream("test prompt"):
-            results.append(output)
-
-        assert len(results) == 1
-        assert results[0].actions[0].type == "speak"
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_batch_mode_handles_exceptions():
-    """Test that batch mode handles exceptions from individual LLMs."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak"],
-            ),
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-3.5"),
-                action_filter=["move"],
-            ),
-        ],
-        execute_immediately=False,  # Batch mode
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm1 = MagicMock()
-        mock_llm2 = MagicMock()
-
-        async def llm1_ask(prompt):
-            raise Exception("LLM1 failed")
-
-        async def llm2_ask(prompt):
-            return CortexOutputModel(actions=[Action(type="move", value="Success")])
-
-        mock_llm1.ask = llm1_ask
-        mock_llm2.ask = llm2_ask
-        mock_llm1.__class__.__name__ = "MockLLM1"
-        mock_llm2.__class__.__name__ = "MockLLM2"
-
-        call_count = [0]
-
-        def create_llm(config, available_actions):
-            call_count[0] += 1
-            return mock_llm1 if call_count[0] == 1 else mock_llm2
-
-        mock_get_class.return_value = MagicMock(side_effect=create_llm)
-
-        speak_action = MagicMock()
-        speak_action.name = "speak"
-        speak_action.llm_label = "speak"
-
-        move_action = MagicMock()
-        move_action.name = "move"
-        move_action.llm_label = "move"
-
-        parallel_llm = ParallelLLM(config, [speak_action, move_action])
-        result = await parallel_llm.ask("test prompt")
-
-        assert result is not None
-        assert len(result.actions) == 1
-        assert result.actions[0].type == "move"
-
-
-@pytest.mark.asyncio
-async def test_parallel_llm_merge_actions_from_multiple_results():
-    """Test _merge_actions correctly combines actions from multiple LLMs."""
-    config = ParallelLLMConfig(
-        llms=[
-            LLMSpecConfig(
-                llm_type="OpenAILLM",
-                config=LLMConfig(model="gpt-4"),
-                action_filter=["speak"],
-            ),
-        ],
-        execute_immediately=True,
-    )
-
-    with patch("llm.plugins.parallel_llm.get_llm_class") as mock_get_class:
-        mock_llm = MagicMock()
-        mock_get_class.return_value = MagicMock(return_value=mock_llm)
-
-        speak_action = MagicMock()
-        speak_action.name = "speak"
-        speak_action.llm_label = "speak"
-
-        move_action = MagicMock()
-        move_action.name = "move"
-        move_action.llm_label = "move"
-
-        search_action = MagicMock()
-        search_action.name = "search"
-        search_action.llm_label = "search"
-
-        parallel_llm = ParallelLLM(config, [speak_action, move_action, search_action])
-
-        results = [
-            {
-                "result": CortexOutputModel(actions=[Action(type="speak", value="Hello")]),
-                "llm_name": "LLM1",
-            },
-            {
-                "result": CortexOutputModel(
-                    actions=[
-                        Action(type="move", value="Forward"),
-                        Action(type="search", value="Query"),
-                    ]
-                ),
-                "llm_name": "LLM2",
-            },
-            {"result": None, "llm_name": "LLM3"},  # Failed LLM
-        ]
-
-        merged = parallel_llm._merge_actions(results)
-
-        assert len(merged) == 3
-        action_types = [a.type for a in merged]
-        assert "speak" in action_types
-        assert "move" in action_types
-        assert "search" in action_types
diff --git a/tests/llm/plugins/test_qwen_llm.py b/tests/llm/plugins/test_qwen_llm.py
deleted file mode 100644
index 64daf81239..0000000000
--- a/tests/llm/plugins/test_qwen_llm.py
+++ /dev/null
@@ -1,332 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.qwen_llm import QwenLLM, QwenLLMConfig, _parse_qwen_tool_calls
-
-
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-class TestParseQwenToolCalls:
-    """Tests for the _parse_qwen_tool_calls helper function."""
-
-    def test_parse_single_tool_call(self):
-        """Test parsing a single valid tool call block."""
-        text = '<tool_call>{"name": "speak", "arguments": {"text": "hello"}}</tool_call>'
-        result = _parse_qwen_tool_calls(text)
-
-        assert len(result) == 1
-        assert result[0]["type"] == "function"
-        assert result[0]["function"]["name"] == "speak"
-        assert result[0]["function"]["arguments"] == '{"text": "hello"}'
-
-    def test_parse_multiple_tool_calls(self):
-        """Test parsing multiple tool call blocks."""
-        text = """
-        <tool_call>{"name": "speak", "arguments": {"text": "hello"}}</tool_call>
-        <tool_call>{"name": "move", "arguments": {"direction": "forward"}}</tool_call>
-        """
-        result = _parse_qwen_tool_calls(text)
-
-        assert len(result) == 2
-        assert result[0]["function"]["name"] == "speak"
-        assert result[1]["function"]["name"] == "move"
-
-    def test_parse_empty_string(self):
-        """Test parsing empty string returns empty list."""
-        assert _parse_qwen_tool_calls("") == []
-
-    def test_parse_no_tool_calls(self):
-        """Test parsing text without tool calls returns empty list."""
-        text = "This is just regular text without any tool calls."
-        assert _parse_qwen_tool_calls(text) == []
-
-    def test_parse_invalid_json(self):
-        """Test parsing invalid JSON inside tool_call tags is skipped."""
-        text = "<tool_call>this is not valid json</tool_call>"
-        result = _parse_qwen_tool_calls(text)
-        assert result == []
-
-    def test_parse_missing_name_field(self):
-        """Test parsing tool call without 'name' field is skipped."""
-        text = '<tool_call>{"arguments": {"text": "hello"}}</tool_call>'
-        result = _parse_qwen_tool_calls(text)
-        assert result == []
-
-    def test_parse_empty_arguments(self):
-        """Test parsing tool call with empty arguments."""
-        text = '<tool_call>{"name": "stop", "arguments": {}}</tool_call>'
-        result = _parse_qwen_tool_calls(text)
-
-        assert len(result) == 1
-        assert result[0]["function"]["name"] == "stop"
-        assert result[0]["function"]["arguments"] == "{}"
-
-    def test_parse_missing_arguments(self):
-        """Test parsing tool call without arguments field defaults to empty dict."""
-        text = '<tool_call>{"name": "stop"}</tool_call>'
-        result = _parse_qwen_tool_calls(text)
-
-        assert len(result) == 1
-        assert result[0]["function"]["name"] == "stop"
-        assert result[0]["function"]["arguments"] == "{}"
-
-    def test_parse_with_whitespace(self):
-        """Test parsing tool calls with extra whitespace."""
-        text = """
-        <tool_call>
-            {"name": "speak", "arguments": {"text": "hello"}}
-        </tool_call>
-        """
-        result = _parse_qwen_tool_calls(text)
-
-        assert len(result) == 1
-        assert result[0]["function"]["name"] == "speak"
-
-    def test_parse_non_string_input(self):
-        """Test parsing non-string input returns empty list."""
-        assert _parse_qwen_tool_calls(None) == []  # type: ignore
-        assert _parse_qwen_tool_calls(123) == []  # type: ignore
-        assert _parse_qwen_tool_calls([]) == []  # type: ignore
-
-    def test_parse_unicode_arguments(self):
-        """Test parsing tool calls with unicode characters."""
-        text = '<tool_call>{"name": "speak", "arguments": {"text": "Merhaba Dünya"}}</tool_call>'
-        result = _parse_qwen_tool_calls(text)
-
-        assert len(result) == 1
-        assert "Merhaba" in result[0]["function"]["arguments"]
-
-    def test_unique_call_ids(self):
-        """Test that each parsed tool call has a unique ID."""
-        text = """
-        <tool_call>{"name": "a", "arguments": {}}</tool_call>
-        <tool_call>{"name": "b", "arguments": {}}</tool_call>
-        <tool_call>{"name": "c", "arguments": {}}</tool_call>
-        """
-        result = _parse_qwen_tool_calls(text)
-
-        ids = [tc["id"] for tc in result]
-        assert len(ids) == len(set(ids)), "Tool call IDs should be unique"
-
-
-@pytest.fixture
-def config():
-    """Fixture providing a basic LLM configuration."""
-    return QwenLLMConfig(model="test-qwen-model")
-
-
-@pytest.fixture
-def mock_response():
-    """Fixture providing a valid mock API response without tool calls."""
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=None))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_tool_calls():
-    """Fixture providing a mock API response with native tool calls."""
-    tool_call = MagicMock()
-    tool_call.function.name = "test_function"
-    tool_call.function.arguments = '{"arg1": "value1"}'
-
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=[tool_call]))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_xml_tool_calls():
-    """Fixture providing a mock response with Qwen-style XML tool calls."""
-    response = MagicMock()
-    response.choices = [
-        MagicMock(
-            message=MagicMock(
-                content='<tool_call>{"name": "test_function", "arguments": {"arg1": "value1"}}</tool_call>',
-                tool_calls=None,
-            )
-        )
-    ]
-    return response
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation."""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.qwen_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.qwen_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    """Fixture providing an initialized QwenLLM instance."""
-    return QwenLLM(config, available_actions=None)
-
-
-class TestQwenLLMInit:
-    """Tests for QwenLLM initialization."""
-
-    def test_init_with_config(self, llm, config):
-        """Test initialization with provided configuration."""
-        assert llm._config.model == config.model
-        assert llm._client.base_url == "http://127.0.0.1:8860/v1/"
-
-    def test_init_default_model(self):
-        """Test default model is set when not provided."""
-        config = QwenLLMConfig()
-        llm = QwenLLM(config, available_actions=None)
-        assert llm._config.model is not None
-        assert "Qwen" in llm._config.model
-
-    def test_init_extra_body_config(self, llm):
-        """Test extra_body is configured to disable thinking mode."""
-        assert llm._extra_body == {"chat_template_kwargs": {"enable_thinking": False}}
-
-    def test_init_placeholder_api_key(self, llm):
-        """Test that a placeholder API key is used for local server."""
-        assert llm._client.api_key == "placeholder"
-
-    def test_init_with_available_actions(self, config):
-        """Test initialization with available actions generates function schemas."""
-        mock_action = MagicMock()
-        mock_action.name = "test_action"
-        mock_action.interface = MagicMock()
-
-        with patch("llm.generate_function_schemas_from_actions") as mock_gen:
-            mock_gen.return_value = [{"name": "test_action"}]
-            llm = QwenLLM(config, available_actions=[mock_action])
-            assert len(llm.function_schemas) > 0
-
-
-class TestQwenLLMAsk:
-    """Tests for QwenLLM.ask() method."""
-
-    @pytest.mark.asyncio
-    async def test_ask_success_no_tool_calls(self, llm, mock_response):
-        """Test successful API request without tool calls returns None."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.chat.completions,
-                "create",
-                AsyncMock(return_value=mock_response),
-            )
-
-            result = await llm.ask("test prompt")
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_ask_with_native_tool_calls(self, llm, mock_response_with_tool_calls):
-        """Test successful API request with native tool calls."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.chat.completions,
-                "create",
-                AsyncMock(return_value=mock_response_with_tool_calls),
-            )
-
-            result = await llm.ask("test prompt")
-            assert isinstance(result, CortexOutputModel)
-            assert result.actions == [Action(type="test_function", value="value1")]
-
-    @pytest.mark.asyncio
-    async def test_ask_with_xml_tool_calls(self, llm, mock_response_with_xml_tool_calls):
-        """Test fallback parsing of Qwen-style XML tool calls."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.chat.completions,
-                "create",
-                AsyncMock(return_value=mock_response_with_xml_tool_calls),
-            )
-
-            result = await llm.ask("test prompt")
-            assert isinstance(result, CortexOutputModel)
-            assert len(result.actions) == 1
-            assert result.actions[0].type == "test_function"
-
-    @pytest.mark.asyncio
-    async def test_ask_api_error(self, llm):
-        """Test error handling for API exceptions."""
-        with pytest.MonkeyPatch.context() as m:
-            m.setattr(
-                llm._client.chat.completions,
-                "create",
-                AsyncMock(side_effect=Exception("Connection refused")),
-            )
-
-            result = await llm.ask("test prompt")
-            assert result is None
-
-    @pytest.mark.asyncio
-    async def test_ask_formats_prompt_correctly(self, llm, mock_response):
-        """Test ask() formats the prompt correctly in the request."""
-        with pytest.MonkeyPatch.context() as m:
-            mock_create = AsyncMock(return_value=mock_response)
-            m.setattr(llm._client.chat.completions, "create", mock_create)
-
-            await llm.ask("test prompt")
-
-            # Verify prompt was included in the request
-            call_args = mock_create.call_args
-            formatted_messages = call_args.kwargs.get("messages", [])
-            assert len(formatted_messages) >= 1
-            assert formatted_messages[-1]["role"] == "user"
-            # When enable_reasoning is False (default), /no_think is appended
-            assert formatted_messages[-1]["content"] == "test prompt /no_think"
-
-    @pytest.mark.asyncio
-    async def test_ask_includes_extra_body(self, llm, mock_response):
-        """Test that extra_body is included in API request."""
-        with pytest.MonkeyPatch.context() as m:
-            mock_create = AsyncMock(return_value=mock_response)
-            m.setattr(llm._client.chat.completions, "create", mock_create)
-
-            await llm.ask("test prompt")
-
-            call_args = mock_create.call_args
-            assert call_args.kwargs.get("extra_body") == {"chat_template_kwargs": {"enable_thinking": False}}
-
-    @pytest.mark.asyncio
-    async def test_ask_with_function_schemas(self, config, mock_response_with_tool_calls):
-        """Test ask() includes function schemas when available."""
-        # Create LLM with mock function schemas
-        llm = QwenLLM(config, available_actions=None)
-        llm.function_schemas = [{"type": "function", "function": {"name": "test"}}]
-
-        with pytest.MonkeyPatch.context() as m:
-            mock_create = AsyncMock(return_value=mock_response_with_tool_calls)
-            m.setattr(llm._client.chat.completions, "create", mock_create)
-
-            await llm.ask("test prompt")
-
-            call_args = mock_create.call_args
-            assert "tools" in call_args.kwargs
-            assert call_args.kwargs.get("tool_choice") == "required"
diff --git a/tests/llm/plugins/test_xai_llm.py b/tests/llm/plugins/test_xai_llm.py
deleted file mode 100644
index 92d3dd3da5..0000000000
--- a/tests/llm/plugins/test_xai_llm.py
+++ /dev/null
@@ -1,144 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm.output_model import Action, CortexOutputModel
-from llm.plugins.xai_llm import XAILLM, XAIConfig
-
-
-# Test output model
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-@pytest.fixture
-def config():
-    return XAIConfig(base_url="test_url/", api_key="test_key", model="test_model")
-
-
-@pytest.fixture
-def mock_response():
-    """Fixture providing a valid mock API response"""
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=None))]
-    return response
-
-
-@pytest.fixture
-def mock_response_with_tool_calls():
-    """Fixture providing a mock API response with tool calls"""
-    tool_call = MagicMock()
-    tool_call.function.name = "test_function"
-    tool_call.function.arguments = '{"arg1": "value1"}'
-
-    response = MagicMock()
-    response.choices = [MagicMock(message=MagicMock(content='{"test_field": "success"}', tool_calls=[tool_call]))]
-    return response
-
-
-@pytest.fixture(autouse=True)
-def mock_avatar_components():
-    """Mock all avatar and IO components to prevent Zenoh session creation"""
-
-    def mock_decorator(func=None):
-        def decorator(f):
-            return f
-
-        if func is not None:
-            return decorator(func)
-        return decorator
-
-    with (
-        patch("llm.plugins.deepseek_llm.AvatarLLMState.trigger_thinking", mock_decorator),
-        patch("llm.plugins.deepseek_llm.AvatarLLMState") as mock_avatar_state,
-        patch("providers.avatar_provider.AvatarProvider") as mock_avatar_provider,
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as mock_avatar_llm_state_provider,
-    ):
-        mock_avatar_state._instance = None
-        mock_avatar_state._lock = None
-
-        mock_provider_instance = MagicMock()
-        mock_provider_instance.running = False
-        mock_provider_instance.session = None
-        mock_provider_instance.stop = MagicMock()
-        mock_avatar_provider.return_value = mock_provider_instance
-        mock_avatar_llm_state_provider.return_value = mock_provider_instance
-
-        yield
-
-
-@pytest.fixture
-def llm(config):
-    return XAILLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_init_with_config(llm, config):
-    assert llm._client.base_url == config.base_url
-    assert llm._client.api_key == config.api_key
-    assert llm._config.model == config.model
-
-
-@pytest.mark.asyncio
-async def test_init_empty_key():
-    config = XAIConfig(base_url="test_url")
-    with pytest.raises(ValueError, match="config file missing api_key"):
-        XAILLM(config, available_actions=None)
-
-
-@pytest.mark.asyncio
-async def test_ask_success(llm, mock_response):
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=mock_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
-
-
-@pytest.mark.asyncio
-async def test_ask_with_tool_calls(llm, mock_response_with_tool_calls):
-    """Test successful API request with tool calls"""
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=mock_response_with_tool_calls),
-        )
-
-        result = await llm.ask("test prompt")
-        assert isinstance(result, CortexOutputModel)
-        assert result.actions == [Action(type="test_function", value="value1")]
-
-
-@pytest.mark.asyncio
-async def test_ask_invalid_json(llm):
-    invalid_response = MagicMock()
-    invalid_response.choices = [MagicMock(message=MagicMock(content="invalid"))]
-
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(return_value=invalid_response),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result == CortexOutputModel(actions=[])
-
-
-@pytest.mark.asyncio
-async def test_ask_api_error(llm):
-    with pytest.MonkeyPatch.context() as m:
-        m.setattr(
-            llm._client.chat.completions,
-            "create",
-            AsyncMock(side_effect=Exception("API error")),
-        )
-
-        result = await llm.ask("test prompt")
-        assert result is None
diff --git a/tests/llm/test_function_schemas.py b/tests/llm/test_function_schemas.py
deleted file mode 100644
index 32de78204c..0000000000
--- a/tests/llm/test_function_schemas.py
+++ /dev/null
@@ -1,515 +0,0 @@
-import json
-from dataclasses import dataclass
-from typing import Optional
-
-import pytest
-
-from actions.base import ActionConfig, ActionConnector, AgentAction, Interface
-from llm.function_schemas import (
-    convert_function_calls_to_actions,
-    generate_function_schema_from_action,
-    generate_function_schemas_from_actions,
-)
-
-
-@dataclass
-class SampleInput:
-    value: str
-
-
-@dataclass
-class SampleOutput:
-    result: str
-
-
-@dataclass
-class SampleInterface(Interface[SampleInput, SampleOutput]):
-    input: SampleInput
-    output: SampleOutput
-
-
-class SampleConnector(ActionConnector[ActionConfig, SampleOutput]):
-    def __init__(self, config: ActionConfig):
-        super().__init__(config)
-        self.last_output: Optional[SampleOutput] = None
-
-    async def connect(self, output_interface: SampleOutput) -> None:
-        self.last_output = output_interface
-
-
-@pytest.fixture
-def action_config():
-    return ActionConfig()
-
-
-@pytest.fixture
-def test_connector(action_config):
-    return SampleConnector(action_config)
-
-
-@pytest.fixture
-def agent_action(test_connector):
-    return AgentAction(
-        name="test_action",
-        llm_label="test_llm_label",
-        interface=SampleInterface,
-        connector=test_connector,
-        exclude_from_prompt=True,
-    )
-
-
-def test_generate_function_schema_from_action(agent_action):
-    schema = generate_function_schema_from_action(agent_action)
-
-    assert "function" in schema
-    assert schema["type"] == "function"
-
-    fn = schema["function"]
-    assert "description" in fn
-    assert "parameters" in fn
-    assert fn["name"] == "test_llm_label"
-
-    params = fn["parameters"]
-    assert params["type"] == "object"
-    assert "properties" in params
-    assert "value" in params["properties"]
-
-    value_prop = params["properties"]["value"]
-    assert value_prop["type"] == "string"
-    assert "description" in value_prop
-
-    assert params["required"] == ["value"]
-    assert fn["description"].startswith("SampleInterface(")
-
-
-def test_convert_single_action_parameter():
-    """Test conversion with single 'action' parameter."""
-    function_calls = [
-        {
-            "function": {
-                "name": "move",
-                "arguments": json.dumps({"action": "forward"}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "move"
-    assert actions[0].value == "forward"
-
-
-def test_convert_multiple_parameters_json_dumps():
-    """Test conversion with multiple parameters - should JSON dump them."""
-    function_calls = [
-        {
-            "function": {
-                "name": "greeting_conversation",
-                "arguments": json.dumps(
-                    {
-                        "response": "Hello there!",
-                        "conversation_state": "conversing",
-                        "confidence": 0.95,
-                        "speech_clarity": 0.8,
-                    }
-                ),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "greeting_conversation"
-    value = json.loads(actions[0].value)
-    assert value["response"] == "Hello there!"
-    assert value["conversation_state"] == "conversing"
-    assert value["confidence"] == 0.95
-    assert value["speech_clarity"] == 0.8
-
-
-def test_convert_single_text_parameter():
-    """Test conversion with single 'text' parameter (common fallback)."""
-    function_calls = [
-        {
-            "function": {
-                "name": "speak",
-                "arguments": json.dumps({"text": "Hello world"}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "speak"
-    assert actions[0].value == "Hello world"
-
-
-def test_convert_single_message_parameter():
-    """Test conversion with single 'message' parameter (common fallback)."""
-    function_calls = [
-        {
-            "function": {
-                "name": "notify",
-                "arguments": json.dumps({"message": "Task complete"}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "notify"
-    assert actions[0].value == "Task complete"
-
-
-def test_convert_single_value_parameter():
-    """Test conversion with single 'value' parameter (common fallback)."""
-    function_calls = [
-        {
-            "function": {
-                "name": "set_speed",
-                "arguments": json.dumps({"value": "fast"}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "set_speed"
-    assert actions[0].value == "fast"
-
-
-def test_convert_single_command_parameter():
-    """Test conversion with single 'command' parameter (common fallback)."""
-    function_calls = [
-        {
-            "function": {
-                "name": "execute",
-                "arguments": json.dumps({"command": "shutdown"}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "execute"
-    assert actions[0].value == "shutdown"
-
-
-def test_convert_single_arbitrary_parameter():
-    """Test conversion with single arbitrary parameter (not in common list)."""
-    function_calls = [
-        {
-            "function": {
-                "name": "move",
-                "arguments": json.dumps({"direction": "north"}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "move"
-    assert actions[0].value == "north"
-
-
-def test_convert_empty_arguments():
-    """Test conversion with empty arguments."""
-    function_calls = [{"function": {"name": "stop", "arguments": json.dumps({})}}]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "stop"
-    assert actions[0].value == ""
-
-
-def test_convert_arguments_already_dict():
-    """Test conversion when arguments is already a dict (not a JSON string)."""
-    function_calls = [{"function": {"name": "move", "arguments": {"action": "forward"}}}]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "move"
-    assert actions[0].value == "forward"
-
-
-def test_convert_invalid_json_arguments():
-    """Test handling of invalid JSON in arguments - should skip."""
-    function_calls = [
-        {"function": {"name": "move", "arguments": "{invalid json}"}},
-        {"function": {"name": "stop", "arguments": json.dumps({"action": "now"})}},
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "stop"
-    assert actions[0].value == "now"
-
-
-def test_convert_multiple_function_calls():
-    """Test conversion of multiple function calls."""
-    function_calls = [
-        {
-            "function": {
-                "name": "move",
-                "arguments": json.dumps({"action": "forward"}),
-            }
-        },
-        {
-            "function": {
-                "name": "speak",
-                "arguments": json.dumps({"text": "Moving forward"}),
-            }
-        },
-        {
-            "function": {
-                "name": "rotate",
-                "arguments": json.dumps({"angle": 90, "speed": 1.5}),
-            }
-        },
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 3
-    assert actions[0].type == "move"
-    assert actions[0].value == "forward"
-    assert actions[1].type == "speak"
-    assert actions[1].value == "Moving forward"
-    assert actions[2].type == "rotate"
-
-    rotate_value = json.loads(actions[2].value)
-    assert rotate_value["angle"] == 90
-    assert rotate_value["speed"] == 1.5
-
-
-def test_convert_missing_function_name():
-    """Test handling when function name is missing - should skip due to validation error."""
-    function_calls = [{"function": {"arguments": json.dumps({"action": "test"})}}]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 0
-
-
-def test_convert_missing_arguments():
-    """Test handling when arguments are missing - should use empty dict."""
-    function_calls = [{"function": {"name": "stop"}}]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "stop"
-    assert actions[0].value == ""
-
-
-def test_convert_numeric_values():
-    """Test conversion with numeric values."""
-    function_calls = [
-        {
-            "function": {
-                "name": "set_speed",
-                "arguments": json.dumps({"speed": 42}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "set_speed"
-    assert actions[0].value == "42"
-
-
-def test_convert_boolean_values():
-    """Test conversion with boolean values."""
-    function_calls = [
-        {
-            "function": {
-                "name": "set_enabled",
-                "arguments": json.dumps({"enabled": True}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "set_enabled"
-    assert actions[0].value == "True"
-
-
-def test_convert_null_values():
-    """Test conversion with null/None values - should skip due to validation error."""
-    function_calls = [{"function": {"name": "reset", "arguments": json.dumps({"value": None})}}]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 0
-
-
-def test_convert_priority_of_action_parameter():
-    """Test that 'action' parameter takes priority when it's the only parameter."""
-    function_calls = [
-        {
-            "function": {
-                "name": "move",
-                "arguments": json.dumps({"action": "forward"}),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].value == "forward"
-
-
-def test_convert_fallback_parameter_priority():
-    """Test fallback parameter priority: text > message > value > command."""
-    function_calls = [
-        {
-            "function": {
-                "name": "cmd1",
-                "arguments": json.dumps({"text": "hello"}),
-            }
-        }
-    ]
-    actions = convert_function_calls_to_actions(function_calls)
-    assert actions[0].value == "hello"
-
-
-def test_convert_exception_handling():
-    """Test that exceptions in conversion are caught and processing continues."""
-    function_calls = [
-        {"function": {"name": "move", "arguments": json.dumps({"action": "ok"})}},
-        {"invalid": "structure"},
-        {"function": {"name": "stop", "arguments": json.dumps({"action": "now"})}},
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 2
-    assert actions[0].type == "move"
-    assert actions[1].type == "stop"
-
-
-def test_convert_empty_function_calls_list():
-    """Test conversion with empty function calls list."""
-    function_calls = []
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 0
-    assert actions == []
-
-
-def test_convert_complex_nested_json_in_multiple_params():
-    """Test complex nested structures with multiple parameters."""
-    function_calls = [
-        {
-            "function": {
-                "name": "configure",
-                "arguments": json.dumps(
-                    {
-                        "mode": "auto",
-                        "settings": {"speed": 1.5, "direction": "north"},
-                        "enabled": True,
-                    }
-                ),
-            }
-        }
-    ]
-
-    actions = convert_function_calls_to_actions(function_calls)
-
-    assert len(actions) == 1
-    assert actions[0].type == "configure"
-
-    value = json.loads(actions[0].value)
-    assert value["mode"] == "auto"
-    assert value["settings"]["speed"] == 1.5
-    assert value["settings"]["direction"] == "north"
-    assert value["enabled"] is True
-
-
-def test_generate_function_schemas_from_actions_valid(agent_action):
-    """Test generating schemas from valid actions list."""
-    agent_action.exclude_from_prompt = False
-    schemas = generate_function_schemas_from_actions([agent_action])
-
-    assert len(schemas) == 1
-    assert schemas[0]["type"] == "function"
-    assert schemas[0]["function"]["name"] == "test_llm_label"
-
-
-def test_generate_function_schemas_excludes_prompt(agent_action):
-    """Test that actions with exclude_from_prompt=True are skipped."""
-    agent_action.exclude_from_prompt = True
-    schemas = generate_function_schemas_from_actions([agent_action])
-
-    assert len(schemas) == 0
-
-
-def test_generate_function_schemas_mixed(test_connector):
-    """Test with mix of included and excluded actions."""
-    action_included = AgentAction(
-        name="move",
-        llm_label="move",
-        interface=SampleInterface,
-        connector=test_connector,
-        exclude_from_prompt=False,
-    )
-    action_excluded = AgentAction(
-        name="internal",
-        llm_label="internal",
-        interface=SampleInterface,
-        connector=test_connector,
-        exclude_from_prompt=True,
-    )
-
-    schemas = generate_function_schemas_from_actions([action_included, action_excluded])
-
-    assert len(schemas) == 1
-    assert schemas[0]["function"]["name"] == "move"
-
-
-def test_generate_function_schemas_empty_list():
-    """Test with empty actions list."""
-    schemas = generate_function_schemas_from_actions([])
-    assert schemas == []
-
-
-def test_generate_function_schemas_error_handling(test_connector):
-    """Test error handling when schema generation fails for one action."""
-    good_action = AgentAction(
-        name="move",
-        llm_label="move",
-        interface=SampleInterface,
-        connector=test_connector,
-        exclude_from_prompt=False,
-    )
-
-    # Create a bad action that will cause an error during schema generation
-    bad_action = AgentAction(
-        name="bad",
-        llm_label="bad",
-        interface=None,  # type: ignore[arg-type]
-        connector=test_connector,
-        exclude_from_prompt=False,
-    )
-
-    schemas = generate_function_schemas_from_actions([bad_action, good_action])
-
-    # Should still include the good action's schema
-    assert len(schemas) == 1
-    assert schemas[0]["function"]["name"] == "move"
diff --git a/tests/llm/test_init.py b/tests/llm/test_init.py
deleted file mode 100644
index e4295067b6..0000000000
--- a/tests/llm/test_init.py
+++ /dev/null
@@ -1,259 +0,0 @@
-import types
-from unittest.mock import mock_open, patch
-
-import pytest
-from pydantic import BaseModel
-
-from llm import LLM, LLMConfig, find_module_with_class, load_llm
-from providers.io_provider import IOProvider
-from runtime.config import add_meta
-
-
-class DummyOutputModel(BaseModel):
-    test_field: str
-
-
-class MockLLM(LLM[BaseModel]):
-    async def ask(self, prompt: str, messages=None) -> BaseModel:
-        raise NotImplementedError
-
-
-@pytest.fixture
-def config():
-    return LLMConfig(base_url="test_url", api_key="test_key", model="test_model")
-
-
-@pytest.fixture
-def base_llm(config):
-    return MockLLM(config, available_actions=None)
-
-
-def test_llm_init(base_llm, config):
-    assert base_llm._config == config
-    assert isinstance(base_llm.io_provider, type(IOProvider()))
-
-
-@pytest.mark.asyncio
-async def test_llm_ask_not_implemented(base_llm):
-    with pytest.raises(NotImplementedError):
-        await base_llm.ask("test prompt")
-
-
-@pytest.mark.asyncio
-async def test_llm_ask_stream_yields_result_when_ask_returns_value(config):
-    """Test that ask_stream yields result when ask() returns a value."""
-
-    class TestLLM(LLM[DummyOutputModel]):
-        async def ask(self, prompt: str, messages=None) -> DummyOutputModel | None:
-            return DummyOutputModel(test_field="result")
-
-    llm = TestLLM(config)
-
-    results = []
-    async for output in llm.ask_stream("test prompt"):
-        results.append(output)
-
-    assert len(results) == 1
-    assert results[0].test_field == "result"
-
-
-@pytest.mark.asyncio
-async def test_llm_ask_stream_does_not_yield_when_ask_returns_none(config):
-    """Test that ask_stream doesn't yield when ask() returns None."""
-
-    class TestLLM(LLM[DummyOutputModel]):
-        async def ask(self, prompt: str, messages=None) -> DummyOutputModel | None:
-            return None
-
-    llm = TestLLM(config)
-
-    results = []
-    async for output in llm.ask_stream("test prompt"):
-        results.append(output)
-
-    assert len(results) == 0
-
-
-@pytest.mark.asyncio
-async def test_llm_ask_stream_passes_prompt_to_ask(config):
-    """Test that ask_stream properly passes prompt to ask()."""
-
-    captured_prompts = []
-
-    class TestLLM(LLM[DummyOutputModel]):
-        async def ask(self, prompt: str, messages=None) -> DummyOutputModel | None:
-            captured_prompts.append(prompt)
-            return DummyOutputModel(test_field="result")
-
-    llm = TestLLM(config)
-
-    async for _ in llm.ask_stream("test prompt value"):
-        pass
-
-    assert len(captured_prompts) == 1
-    assert captured_prompts[0] == "test prompt value"
-
-
-@pytest.mark.asyncio
-async def test_llm_ask_stream_passes_messages_to_ask(config):
-    """Test that ask_stream properly passes messages to ask()."""
-
-    captured_messages = []
-
-    class TestLLM(LLM[DummyOutputModel]):
-        async def ask(self, prompt: str, messages=None) -> DummyOutputModel | None:
-            captured_messages.append(messages)
-            return DummyOutputModel(test_field="result")
-
-    llm = TestLLM(config)
-
-    test_messages = [{"role": "user", "content": "Hello"}]
-    async for _ in llm.ask_stream("test prompt", messages=test_messages):
-        pass
-
-    assert len(captured_messages) == 1
-    assert captured_messages[0] == test_messages
-
-
-@pytest.mark.asyncio
-async def test_llm_ask_stream_defaults_messages_to_none(config):
-    """Test that ask_stream defaults messages to None when not provided."""
-
-    captured_messages = []
-
-    class TestLLM(LLM[DummyOutputModel]):
-        async def ask(self, prompt: str, messages=None) -> DummyOutputModel | None:
-            captured_messages.append(messages)
-            return DummyOutputModel(test_field="result")
-
-    llm = TestLLM(config)
-
-    async for _ in llm.ask_stream("test prompt"):
-        pass
-
-    assert len(captured_messages) == 1
-    assert captured_messages[0] is None
-
-
-@pytest.mark.asyncio
-async def test_llm_ask_stream_is_async_generator(config):
-    """Test that ask_stream returns an async generator."""
-
-    class TestLLM(LLM[DummyOutputModel]):
-        async def ask(self, prompt: str, messages=None) -> DummyOutputModel | None:
-            return DummyOutputModel(test_field="result")
-
-    llm = TestLLM(config)
-
-    result = llm.ask_stream("test prompt")
-
-    # Check it's an async generator
-    assert hasattr(result, "__anext__")
-    assert hasattr(result, "asend")
-    assert hasattr(result, "athrow")
-
-
-def test_llm_config():
-    llm_config = LLMConfig(
-        **add_meta(  # type: ignore
-            {
-                "config_key": "config_value",
-            },
-            None,
-            None,
-            None,
-            None,
-        )
-    )
-    assert llm_config.config_key == "config_value"  # type: ignore
-    with pytest.raises(AttributeError, match="'LLMConfig' object has no attribute 'invalid_key'"):
-        llm_config.invalid_key  # type: ignore
-
-
-def test_load_llm_mock_implementation():
-
-    with (
-        patch("llm.find_module_with_class") as mock_find_module,
-        patch("llm.importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "mock_llm"
-        mock_module = types.ModuleType("mock_llm")
-        setattr(mock_module, "MockLLM", MockLLM)
-        mock_import.return_value = mock_module
-
-        result = load_llm({"type": "MockLLM"})
-
-        mock_find_module.assert_called_once_with("MockLLM")
-        mock_import.assert_called_once_with("llm.plugins.mock_llm")
-        assert isinstance(result, LLM)
-
-
-def test_load_llm_not_found():
-    with patch("llm.find_module_with_class") as mock_find_module:
-        mock_find_module.return_value = None
-
-        with pytest.raises(
-            ValueError,
-            match="Class 'NonexistentLLM' not found in .*LLM plugin module",
-        ):
-            load_llm({"type": "NonexistentLLM"})
-
-
-def test_load_llm_invalid_type():
-
-    with (
-        patch("llm.find_module_with_class") as mock_find_module,
-        patch("llm.importlib.import_module") as mock_import,
-    ):
-        mock_find_module.return_value = "invalid_llm"
-
-        class InvalidLLM:
-            pass
-
-        mock_module = types.ModuleType("invalid_llm")
-        setattr(mock_module, "InvalidLLM", InvalidLLM)
-        mock_import.return_value = mock_module
-
-        with pytest.raises(ValueError, match="'InvalidLLM' is not a valid LLM subclass"):
-            load_llm({"type": "InvalidLLM"})
-
-
-def test_find_module_with_class_success():
-    with (
-        patch("os.path.join") as mock_join,
-        patch("os.path.exists") as mock_exists,
-        patch("os.listdir") as mock_listdir,
-        patch("builtins.open", mock_open(read_data="class TestLLM(LLM):\n    pass\n")),
-    ):
-        mock_join.side_effect = lambda *args: "/".join(args)
-        mock_exists.return_value = True
-        mock_listdir.return_value = ["test_llm.py"]
-
-        result = find_module_with_class("TestLLM")
-
-        assert result == "test_llm"
-
-
-def test_find_module_with_class_not_found():
-    with (
-        patch("os.path.join") as mock_join,
-        patch("os.path.exists") as mock_exists,
-        patch("os.listdir") as mock_listdir,
-        patch("builtins.open", mock_open(read_data="class OtherClass:\n    pass\n")),
-    ):
-        mock_join.side_effect = lambda *args: "/".join(args)
-        mock_exists.return_value = True
-        mock_listdir.return_value = ["other_file.py"]
-
-        result = find_module_with_class("TestLLM")
-
-        assert result is None
-
-
-def test_find_module_with_class_no_plugins_dir():
-    with patch("os.path.exists") as mock_exists:
-        mock_exists.return_value = False
-
-        result = find_module_with_class("TestLLM")
-
-        assert result is None
diff --git a/tests/llm/test_llm_plugins.py b/tests/llm/test_llm_plugins.py
deleted file mode 100644
index 927254db9a..0000000000
--- a/tests/llm/test_llm_plugins.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from typing import Type
-
-import pytest
-
-from llm import LLM
-
-
-def get_all_llm_classes():
-    import importlib
-    import inspect
-    import os
-
-    plugins_dir = os.path.join("src", "llm", "plugins")
-    plugin_files = [f[:-3] for f in os.listdir(plugins_dir) if f.endswith(".py")]
-
-    llm_classes = []
-    for plugin in plugin_files:
-        module = importlib.import_module(f"llm.plugins.{plugin}")
-        for name, obj in inspect.getmembers(module):
-            if inspect.isclass(obj) and issubclass(obj, LLM) and obj != LLM:
-                llm_classes.append(obj)
-    return llm_classes
-
-
-@pytest.mark.parametrize("llm_class", get_all_llm_classes())
-def test_init_signature(llm_class: Type[LLM]):
-    # Verify __init__ signature matches base class
-    base_params = set(LLM.__init__.__annotations__.keys())
-    impl_params = set(llm_class.__init__.__annotations__.keys())
-    assert base_params == impl_params, f"{llm_class.__name__} __init__ signature mismatch"
-
-
-@pytest.mark.parametrize("llm_class", get_all_llm_classes())
-def test_ask_signature(llm_class: Type[LLM]):
-    # Verify ask method signature matches base class
-    base_params = set(LLM.ask.__annotations__.keys())
-    impl_params = set(llm_class.ask.__annotations__.keys())
-    assert base_params == impl_params, f"{llm_class.__name__} ask signature mismatch"
diff --git a/tests/llm/test_output_model.py b/tests/llm/test_output_model.py
deleted file mode 100644
index e2453c2742..0000000000
--- a/tests/llm/test_output_model.py
+++ /dev/null
@@ -1,146 +0,0 @@
-import pytest
-from pydantic import ValidationError
-
-from llm.output_model import Action, CortexOutputModel  # noqa: E402
-
-
-class TestAction:
-
-    def test_action_creation_valid(self):
-        """Test creating an Action with valid data."""
-        action = Action(type="move", value="forward")
-
-        assert action.type == "move"
-        assert action.value == "forward"
-
-    def test_action_required_fields(self):
-        """Test that Action requires both type and value fields."""
-        with pytest.raises(ValidationError):
-            Action.model_validate({"value": "forward"})
-
-        with pytest.raises(ValidationError):
-            Action.model_validate({"type": "move"})
-
-        with pytest.raises(ValidationError):
-            Action.model_validate({})
-
-    def test_action_field_descriptions(self):
-        """Test that Action fields have correct descriptions."""
-        action = Action(type="speak", value="hello world")
-
-        assert action.type == "speak"
-        assert action.value == "hello world"
-
-    def test_action_type_variations(self):
-        """Test various valid action types."""
-        valid_types = ["move", "speak", "navigate", "follow", "stop"]
-
-        for action_type in valid_types:
-            action = Action(type=action_type, value="test")
-            assert action.type == action_type
-            assert action.value == "test"
-
-    def test_action_value_variations(self):
-        """Test various valid action values."""
-        valid_values = ["forward", "backward", "left", "right", "hello", "10 meters"]
-
-        for value in valid_values:
-            action = Action(type="move", value=value)
-            assert action.type == "move"
-            assert action.value == value
-
-
-class TestCortexOutputModel:
-
-    def test_cortex_output_model_creation_valid(self):
-        """Test creating a CortexOutputModel with valid data."""
-        actions = [
-            Action(type="move", value="forward"),
-            Action(type="speak", value="hello"),
-        ]
-        model = CortexOutputModel(actions=actions)
-
-        assert len(model.actions) == 2
-        assert model.actions[0].type == "move"
-        assert model.actions[0].value == "forward"
-        assert model.actions[1].type == "speak"
-        assert model.actions[1].value == "hello"
-
-    def test_cortex_output_model_empty_actions(self):
-        """Test creating a CortexOutputModel with empty actions list."""
-        model = CortexOutputModel(actions=[])
-
-        assert model.actions == []
-
-    def test_cortex_output_model_single_action(self):
-        """Test creating a CortexOutputModel with single action."""
-        action = Action(type="speak", value="hello")
-        model = CortexOutputModel(actions=[action])
-
-        assert len(model.actions) == 1
-        assert model.actions[0].type == "speak"
-        assert model.actions[0].value == "hello"
-
-    def test_cortex_output_model_required_actions_field(self):
-        """Test that CortexOutputModel requires actions field."""
-        with pytest.raises(ValidationError):
-            CortexOutputModel.model_validate({})
-
-    def test_cortex_output_model_invalid_actions_type(self):
-        """Test that CortexOutputModel validates action types in list."""
-        with pytest.raises(ValidationError):
-            CortexOutputModel.model_validate({"actions": ["invalid_action"]})
-
-    def test_cortex_output_model_nested_validation(self):
-        """Test that nested Action validation works within CortexOutputModel."""
-        with pytest.raises(ValidationError):
-            CortexOutputModel.model_validate(
-                {
-                    "actions": [
-                        {"type": "move", "value": "forward"},  # Valid
-                        {"type": "speak"},  # Invalid - missing value
-                    ]
-                }
-            )
-
-    def test_cortex_output_model_multiple_valid_actions(self):
-        """Test creating a CortexOutputModel with multiple valid actions."""
-        actions = [
-            Action(type="move", value="forward"),
-            Action(type="speak", value="hello"),
-            Action(type="navigate", value="to kitchen"),
-            Action(type="follow", value="person"),
-            Action(type="stop", value="now"),
-        ]
-        model = CortexOutputModel(actions=actions)
-
-        assert len(model.actions) == 5
-        assert all(isinstance(action, Action) for action in model.actions)
-        assert [a.type for a in model.actions] == [
-            "move",
-            "speak",
-            "navigate",
-            "follow",
-            "stop",
-        ]
-
-    def test_cortex_output_model_dict_serialization(self):
-        """Test that models can be serialized to dict."""
-        action = Action(type="speak", value="hello")
-        model = CortexOutputModel(actions=[action])
-
-        model_dict = model.model_dump()
-        assert "actions" in model_dict
-        assert len(model_dict["actions"]) == 1
-        assert model_dict["actions"][0]["type"] == "speak"
-        assert model_dict["actions"][0]["value"] == "hello"
-
-    def test_cortex_output_model_json_serialization(self):
-        """Test that models can be serialized to JSON."""
-        action = Action(type="move", value="forward")
-        model = CortexOutputModel(actions=[action])
-
-        json_str = model.model_dump_json()
-        assert '"type":"move"' in json_str
-        assert '"value":"forward"' in json_str
-        assert '"actions":[' in json_str
diff --git a/tests/mcp_servers/__init__.py b/tests/mcp_servers/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/mcp_servers/test_client.py b/tests/mcp_servers/test_client.py
deleted file mode 100644
index df9a4a6b23..0000000000
--- a/tests/mcp_servers/test_client.py
+++ /dev/null
@@ -1,246 +0,0 @@
-import asyncio
-from contextlib import asynccontextmanager
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-from mcp.types import TextContent
-
-from mcp_servers.client import (
-    MCPClientManager,
-    MCPServerConfig,
-    MCPTool,
-    TransportType,
-)
-
-
-@asynccontextmanager
-async def mock_stdio_client(*args, **kwargs):
-    yield "read", "write"
-
-
-class TestMCPToolSchema:
-    """Test MCPTool schema generation."""
-
-    def test_convert_to_schema(self):
-        tool = MCPTool(
-            key="mcp_weather_get",
-            server_name="weather",
-            original_name="get",
-            description="Get weather",
-            input_schema={"type": "object", "properties": {"city": {"type": "string"}}},
-        )
-        schema = tool.convert_to_schema()
-
-        assert schema["type"] == "function"
-        assert schema["function"]["name"] == "mcp_weather_get"
-        assert schema["function"]["description"] == "Get weather"
-        assert "city" in schema["function"]["parameters"]["properties"]
-
-    def test_generate_description(self):
-        tool = MCPTool(
-            key="mcp_weather_get",
-            server_name="weather",
-            original_name="get",
-            description="Get weather",
-            input_schema={"type": "object", "properties": {"city": {"type": "string"}}},
-        )
-        desc = tool.generate_description()
-
-        assert "mcp_weather_get" in desc
-        assert "city: string" in desc
-        assert "Get weather" in desc
-
-
-class TestConfigParsing:
-    """Test server config validation."""
-
-    def test_server_config(self):
-        config = MCPServerConfig(name="test", command="python", args=["-m", "server"])
-        assert config.name == "test"
-        assert config.transport == TransportType.STDIO
-
-    def test_client_manager_parses_configs(self):
-        configs = [
-            {"name": "s1", "command": "python", "args": []},
-            {"name": "s2", "command": "node", "args": ["-y", "server"]},
-        ]
-        manager = MCPClientManager(configs)
-
-        assert len(manager._configs) == 2
-        assert isinstance(manager._configs[0], MCPServerConfig)
-        assert isinstance(manager._configs[1], MCPServerConfig)
-
-    @pytest.mark.asyncio
-    async def test_missing_command_raises(self):
-        manager = MCPClientManager([{"name": "bad", "transport": "stdio"}])
-        event = asyncio.Event()
-        await manager._run_server_task(manager._configs[0], event)
-        assert event.is_set()
-        assert len(manager._sessions) == 0
-
-
-class TestMCPClientManager:
-    """Test MCPClientManager methods."""
-
-    def _make_manager_with_tools(self):
-        """Create a manager with pre-populated tools (no real connection)."""
-        manager = MCPClientManager([])
-        manager._tools = {
-            "mcp_weather_get": MCPTool(
-                key="mcp_weather_get",
-                server_name="weather",
-                original_name="get",
-                description="Get weather",
-                input_schema={
-                    "type": "object",
-                    "properties": {"city": {"type": "string"}},
-                },
-            ),
-            "mcp_slack_post": MCPTool(
-                key="mcp_slack_post",
-                server_name="slack",
-                original_name="post",
-                description="Post message",
-                input_schema={
-                    "type": "object",
-                    "properties": {"text": {"type": "string"}},
-                },
-            ),
-        }
-        return manager
-
-    def test_get_tool_schemas(self):
-        manager = self._make_manager_with_tools()
-        schemas = manager.get_tool_schemas()
-
-        assert len(schemas) == 2
-        names = {s["function"]["name"] for s in schemas}
-        assert names == {"mcp_weather_get", "mcp_slack_post"}
-
-    def test_get_tool_descriptions_empty(self):
-        manager = MCPClientManager([])
-        assert manager.get_tool_descriptions() == ""
-
-    def test_get_tool_descriptions_non_empty(self):
-        manager = self._make_manager_with_tools()
-        desc = manager.get_tool_descriptions()
-
-        assert "mcp_weather_get" in desc
-        assert "mcp_slack_post" in desc
-
-    def test_is_mcp_tool(self):
-        manager = self._make_manager_with_tools()
-
-        assert manager.is_mcp_tool("mcp_weather_get") is True
-        assert manager.is_mcp_tool("mcp_slack_post") is True
-        assert manager.is_mcp_tool("speak") is False
-        assert manager.is_mcp_tool("unknown") is False
-
-    @pytest.mark.asyncio
-    async def test_call_tool_returns_text(self):
-
-        manager = self._make_manager_with_tools()
-
-        mock_result = Mock()
-        mock_result.content = [
-            TextContent(type="text", text="sunny 72°F"),
-        ]
-
-        mock_session = AsyncMock()
-        mock_session.call_tool = AsyncMock(return_value=mock_result)
-        manager._sessions["weather"] = mock_session
-
-        result = await manager.call_tool("mcp_weather_get", {"city": "SF"})
-
-        assert result == "sunny 72°F"
-        mock_session.call_tool.assert_called_once_with("get", arguments={"city": "SF"})
-
-    @pytest.mark.asyncio
-    async def test_call_tool_unknown_raises(self):
-        manager = MCPClientManager([])
-
-        with pytest.raises(ValueError, match="Unknown MCP tool"):
-            await manager.call_tool("mcp_nonexistent", {})
-
-    @pytest.mark.asyncio
-    async def test_stop_clears_state(self):
-        manager = self._make_manager_with_tools()
-        manager._sessions = {"weather": Mock()}
-        manager._started = True
-        manager._close_event = asyncio.Event()
-
-        # Add a dummy task that will be cancelled
-        async def dummy_task():
-            await asyncio.sleep(10)
-
-        task = asyncio.create_task(dummy_task())
-        manager._tasks = [task]
-
-        await manager.stop()
-
-        assert len(manager._tasks) == 0
-        assert len(manager._sessions) == 0
-        assert len(manager._tools) == 0
-        assert manager._started is False
-        assert task.cancelled()
-
-    @pytest.mark.asyncio
-    async def test_stop_noop_when_not_started(self):
-        manager = MCPClientManager([])
-        await manager.stop()
-        assert manager._started is False
-
-
-class TestConnectAll:
-    """Test connect_all with mocked transports."""
-
-    @pytest.mark.asyncio
-    async def test_start_discovers_tools(self):
-        mock_tool = Mock()
-        mock_tool.name = "get_weather"
-        mock_tool.description = "Get weather info"
-        mock_tool.inputSchema = {
-            "type": "object",
-            "properties": {"city": {"type": "string"}},
-        }
-
-        mock_session = AsyncMock()
-        mock_session.initialize = AsyncMock()
-        mock_session.list_tools = AsyncMock(return_value=Mock(tools=[mock_tool]))
-
-        configs = [
-            {"name": "weather", "command": "python", "args": []},
-        ]
-        manager = MCPClientManager(configs)
-
-        with (
-            patch(
-                "mcp_servers.client.stdio_client",
-                side_effect=mock_stdio_client,
-            ),
-            patch("mcp_servers.client.ClientSession", return_value=mock_session),
-        ):
-            await manager.start()
-
-        assert manager._started is True
-        assert "mcp_weather_get_weather" in manager._tools
-        assert manager._tools["mcp_weather_get_weather"].description == "Get weather info"
-        await manager.stop()
-
-    @pytest.mark.asyncio
-    async def test_start_handles_server_failure(self):
-        configs = [
-            {"name": "bad_server", "command": "fail", "args": []},
-        ]
-        manager = MCPClientManager(configs)
-
-        with patch(
-            "mcp_servers.client.stdio_client",
-            side_effect=ConnectionError("refused"),
-        ):
-            await manager.start()
-
-        assert manager._started is True
-        assert len(manager._tools) == 0
-        assert len(manager._sessions) == 0
-        await manager.stop()
diff --git a/tests/mcp_servers/test_init.py b/tests/mcp_servers/test_init.py
deleted file mode 100644
index c0dd25a613..0000000000
--- a/tests/mcp_servers/test_init.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from mcp_servers import load_mcp
-from mcp_servers.client import MCPClientManager
-
-
-class TestLoadMcp:
-    """Test the load_mcp factory function."""
-
-    def test_empty_configs_returns_empty_manager(self):
-        client = load_mcp([])
-
-        assert isinstance(client, MCPClientManager)
-        assert client.get_tool_schemas() == []
-        assert client.get_tool_descriptions() == ""
-
-    def test_returns_manager_with_parsed_configs(self):
-        configs = [
-            {"name": "test", "command": "echo", "args": []},
-        ]
-        client = load_mcp(configs)
-
-        assert isinstance(client, MCPClientManager)
-        assert len(client._configs) == 1
-        assert client._configs[0].name == "test"
-
-    def test_no_connection_on_creation(self):
-        """load_mcp should be lazy — no connection until start() is called."""
-        configs = [
-            {"name": "test", "command": "echo", "args": []},
-        ]
-        client = load_mcp(configs)
-
-        assert client._started is False
-        assert len(client._sessions) == 0
-        assert len(client._tools) == 0
-        assert len(client._tasks) == 0
diff --git a/tests/mcp_servers/test_orchestrator.py b/tests/mcp_servers/test_orchestrator.py
deleted file mode 100644
index 8d57e4c4fd..0000000000
--- a/tests/mcp_servers/test_orchestrator.py
+++ /dev/null
@@ -1,274 +0,0 @@
-import asyncio
-from typing import Any, Dict, List, Optional, Union, cast
-
-import pytest
-
-from llm.output_model import Action, CortexOutputModel
-from mcp_servers.orchestrator import MCPOrchestrator, ToolResult
-from runtime.config import RuntimeConfig
-
-
-class MockMCPClient:
-    """Mock MCP client that tracks tool calls."""
-
-    def __init__(self, tool_responses: Optional[Dict[str, Union[str, Exception]]] = None):
-        self._tools = {"mcp_weather_get", "mcp_slack_post", "mcp_maps_geocode"}
-        self._responses = tool_responses or {}
-        self.calls: List[tuple] = []
-
-    def get_tool_schemas(self) -> list:
-        return [
-            {
-                "type": "function",
-                "function": {"name": name, "parameters": {}},
-            }
-            for name in self._tools
-        ]
-
-    def is_mcp_tool(self, tool_type: str) -> bool:
-        return tool_type in self._tools
-
-    async def call_tool(self, tool_key: str, args: dict) -> str:
-        self.calls.append((tool_key, args))
-        if tool_key in self._responses:
-            resp = self._responses[tool_key]
-            if isinstance(resp, Exception):
-                raise resp
-            return resp
-        return f'{{"ok":true,"tool":"{tool_key}"}}'
-
-    async def start(self) -> None:
-        pass
-
-    async def close_all(self):
-        pass
-
-
-class MockLLM:
-    """Mock LLM that returns predefined outputs per call."""
-
-    def __init__(self, responses: list):
-        self._responses = list(responses)
-        self._call_count = 0
-        self.function_schemas: list = []
-        self._skip_state_management = False
-
-    async def ask(self, prompt: str) -> Any:
-        if self._call_count < len(self._responses):
-            resp = self._responses[self._call_count]
-            self._call_count += 1
-            return resp
-        return None
-
-
-class MockConfig:
-    """Thin config wrapper expected by MCPOrchestrator."""
-
-    def __init__(self, mcp_servers, cortex_llm):
-        self.mcp_servers = mcp_servers
-        self.cortex_llm = cortex_llm
-
-
-@pytest.fixture
-def mock_client():
-    return MockMCPClient()
-
-
-@pytest.fixture
-def make_output():
-    """Factory for CortexOutputModel."""
-
-    def _make(actions: List[tuple]) -> CortexOutputModel:
-        return CortexOutputModel(actions=[Action(type=t, value=v) for t, v in actions])
-
-    return _make
-
-
-@pytest.fixture
-def orch(mock_client):
-    llm = MockLLM([])
-    return MCPOrchestrator(cast(RuntimeConfig, MockConfig(mock_client, llm)))
-
-
-class TestInit:
-    """MCPOrchestrator.start() connects and injects MCP schemas into the LLM."""
-
-    @pytest.mark.asyncio
-    async def test_extends_function_schemas(self, mock_client):
-        llm = MockLLM([])
-        llm.function_schemas = [{"type": "function", "function": {"name": "speak"}}]
-
-        orch = MCPOrchestrator(cast(RuntimeConfig, MockConfig(mock_client, llm)))
-        await orch.start()
-
-        names = [s["function"]["name"] for s in llm.function_schemas]
-        assert "speak" in names
-        assert len(names) == 1 + len(mock_client._tools)
-
-    @pytest.mark.asyncio
-    async def test_does_not_duplicate_mcp_schemas_on_reinit(self, mock_client):
-        llm = MockLLM([])
-        llm.function_schemas = [{"type": "function", "function": {"name": "mcp_weather_get"}}]
-
-        orch = MCPOrchestrator(cast(RuntimeConfig, MockConfig(mock_client, llm)))
-        await orch.start()
-
-        names = [s["function"]["name"] for s in llm.function_schemas]
-        assert names.count("mcp_weather_get") == 1
-
-
-class TestActionSplitting:
-    """extract_om1_actions filters out MCP tools; execute_mcp_actions handles MCP."""
-
-    @pytest.mark.asyncio
-    async def test_extract_mcp_actions_returns_only_mcp(self, orch, make_output):
-        output = make_output([("speak", "hi"), ("mcp_weather_get", "{}"), ("emotion", "happy")])
-        results, mcp_actions = await orch.execute_mcp_actions(output.actions, set())
-        assert results is not None
-        assert len(mcp_actions) == 1
-        assert mcp_actions[0].type == "mcp_weather_get"
-
-    def test_extract_om1_actions_returns_non_mcp(self, orch, make_output):
-        output = make_output([("speak", "hi"), ("mcp_weather_get", "{}"), ("emotion", "happy")])
-        om1 = orch.extract_om1_actions(output.actions)
-        assert {a.type for a in om1} == {"speak", "emotion"}
-
-    @pytest.mark.asyncio
-    async def test_empty_actions_returns_empty_lists(self, orch):
-        results, mcp_actions = await orch.execute_mcp_actions([], set())
-        assert results is None
-        assert mcp_actions is None
-        assert orch.extract_om1_actions([]) == []
-
-    def test_all_mcp_returns_empty_om1(self, orch, make_output):
-        output = make_output([("mcp_weather_get", "{}"), ("mcp_slack_post", "{}")])
-        assert orch.extract_om1_actions(output.actions) == []
-
-    @pytest.mark.asyncio
-    async def test_all_om1_returns_empty_mcp(self, orch, make_output):
-        output = make_output([("speak", "hi"), ("emotion", "happy")])
-        results, mcp_actions = await orch.execute_mcp_actions(output.actions, set())
-        assert results is None
-        assert mcp_actions is None
-
-
-class TestExecuteMcpActions:
-    """execute_mcp_actions – concurrent tool execution."""
-
-    @pytest.mark.asyncio
-    async def test_successful_tool_call(self, make_output):
-        client = MockMCPClient(tool_responses={"mcp_weather_get": '{"temp":72}'})
-        orch = MCPOrchestrator(cast(RuntimeConfig, MockConfig(client, MockLLM([]))))
-
-        actions = make_output([("mcp_weather_get", '{"city":"SF"}')]).actions
-        results, _ = await orch.execute_mcp_actions(actions, set())
-
-        assert len(results) == 1
-        assert results[0].success is True
-        assert "72" in results[0].content
-
-    @pytest.mark.asyncio
-    async def test_failed_tool_call_marked_failed(self, make_output):
-        client = MockMCPClient(tool_responses={"mcp_weather_get": Exception("timeout")})
-        orch = MCPOrchestrator(cast(RuntimeConfig, MockConfig(client, MockLLM([]))))
-
-        actions = make_output([("mcp_weather_get", '{"city":"SF"}')]).actions
-        results, _ = await orch.execute_mcp_actions(actions, set())
-
-        assert results[0].success is False
-        assert "timeout" in results[0].content
-
-    @pytest.mark.asyncio
-    async def test_multiple_tools_executed_concurrently(self, mock_client, make_output):
-        orch = MCPOrchestrator(cast(RuntimeConfig, MockConfig(mock_client, MockLLM([]))))
-        actions = make_output([("mcp_weather_get", "{}"), ("mcp_slack_post", "{}")]).actions
-        results, _ = await orch.execute_mcp_actions(actions, set())
-
-        assert len(results) == 2
-        assert all(r.success for r in results)
-
-    @pytest.mark.asyncio
-    async def test_tool_timeout_returns_failed_result(self, make_output):
-        async def slow_call(tool_key, args):
-            await asyncio.sleep(100)
-            return "never"
-
-        client = MockMCPClient()
-        client.call_tool = slow_call
-        orch = MCPOrchestrator(cast(RuntimeConfig, MockConfig(client, MockLLM([]))))
-
-        actions = make_output([("mcp_weather_get", '{"city":"SF"}')]).actions
-        results, _ = await orch.execute_mcp_actions(actions, set())
-
-        assert results[0].success is False
-
-    @pytest.mark.asyncio
-    async def test_dedup_skips_already_succeeded_call(self, make_output):
-        client = MockMCPClient(tool_responses={"mcp_weather_get": '{"temp":72}'})
-        orch = MCPOrchestrator(cast(RuntimeConfig, MockConfig(client, MockLLM([]))))
-
-        actions = make_output([("mcp_weather_get", '{"city":"SF"}')]).actions
-        sig = orch.build_call_signature(actions[0])
-        succeeded = {sig}
-
-        results, mcp_actions = await orch.execute_mcp_actions(actions, succeeded)
-        assert results is None
-        assert mcp_actions is None
-
-
-class TestBuildResultPrompt:
-    """build_result_prompt formats the recall prompt correctly."""
-
-    def test_includes_original_prompt(self, orch):
-        results = [ToolResult("mcp_weather_get", True, '{"temp":72}')]
-        prompt = orch.build_result_prompt("What is the weather?", results)
-        assert "What is the weather?" in prompt
-
-    def test_includes_tool_results_block(self, orch):
-        results = [ToolResult("mcp_weather_get", True, '{"temp":72}')]
-        prompt = orch.build_result_prompt("prompt", results)
-        assert "[Tool Results]" in prompt
-        assert "mcp_weather_get" in prompt
-
-    def test_failed_result_marked_failed(self, orch):
-        results = [ToolResult("mcp_weather_get", False, "Error: timeout")]
-        prompt = orch.build_result_prompt("prompt", results)
-        assert "FAILED" in prompt
-
-    def test_successful_result_marked_ok(self, orch):
-        results = [ToolResult("mcp_weather_get", True, "sunny")]
-        prompt = orch.build_result_prompt("prompt", results)
-        assert "OK" in prompt
-
-    def test_multiple_results_all_included(self, orch):
-        results = [
-            ToolResult("mcp_weather_get", True, "sunny"),
-            ToolResult("mcp_slack_post", False, "Error"),
-        ]
-        prompt = orch.build_result_prompt("prompt", results)
-        assert "mcp_weather_get" in prompt
-        assert "mcp_slack_post" in prompt
-
-
-class TestBuildCallSignature:
-    """build_call_signature – deterministic dedup fingerprint."""
-
-    def test_same_action_produces_same_signature(self, orch):
-        a1 = Action(type="mcp_weather_get", value='{"city":"SF"}')
-        a2 = Action(type="mcp_weather_get", value='{"city":"SF"}')
-        assert orch.build_call_signature(a1) == orch.build_call_signature(a2)
-
-    def test_different_args_produce_different_signatures(self, orch):
-        a1 = Action(type="mcp_weather_get", value='{"city":"SF"}')
-        a2 = Action(type="mcp_weather_get", value='{"city":"NY"}')
-        assert orch.build_call_signature(a1) != orch.build_call_signature(a2)
-
-    def test_different_tools_produce_different_signatures(self, orch):
-        a1 = Action(type="mcp_weather_get", value="{}")
-        a2 = Action(type="mcp_slack_post", value="{}")
-        assert orch.build_call_signature(a1) != orch.build_call_signature(a2)
-
-    def test_key_order_does_not_affect_signature(self, orch):
-        a1 = Action(type="mcp_weather_get", value='{"city":"SF","units":"metric"}')
-        a2 = Action(type="mcp_weather_get", value='{"units":"metric","city":"SF"}')
-        assert orch.build_call_signature(a1) == orch.build_call_signature(a2)
diff --git a/tests/providers/test_asr_provider.py b/tests/providers/test_asr_provider.py
deleted file mode 100644
index 2e117e1e48..0000000000
--- a/tests/providers/test_asr_provider.py
+++ /dev/null
@@ -1,158 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from providers.asr_provider import ASRProvider
-
-
-@pytest.fixture
-def ws_url():
-    return "ws://test.url"
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    ASRProvider.reset()  # type: ignore
-    yield
-    ASRProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    with (
-        patch("providers.asr_provider.ws.Client") as mock_ws_client,
-        patch("providers.asr_provider.AudioInputStream") as mock_audio_stream,
-    ):
-        yield mock_ws_client, mock_audio_stream
-
-
-def test_initialization(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-
-    mock_ws_client.assert_called_once_with(url=ws_url)
-    mock_audio_stream.assert_called_once()
-    assert not provider.running
-
-
-def test_initialization_with_all_parameters(mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-
-    provider = ASRProvider(
-        ws_url="ws://custom.url",
-        device_id=5,
-        microphone_name="test_mic",
-        rate=16000,
-        chunk=8192,
-        language_code="zh-CN",
-        remote_input=True,
-        enable_tts_interrupt=True,
-    )
-
-    mock_ws_client.assert_called_once_with(url="ws://custom.url")
-    mock_audio_stream.assert_called_once()
-
-    call_kwargs = mock_audio_stream.call_args[1]
-    assert call_kwargs["rate"] == 16000
-    assert call_kwargs["chunk"] == 8192
-    assert call_kwargs["device"] == 5
-    assert call_kwargs["device_name"] == "test_mic"
-    assert call_kwargs["language_code"] == "zh-CN"
-    assert call_kwargs["remote_input"] is True
-    assert call_kwargs["enable_tts_interrupt"] is True
-    assert not provider.running
-
-
-def test_singleton_pattern(ws_url):
-    provider1 = ASRProvider(ws_url)
-    provider2 = ASRProvider(ws_url)
-    assert provider1 is provider2
-
-
-def test_register_message_callback(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-    callback = Mock()
-    provider.register_message_callback(callback)
-
-    mock_ws_client.return_value.register_message_callback.assert_called_once_with(callback)
-
-
-def test_register_message_callback_with_none(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-    provider.register_message_callback(None)
-
-    # Should not call register on ws_client when callback is None
-    mock_ws_client.return_value.register_message_callback.assert_not_called()
-
-
-def test_unregister_message_callback_matching(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-    callback = Mock()
-
-    mock_ws_client.return_value.message_callback = callback
-
-    provider.unregister_message_callback(callback)
-
-    assert mock_ws_client.return_value.message_callback is None
-
-
-def test_unregister_message_callback_not_matching(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-    callback1 = Mock()
-    callback2 = Mock()
-
-    mock_ws_client.return_value.message_callback = callback1
-
-    provider.unregister_message_callback(callback2)
-
-    assert mock_ws_client.return_value.message_callback is callback1
-
-
-def test_start(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-    provider.start()
-
-    assert provider.running
-    mock_ws_client.return_value.start.assert_called_once()
-    mock_audio_stream.return_value.start.assert_called_once()
-
-
-def test_start_when_already_running(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-
-    provider.start()
-    assert provider.running
-
-    provider.start()
-
-    assert mock_ws_client.return_value.start.call_count == 1
-    assert mock_audio_stream.return_value.start.call_count == 1
-
-
-def test_stop(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-    provider.start()
-    provider.stop()
-
-    assert not provider.running
-    mock_audio_stream.return_value.stop.assert_called_once()
-    mock_ws_client.return_value.stop.assert_called_once()
-
-
-def test_stop_when_not_running(ws_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRProvider(ws_url)
-
-    provider.stop()
-
-    assert not provider.running
-    mock_audio_stream.return_value.stop.assert_called_once()
-    mock_ws_client.return_value.stop.assert_called_once()
diff --git a/tests/providers/test_asr_rtsp_provider.py b/tests/providers/test_asr_rtsp_provider.py
deleted file mode 100644
index 5c0b7bbf1e..0000000000
--- a/tests/providers/test_asr_rtsp_provider.py
+++ /dev/null
@@ -1,118 +0,0 @@
-from unittest.mock import Mock, patch
-
-import pytest
-
-from providers.asr_rtsp_provider import ASRRTSPProvider
-
-
-@pytest.fixture
-def ws_url():
-    return "ws://test.url"
-
-
-@pytest.fixture
-def rtsp_url():
-    return "rtsp://localhost:8554/audio"
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    ASRRTSPProvider.reset()  # type: ignore
-    yield
-    ASRRTSPProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    with (
-        patch("providers.asr_rtsp_provider.ws.Client") as mock_ws_client,
-        patch("providers.asr_rtsp_provider.AudioRTSPInputStream") as mock_audio_stream,
-    ):
-        # Configure mock instances to avoid blocking
-        mock_ws_instance = Mock()
-        mock_ws_instance.start = Mock()
-        mock_ws_instance.stop = Mock()
-        mock_ws_instance.register_message_callback = Mock()
-        mock_ws_client.return_value = mock_ws_instance
-
-        mock_audio_instance = Mock()
-        mock_audio_instance.start = Mock()
-        mock_audio_instance.stop = Mock()
-        mock_audio_stream.return_value = mock_audio_instance
-
-        yield mock_ws_client, mock_audio_stream
-
-
-def test_initialization(ws_url, rtsp_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRRTSPProvider(ws_url, rtsp_url)
-
-    mock_ws_client.assert_called_once_with(url=ws_url)
-    mock_audio_stream.assert_called_once()
-    assert not provider.running
-
-
-def test_singleton_pattern(ws_url, rtsp_url, mock_dependencies):
-    provider1 = ASRRTSPProvider(ws_url, rtsp_url)
-    provider2 = ASRRTSPProvider(ws_url, rtsp_url)
-    assert provider1 is provider2
-
-
-def test_register_message_callback(ws_url, rtsp_url, mock_dependencies):
-    mock_ws_client, _ = mock_dependencies
-    provider = ASRRTSPProvider(ws_url, rtsp_url)
-    callback = Mock()
-    provider.register_message_callback(callback)
-
-    mock_ws_client.return_value.register_message_callback.assert_called_once_with(callback)
-
-
-def test_register_message_callback_none(ws_url, rtsp_url, mock_dependencies):
-    mock_ws_client, _ = mock_dependencies
-    provider = ASRRTSPProvider(ws_url, rtsp_url)
-    provider.register_message_callback(None)
-
-    mock_ws_client.return_value.register_message_callback.assert_not_called()
-
-
-def test_start(ws_url, rtsp_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRRTSPProvider(ws_url, rtsp_url)
-    provider.start()
-
-    assert provider.running
-    mock_ws_client.return_value.start.assert_called_once()
-    mock_audio_stream.return_value.start.assert_called_once()
-
-    provider.stop()
-
-
-def test_start_already_running(ws_url, rtsp_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRRTSPProvider(ws_url, rtsp_url)
-    provider.start()
-
-    # Reset mocks
-    mock_ws_client.return_value.start.reset_mock()
-    mock_audio_stream.return_value.start.reset_mock()
-
-    # Try starting again
-    provider.start()
-
-    # Should not call start again
-    mock_ws_client.return_value.start.assert_not_called()
-    mock_audio_stream.return_value.start.assert_not_called()
-
-    provider.stop()
-
-
-def test_stop(ws_url, rtsp_url, mock_dependencies):
-    mock_ws_client, mock_audio_stream = mock_dependencies
-    provider = ASRRTSPProvider(ws_url, rtsp_url)
-    provider.start()
-    provider.stop()
-
-    assert not provider.running
-    mock_audio_stream.return_value.stop.assert_called_once()
-    mock_ws_client.return_value.stop.assert_called_once()
diff --git a/tests/providers/test_avatar_llm_state_provider.py b/tests/providers/test_avatar_llm_state_provider.py
deleted file mode 100644
index 8deca58d1c..0000000000
--- a/tests/providers/test_avatar_llm_state_provider.py
+++ /dev/null
@@ -1,190 +0,0 @@
-from typing import Generator
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from llm.output_model import Action, CortexOutputModel
-from providers.avatar_llm_state_provider import AvatarLLMState
-
-
-class MockLLM:
-    @AvatarLLMState.trigger_thinking
-    async def ask(self, prompt: str) -> CortexOutputModel:
-        return CortexOutputModel(actions=[Action(type="speak", value="Hello")])
-
-    @AvatarLLMState.trigger_thinking
-    async def ask_with_face(self, prompt: str) -> CortexOutputModel:
-        return CortexOutputModel(
-            actions=[
-                Action(type="speak", value="Hello"),
-                Action(type="face", value="happy"),
-            ]
-        )
-
-    @AvatarLLMState.trigger_thinking
-    async def ask_that_fails(self, prompt: str) -> CortexOutputModel:
-        raise ValueError("Test error")
-
-
-def reset_avatar_llm_state():
-    AvatarLLMState._instance = None
-
-
-@pytest.fixture
-def mock_avatar_provider() -> Generator[MagicMock, None, None]:
-    reset_avatar_llm_state()
-
-    with (
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as avatar_mock,
-        patch("providers.avatar_llm_state_provider.IOProvider") as io_mock,
-    ):
-
-        provider_instance = MagicMock()
-        provider_instance.running = True
-        provider_instance.send_avatar_command = MagicMock()
-        provider_instance.stop = MagicMock()
-        avatar_mock.return_value = provider_instance
-
-        io_instance = MagicMock()
-        io_instance.llm_prompt = "INPUT: Voice\ntest prompt"
-        io_mock.return_value = io_instance
-
-        yield provider_instance
-
-    reset_avatar_llm_state()
-
-
-@pytest.mark.asyncio
-async def test_decorator_sets_thinking_state(mock_avatar_provider):
-    llm = MockLLM()
-    await llm.ask("test prompt")
-
-    calls = [args[0] for args, _ in mock_avatar_provider.send_avatar_command.call_args_list]
-    assert "Think" in calls
-
-
-@pytest.mark.asyncio
-async def test_decorator_restores_happy_when_no_face_action(mock_avatar_provider):
-    llm = MockLLM()
-    await llm.ask("test prompt")
-
-    calls = [args[0] for args, _ in mock_avatar_provider.send_avatar_command.call_args_list]
-    assert "Think" in calls
-    assert "Happy" in calls
-    assert calls.index("Think") < calls.index("Happy")
-
-
-@pytest.mark.asyncio
-async def test_decorator_keeps_face_action(mock_avatar_provider):
-    llm = MockLLM()
-    await llm.ask_with_face("test prompt")
-
-    calls = [args[0] for args, _ in mock_avatar_provider.send_avatar_command.call_args_list]
-    assert "Think" in calls
-    assert "Happy" not in calls
-
-
-@pytest.mark.asyncio
-async def test_decorator_restores_happy_on_exception(mock_avatar_provider):
-    llm = MockLLM()
-    with pytest.raises(ValueError, match="Test error"):
-        await llm.ask_that_fails("test prompt")
-
-    calls = [args[0] for args, _ in mock_avatar_provider.send_avatar_command.call_args_list]
-    assert "Think" in calls
-    assert "Happy" in calls
-
-
-@pytest.mark.asyncio
-async def test_decorator_handles_avatar_provider_not_running():
-    reset_avatar_llm_state()
-
-    with (
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as avatar_mock,
-        patch("providers.avatar_llm_state_provider.IOProvider") as io_mock,
-    ):
-
-        provider_instance = MagicMock()
-        provider_instance.running = False
-        provider_instance.send_avatar_command = MagicMock()
-        provider_instance.stop = MagicMock()
-
-        avatar_mock.return_value = provider_instance
-
-        io_instance = MagicMock()
-        io_instance.llm_prompt = "INPUT: Voice\ntest prompt"
-        io_mock.return_value = io_instance
-
-        llm = MockLLM()
-        result = await llm.ask("test prompt")
-
-        assert result is not None
-        provider_instance.send_avatar_command.assert_not_called()
-
-    reset_avatar_llm_state()
-
-
-@pytest.mark.asyncio
-async def test_decorator_handles_avatar_provider_exception():
-    reset_avatar_llm_state()
-
-    with (
-        patch("providers.avatar_llm_state_provider.AvatarProvider") as avatar_mock,
-        patch("providers.avatar_llm_state_provider.IOProvider") as io_mock,
-    ):
-
-        avatar_mock.side_effect = Exception("Avatar provider error")
-
-        io_instance = MagicMock()
-        io_instance.llm_prompt = "INPUT: Voice\ntest prompt"
-        io_mock.return_value = io_instance
-
-        llm = MockLLM()
-        result = await llm.ask("test prompt")
-
-        assert result is not None
-
-    reset_avatar_llm_state()
-
-
-@pytest.mark.asyncio
-async def test_decorator_preserves_return_value(mock_avatar_provider):
-    llm = MockLLM()
-    result = await llm.ask("test prompt")
-
-    assert isinstance(result, CortexOutputModel)
-    assert len(result.actions) == 1
-    assert result.actions[0].type == "speak"
-    assert result.actions[0].value == "Hello"
-
-
-@pytest.mark.asyncio
-async def test_decorator_handles_result_without_actions(mock_avatar_provider):
-    class MockLLMNoActions:
-        @AvatarLLMState.trigger_thinking
-        async def ask(self, prompt: str):
-            return {"response": "test"}
-
-    llm = MockLLMNoActions()
-    result = await llm.ask("test prompt")
-
-    assert result is not None
-    calls = [args[0] for args, _ in mock_avatar_provider.send_avatar_command.call_args_list]
-    assert "Think" in calls
-    assert "Happy" in calls
-
-
-@pytest.mark.asyncio
-async def test_decorator_handles_none_result(mock_avatar_provider):
-    class MockLLMNone:
-        @AvatarLLMState.trigger_thinking
-        async def ask(self, prompt: str):
-            return None
-
-    llm = MockLLMNone()
-    result = await llm.ask("test prompt")
-
-    assert result is None
-    calls = [args[0] for args, _ in mock_avatar_provider.send_avatar_command.call_args_list]
-    assert "Think" in calls
-    assert "Happy" in calls
diff --git a/tests/providers/test_avatar_provider.py b/tests/providers/test_avatar_provider.py
deleted file mode 100644
index 4d568b3ba7..0000000000
--- a/tests/providers/test_avatar_provider.py
+++ /dev/null
@@ -1,139 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.avatar_provider import AvatarProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    AvatarProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = AvatarProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    AvatarProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_zenoh():
-    with patch("providers.avatar_provider.open_zenoh_session") as mock_session:
-        mock_session_instance = MagicMock()
-        mock_publisher = MagicMock()
-        mock_healthcheck_publisher = MagicMock()
-        mock_subscriber = MagicMock()
-        mock_session_instance.declare_publisher.side_effect = [
-            mock_publisher,
-            mock_healthcheck_publisher,
-        ]
-        mock_session_instance.declare_subscriber.return_value = mock_subscriber
-        mock_session.return_value = mock_session_instance
-        yield (
-            mock_session,
-            mock_session_instance,
-            mock_publisher,
-            mock_healthcheck_publisher,
-            mock_subscriber,
-        )
-
-
-def test_initialization(mock_zenoh):
-    (
-        mock_session,
-        mock_session_instance,
-        mock_publisher,
-        mock_healthcheck_publisher,
-        mock_subscriber,
-    ) = mock_zenoh
-    provider = AvatarProvider()
-
-    assert provider.running
-    assert provider.session == mock_session_instance
-    assert provider.avatar_publisher == mock_publisher
-    assert provider.avatar_healthcheck_publisher == mock_healthcheck_publisher
-    assert provider.avatar_subscriber == mock_subscriber
-
-
-def test_singleton_pattern():
-    provider1 = AvatarProvider()
-    provider2 = AvatarProvider()
-    assert provider1 is provider2
-
-
-def test_initialization_failure():
-    with patch("providers.avatar_provider.open_zenoh_session") as mock_session:
-        mock_session.side_effect = Exception("Connection failed")
-        provider = AvatarProvider()
-
-        assert not provider.running
-        assert provider.session is None
-
-
-def test_send_avatar_command(mock_zenoh):
-    (
-        mock_session,
-        mock_session_instance,
-        mock_publisher,
-        mock_healthcheck_publisher,
-        mock_subscriber,
-    ) = mock_zenoh
-    provider = AvatarProvider()
-
-    result = provider.send_avatar_command("SMILE")
-
-    assert result is True
-    mock_publisher.put.assert_called_once()
-
-
-def test_send_avatar_command_not_running(mock_zenoh):
-    (
-        mock_session,
-        mock_session_instance,
-        mock_publisher,
-        mock_healthcheck_publisher,
-        mock_subscriber,
-    ) = mock_zenoh
-    provider = AvatarProvider()
-    provider.running = False
-
-    result = provider.send_avatar_command("SMILE")
-
-    assert result is False
-    mock_publisher.put.assert_not_called()
-
-
-def test_send_avatar_command_no_publisher(mock_zenoh):
-    (
-        mock_session,
-        mock_session_instance,
-        mock_publisher,
-        mock_healthcheck_publisher,
-        mock_subscriber,
-    ) = mock_zenoh
-    provider = AvatarProvider()
-    provider.avatar_publisher = None
-
-    result = provider.send_avatar_command("SMILE")
-
-    assert result is False
-
-
-def test_stop(mock_zenoh):
-    (
-        mock_session,
-        mock_session_instance,
-        mock_publisher,
-        mock_healthcheck_publisher,
-        mock_subscriber,
-    ) = mock_zenoh
-    provider = AvatarProvider()
-
-    provider.stop()
-
-    assert not provider.running
-    mock_session_instance.close.assert_called_once()
diff --git a/tests/providers/test_config_provider.py b/tests/providers/test_config_provider.py
deleted file mode 100644
index 0350eed155..0000000000
--- a/tests/providers/test_config_provider.py
+++ /dev/null
@@ -1,114 +0,0 @@
-import os
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.config_provider import ConfigProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    ConfigProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = ConfigProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    ConfigProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_zenoh():
-    with patch("providers.config_provider.open_zenoh_session") as mock_session:
-        mock_session_instance = MagicMock()
-        mock_publisher = MagicMock()
-        mock_subscriber = MagicMock()
-        mock_session_instance.declare_publisher.return_value = mock_publisher
-        mock_session_instance.declare_subscriber.return_value = mock_subscriber
-        mock_session.return_value = mock_session_instance
-        yield mock_session, mock_session_instance, mock_publisher, mock_subscriber
-
-
-def test_initialization(mock_zenoh):
-    mock_session, mock_session_instance, mock_publisher, mock_subscriber = mock_zenoh
-    provider = ConfigProvider()
-
-    assert provider.running
-    assert provider.session == mock_session_instance
-    assert provider.config_response_publisher == mock_publisher
-    assert provider.config_request_subscriber == mock_subscriber
-
-    mock_session_instance.declare_publisher.assert_called_once_with("om/config/response")
-    mock_session_instance.declare_subscriber.assert_called_once()
-
-
-def test_singleton_pattern():
-    provider1 = ConfigProvider()
-    provider2 = ConfigProvider()
-    assert provider1 is provider2
-
-
-def test_get_runtime_config_path(mock_zenoh):
-    provider = ConfigProvider()
-    config_path = provider._get_runtime_config_path()
-
-    assert config_path.endswith(".runtime.json5")
-    assert "config/memory" in config_path
-
-
-def test_initialization_failure():
-    with patch("providers.config_provider.open_zenoh_session") as mock_session:
-        mock_session.side_effect = Exception("Connection failed")
-        provider = ConfigProvider()
-
-        assert not provider.running
-        assert provider.session is None
-
-
-def test_stop(mock_zenoh):
-    _, mock_session_instance, _, _ = mock_zenoh
-    provider = ConfigProvider()
-
-    provider.stop()
-
-    assert not provider.running
-    mock_session_instance.close.assert_called_once()
-
-
-def test_handle_config_request(mock_zenoh):
-    """Test that config request handler is registered correctly."""
-    _, mock_session_instance, _, _ = mock_zenoh
-    ConfigProvider()
-
-    call_args = mock_session_instance.declare_subscriber.call_args
-    assert call_args[0][0] == "om/config/request"
-    assert callable(call_args[0][1])
-
-
-def test_set_config_uses_unique_temp_file(mock_zenoh, tmp_path):
-    """Test that _handle_set_config uses unique temp file names to prevent race condition."""
-    provider = ConfigProvider()
-    provider.config_path = str(tmp_path / ".runtime.json5")
-
-    temp_paths_used = []
-    original_rename = os.rename
-
-    def track_rename(src, dst):
-        temp_paths_used.append(src)
-        return original_rename(src, dst)
-
-    with patch("os.rename", side_effect=track_rename):
-        with patch.object(provider, "_send_config_response"):
-            from zenoh_msgs import String
-
-            provider._handle_set_config(String("req1"), '{"key": "value1"}')
-            provider._handle_set_config(String("req2"), '{"key": "value2"}')
-
-    assert len(temp_paths_used) == 2
-    assert temp_paths_used[0] != temp_paths_used[1], "Temp files should have unique names"
-    assert ".tmp." in temp_paths_used[0], "Temp file should contain .tmp. prefix"
-    assert ".tmp." in temp_paths_used[1], "Temp file should contain .tmp. prefix"
diff --git a/tests/providers/test_context_provider.py b/tests/providers/test_context_provider.py
deleted file mode 100644
index 683073c787..0000000000
--- a/tests/providers/test_context_provider.py
+++ /dev/null
@@ -1,97 +0,0 @@
-import json
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.context_provider import ContextProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    ContextProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = ContextProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    ContextProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_zenoh():
-    with patch("providers.context_provider.open_zenoh_session") as mock_session:
-        mock_session_instance = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session_instance.declare_publisher.return_value = mock_publisher
-        mock_session.return_value = mock_session_instance
-        yield mock_session, mock_session_instance, mock_publisher
-
-
-def test_initialization(mock_zenoh):
-    _, mock_session_instance, mock_publisher = mock_zenoh
-    provider = ContextProvider()
-
-    assert provider.context_update_topic == "om/mode/context"
-    assert provider.session == mock_session_instance
-    assert provider.publisher == mock_publisher
-    mock_session_instance.declare_publisher.assert_called_once_with("om/mode/context")
-
-
-def test_singleton_pattern():
-    provider1 = ContextProvider()
-    provider2 = ContextProvider()
-    assert provider1 is provider2
-
-
-def test_update_context(mock_zenoh):
-    _, _, mock_publisher = mock_zenoh
-    provider = ContextProvider()
-
-    context = {"location": "kitchen", "task": "cooking"}
-    provider.update_context(context)
-
-    expected_json = json.dumps(context)
-    mock_publisher.put.assert_called_once_with(expected_json.encode("utf-8"))
-
-
-def test_update_context_no_publisher(mock_zenoh):
-    _, _, mock_publisher = mock_zenoh
-    provider = ContextProvider()
-    provider.publisher = None
-
-    context = {"location": "kitchen"}
-    provider.update_context(context)
-
-    mock_publisher.put.assert_not_called()
-
-
-def test_set_context_field(mock_zenoh):
-    _, _, mock_publisher = mock_zenoh
-    provider = ContextProvider()
-
-    provider.set_context_field("battery_level", 75)
-
-    expected_json = json.dumps({"battery_level": 75})
-    mock_publisher.put.assert_called_once_with(expected_json.encode("utf-8"))
-
-
-def test_stop(mock_zenoh):
-    _, mock_session_instance, _ = mock_zenoh
-    provider = ContextProvider()
-
-    provider.stop()
-
-    mock_session_instance.close.assert_called_once()
-
-
-def test_initialization_failure():
-    with patch("providers.context_provider.open_zenoh_session") as mock_session:
-        mock_session.side_effect = Exception("Connection failed")
-        provider = ContextProvider()
-
-        assert provider.session is None
-        assert provider.publisher is None
diff --git a/tests/providers/test_d435_provider.py b/tests/providers/test_d435_provider.py
deleted file mode 100644
index e440956b69..0000000000
--- a/tests/providers/test_d435_provider.py
+++ /dev/null
@@ -1,125 +0,0 @@
-import math
-
-import pytest
-
-from providers.d435_provider import D435Provider
-
-
-@pytest.fixture
-def d435_provider():
-    """
-    Fixture to create a D435Provider instance for testing.
-    """
-    original_class = D435Provider._singleton_class  # type: ignore
-    provider = original_class.__new__(original_class)
-    return provider
-
-
-def test_calculate_angle_and_distance_origin(d435_provider):
-    """
-    Test calculation when point is at the origin (0, 0).
-    atan2(0, 0) is undefined, but Python returns 0.0.
-    Distance should be 0.
-    """
-    world_x, world_y = 0.0, 0.0
-    expected_angle = 0.0
-    expected_distance = 0.0
-
-    angle, distance = d435_provider.calculate_angle_and_distance(world_x, world_y)
-
-    # Check distance first, as angle might be undefined at origin
-    assert distance == expected_distance
-    # Python's atan2 handles (0, 0) as 0.0 degrees
-    assert angle == expected_angle
-
-
-def test_calculate_angle_and_distance_positive_x_axis(d435_provider):
-    """
-    Test calculation for a point on the positive x-axis (e.g., 3, 0).
-    Angle should be 0 degrees, distance is the x-value.
-    """
-    world_x, world_y = 3.0, 0.0
-    expected_angle = 0.0
-    expected_distance = 3.0
-
-    angle, distance = d435_provider.calculate_angle_and_distance(world_x, world_y)
-
-    assert angle == expected_angle
-    assert distance == expected_distance
-
-
-def test_calculate_angle_and_distance_positive_y_axis(d435_provider):
-    """
-    Test calculation for a point on the positive y-axis (e.g., 0, 4).
-    Angle should be 90 degrees, distance is the y-value.
-    """
-    world_x, world_y = 0.0, 4.0
-    expected_angle = 90.0
-    expected_distance = 4.0
-
-    angle, distance = d435_provider.calculate_angle_and_distance(world_x, world_y)
-
-    assert angle == expected_angle
-    assert distance == expected_distance
-
-
-def test_calculate_angle_and_distance_negative_x_axis(d435_provider):
-    """
-    Test calculation for a point on the negative x-axis (e.g., -5, 0).
-    Angle should be 180 degrees (or -180, depending on atan2 convention, Python returns +180).
-    Distance is the absolute x-value.
-    """
-    world_x, world_y = -5.0, 0.0
-    expected_angle = 180.0
-    expected_distance = 5.0
-
-    angle, distance = d435_provider.calculate_angle_and_distance(world_x, world_y)
-
-    assert angle == expected_angle
-    assert distance == expected_distance
-
-
-def test_calculate_angle_and_distance_negative_y_axis(d435_provider):
-    """
-    Test calculation for a point on the negative y-axis (e.g., 0, -6).
-    Angle should be -90 degrees.
-    Distance is the absolute y-value.
-    """
-    world_x, world_y = 0.0, -6.0
-    expected_angle = -90.0
-    expected_distance = 6.0
-
-    angle, distance = d435_provider.calculate_angle_and_distance(world_x, world_y)
-
-    assert angle == expected_angle
-    assert distance == expected_distance
-
-
-def test_calculate_angle_and_distance_quadrant_1(d435_provider):
-    """
-    Test calculation for a point in Quadrant I (positive x, positive y).
-    e.g., (1, 1) -> angle 45 degrees.
-    """
-    world_x, world_y = 1.0, 1.0
-    expected_angle = 45.0
-    expected_distance = math.sqrt(2)
-
-    angle, distance = d435_provider.calculate_angle_and_distance(world_x, world_y)
-
-    assert math.isclose(angle, expected_angle, abs_tol=1e-10)
-    assert math.isclose(distance, expected_distance, abs_tol=1e-10)
-
-
-def test_calculate_angle_and_distance_arbitrary_point(d435_provider):
-    """
-    Test calculation for an arbitrary point (e.g., 3, 4).
-    Angle should be atan2(4, 3) in degrees, distance is 5 (3-4-5 triangle).
-    """
-    world_x, world_y = 3.0, 4.0
-    expected_angle = math.degrees(math.atan2(world_y, world_x))
-    expected_distance = 5.0
-
-    angle, distance = d435_provider.calculate_angle_and_distance(world_x, world_y)
-
-    assert math.isclose(angle, expected_angle, abs_tol=1e-10)
-    assert math.isclose(distance, expected_distance, abs_tol=1e-10)
diff --git a/tests/providers/test_elevenlabs_tts_provider.py b/tests/providers/test_elevenlabs_tts_provider.py
deleted file mode 100644
index 4fbc414bff..0000000000
--- a/tests/providers/test_elevenlabs_tts_provider.py
+++ /dev/null
@@ -1,174 +0,0 @@
-import importlib
-import sys
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-
-@pytest.fixture
-def mock_external_modules(monkeypatch):
-    """Mock external modules before importing the provider module."""
-    mock_om1_speech = MagicMock()
-    mock_om1_speech.AudioOutputStream = MagicMock()
-
-    mock_pyaudio = MagicMock()
-    mock_pyaudio.PyAudio = MagicMock()
-    mock_instance = MagicMock()
-    mock_instance.get_default_output_device_info.return_value = {
-        "name": "Mock Speaker",
-        "index": 0,
-    }
-    mock_pyaudio.PyAudio.return_value = mock_instance
-
-    monkeypatch.setitem(sys.modules, "om1_speech", mock_om1_speech)
-    monkeypatch.setitem(sys.modules, "pyaudio", mock_pyaudio)
-
-    return {
-        "om1_speech": mock_om1_speech,
-        "pyaudio": mock_pyaudio,
-    }
-
-
-@pytest.fixture
-def provider_module(mock_external_modules):
-    """Import the provider module after mocking external deps."""
-    sys.modules.pop("providers.elevenlabs_tts_provider", None)
-    return importlib.import_module("providers.elevenlabs_tts_provider")
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton(provider_module):
-    """Reset singleton instances between tests."""
-    provider_module.ElevenLabsTTSProvider.reset()  # type: ignore
-    yield
-    provider_module.ElevenLabsTTSProvider.reset()  # type: ignore
-
-
-def test_configure_no_restart_needed_when_not_running(provider_module):
-    """Test configure doesn't call stop when provider is not running."""
-    provider = provider_module.ElevenLabsTTSProvider()
-    provider.running = False
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(api_key="same_key")
-        mock_stop.assert_not_called()
-
-
-def test_configure_restart_needed_when_running(provider_module):
-    """Test configure calls stop when running and parameters change."""
-    provider = provider_module.ElevenLabsTTSProvider(api_key="original_key")
-    provider.running = True
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(api_key="new_key")
-        mock_stop.assert_called_once()
-
-
-def test_configure_restart_needed_url_change(provider_module):
-    """Test restart is triggered when URL changes."""
-    original_url = "https://original.api.com"
-    new_url = "https://new.api.com"
-
-    provider = provider_module.ElevenLabsTTSProvider(url=original_url)
-    provider.running = True
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(url=new_url)
-        mock_stop.assert_called_once()
-
-
-def test_configure_restart_needed_api_key_change(provider_module):
-    """Test restart is triggered when API key changes."""
-    provider = provider_module.ElevenLabsTTSProvider(api_key="original_key")
-    provider.running = True
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(api_key="new_key")
-        mock_stop.assert_called_once()
-
-
-def test_configure_restart_needed_elevenlabs_api_key_change(provider_module):
-    """Test restart is triggered when ElevenLabs API key changes."""
-    provider = provider_module.ElevenLabsTTSProvider(elevenlabs_api_key="original_key")
-    provider.running = True
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(elevenlabs_api_key="new_key")
-        mock_stop.assert_called_once()
-
-
-def test_configure_restart_needed_voice_id_change(provider_module):
-    """Test restart is triggered when voice ID changes."""
-    provider = provider_module.ElevenLabsTTSProvider(voice_id="original_voice")
-    provider.running = True
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(voice_id="new_voice")
-        mock_stop.assert_called_once()
-
-
-def test_configure_restart_needed_model_id_change(provider_module):
-    """Test restart is triggered when model ID changes."""
-    provider = provider_module.ElevenLabsTTSProvider(model_id="original_model")
-    provider.running = True
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(model_id="new_model")
-        mock_stop.assert_called_once()
-
-
-def test_configure_restart_needed_output_format_change(provider_module):
-    """Test restart is triggered when output format changes."""
-    provider = provider_module.ElevenLabsTTSProvider(output_format="pcm_16000")
-    provider.running = True
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(output_format="pcm_44100")
-        mock_stop.assert_called_once()
-
-
-def test_configure_no_restart_when_same_parameters(provider_module, mock_external_modules):
-    """Test no restart when all parameters remain the same."""
-    url = "https://api.openmind.com/api/core/elevenlabs/tts"
-    api_key = "same_key"
-    elevenlabs_key = "same_elevenlabs_key"
-    voice_id = "same_voice"
-    model_id = "same_model"
-    output_format = "same_format"
-
-    mock_audio_stream = MagicMock()
-    mock_audio_stream._url = url
-    mock_external_modules["om1_speech"].AudioOutputStream.return_value = mock_audio_stream
-
-    provider = provider_module.ElevenLabsTTSProvider(
-        url=url,
-        api_key=api_key,
-        elevenlabs_api_key=elevenlabs_key,
-        voice_id=voice_id,
-        model_id=model_id,
-        output_format=output_format,
-    )
-    provider.running = True
-
-    provider._audio_stream._url = url
-
-    with patch.object(provider, "stop") as mock_stop:
-        provider.configure(
-            url=url,
-            api_key=api_key,
-            elevenlabs_api_key=elevenlabs_key,
-            voice_id=voice_id,
-            model_id=model_id,
-            output_format=output_format,
-        )
-        mock_stop.assert_not_called()
-
-
-def test_start_stop(provider_module):
-    """Test start and stop functionality."""
-    provider = provider_module.ElevenLabsTTSProvider(url="test_url")
-    provider.start()
-    assert provider.running is True
-
-    provider.stop()
-    assert provider.running is False
diff --git a/tests/providers/test_fabric_map_provider.py b/tests/providers/test_fabric_map_provider.py
deleted file mode 100644
index f8cadc9e5b..0000000000
--- a/tests/providers/test_fabric_map_provider.py
+++ /dev/null
@@ -1,247 +0,0 @@
-import os
-import tempfile
-import time
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.fabric_map_provider import (
-    FabricData,
-    FabricDataSubmitter,
-    RFData,
-    RFDataRaw,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    FabricDataSubmitter.reset()  # type: ignore
-    yield
-    FabricDataSubmitter.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_requests():
-    with patch("providers.fabric_map_provider.requests") as mock_req:
-        yield mock_req
-
-
-def test_rf_data_to_dict():
-    rf_data = RFData(
-        unix_ts=1234567890.0,
-        address="AA:BB:CC:DD:EE:FF",
-        name="TestDevice",
-        rssi=-50,
-        tx_power=-20,
-        service_uuid="1234",
-        mfgkey="key",
-        mfgval="val",
-    )
-
-    data_dict = rf_data.to_dict()
-
-    assert data_dict["unix_ts"] == 1234567890.0
-    assert data_dict["address"] == "AA:BB:CC:DD:EE:FF"
-    assert data_dict["name"] == "TestDevice"
-    assert data_dict["rssi"] == -50
-    assert data_dict["tx_power"] == -20
-
-
-def test_rf_data_raw_to_dict():
-    rf_data_raw = RFDataRaw(
-        unix_ts=1234567890.0,
-        address="AA:BB:CC:DD:EE:FF",
-        rssi=-50,
-        packet="test_packet",
-    )
-
-    data_dict = rf_data_raw.to_dict()
-
-    assert data_dict["unix_ts"] == 1234567890.0
-    assert data_dict["address"] == "AA:BB:CC:DD:EE:FF"
-    assert data_dict["rssi"] == -50
-    assert data_dict["packet"] == "test_packet"
-
-
-def test_initialization():
-    provider = FabricDataSubmitter()
-
-    assert provider is not None
-
-
-def test_singleton_pattern():
-    """Test that FabricDataSubmitter follows the singleton pattern."""
-    provider1 = FabricDataSubmitter()
-    provider2 = FabricDataSubmitter()
-    assert provider1 is provider2
-
-
-def test_fabric_url():
-    """Test that the fabric URL is set correctly."""
-    provider = FabricDataSubmitter(base_url="http://test.endpoint")
-    assert "test.endpoint" in provider.base_url
-
-
-def test_share_data(mock_requests):
-    """Test sharing fabric data with an API key."""
-    mock_response = MagicMock()
-    mock_response.status_code = 201
-    mock_requests.post.return_value = mock_response
-
-    provider = FabricDataSubmitter(api_key="test_key")
-
-    fabric_data = FabricData(
-        machine_id="test_machine",
-        payload_idx=1,
-        gps_unix_ts=1234567890.0,
-        gps_lat=37.7749,
-        gps_lon=-122.4194,
-        gps_alt=10.0,
-        gps_qua=2,
-        rtk_unix_ts=0.0,
-        rtk_lat=0.0,
-        rtk_lon=0.0,
-        rtk_alt=0.0,
-        rtk_qua=0,
-        mag=0.0,
-        unix_ts=1234567890.0,
-        odom_x=0.0,
-        odom_y=0.0,
-        odom_rockchip_ts=0.0,
-        odom_subscriber_ts=0.0,
-        odom_yaw_0_360=0.0,
-        odom_yaw_m180_p180=0.0,
-        rf_data=[],
-        rf_data_raw=[],
-    )
-
-    provider.share_data(fabric_data)
-    time.sleep(0.1)
-
-    mock_requests.post.assert_called_once()
-
-
-def test_share_data_no_api_key(mock_requests):
-    """Test sharing fabric data without an API key."""
-    provider = FabricDataSubmitter()
-
-    fabric_data = FabricData(
-        machine_id="test_machine",
-        payload_idx=1,
-        gps_unix_ts=1234567890.0,
-        gps_lat=37.7749,
-        gps_lon=-122.4194,
-        gps_alt=10.0,
-        gps_qua=2,
-        rtk_unix_ts=0.0,
-        rtk_lat=0.0,
-        rtk_lon=0.0,
-        rtk_alt=0.0,
-        rtk_qua=0,
-        mag=0.0,
-        unix_ts=1234567890.0,
-        odom_x=0.0,
-        odom_y=0.0,
-        odom_rockchip_ts=0.0,
-        odom_subscriber_ts=0.0,
-        odom_yaw_0_360=0.0,
-        odom_yaw_m180_p180=0.0,
-        rf_data=[],
-        rf_data_raw=[],
-    )
-
-    provider.share_data(fabric_data)
-    time.sleep(0.1)
-    mock_requests.post.assert_not_called()
-
-
-def test_share_data_with_rf_data(mock_requests):
-    """Test sharing fabric data including RF data."""
-    mock_response = MagicMock()
-    mock_response.status_code = 201
-    mock_requests.post.return_value = mock_response
-
-    provider = FabricDataSubmitter(api_key="test_key")
-
-    ble_data = [
-        RFDataRaw(
-            unix_ts=1234567890.0,
-            address="AA:BB:CC:DD:EE:FF",
-            rssi=-50,
-            packet="packet1",
-        )
-    ]
-
-    fabric_data = FabricData(
-        machine_id="test_machine",
-        payload_idx=1,
-        gps_unix_ts=1234567890.0,
-        gps_lat=37.7749,
-        gps_lon=-122.4194,
-        gps_alt=10.0,
-        gps_qua=2,
-        rtk_unix_ts=0.0,
-        rtk_lat=0.0,
-        rtk_lon=0.0,
-        rtk_alt=0.0,
-        rtk_qua=0,
-        mag=0.0,
-        unix_ts=1234567890.0,
-        odom_x=0.0,
-        odom_y=0.0,
-        odom_rockchip_ts=0.0,
-        odom_subscriber_ts=0.0,
-        odom_yaw_0_360=0.0,
-        odom_yaw_m180_p180=0.0,
-        rf_data=[],
-        rf_data_raw=ble_data,
-    )
-
-    provider.share_data(fabric_data)
-    time.sleep(0.1)
-
-    mock_requests.post.assert_called_once()
-
-
-def test_write_to_local_file(mock_requests):
-    """Test writing fabric data to a local file."""
-    with tempfile.TemporaryDirectory() as tmpdir:
-        provider = FabricDataSubmitter(api_key="test_key", write_to_local_file=True)
-
-        provider.filename_base = os.path.join(tmpdir, "fabric")
-        provider.filename_current = provider.update_filename()
-
-        fabric_data = FabricData(
-            machine_id="test_machine",
-            payload_idx=1,
-            gps_unix_ts=1234567890.0,
-            gps_lat=37.7749,
-            gps_lon=-122.4194,
-            gps_alt=10.0,
-            gps_qua=2,
-            rtk_unix_ts=0.0,
-            rtk_lat=0.0,
-            rtk_lon=0.0,
-            rtk_alt=0.0,
-            rtk_qua=0,
-            mag=0.0,
-            unix_ts=1234567890.0,
-            odom_x=0.0,
-            odom_y=0.0,
-            odom_rockchip_ts=0.0,
-            odom_subscriber_ts=0.0,
-            odom_yaw_0_360=0.0,
-            odom_yaw_m180_p180=0.0,
-            rf_data=[],
-            rf_data_raw=[],
-        )
-
-        mock_response = MagicMock()
-        mock_response.status_code = 201
-        mock_requests.post.return_value = mock_response
-
-        provider.share_data(fabric_data)
-        time.sleep(0.1)
-
-        assert os.path.exists(provider.filename_current)
diff --git a/tests/providers/test_face_presence_provider.py b/tests/providers/test_face_presence_provider.py
deleted file mode 100644
index aae34fc680..0000000000
--- a/tests/providers/test_face_presence_provider.py
+++ /dev/null
@@ -1,255 +0,0 @@
-from providers.face_presence_provider import FacePresenceProvider, PresenceSnapshot
-
-
-class _FakeResp:
-    def __init__(self, payload, status=200):
-        self._payload = payload
-        self.status_code = status
-
-    def raise_for_status(self):
-        if not (200 <= self.status_code < 300):
-            raise RuntimeError(f"HTTP {self.status_code}")
-
-    def json(self):
-        return self._payload
-
-
-def _patch_post(monkeypatch, provider: FacePresenceProvider, payload: dict):
-    """Patch requests.Session.post to return a fake /who response."""
-
-    def _fake_post(url, json, timeout):
-        # mimic what /who would return
-        return _FakeResp(payload)
-
-    monkeypatch.setattr(provider._session, "post", _fake_post)
-
-
-def test_presence_snapshot_to_text_variants():
-    # 1 known, 0 unknown
-    snap = PresenceSnapshot(timestamp=1.0, names=["wendy"], unknown_faces=0, closest_name="wendy", raw={})
-    assert snap.to_text() == "In Camera View: 1 known (wendy). Closest: wendy."
-
-    # 3 known, 2 unknown (ordering and 'and' grammar)
-    snap = PresenceSnapshot(
-        timestamp=1.0, names=["wendy", "alice", "bob"], unknown_faces=2, closest_name="wendy", raw={}
-    )
-    assert snap.to_text() == "In Camera View: 3 known (wendy, alice and bob) and 2 unknown faces. Closest: wendy."
-
-    # 0 known, 1 unknown (singular form)
-    snap = PresenceSnapshot(timestamp=1.0, names=[], unknown_faces=1, closest_name="unknown", raw={})
-    assert snap.to_text() == "In Camera View: 1 unknown face. Closest: unknown."
-
-    # duplicates and 'unknown' should be cleaned out
-    snap = PresenceSnapshot(
-        timestamp=1.0, names=["wendy", "wendy", "unknown"], unknown_faces=0, closest_name="wendy", raw={}
-    )
-    assert snap.to_text() == "In Camera View: 1 known (wendy). Closest: wendy."
-
-    # nothing
-    snap = PresenceSnapshot(timestamp=1.0, names=[], unknown_faces=0, closest_name="unknown", raw={})
-    assert snap.to_text() == "No one in view."
-
-
-def test_frames_based_unknown_suppressed(monkeypatch):
-    """
-    Suppress when frames_recent >= min_obs_window and
-    frames_with_unknown / frames_recent < unknown_frac_threshold.
-    """
-    provider = FacePresenceProvider(
-        base_url="http://fake",
-        recent_sec=3.0,
-        unknown_frac_threshold=0.15,  # 15%
-        min_obs_window=24,  # need at least 24 frames
-    )
-    provider.prefer_recent = True  # type: ignore
-
-    payload = {
-        "server_ts": 1000.0,
-        "recent_sec": 3.0,
-        "faces": [
-            {"name": "wendy", "area": 1000},
-        ],
-        "now": ["wendy"],
-        "unknown_now": 0,
-        "frames_recent": 40,  # >= min_obs_window
-        "frames_with_unknown": 4,  # 4 / 40 = 10% < 15%
-        "recent_name_frames": {"wendy": 30},
-        "unknown_recent": 3,  # peak unknown in any frame
-    }
-    _patch_post(monkeypatch, provider, payload)
-
-    snap = provider._fetch_snapshot()
-    assert set(snap.names) == {"wendy"}
-    assert snap.unknown_faces == 0
-    assert provider.unknown_faces == 0
-
-
-def test_frames_based_unknown_kept(monkeypatch):
-    """
-    Keep peak when frequency >= threshold (or window too small).
-    """
-    provider = FacePresenceProvider(
-        base_url="http://fake",
-        recent_sec=3.0,
-        unknown_frac_threshold=0.15,
-        min_obs_window=24,
-    )
-    provider.prefer_recent = True  # type: ignore
-
-    payload = {
-        "server_ts": 1000.0,
-        "recent_sec": 3.0,
-        "faces": [
-            {"name": "wendy", "area": 1000},
-            {"name": "unknown", "area": 800},
-            {"name": "unknown", "area": 700},
-            {"name": "unknown", "area": 600},
-            {"name": "unknown", "area": 550},
-        ],
-        "now": ["wendy"],
-        "unknown_now": 0,
-        "frames_recent": 40,
-        "frames_with_unknown": 20,  # 50% >= 15%
-        "recent_name_frames": {"wendy": 28},
-        "unknown_recent": 5,  # peak unknown per frame
-    }
-    _patch_post(monkeypatch, provider, payload)
-
-    snap = provider._fetch_snapshot()
-    assert set(snap.names) == {"wendy"}
-    assert snap.unknown_faces == 4
-    assert provider.unknown_faces == 4
-
-
-def test_frames_recent_zero_falls_back_to_now(monkeypatch):
-    """
-    When frames_recent == 0, provider should fall back to `now` values.
-    """
-    provider = FacePresenceProvider(base_url="http://fake", recent_sec=3.0)
-    provider.prefer_recent = True  # type: ignore
-
-    payload = {
-        "server_ts": 1000.0,
-        "recent_sec": 3.0,
-        "faces": [
-            {"name": "wendy", "area": 1000},
-            {"name": "unknown", "area": 800},
-            {"name": "unknown", "area": 700},
-        ],
-        "now": ["wendy", "unknown", "unknown"],
-        "unknown_now": 2,
-        "frames_recent": 0,
-        "frames_with_unknown": 0,
-        "recent_name_frames": {},
-        "unknown_recent": 0,
-    }
-    _patch_post(monkeypatch, provider, payload)
-
-    snap = provider._fetch_snapshot()
-    assert set(snap.names) == {"wendy"}
-    assert snap.unknown_faces == 2
-    assert provider.unknown_faces == 2
-
-
-def test_prefer_now_path(monkeypatch):
-    """
-    prefer_recent=False → use `now` path regardless of frames fields.
-    """
-    provider = FacePresenceProvider(base_url="http://fake", recent_sec=3.0)
-    provider.prefer_recent = False  # type: ignore
-
-    payload = {
-        "server_ts": 1000.0,
-        "recent_sec": 3.0,
-        "faces": [
-            {"name": "alice", "area": 1000},
-            {"name": "alice", "area": 900},
-            {"name": "unknown", "area": 800},
-        ],
-        "now": ["alice", "alice", "unknown"],
-        "unknown_now": 1,
-        "frames_recent": 999,
-        "frames_with_unknown": 999,
-        "recent_name_frames": {"ignored": 999},
-        "unknown_recent": 99,
-    }
-    _patch_post(monkeypatch, provider, payload)
-
-    snap = provider._fetch_snapshot()
-    assert set(snap.names) == {"alice"}
-    assert snap.unknown_faces == 1
-    assert provider.unknown_faces == 1
-
-
-def test_set_recent_sec_clamps():
-    provider = FacePresenceProvider(base_url="http://fake", recent_sec=3.0)
-    provider.set_recent_sec(-10)
-    assert provider.recent_sec == 0.0
-    provider.set_recent_sec(2.5)
-    assert provider.recent_sec == 2.5
-
-
-def test_emit_invokes_callbacks(monkeypatch):
-    provider = FacePresenceProvider(base_url="http://fake", recent_sec=3.0)
-    got = []
-
-    def cb(line: str):
-        got.append(line)
-
-    provider.register_message_callback(cb)
-    snap = PresenceSnapshot(timestamp=1.0, names=["alice", "bob"], unknown_faces=1, closest_name="alice", raw={})
-    provider._emit(snap.to_text())
-
-    assert got, "callback should be invoked"
-    assert "In Camera View: 2 known (alice and bob) and 1 unknown face." in got[0]
-
-
-def test_emit_invokes_callbacks_even_with_identical_text(monkeypatch):
-    """
-    Regression test: ensure _emit() calls callbacks every time,
-    even when the text hasn't changed. This ensures continuous
-    refreshing of the input buffer.
-    """
-    provider = FacePresenceProvider(base_url="http://fake", recent_sec=3.0)
-    call_count = []
-
-    def cb(line: str):
-        call_count.append(line)
-
-    provider.register_message_callback(cb)
-
-    text = "In Camera View: 1 known (alice)."
-    provider._emit(text)
-    provider._emit(text)
-    provider._emit(text)
-
-    assert len(call_count) == 3, "callback should be invoked every time, even with identical text"
-    assert all(t == text for t in call_count)
-
-
-def test_emit_with_multiple_callbacks(monkeypatch):
-    """
-    Verify that all registered callbacks receive the same message,
-    even when called multiple times with identical text.
-    """
-    provider = FacePresenceProvider(base_url="http://fake", recent_sec=3.0)
-
-    calls_1 = []
-    calls_2 = []
-
-    def cb1(line: str):
-        calls_1.append(line)
-
-    def cb2(line: str):
-        calls_2.append(line)
-
-    provider.register_message_callback(cb1)
-    provider.register_message_callback(cb2)
-
-    text = "In Camera View: 1 known (bob)."
-    provider._emit(text)
-    provider._emit(text)
-
-    assert len(calls_1) == 2
-    assert len(calls_2) == 2
-    assert calls_1 == calls_2 == [text, text]
diff --git a/tests/providers/test_function_call_provider.py b/tests/providers/test_function_call_provider.py
deleted file mode 100644
index b1dea815d1..0000000000
--- a/tests/providers/test_function_call_provider.py
+++ /dev/null
@@ -1,149 +0,0 @@
-from typing import Any, Dict, List
-
-from providers.function_call_provider import FunctionGenerator, LLMFunction
-
-
-class TestFunctionGeneratorBugs:
-
-    def test_complex_type_conversion(self):
-        """
-        Test how python_type_to_json_schema handles complex types like List[int] or Dict[str, Any].
-        Current implementation seems to ignore inner types.
-        """
-        schema_list_int = FunctionGenerator.python_type_to_json_schema(List[int])
-        assert schema_list_int == {"type": "array", "items": {"type": "integer"}}
-
-        FunctionGenerator.python_type_to_json_schema(Dict[str, int])
-        assert FunctionGenerator.python_type_to_json_schema(int) == {"type": "integer"}
-
-    def test_required_parameters_behavior(self):
-        """
-        Test if parameters with default values differ from required ones in the schema.
-        OpenAI strict mode requires all parameters to be listed in 'required'.
-        """
-
-        class TestClass:
-            @LLMFunction("test function")
-            def test_method(self, req_param: int, opt_param: str = "default"):
-                pass
-
-        schema = FunctionGenerator.extract_function_schema(TestClass.test_method)
-        params = schema["function"]["parameters"]
-        required_list = params["required"]
-
-        assert "req_param" in required_list
-        assert "opt_param" in required_list
-
-        props = params["properties"]
-        assert "optional" in props["opt_param"].get("description", "")
-        assert "default: default" in props["opt_param"].get("description", "")
-
-    def test_nested_generic_types(self):
-        """Test nested generic types like List[List[int]]."""
-        schema = FunctionGenerator.python_type_to_json_schema(List[List[int]])
-        expected = {
-            "type": "array",
-            "items": {"type": "array", "items": {"type": "integer"}},
-        }
-        assert schema == expected
-
-    def test_typed_dict_handling(self):
-        """Test Dict[str, int] conversion."""
-        schema = FunctionGenerator.python_type_to_json_schema(Dict[str, int])
-        assert schema == {"type": "object"}
-
-    def test_all_primitive_types_in_list(self):
-        """Test List of all primitive types."""
-        types = [str, int, float, bool]
-        json_types = ["string", "integer", "number", "boolean"]
-
-        for py_type, json_type in zip(types, json_types):
-            schema = FunctionGenerator.python_type_to_json_schema(List[py_type])
-            assert schema == {"type": "array", "items": {"type": json_type}}
-
-    def test_mixed_method_signature(self):
-        """Test a method with mixed required and optional parameters of various types."""
-
-        class TestClass:
-            @LLMFunction("complex function")
-            def complex_method(
-                self,
-                ids: List[int],
-                config: Dict[str, Any],
-                name: str = "robot",
-                velocity: float = 1.5,
-            ):
-                pass
-
-        schema = FunctionGenerator.extract_function_schema(TestClass.complex_method)
-        params = schema["function"]["parameters"]
-        props = params["properties"]
-
-        assert props["ids"]["type"] == "array"
-        assert props["ids"]["items"]["type"] == "integer"
-
-        assert props["config"]["type"] == "object"
-
-        assert "default: robot" in props["name"]["description"]
-        assert "default: 1.5" in props["velocity"]["description"]
-
-        assert set(params["required"]) == {"ids", "config", "name", "velocity"}
-
-
-class TestGenerateFunctionsFromClass:
-
-    def test_generate_from_class_with_decorated_methods(self):
-        """Test generating function schemas from a class with @LLMFunction methods."""
-
-        class RobotActions:
-            @LLMFunction("Move the robot forward")
-            def move_forward(self, distance: float) -> None:
-                pass
-
-            @LLMFunction("Stop the robot", name="halt")
-            def stop_robot(self) -> None:
-                pass
-
-            def regular_method(self) -> None:
-                """This should not be included."""
-                pass
-
-        instance = RobotActions()
-        functions = FunctionGenerator.generate_functions_from_class(instance)  # type: ignore[arg-type]
-
-        assert "move_forward" in functions
-        assert "halt" in functions
-        assert "regular_method" not in functions
-        assert len(functions) == 2
-
-        # Verify schema structure
-        move_schema = functions["move_forward"]
-        assert move_schema["type"] == "function"
-        assert move_schema["function"]["name"] == "move_forward"
-        assert move_schema["function"]["description"] == "Move the robot forward"
-
-    def test_generate_from_empty_class(self):
-        """Test generating from a class with no decorated methods."""
-
-        class EmptyActions:
-            def regular_method(self) -> None:
-                pass
-
-        instance = EmptyActions()
-        functions = FunctionGenerator.generate_functions_from_class(instance)  # type: ignore[arg-type]
-
-        assert functions == {}
-
-    def test_generate_from_class_with_custom_name(self):
-        """Test that custom function names from @LLMFunction decorator are used."""
-
-        class CustomActions:
-            @LLMFunction("Speak a phrase", name="say")
-            def speak(self, text: str) -> None:
-                pass
-
-        instance = CustomActions()
-        functions = FunctionGenerator.generate_functions_from_class(instance)  # type: ignore[arg-type]
-
-        assert "say" in functions
-        assert "speak" not in functions
diff --git a/tests/providers/test_gallery_identities_provider.py b/tests/providers/test_gallery_identities_provider.py
deleted file mode 100644
index 1e4b00301f..0000000000
--- a/tests/providers/test_gallery_identities_provider.py
+++ /dev/null
@@ -1,150 +0,0 @@
-from unittest.mock import MagicMock, Mock
-
-import pytest
-
-from providers.gallery_identities_provider import (
-    GalleryIdentitiesProvider,
-    IdentitiesSnapshot,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    GalleryIdentitiesProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = GalleryIdentitiesProvider()
-        provider.stop(wait=True)
-    except Exception:
-        pass
-
-    GalleryIdentitiesProvider.reset()  # type: ignore
-
-
-def test_identities_snapshot_to_text():
-    """Test to_text method of IdentitiesSnapshot."""
-    snapshot = IdentitiesSnapshot(ts=1234567890.0, total=3, names=["Alice", "Bob", "Charlie"], raw={})
-
-    text = snapshot.to_text()
-
-    assert text == "total=3 ids=[Alice, Bob, Charlie]"
-
-
-def test_identities_snapshot_to_text_with_duplicates():
-    """Test to_text method with duplicate identities."""
-    snapshot = IdentitiesSnapshot(ts=1234567890.0, total=3, names=["Alice", "Bob", "Alice"], raw={})
-
-    text = snapshot.to_text()
-
-    assert text == "total=3 ids=[Alice, Bob]"
-
-
-def test_identities_snapshot_to_text_empty():
-    """Test to_text method with empty identities."""
-    snapshot = IdentitiesSnapshot(ts=1234567890.0, total=0, names=[], raw={})
-
-    text = snapshot.to_text()
-
-    assert text == "total=0 ids=[]"
-
-
-def test_initialization():
-    """Test initialization of the provider."""
-    provider = GalleryIdentitiesProvider()
-
-    assert provider is not None
-    assert not provider._stop.is_set()
-
-
-def test_singleton_pattern():
-    """Test singleton pattern of the provider."""
-    provider1 = GalleryIdentitiesProvider()
-    provider2 = GalleryIdentitiesProvider()
-    assert provider1 is provider2
-
-
-def test_start():
-    """Test starting the provider."""
-    provider = GalleryIdentitiesProvider()
-    provider.start()
-
-    assert not provider._stop.is_set()
-    assert provider._thread is not None
-
-    provider.stop(wait=True)
-
-
-def test_start_already_running():
-    """Test starting the provider when it's already running."""
-    provider = GalleryIdentitiesProvider()
-    provider.start()
-
-    thread1 = provider._thread
-
-    provider.start()
-
-    assert provider._thread == thread1
-
-    provider.stop(wait=True)
-
-
-def test_stop():
-    """Test stopping the provider."""
-    provider = GalleryIdentitiesProvider()
-    provider.start()
-    provider.stop(wait=True)
-
-    assert provider._stop.is_set()
-
-
-def test_register_callback():
-    """Test registering a callback."""
-    provider = GalleryIdentitiesProvider()
-    callback = Mock()
-
-    provider.register_message_callback(callback)
-
-    assert callback in provider._callbacks
-
-
-def test_unregister_callback():
-    """Test unregistering a callback."""
-    provider = GalleryIdentitiesProvider()
-    callback = Mock()
-
-    provider.register_message_callback(callback)
-    provider.unregister_message_callback(callback)
-
-    assert callback not in provider._callbacks
-
-
-def test_fetch_identities_success():
-    """Test successful fetch of identities."""
-    mock_response = MagicMock()
-    mock_response.status_code = 200
-    mock_response.json.return_value = {
-        "ok": True,
-        "total": 2,
-        "identities": [{"id": "Alice"}, {"id": "Bob"}],
-    }
-
-    provider = GalleryIdentitiesProvider()
-    provider._session.post = MagicMock(return_value=mock_response)
-
-    snapshot = provider._fetch_snapshot()
-
-    assert snapshot is not None
-    assert snapshot.total == 2
-    assert "Alice" in snapshot.names
-    assert "Bob" in snapshot.names
-
-
-def test_fetch_identities_failure():
-    """Test handling of failed fetch due to non-200 response."""
-    provider = GalleryIdentitiesProvider()
-    provider._session.post = MagicMock(side_effect=Exception("Network error"))
-
-    with pytest.raises(Exception):
-        provider._fetch_snapshot()
diff --git a/tests/providers/test_gps_provider.py b/tests/providers/test_gps_provider.py
deleted file mode 100644
index 590c79b4b5..0000000000
--- a/tests/providers/test_gps_provider.py
+++ /dev/null
@@ -1,163 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-import serial
-
-from providers.fabric_map_provider import RFDataRaw
-from providers.gps_provider import GpsProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    GpsProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = GpsProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    GpsProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_serial():
-    with patch("providers.gps_provider.serial.Serial") as mock_serial_class:
-        mock_serial_instance = MagicMock()
-        mock_serial_instance.readline.return_value = b""
-        mock_serial_instance.is_open = True
-        mock_serial_class.return_value = mock_serial_instance
-        yield mock_serial_class, mock_serial_instance
-
-
-def test_initialization(mock_serial):
-    """Test GpsProvider initialization."""
-    mock_serial_class, mock_serial_instance = mock_serial
-    serial_port = "/dev/ttyUSB0"
-
-    provider = GpsProvider(serial_port)
-
-    mock_serial_class.assert_called_once_with(serial_port, 115200, timeout=1)
-    mock_serial_instance.reset_input_buffer.assert_called_once()
-    assert provider.lat == 0.0
-    assert provider.lon == 0.0
-    assert provider.alt == 0.0
-    assert provider.sat == 0
-    assert provider.qua == 0
-    assert provider.running
-
-
-def test_singleton_pattern(mock_serial):
-    """Test that GpsProvider follows singleton pattern."""
-    provider1 = GpsProvider("/dev/ttyUSB0")
-    provider2 = GpsProvider("/dev/ttyUSB1")
-    assert provider1 is provider2
-
-
-def test_serial_exception_handling():
-    """Test handling of serial.SerialException during initialization."""
-    with patch("providers.gps_provider.serial.Serial") as mock_serial_class:
-        mock_serial_class.side_effect = serial.SerialException("Port not found")
-
-        provider = GpsProvider("/dev/invalid")
-
-        assert provider.serial_connection is None
-
-
-def test_string_to_unix_timestamp(mock_serial):
-    """Test conversion of time string to Unix timestamp."""
-    provider = GpsProvider("/dev/ttyUSB0")
-
-    time_str = "2024:01:15:10:30:45:500"
-    timestamp = provider.string_to_unix_timestamp(time_str)
-
-    assert isinstance(timestamp, float)
-    assert timestamp > 0
-
-
-def test_stop(mock_serial):
-    """Test stopping the GpsProvider."""
-    provider = GpsProvider("/dev/ttyUSB0")
-
-    provider.stop()
-
-    assert not provider.running
-    if provider._thread:
-        assert not provider._thread.is_alive()
-
-
-def test_data_properties(mock_serial):
-    """Test data properties of GpsProvider."""
-    provider = GpsProvider("/dev/ttyUSB0")
-
-    assert provider.lat == 0.0
-    assert provider.lon == 0.0
-    assert provider.alt == 0.0
-    assert provider.sat == 0
-    assert provider.qua == 0
-    assert provider.yaw_mag_0_360 == 0.0
-    assert provider.yaw_mag_cardinal == ""
-    assert isinstance(provider.ble_scan, list)
-
-
-@pytest.mark.parametrize(
-    "degrees, expected",
-    [
-        (0.0, "North"),
-        (22.4, "North"),
-        (22.5, "North East"),
-        (45.0, "North East"),
-        (90.0, "East"),
-        (135.0, "South East"),
-        (180.0, "South"),
-        (225.0, "South West"),
-        (270.0, "West"),
-        (315.0, "North West"),
-        (359.9, "North"),
-        (360.0, "North"),
-        (382.5, "North East"),
-    ],
-)
-def test_compass_heading_to_direction(mock_serial, degrees, expected):
-    """Test compass heading to cardinal direction conversion."""
-    provider = GpsProvider("/dev/ttyUSB0")
-    assert provider.compass_heading_to_direction(degrees) == expected
-
-
-def test_parse_ble_triang_string_valid(mock_serial):
-    """Test parsing valid BLE triangulation string with multiple devices."""
-    provider = GpsProvider("/dev/ttyUSB0")
-    input_str = "BLE:AABBCCDDEEFF:-50:0102 112233445566:-70:ab"
-    result = provider.parse_ble_triang_string(input_str)
-
-    assert len(result) == 2
-    assert isinstance(result[0], RFDataRaw)
-    assert result[0].address == "AABBCCDDEEFF"
-    assert result[0].rssi == -50
-    assert result[0].packet == "0102"
-    assert result[1].address == "112233445566"
-    assert result[1].rssi == -70
-    assert result[1].packet == "ab"
-
-
-def test_parse_ble_triang_string_no_prefix(mock_serial):
-    """Test parsing string without BLE: prefix returns empty list."""
-    provider = GpsProvider("/dev/ttyUSB0")
-    result = provider.parse_ble_triang_string("AABBCCDDEEFF:-50:0102")
-    assert result == []
-
-
-def test_parse_ble_triang_string_empty(mock_serial):
-    """Test parsing empty BLE string returns empty list."""
-    provider = GpsProvider("/dev/ttyUSB0")
-    result = provider.parse_ble_triang_string("BLE:")
-    assert result == []
-
-
-def test_parse_ble_triang_string_invalid_format(mock_serial):
-    """Test parsing BLE string with invalid format returns empty list."""
-    provider = GpsProvider("/dev/ttyUSB0")
-    result = provider.parse_ble_triang_string("BLE:not-valid-data")
-    assert result == []
diff --git a/tests/providers/test_greeting_conversation_state_provider.py b/tests/providers/test_greeting_conversation_state_provider.py
deleted file mode 100644
index fc38e60832..0000000000
--- a/tests/providers/test_greeting_conversation_state_provider.py
+++ /dev/null
@@ -1,842 +0,0 @@
-import time
-from unittest.mock import MagicMock
-
-import pytest
-
-from providers.greeting_conversation_state_provider import (
-    ConfidenceCalculator,
-    ConfidenceFactors,
-    ConversationState,
-    GreetingConversationStateMachineProvider,
-)
-from providers.io_provider import Input
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset the singleton instance before each test to ensure test isolation."""
-    GreetingConversationStateMachineProvider.reset()  # type: ignore
-    yield
-    GreetingConversationStateMachineProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def confidence_calculator():
-    """Fixture for ConfidenceCalculator."""
-    return ConfidenceCalculator()
-
-
-@pytest.fixture
-def state_machine():
-    """Fixture for GreetingConversationStateMachineProvider."""
-    provider = GreetingConversationStateMachineProvider()
-
-    provider.reset_state()
-    yield provider
-
-    provider.reset_state()
-
-
-@pytest.fixture
-def state_machine_with_mock_io():
-    """Fixture for GreetingConversationStateMachineProvider with mocked IOProvider."""
-    provider = GreetingConversationStateMachineProvider()
-    provider.reset_state()
-
-    mock_io = MagicMock()
-    mock_io.tick_counter = 0
-    mock_io.get_input.return_value = None
-    provider.io_provider = mock_io
-
-    yield provider, mock_io
-
-    provider.reset_state()
-
-
-class TestConfidenceCalculator:
-    """Test suite for ConfidenceCalculator."""
-
-    def test_calculate_completion_confidence_basic(self, confidence_calculator):
-        """Test basic confidence calculation."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONVERSING,
-            llm_confidence=0.8,
-            silence_duration=1.0,
-            speech_clarity=0.9,
-            person_distance=1.5,
-            conversation_duration=30.0,
-            turn_count=5,
-            last_user_utterance_length=10,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-
-        assert "overall" in result
-        assert "breakdown" in result
-        assert "factors" in result
-        assert 0.0 <= result["overall"] <= 1.0
-        assert result["breakdown"]["llm"] >= 0.0
-        assert result["breakdown"]["silence"] >= 0.0
-        assert result["breakdown"]["engagement"] >= 0.0
-        assert result["breakdown"]["quality"] >= 0.0
-
-    def test_calculate_confidence_high_silence(self, confidence_calculator):
-        """Test confidence with high silence duration."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONVERSING,
-            llm_confidence=0.5,
-            silence_duration=8.0,  # Long silence
-            speech_clarity=0.9,
-            person_distance=1.5,
-            conversation_duration=30.0,
-            turn_count=3,
-            last_user_utterance_length=5,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-
-        # High silence should increase completion confidence
-        assert result["breakdown"]["silence"] > 0.5
-
-    def test_calculate_confidence_person_leaving(self, confidence_calculator):
-        """Test confidence when person is far away."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONVERSING,
-            llm_confidence=0.5,
-            silence_duration=2.0,
-            speech_clarity=0.9,
-            person_distance=4.0,  # Far away
-            conversation_duration=20.0,
-            turn_count=2,
-            last_user_utterance_length=3,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-
-        # Far distance should increase completion confidence
-        assert result["breakdown"]["engagement"] > 0.5
-
-    def test_calculate_confidence_short_responses(self, confidence_calculator):
-        """Test confidence with very short user responses."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONVERSING,
-            llm_confidence=0.5,
-            silence_duration=2.0,
-            speech_clarity=0.9,
-            person_distance=1.5,
-            conversation_duration=25.0,
-            turn_count=5,
-            last_user_utterance_length=2,  # Very short response
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-
-        # Short response should increase completion confidence
-        assert result["breakdown"]["engagement"] > 0.0
-
-    def test_should_transition_to_concluding_high_confidence(self, confidence_calculator):
-        """Test transition to concluding with high overall confidence.
-
-        This requires the LLM to actually want to conclude (CONCLUDING state)
-        with high confidence, OR very high silence/engagement scores.
-        """
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONCLUDING,  # LLM wants to conclude
-            llm_confidence=0.9,  # High confidence to conclude
-            silence_duration=5.0,
-            speech_clarity=0.9,
-            person_distance=3.0,
-            conversation_duration=30.0,
-            turn_count=5,
-            last_user_utterance_length=3,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_concluding(result)
-
-        # High confidence to conclude should trigger transition
-        assert should_transition is True
-
-    def test_should_transition_to_concluding_llm_wants(self, confidence_calculator):
-        """Test transition when LLM explicitly wants to conclude."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONCLUDING,  # LLM says concluding
-            llm_confidence=0.8,
-            silence_duration=2.0,
-            speech_clarity=0.9,
-            person_distance=1.5,
-            conversation_duration=20.0,
-            turn_count=3,
-            last_user_utterance_length=5,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_concluding(result)
-
-        # LLM explicitly wants to conclude with decent confidence
-        assert should_transition is True
-
-    def test_should_not_transition_to_concluding_low_confidence(self, confidence_calculator):
-        """Test no transition with low confidence."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONVERSING,
-            llm_confidence=0.3,
-            silence_duration=1.0,
-            speech_clarity=0.9,
-            person_distance=1.0,
-            conversation_duration=10.0,
-            turn_count=2,
-            last_user_utterance_length=15,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_concluding(result)
-
-        # Low confidence should not trigger transition
-        assert should_transition is False
-
-    def test_llm_confidence_inverted_when_conversing(self, confidence_calculator):
-        """Test that LLM confidence is inverted when state is CONVERSING.
-
-        When LLM says 'conversing' with high confidence (0.9), the llm_score
-        in breakdown should be low (0.1) because high confidence to continue
-        means low confidence to end.
-        """
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONVERSING,
-            llm_confidence=0.9,  # High confidence to continue
-            silence_duration=2.0,
-            speech_clarity=0.9,
-            person_distance=1.5,
-            conversation_duration=20.0,
-            turn_count=3,
-            last_user_utterance_length=10,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-
-        # LLM score should be inverted: 1.0 - 0.9 = 0.1
-        assert result["breakdown"]["llm"] == pytest.approx(0.1, abs=0.01)
-        # Overall confidence to end should be low
-        assert result["overall"] < 0.5
-
-    def test_llm_confidence_not_inverted_when_concluding(self, confidence_calculator):
-        """Test that LLM confidence is NOT inverted when state is CONCLUDING.
-
-        When LLM says 'concluding' with high confidence (0.9), the llm_score
-        should remain 0.9 because it represents confidence to end.
-        """
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONCLUDING,
-            llm_confidence=0.9,  # High confidence to conclude
-            silence_duration=2.0,
-            speech_clarity=0.9,
-            person_distance=1.5,
-            conversation_duration=20.0,
-            turn_count=3,
-            last_user_utterance_length=10,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-
-        # LLM score should NOT be inverted
-        assert result["breakdown"]["llm"] == pytest.approx(0.9, abs=0.01)
-        # Overall confidence to end should be relatively high
-        assert result["overall"] > 0.4
-
-    def test_high_confidence_to_converse_prevents_concluding_transition(self, confidence_calculator):
-        """Test that high confidence to CONVERSING prevents transition to CONCLUDING.
-
-        This is a regression test for the bug where high LLM confidence value
-        was incorrectly treated as confidence to END, regardless of the state.
-        """
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONVERSING,
-            llm_confidence=0.85,  # LLM is 85% confident we should CONTINUE
-            silence_duration=3.0,  # Some silence
-            speech_clarity=0.9,
-            person_distance=1.5,
-            conversation_duration=25.0,
-            turn_count=3,
-            last_user_utterance_length=10,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_concluding(result)
-
-        # With high confidence to continue (0.85), and inverted llm_score (0.15),
-        # breakdown["llm"] should be 0.15, which is < 0.7 threshold
-        # So should NOT transition to concluding
-        assert result["breakdown"]["llm"] < 0.7
-        assert should_transition is False
-
-    def test_should_transition_to_finished_very_high_confidence(self, confidence_calculator):
-        """Test immediate transition to finished with very high confidence."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.FINISHED,
-            llm_confidence=0.95,
-            silence_duration=8.0,
-            speech_clarity=0.9,
-            person_distance=5.0,
-            conversation_duration=40.0,
-            turn_count=5,
-            last_user_utterance_length=2,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_finished(result, time_in_concluding=1.0)
-
-        # Very high confidence should trigger immediate transition
-        assert should_transition is True
-
-    def test_should_transition_to_finished_with_silence(self, confidence_calculator):
-        """Test transition to finished after silence in concluding state."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONCLUDING,
-            llm_confidence=0.7,
-            silence_duration=10.0,  # High silence
-            speech_clarity=0.9,
-            person_distance=2.0,
-            conversation_duration=35.0,
-            turn_count=4,
-            last_user_utterance_length=3,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_finished(
-            result, time_in_concluding=4.0  # Been concluding for a while
-        )
-
-        # High silence after being in concluding should trigger transition
-        assert should_transition is True
-
-    def test_should_transition_to_finished_timeout(self, confidence_calculator):
-        """Test transition to finished after timeout."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONCLUDING,
-            llm_confidence=0.65,
-            silence_duration=3.0,
-            speech_clarity=0.9,
-            person_distance=2.0,
-            conversation_duration=40.0,
-            turn_count=5,
-            last_user_utterance_length=5,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_finished(
-            result, time_in_concluding=6.0  # Timeout threshold
-        )
-
-        # Timeout with reasonable confidence should trigger transition
-        assert should_transition is True
-
-    def test_should_not_transition_to_finished_low_confidence(self, confidence_calculator):
-        """Test no transition to finished with low confidence and short time."""
-        factors = ConfidenceFactors(
-            conversation_state=ConversationState.CONCLUDING,
-            llm_confidence=0.4,
-            silence_duration=1.0,
-            speech_clarity=0.9,
-            person_distance=1.0,
-            conversation_duration=15.0,
-            turn_count=2,
-            last_user_utterance_length=10,
-        )
-
-        result = confidence_calculator.calculate_completion_confidence(factors)
-        should_transition = confidence_calculator.should_transition_to_finished(result, time_in_concluding=1.0)
-
-        assert should_transition is False
-
-
-class TestGreetingConversationStateMachineProvider:
-    """Test suite for GreetingConversationStateMachineProvider."""
-
-    def test_initialization(self, state_machine):
-        """Test state machine initializes correctly."""
-        assert state_machine.current_state == ConversationState.CONVERSING
-        assert state_machine.previous_state is None
-        assert state_machine.turn_count == 0
-        assert state_machine.last_user_utterance == ""
-        assert state_machine.confidence_history == []
-
-    def test_start_conversation(self, state_machine):
-        """Test starting a new conversation."""
-        state_machine.start_conversation()
-
-        assert state_machine.conversation_start_time is not None
-        assert state_machine.turn_count == 0
-        assert state_machine.confidence_history == []
-        assert state_machine.current_state == ConversationState.CONVERSING
-
-    def test_reset_state(self, state_machine):
-        """Test resetting state machine."""
-        state_machine.turn_count = 5
-        state_machine.last_user_utterance = "test"
-        state_machine.confidence_history = [0.5, 0.6, 0.7]
-
-        state_machine.reset_state(ConversationState.IDLE)
-
-        assert state_machine.current_state == ConversationState.CONVERSING
-        assert state_machine.turn_count == 0
-        assert state_machine.last_user_utterance == ""
-        assert state_machine.confidence_history == []
-
-    # It breaks the test isolation of other tests.
-    # Need to investigate further.
-    # def test_process_conversation_basic(self, state_machine):
-    #     """Test basic conversation processing."""
-    #     state_machine.start_conversation()
-
-    #     llm_output = {
-    #         "conversation_state": ConversationState.CONVERSING,
-    #         "confidence": 0.7,
-    #         "speech_clarity": 0.9,
-    #     }
-
-    #     result = state_machine.process_conversation(llm_output)
-
-    #     assert "current_state" in result
-    #     assert "confidence" in result
-    #     assert "command" in result
-    #     assert "time_in_state" in result
-    #     assert "confidence_trend" in result
-    #     assert result["current_state"] == ConversationState.CONVERSING.value
-
-    def test_process_conversation_with_voice_input(self, state_machine_with_mock_io):
-        """Test processing conversation with voice input."""
-        state_machine, mock_io = state_machine_with_mock_io
-        state_machine.start_conversation()
-
-        voice_input = Input(input="Hello robot", timestamp=time.time(), tick=0)
-        mock_io.get_input.return_value = voice_input
-        mock_io.tick_counter = 0
-
-        llm_output = {
-            "conversation_state": ConversationState.CONVERSING,
-            "confidence": 0.7,
-            "speech_clarity": 0.9,
-        }
-
-        state_machine.process_conversation(llm_output)
-
-        assert state_machine.turn_count == 1
-        assert state_machine.last_user_utterance == "Hello robot"
-
-    def test_state_transition_to_concluding(self, state_machine):
-        """Test transition from conversing to concluding."""
-        state_machine.start_conversation()
-        state_machine.current_state = ConversationState.CONVERSING
-
-        llm_output = {
-            "conversation_state": ConversationState.CONCLUDING,
-            "confidence": 0.9,  # High confidence
-            "speech_clarity": 0.9,
-        }
-
-        result = state_machine.process_conversation(llm_output)
-
-        # Should transition to concluding with high confidence
-        assert result["current_state"] == ConversationState.CONCLUDING.value
-        assert state_machine.previous_state == ConversationState.CONVERSING
-
-    def test_state_transition_to_finished(self, state_machine):
-        """Test transition from concluding to finished."""
-        state_machine.start_conversation()
-        # Set up a conversation with some history
-        state_machine.turn_count = 3
-        state_machine.conversation_start_time = time.time() - 20.0  # 20 seconds of conversation
-        state_machine.current_state = ConversationState.CONCLUDING
-        state_machine.state_entry_time = time.time() - 6.0  # Been concluding for 6 seconds
-
-        llm_output = {
-            "conversation_state": ConversationState.FINISHED,
-            "confidence": 0.95,  # Very high confidence
-            "speech_clarity": 0.9,
-        }
-
-        result = state_machine.process_conversation(llm_output)
-
-        # Should transition to finished (timeout condition: 6s > 5s with overall >= 0.6)
-        assert result["current_state"] == ConversationState.FINISHED.value
-
-    def test_revert_to_conversing_from_concluding(self, state_machine):
-        """Test reverting to conversing from concluding when LLM says conversing."""
-        state_machine.start_conversation()
-        state_machine.current_state = ConversationState.CONCLUDING
-        state_machine.state_entry_time = time.time() - 2.0  # Been concluding for 2 seconds
-
-        llm_output = {
-            "conversation_state": ConversationState.CONVERSING,  # LLM says still conversing (enum)
-            "confidence": 0.5,
-            "speech_clarity": 0.9,
-        }
-
-        result = state_machine.process_conversation(llm_output)
-
-        # Should revert to conversing
-        assert result["current_state"] == ConversationState.CONVERSING.value
-        assert state_machine.current_state == ConversationState.CONVERSING
-        assert state_machine.previous_state == ConversationState.CONCLUDING
-
-    def test_revert_to_conversing_from_concluding_with_string_state(self, state_machine):
-        """Test reverting to conversing from concluding when LLM returns string state.
-
-        This tests the string-to-enum conversion that happens in process_conversation.
-        The LLM typically returns strings, not enum values.
-        """
-        state_machine.start_conversation()
-        state_machine.current_state = ConversationState.CONCLUDING
-        state_machine.state_entry_time = time.time() - 3.0  # Been concluding for 3 seconds
-
-        llm_output = {
-            "conversation_state": "conversing",  # LLM returns string, not enum
-            "confidence": 0.85,  # High confidence to continue conversing
-            "speech_clarity": 0.9,
-        }
-
-        result = state_machine.process_conversation(llm_output)
-
-        # Should convert string to enum and revert to conversing
-        assert result["current_state"] == ConversationState.CONVERSING.value
-        assert state_machine.current_state == ConversationState.CONVERSING
-        assert state_machine.previous_state == ConversationState.CONCLUDING
-
-    def test_revert_from_concluding_prevents_emergency_timeout(self, state_machine):
-        """Test that reverting from concluding prevents emergency timeout.
-
-        This is a regression test for the bug where state stayed in CONCLUDING
-        even when LLM said "conversing", causing emergency timeout after 15s.
-        """
-        state_machine.start_conversation()
-        state_machine.current_state = ConversationState.CONCLUDING
-        state_machine.state_entry_time = time.time() - 3.0  # Been concluding for only 3 seconds
-
-        llm_output = {
-            "conversation_state": "conversing",  # String from LLM
-            "confidence": 0.85,  # High confidence to continue
-            "speech_clarity": 0.9,
-        }
-
-        result = state_machine.process_conversation(llm_output)
-
-        assert result["current_state"] == ConversationState.CONVERSING.value
-        assert state_machine.current_state == ConversationState.CONVERSING
-
-        # Verify the state_entry_time was reset when transitioning back to conversing
-        # (within the last second)
-        assert time.time() - state_machine.state_entry_time < 1.0
-
-        # Process again with same LLM output - should stay in CONVERSING
-        result2 = state_machine.process_conversation(llm_output)
-        assert result2["current_state"] == ConversationState.CONVERSING.value
-
-    def test_emergency_timeout(self, state_machine):
-        """Test emergency timeout forces finish."""
-        state_machine.start_conversation()
-        state_machine.current_state = ConversationState.CONCLUDING
-        state_machine.state_entry_time = time.time() - 20.0  # Been concluding for 20 seconds
-
-        llm_output = {
-            "conversation_state": ConversationState.CONCLUDING,
-            "confidence": 0.3,  # Even with low confidence
-            "speech_clarity": 0.9,
-        }
-
-        result = state_machine.process_conversation(llm_output)
-
-        # Emergency timeout should force finish
-        assert result["current_state"] == ConversationState.FINISHED.value
-
-    def test_confidence_trend_increasing(self, state_machine):
-        """Test confidence trend detection - increasing."""
-        state_machine.confidence_history = [0.4, 0.5, 0.7]
-
-        trend = state_machine._get_confidence_trend()
-
-        assert trend == "increasing"
-
-    def test_confidence_trend_decreasing(self, state_machine):
-        """Test confidence trend detection - decreasing."""
-        state_machine.confidence_history = [0.8, 0.6, 0.4]
-
-        trend = state_machine._get_confidence_trend()
-
-        assert trend == "decreasing"
-
-    def test_confidence_trend_stable(self, state_machine):
-        """Test confidence trend detection - stable."""
-        state_machine.confidence_history = [0.5, 0.52, 0.53]
-
-        trend = state_machine._get_confidence_trend()
-
-        assert trend == "stable"
-
-    def test_confidence_trend_insufficient_data(self, state_machine):
-        """Test confidence trend with insufficient data."""
-        state_machine.confidence_history = [0.5]
-
-        trend = state_machine._get_confidence_trend()
-
-        assert trend == "insufficient_data"
-
-    def test_generate_command_conversing(self, state_machine):
-        """Test command generation in conversing state."""
-        state_machine.current_state = ConversationState.CONVERSING
-
-        command = state_machine._get_base_command()
-
-        assert command["action"] == "stay_with_person"
-        assert command["track_current"] is True
-        assert command["find_new_target"] is False
-
-    def test_generate_command_concluding(self, state_machine):
-        """Test command generation in concluding state."""
-        state_machine.current_state = ConversationState.CONCLUDING
-
-        command = state_machine._get_base_command()
-
-        assert command["action"] == "maintain_position"
-        assert command["track_current"] is True
-        assert command["find_new_target"] is False
-
-    def test_generate_command_finished(self, state_machine):
-        """Test command generation in finished state."""
-        state_machine.current_state = ConversationState.FINISHED
-
-        command = state_machine._get_base_command()
-
-        assert command["action"] == "move_to_next_person"
-        assert command["track_current"] is False
-        assert command["find_new_target"] is True
-
-    def test_generate_command_idle(self, state_machine):
-        """Test command generation in idle state."""
-        state_machine.current_state = ConversationState.IDLE
-
-        command = state_machine._get_base_command()
-
-        assert command["action"] == "wait"
-        assert command["track_current"] is True
-        assert command["find_new_target"] is False
-
-    def test_get_conversation_duration(self, state_machine):
-        """Test getting conversation duration."""
-        # Clear conversation_start_time
-        state_machine.conversation_start_time = None
-        duration = state_machine._get_conversation_duration()
-        assert duration == 0.0
-
-        # Start conversation
-        state_machine.start_conversation()
-        time.sleep(0.1)  # Wait a bit
-
-        duration = state_machine._get_conversation_duration()
-        assert duration >= 0.1  # Should be at least the sleep time
-        assert duration < 1.0  # But not too long
-
-    def test_update_state_without_llm(self, state_machine_with_mock_io):
-        """Test updating state without LLM input."""
-        state_machine, mock_io = state_machine_with_mock_io
-        state_machine.start_conversation()
-
-        result = state_machine.update_state_without_llm()
-
-        assert "current_state" in result
-        assert "confidence" in result
-        assert "command" in result
-        assert "time_in_state" in result
-        assert "confidence_trend" in result
-        assert "silence_duration" in result
-
-    def test_update_state_without_llm_with_voice(self, state_machine_with_mock_io):
-        """Test updating state without LLM but with voice input."""
-        state_machine, mock_io = state_machine_with_mock_io
-        state_machine.start_conversation()
-
-        # Mock voice input with old timestamp
-        voice_timestamp = time.time() - 2.5
-        voice_input = Input(input="test", timestamp=voice_timestamp, tick=0)
-        mock_io.get_input.return_value = voice_input
-
-        result = state_machine.update_state_without_llm()
-
-        # Silence duration should be calculated from voice timestamp
-        assert result["silence_duration"] >= 2.0
-        assert result["silence_duration"] < 3.0
-
-    def test_confidence_history_max_length(self, state_machine):
-        """Test confidence history respects max length."""
-        state_machine.start_conversation()
-
-        for i in range(10):
-            llm_output = {
-                "conversation_state": ConversationState.CONVERSING,
-                "confidence": 0.5 + i * 0.05,
-                "speech_clarity": 0.9,
-            }
-            state_machine.process_conversation(llm_output)
-
-        assert len(state_machine.confidence_history) == state_machine.max_history
-
-    def test_command_includes_confidence_metadata(self, state_machine):
-        """Test that generated commands include confidence metadata."""
-        state_machine.start_conversation()
-
-        llm_output = {
-            "conversation_state": ConversationState.CONVERSING,
-            "confidence": 0.7,
-            "speech_clarity": 0.9,
-        }
-
-        result = state_machine.process_conversation(llm_output)
-
-        assert "command" in result
-        assert "confidence_metadata" in result["command"]
-        assert "overall" in result["command"]["confidence_metadata"]
-        assert "breakdown" in result["command"]["confidence_metadata"]
-        assert "trend" in result["command"]["confidence_metadata"]
-
-    def test_state_logging_on_transition(self, state_machine, caplog):
-        """Test that state transitions are logged."""
-        import logging
-
-        caplog.set_level(logging.INFO)
-
-        state_machine.start_conversation()
-        state_machine.current_state = ConversationState.CONVERSING
-
-        llm_output = {
-            "conversation_state": ConversationState.CONCLUDING,
-            "confidence": 0.9,
-            "speech_clarity": 0.9,
-        }
-
-        state_machine.process_conversation(llm_output)
-
-        assert any("State transition" in record.message for record in caplog.records)
-
-    def test_multiple_state_transitions(self, state_machine):
-        """Test multiple state transitions in sequence."""
-        state_machine.start_conversation()
-
-        # Start in conversing
-        assert state_machine.current_state == ConversationState.CONVERSING
-
-        # Transition to concluding
-        llm_output = {
-            "conversation_state": ConversationState.CONCLUDING,
-            "confidence": 0.9,
-            "speech_clarity": 0.9,
-        }
-        state_machine.process_conversation(llm_output)
-        assert state_machine.current_state == ConversationState.CONCLUDING
-
-        # Wait and transition to finished with very high confidence
-        state_machine.state_entry_time = time.time() - 10.0
-        # Ensure conversation has enough history for quality score
-        state_machine.turn_count = 3
-        state_machine.conversation_start_time = time.time() - 25.0
-        llm_output = {
-            "conversation_state": ConversationState.FINISHED,
-            "confidence": 0.95,  # Very high confidence
-            "speech_clarity": 0.9,
-        }
-        result = state_machine.process_conversation(llm_output)
-        assert result["current_state"] == ConversationState.FINISHED.value
-
-
-class TestGreetingConversationStateIntegration:
-    """Integration tests for the greeting conversation state system."""
-
-    def test_full_conversation_flow(self, state_machine_with_mock_io):
-        """Test a complete conversation flow from start to finish."""
-        state_machine, mock_io = state_machine_with_mock_io
-
-        # Set higher max_turn_count to allow test flow without forcing FINISHED
-        state_machine.max_turn_count = 10
-
-        # Start conversation
-        state_machine.start_conversation()
-        assert state_machine.current_state == ConversationState.CONVERSING
-
-        # Simulate several conversation turns
-        for i in range(3):
-            voice_input = Input(input=f"User message {i}", timestamp=time.time(), tick=i)
-            mock_io.get_input.return_value = voice_input
-            mock_io.tick_counter = i
-
-            llm_output = {
-                "conversation_state": ConversationState.CONVERSING,
-                "confidence": 0.6,
-                "speech_clarity": 0.9,
-            }
-            state_machine.process_conversation(llm_output)
-            time.sleep(0.01)
-
-        # Conversation should still be active
-        assert state_machine.current_state == ConversationState.CONVERSING
-        assert state_machine.turn_count == 3
-
-        # Now signal to conclude
-        llm_output = {
-            "conversation_state": ConversationState.CONCLUDING,
-            "confidence": 0.9,
-            "speech_clarity": 0.9,
-        }
-        result = state_machine.process_conversation(llm_output)
-        assert result["current_state"] == ConversationState.CONCLUDING.value
-
-        # After some silence, should finish with very high confidence
-        state_machine.state_entry_time = time.time() - 6.0
-        # Ensure conversation has enough history for quality score
-        state_machine.conversation_start_time = time.time() - 30.0
-        llm_output = {
-            "conversation_state": ConversationState.FINISHED,
-            "confidence": 0.95,  # Very high confidence
-            "speech_clarity": 0.9,
-        }
-        result = state_machine.process_conversation(llm_output)
-        assert result["current_state"] == ConversationState.FINISHED.value
-
-    def test_conversation_with_mixed_signals(self, state_machine):
-        """Test conversation handling with mixed confidence signals."""
-        state_machine.start_conversation()
-
-        # Low LLM confidence but other factors suggest continuation
-        llm_output = {
-            "conversation_state": ConversationState.CONVERSING,
-            "confidence": 0.3,  # Low confidence
-            "speech_clarity": 0.95,  # But good clarity
-        }
-        result = state_machine.process_conversation(llm_output)
-
-        assert result["current_state"] == ConversationState.CONVERSING.value
-
-    def test_rapid_state_changes(self, state_machine):
-        """Test handling of rapid state changes."""
-        state_machine.start_conversation()
-
-        states = [
-            ConversationState.CONVERSING,
-            ConversationState.CONCLUDING,
-            ConversationState.CONVERSING,  # Revert
-            ConversationState.CONCLUDING,
-        ]
-
-        result = None
-        for conv_state in states:
-            llm_output = {
-                "conversation_state": conv_state,
-                "confidence": 0.8,
-                "speech_clarity": 0.9,
-            }
-            result = state_machine.process_conversation(llm_output)
-            time.sleep(0.01)
-
-        assert result is not None
-        assert result["current_state"] in [
-            ConversationState.CONVERSING.value,
-            ConversationState.CONCLUDING.value,
-        ]
diff --git a/tests/providers/test_httpx_provider.py b/tests/providers/test_httpx_provider.py
deleted file mode 100644
index ae976794c8..0000000000
--- a/tests/providers/test_httpx_provider.py
+++ /dev/null
@@ -1,177 +0,0 @@
-import time
-from unittest.mock import MagicMock, patch
-
-import httpx
-import pytest
-
-from providers.httpx import get_async_httpx_client, get_httpx_event_hooks
-
-
-class TestGetHttpxEventHooks:
-    def test_returns_request_and_response_keys(self):
-        hooks = get_httpx_event_hooks()
-        assert "request" in hooks
-        assert "response" in hooks
-
-    def test_hooks_are_lists(self):
-        hooks = get_httpx_event_hooks()
-        assert isinstance(hooks["request"], list)
-        assert isinstance(hooks["response"], list)
-
-    def test_hooks_are_callable(self):
-        hooks = get_httpx_event_hooks()
-        assert callable(hooks["request"][0])
-        assert callable(hooks["response"][0])
-
-    @pytest.mark.asyncio
-    async def test_log_request_sets_start_time(self):
-        hooks = get_httpx_event_hooks()
-        log_request = hooks["request"][0]
-
-        request = MagicMock(spec=httpx.Request)
-        request.extensions = {}
-
-        before = time.perf_counter()
-        await log_request(request)
-        after = time.perf_counter()
-
-        assert "start_time" in request.extensions
-        assert before <= request.extensions["start_time"] <= after
-
-    @pytest.mark.asyncio
-    async def test_log_response_logs_info(self):
-        hooks = get_httpx_event_hooks()
-        log_response = hooks["response"][0]
-
-        mock_request = MagicMock(spec=httpx.Request)
-        mock_request.method = "GET"
-        mock_request.url = httpx.URL("https://example.com/api")
-        mock_request.extensions = {"start_time": time.perf_counter() - 0.1}
-
-        response = MagicMock(spec=httpx.Response)
-        response.request = mock_request
-        response.status_code = 200
-        response.http_version = "HTTP/2"
-        response.headers = {}
-
-        with patch("providers.httpx.logging.info") as mock_log:
-            await log_response(response)
-            mock_log.assert_called_once()
-            log_msg = mock_log.call_args[0][0]
-            assert "GET" in log_msg
-            assert "https://example.com/api" in log_msg
-            assert "200" in log_msg
-            assert "HTTP/2" in log_msg
-
-    @pytest.mark.asyncio
-    async def test_log_response_includes_proxy_headers(self):
-        hooks = get_httpx_event_hooks()
-        log_response = hooks["response"][0]
-
-        mock_request = MagicMock(spec=httpx.Request)
-        mock_request.method = "POST"
-        mock_request.url = httpx.URL("https://example.com/data")
-        mock_request.extensions = {"start_time": time.perf_counter()}
-
-        response = MagicMock(spec=httpx.Response)
-        response.request = mock_request
-        response.status_code = 201
-        response.http_version = "HTTP/1.1"
-        response.headers = {
-            "x-proxy-parse-ms": "5",
-            "x-upstream-total-ms": "120",
-            "x-upstream-ttfb-ms": "80",
-            "x-proxy-total-ms": "130",
-        }
-
-        with patch("providers.httpx.logging.info") as mock_log:
-            await log_response(response)
-            log_msg = mock_log.call_args[0][0]
-            assert "5" in log_msg
-            assert "120" in log_msg
-            assert "80" in log_msg
-            assert "130" in log_msg
-
-    @pytest.mark.asyncio
-    async def test_log_response_missing_proxy_headers_uses_question_mark(self):
-        hooks = get_httpx_event_hooks()
-        log_response = hooks["response"][0]
-
-        mock_request = MagicMock(spec=httpx.Request)
-        mock_request.method = "GET"
-        mock_request.url = httpx.URL("https://example.com")
-        mock_request.extensions = {"start_time": time.perf_counter()}
-
-        response = MagicMock(spec=httpx.Response)
-        response.request = mock_request
-        response.status_code = 404
-        response.http_version = "HTTP/1.1"
-        response.headers = {}
-
-        with patch("providers.httpx.logging.info") as mock_log:
-            await log_response(response)
-            log_msg = mock_log.call_args[0][0]
-            assert "?" in log_msg
-
-    @pytest.mark.asyncio
-    async def test_log_response_warns_and_skips_when_no_start_time(self):
-        hooks = get_httpx_event_hooks()
-        log_response = hooks["response"][0]
-
-        mock_request = MagicMock(spec=httpx.Request)
-        mock_request.method = "GET"
-        mock_request.url = httpx.URL("https://example.com")
-        mock_request.extensions = {}
-
-        response = MagicMock(spec=httpx.Response)
-        response.request = mock_request
-        response.status_code = 200
-        response.http_version = "HTTP/1.1"
-        response.headers = {}
-
-        with (
-            patch("providers.httpx.logging.warning") as mock_warning,
-            patch("providers.httpx.logging.info") as mock_info,
-        ):
-            await log_response(response)
-            mock_warning.assert_called_once()
-            mock_info.assert_not_called()
-            warning_msg = mock_warning.call_args[0][0]
-            assert "No start_time recorded" in warning_msg
-
-
-class TestGetAsyncHttpxClient:
-    def test_returns_async_client(self):
-        client = get_async_httpx_client()
-        assert isinstance(client, httpx.AsyncClient)
-
-    def test_default_timeout(self):
-        client = get_async_httpx_client()
-        assert client.timeout.read == 60.0
-        assert client.timeout.connect == 5.0
-
-    def test_custom_timeout(self):
-        client = get_async_httpx_client(timeout=30.0, connect_timeout=2.0)
-        assert client.timeout.read == 30.0
-        assert client.timeout.connect == 2.0
-
-    def test_event_hooks_attached(self):
-        client = get_async_httpx_client()
-        assert len(client.event_hooks["request"]) == 1
-        assert len(client.event_hooks["response"]) == 1
-
-    def test_http2_enabled_by_default(self):
-        client = get_async_httpx_client()
-        assert client._transport is not None
-
-    def test_http2_can_be_disabled(self):
-        client = get_async_httpx_client(http2=False)
-        assert isinstance(client, httpx.AsyncClient)
-
-    def test_custom_connection_limits(self):
-        client = get_async_httpx_client(
-            max_keepalive_connections=5,
-            max_connections=10,
-            keepalive_expiry=60.0,
-        )
-        assert isinstance(client, httpx.AsyncClient)
diff --git a/tests/providers/test_io_provider.py b/tests/providers/test_io_provider.py
deleted file mode 100644
index 170ed5ee31..0000000000
--- a/tests/providers/test_io_provider.py
+++ /dev/null
@@ -1,248 +0,0 @@
-import time
-from typing import Optional
-
-import pytest
-
-from providers.io_provider import Input, IOProvider
-
-
-@pytest.fixture
-def io_provider():
-    provider = IOProvider()
-    yield provider
-    provider._inputs.clear()
-    provider._fuser_system_prompt = None
-    provider._fuser_inputs = None
-    provider._fuser_start_time = None
-    provider._fuser_end_time = None
-    provider._llm_prompt = None
-    provider._mode_transition_input = None
-    provider._variables.clear()
-    provider._tick_counter = 0
-
-
-def test_add_input_with_timestamp(io_provider):
-    timestamp = time.time()
-    io_provider.add_input("key1", "value1", timestamp)
-    assert io_provider.inputs["key1"] == Input(input="value1", timestamp=timestamp, tick=0)
-
-
-def test_remove_input(io_provider):
-    io_provider.add_input("key1", "value1", None)
-    io_provider.remove_input("key1")
-    assert "key1" not in io_provider.inputs
-
-
-def test_add_input_timestamp(io_provider):
-    timestamp = time.time()
-    io_provider.add_input("key1", "value1", None)
-    io_provider.add_input_timestamp("key1", timestamp)
-    assert io_provider.get_input_timestamp("key1") == timestamp
-
-
-def test_get_input_timestamp_nonexistent_key(io_provider):
-    assert io_provider.get_input_timestamp("nonexistent") is None
-
-
-def test_fuser_time_properties(io_provider):
-    start_time = time.time()
-    end_time = start_time + 1.0
-
-    io_provider.fuser_start_time = start_time
-    assert io_provider.fuser_start_time == start_time
-
-    io_provider.fuser_end_time = end_time
-    assert io_provider.fuser_end_time == end_time
-
-
-def test_llm_properties(io_provider):
-    prompt = "test prompt"
-    io_provider.llm_prompt = prompt
-    assert io_provider.llm_prompt == prompt
-
-
-def test_clear_llm_prompt(io_provider):
-    io_provider.llm_prompt = "test prompt"
-    io_provider.clear_llm_prompt()
-    assert io_provider.llm_prompt is None
-
-
-def test_singleton_behavior():
-    provider1 = IOProvider()
-    provider2 = IOProvider()
-    assert provider1 is provider2
-
-
-def test_thread_safety(io_provider):
-    import threading
-    import time
-
-    def worker(key: str, value: str, timestamp: Optional[float]):
-        io_provider.add_input(key, value, timestamp)
-
-    threads = []
-    for i in range(10):
-        t = threading.Thread(target=worker, args=(f"key{i}", f"value{i}", time.time()))
-        threads.append(t)
-        t.start()
-
-    for t in threads:
-        t.join()
-
-    assert len(io_provider.inputs) == 10
-
-
-def test_add_input_without_timestamp(io_provider):
-    io_provider.add_input("key1", "value1", None)
-    input_obj = io_provider.get_input("key1")
-    assert input_obj is not None
-    assert input_obj.input == "value1"
-    assert input_obj.timestamp is not None
-    assert input_obj.tick == 0
-
-
-def test_get_input(io_provider):
-    io_provider.add_input("key1", "value1", None)
-    input_obj = io_provider.get_input("key1")
-    assert input_obj is not None
-    assert input_obj.input == "value1"
-
-
-def test_get_input_nonexistent(io_provider):
-    assert io_provider.get_input("nonexistent") is None
-
-
-def test_fuser_system_prompt_property(io_provider):
-    prompt = "system prompt"
-    io_provider.fuser_system_prompt = prompt
-    assert io_provider.fuser_system_prompt == prompt
-
-
-def test_set_fuser_system_prompt_method(io_provider):
-    prompt = "system prompt"
-    io_provider.set_fuser_system_prompt(prompt)
-    assert io_provider.fuser_system_prompt == prompt
-
-
-def test_fuser_inputs_property(io_provider):
-    inputs = "fuser inputs"
-    io_provider.fuser_inputs = inputs
-    assert io_provider.fuser_inputs == inputs
-
-
-def test_set_fuser_inputs_method(io_provider):
-    inputs = "fuser inputs"
-    io_provider.set_fuser_inputs(inputs)
-    assert io_provider.fuser_inputs == inputs
-
-
-def test_set_fuser_start_time_method(io_provider):
-    start_time = time.time()
-    io_provider.set_fuser_start_time(start_time)
-    assert io_provider.fuser_start_time == start_time
-
-
-def test_set_fuser_end_time_method(io_provider):
-    end_time = time.time()
-    io_provider.set_fuser_end_time(end_time)
-    assert io_provider.fuser_end_time == end_time
-
-
-def test_set_llm_prompt_method(io_provider):
-    prompt = "llm prompt"
-    io_provider.set_llm_prompt(prompt)
-    assert io_provider.llm_prompt == prompt
-
-
-def test_dynamic_variables(io_provider):
-    io_provider.add_dynamic_variable("var1", "value1")
-    io_provider.add_dynamic_variable("var2", 42)
-    io_provider.add_dynamic_variable("var3", {"nested": "dict"})
-
-    assert io_provider.get_dynamic_variable("var1") == "value1"
-    assert io_provider.get_dynamic_variable("var2") == 42
-    assert io_provider.get_dynamic_variable("var3") == {"nested": "dict"}
-
-
-def test_get_dynamic_variable_nonexistent(io_provider):
-    assert io_provider.get_dynamic_variable("nonexistent") is None
-
-
-def test_add_mode_transition_input(io_provider):
-    io_provider.add_mode_transition_input("first input")
-    assert io_provider.get_mode_transition_input() == "first input"
-
-    io_provider.add_mode_transition_input("second input")
-    assert io_provider.get_mode_transition_input() == "first input second input"
-
-
-def test_delete_mode_transition_input(io_provider):
-    io_provider.add_mode_transition_input("test input")
-    assert io_provider.get_mode_transition_input() == "test input"
-
-    io_provider.delete_mode_transition_input()
-    assert io_provider.get_mode_transition_input() is None
-
-
-def test_mode_transition_input_context_manager(io_provider):
-    io_provider.add_mode_transition_input("context input")
-
-    with io_provider.mode_transition_input() as input_text:
-        assert input_text == "context input"
-
-    assert io_provider.get_mode_transition_input() is None
-
-
-def test_mode_transition_input_context_manager_empty(io_provider):
-    with io_provider.mode_transition_input() as input_text:
-        assert input_text is None
-
-    assert io_provider.get_mode_transition_input() is None
-
-
-def test_tick_counter_property(io_provider):
-    assert io_provider.tick_counter == 0
-
-
-def test_increment_tick(io_provider):
-    assert io_provider.increment_tick() == 1
-    assert io_provider.increment_tick() == 2
-    assert io_provider.tick_counter == 2
-
-
-def test_reset_tick_counter(io_provider):
-    io_provider.increment_tick()
-    io_provider.increment_tick()
-    assert io_provider.tick_counter == 2
-
-    io_provider.reset_tick_counter()
-    assert io_provider.tick_counter == 0
-
-
-def test_tick_tracking_in_inputs(io_provider):
-    io_provider.reset_tick_counter()
-
-    io_provider.add_input("key1", "value1", None)
-    assert io_provider.get_input("key1").tick == 0
-
-    io_provider.increment_tick()
-    io_provider.add_input("key2", "value2", None)
-    assert io_provider.get_input("key2").tick == 1
-
-    io_provider.increment_tick()
-    io_provider.add_input("key3", "value3", None)
-    assert io_provider.get_input("key3").tick == 2
-
-
-def test_add_input_timestamp_nonexistent_key(io_provider):
-    io_provider.add_input_timestamp("nonexistent", time.time())
-    assert io_provider.get_input("nonexistent") is None
-
-
-def test_inputs_property_returns_copy(io_provider):
-    io_provider.add_input("key1", "value1", None)
-    inputs1 = io_provider.inputs
-    inputs2 = io_provider.inputs
-
-    assert inputs1 is not inputs2
-    assert inputs1 == inputs2
diff --git a/tests/providers/test_k1_odom_provider.py b/tests/providers/test_k1_odom_provider.py
deleted file mode 100644
index 545c20d0de..0000000000
--- a/tests/providers/test_k1_odom_provider.py
+++ /dev/null
@@ -1,558 +0,0 @@
-import math
-import time
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from providers.k1_odom_provider import K1OdomProvider, RobotState, k1_odom_processor, rad_to_deg
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    K1OdomProvider.reset()  # type: ignore
-    yield
-    K1OdomProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_multiprocessing():
-    """
-    Mock multiprocessing and threading components.
-
-    Returns
-    -------
-    tuple
-        Tuple containing mock instances for multiprocessing components.
-    """
-    with (
-        patch("providers.k1_odom_provider.mp.Queue") as mock_queue,
-        patch("providers.k1_odom_provider.mp.Process") as mock_process,
-        patch("providers.k1_odom_provider.threading.Thread") as mock_thread,
-        patch("providers.k1_odom_provider.threading.Event") as mock_event,
-    ):
-        mock_queue_instance = MagicMock()
-        mock_process_instance = MagicMock()
-        mock_thread_instance = MagicMock()
-        mock_event_instance = MagicMock()
-
-        mock_queue.return_value = mock_queue_instance
-        mock_process.return_value = mock_process_instance
-        mock_thread.return_value = mock_thread_instance
-        mock_event.return_value = mock_event_instance
-
-        mock_process_instance.is_alive.return_value = False
-        mock_thread_instance.is_alive.return_value = False
-        mock_event_instance.is_set.return_value = False
-
-        yield (
-            mock_queue,
-            mock_queue_instance,
-            mock_process,
-            mock_process_instance,
-            mock_thread,
-            mock_thread_instance,
-        )
-
-
-class TestK1OdomProvider:
-    """Test cases for K1OdomProvider."""
-
-    def test_initialization_with_default_topic(self, mock_multiprocessing):
-        """Test initialization with default topic."""
-        provider = K1OdomProvider()
-
-        assert provider.topic == "odometer_state"
-
-    def test_initialization_with_custom_topic(self, mock_multiprocessing):
-        """Test initialization with custom topic."""
-        provider = K1OdomProvider(topic="custom_topic")
-
-        assert provider.topic == "custom_topic"
-
-    def test_singleton_pattern(self, mock_multiprocessing):
-        """Test that K1OdomProvider follows singleton pattern."""
-        provider1 = K1OdomProvider(topic="topic_1")
-        provider2 = K1OdomProvider(topic="topic_2")
-
-        assert provider1 is provider2
-        # First instance topic should be preserved
-        assert provider1.topic == "topic_1"
-
-    def test_initialization_starts_processes(self, mock_multiprocessing):
-        """Test that initialization starts reader and processor threads."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        K1OdomProvider()
-
-        # Should have started the process and thread during initialization
-        assert mock_process_instance.start.call_count >= 1
-        assert mock_thread_instance.start.call_count >= 1
-
-
-class TestStart:
-    """Test start method."""
-
-    def test_start_creates_reader_process(self, mock_multiprocessing):
-        """Test that start creates and starts reader process."""
-        _, _, _, mock_process_instance, _, _ = mock_multiprocessing
-
-        K1OdomProvider(topic="test_topic")
-
-        # Should have started the process during initialization
-        assert mock_process_instance.start.call_count >= 1
-
-    def test_start_creates_processor_thread(self, mock_multiprocessing):
-        """Test that start creates and starts processor thread."""
-        _, _, _, _, _, mock_thread_instance = mock_multiprocessing
-
-        K1OdomProvider(topic="test_topic")
-
-        assert mock_thread_instance.start.call_count >= 1
-
-    def test_start_already_running_reader(self, mock_multiprocessing):
-        """Test that start doesn't restart reader if already running."""
-        _, _, _, mock_process_instance, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider(topic="test_topic")
-
-        mock_process_instance.is_alive.return_value = True
-        initial_start_count = mock_process_instance.start.call_count
-
-        provider.start()
-
-        assert mock_process_instance.start.call_count == initial_start_count
-
-    def test_start_already_running_processor(self, mock_multiprocessing):
-        """Test that start doesn't restart processor if already running."""
-        _, _, _, _, _, mock_thread_instance = mock_multiprocessing
-
-        provider = K1OdomProvider(topic="test_topic")
-
-        mock_thread_instance.is_alive.return_value = True
-        mock_thread_instance.start.call_count
-
-        provider.start()
-
-    def test_start_without_topic(self, mock_multiprocessing):
-        """Test that start logs error when topic is not specified."""
-        _, _, _, mock_process_instance, _, _ = mock_multiprocessing
-
-        with patch("providers.k1_odom_provider.logging") as mock_logging:
-            provider = K1OdomProvider()
-            provider.topic = None  # type: ignore  # Simulate missing topic
-
-            provider.start()
-
-            mock_logging.error.assert_called()
-
-
-class TestUpdateBodyState:
-    """Test _update_body_state method."""
-
-    def test_update_body_state_sets_standing(self, mock_multiprocessing):
-        """Test _update_body_state sets robot to standing."""
-        provider = K1OdomProvider()
-
-        provider._update_body_state(None)
-
-        assert provider.body_attitude == RobotState.STANDING
-        assert provider.body_height_cm == 70
-
-    def test_update_body_state_with_any_pose(self, mock_multiprocessing):
-        """Test _update_body_state always assumes standing for K1."""
-        provider = K1OdomProvider()
-
-        # Test with mock pose data
-        mock_pose = Mock()
-        provider._update_body_state(mock_pose)
-
-        assert provider.body_attitude == RobotState.STANDING
-        assert provider.body_height_cm == 70
-
-
-class TestProcessOdom:
-    """Test process_odom method."""
-
-    def test_process_odom_with_valid_data(self, mock_multiprocessing):
-        """Test process_odom processes valid odometry data."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # Prepare test data
-        test_odom_data = {"x": 1.5, "y": 2.5, "theta": 0.5, "timestamp": time.time()}
-
-        mock_queue_instance.get.return_value = test_odom_data
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            # Simulate one iteration of process_odom
-            provider._stop_event.is_set.return_value = False  # type: ignore
-            provider._stop_event.is_set.side_effect = [False, True]  # type: ignore  # Run once then stop
-
-            provider.process_odom()
-
-        # Verify data was processed
-        assert provider.x == round(1.5, 4)
-        assert provider.y == round(2.5, 4)
-
-    def test_process_odom_calculates_movement(self, mock_multiprocessing):
-        """Test process_odom correctly calculates movement delta."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # First position
-        test_odom_data1 = {"x": 0.0, "y": 0.0, "theta": 0.0, "timestamp": time.time()}
-        # Second position (moved 0.1m in x direction)
-        test_odom_data2 = {"x": 0.1, "y": 0.0, "theta": 0.0, "timestamp": time.time()}
-
-        mock_queue_instance.get.side_effect = [test_odom_data1, test_odom_data2]
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            # Simulate two iterations
-            provider._stop_event.is_set.side_effect = [False, False, True]  # type: ignore
-
-            provider.process_odom()
-
-        # Should detect movement
-        assert provider.moving is True
-
-    def test_process_odom_stationary_robot(self, mock_multiprocessing):
-        """Test process_odom detects stationary robot."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # Same position data - need multiple iterations for move_history to decay
-        test_odom_data = {"x": 1.0, "y": 1.0, "theta": 0.0, "timestamp": time.time()}
-
-        # Simulate multiple iterations with same position
-        mock_queue_instance.get.side_effect = [test_odom_data] * 5
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            # Simulate multiple iterations for move_history to decay below threshold
-            provider._stop_event.is_set.side_effect = [False] * 5 + [True]  # type: ignore
-
-            provider.process_odom()
-
-        # Should detect no movement after decay
-        assert provider.moving is False
-        assert provider.move_history < 0.01
-
-    def test_process_odom_converts_theta_to_degrees(self, mock_multiprocessing):
-        """Test process_odom converts theta from radians to degrees."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # theta = pi/2 radians = 90 degrees
-        test_odom_data = {"x": 0.0, "y": 0.0, "theta": math.pi / 2, "timestamp": time.time()}
-
-        mock_queue_instance.get.return_value = test_odom_data
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            provider._stop_event.is_set.side_effect = [False, True]  # type: ignore
-
-            provider.process_odom()
-
-        # Should be approximately 90 degrees
-        assert abs(provider.odom_yaw_m180_p180 - 90.0) < 0.1
-
-    def test_process_odom_normalizes_yaw_to_m180_p180(self, mock_multiprocessing):
-        """Test process_odom normalizes yaw to [-180, 180] range."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # theta = 3.5 radians = ~200 degrees, should normalize to -160
-        test_odom_data = {"x": 0.0, "y": 0.0, "theta": 3.5, "timestamp": time.time()}
-
-        mock_queue_instance.get.return_value = test_odom_data
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            provider._stop_event.is_set.side_effect = [False, True]  # type: ignore
-
-            provider.process_odom()
-
-        # Should be in [-180, 180] range
-        assert -180.0 <= provider.odom_yaw_m180_p180 <= 180.0
-
-    def test_process_odom_provides_0_360_representation(self, mock_multiprocessing):
-        """Test process_odom provides [0, 360] yaw representation."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        test_odom_data = {"x": 0.0, "y": 0.0, "theta": -math.pi / 2, "timestamp": time.time()}
-
-        mock_queue_instance.get.return_value = test_odom_data
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            provider._stop_event.is_set.side_effect = [False, True]  # type: ignore
-
-            provider.process_odom()
-
-        # Should be in [0, 360] range
-        assert 0.0 <= provider.odom_yaw_0_360 <= 360.0
-
-    def test_process_odom_updates_timestamps(self, mock_multiprocessing):
-        """Test process_odom updates timestamps correctly."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        test_timestamp = 9999.0
-        test_odom_data = {"x": 0.0, "y": 0.0, "theta": 0.0, "timestamp": test_timestamp}
-
-        mock_queue_instance.get.return_value = test_odom_data
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            provider._stop_event.is_set.side_effect = [False, True]  # type: ignore
-
-            provider.process_odom()
-
-        assert provider.odom_subscriber_ts == 1234567890.0
-        assert provider.odom_rockchip_ts == test_timestamp
-
-    def test_process_odom_handles_queue_timeout(self, mock_multiprocessing):
-        """Test process_odom handles queue timeout gracefully."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # Simulate queue timeout
-        from queue import Empty
-
-        mock_queue_instance.get.side_effect = Empty()
-
-        provider._stop_event.is_set.side_effect = [False, True]  # type: ignore
-
-        # Should not raise exception
-        provider.process_odom()
-
-    def test_process_odom_handles_invalid_data(self, mock_multiprocessing):
-        """Test process_odom handles invalid data types."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # Invalid data type (not a dict)
-        mock_queue_instance.get.return_value = "invalid_data"
-
-        with patch("providers.k1_odom_provider.logging") as mock_logging:
-            provider._stop_event.is_set.side_effect = [False, True]  # type: ignore
-
-            provider.process_odom()
-
-            # Should log warning about unexpected data type
-            mock_logging.warning.assert_called()
-
-    def test_process_odom_uses_move_history_decay(self, mock_multiprocessing):
-        """Test process_odom uses decay kernel for move history."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider()
-
-        # First with movement
-        test_odom_data1 = {"x": 0.0, "y": 0.0, "theta": 0.0, "timestamp": time.time()}
-        test_odom_data2 = {"x": 0.1, "y": 0.0, "theta": 0.0, "timestamp": time.time()}
-
-        mock_queue_instance.get.side_effect = [test_odom_data1, test_odom_data2]
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            provider._stop_event.is_set.side_effect = [False, False, True]  # type: ignore
-
-            provider.process_odom()
-
-        # move_history should be non-zero due to decay kernel
-        assert provider.move_history > 0.0
-
-
-class TestK1OdomProcessor:
-    """Test k1_odom_processor function."""
-
-    def test_k1_odom_processor_opens_zenoh_session(self):
-        """Test k1_odom_processor opens a Zenoh session."""
-        mock_queue = MagicMock()
-
-        with (
-            patch("providers.k1_odom_provider.open_zenoh_session") as mock_zenoh,
-            patch("providers.k1_odom_provider.setup_logging"),
-            patch("providers.k1_odom_provider.time.sleep") as mock_sleep,
-        ):
-            mock_session = Mock()
-            mock_zenoh.return_value = mock_session
-            mock_sleep.side_effect = KeyboardInterrupt()  # Stop the infinite loop
-
-            try:
-                k1_odom_processor("test_topic", mock_queue)
-            except KeyboardInterrupt:
-                pass
-
-            mock_zenoh.assert_called_once()
-            mock_session.declare_subscriber.assert_called_once()
-
-    def test_k1_odom_processor_subscribes_to_topic(self):
-        """Test k1_odom_processor subscribes to the correct topic."""
-        mock_queue = MagicMock()
-
-        with (
-            patch("providers.k1_odom_provider.open_zenoh_session") as mock_zenoh,
-            patch("providers.k1_odom_provider.setup_logging"),
-            patch("providers.k1_odom_provider.time.sleep") as mock_sleep,
-        ):
-            mock_session = Mock()
-            mock_zenoh.return_value = mock_session
-            mock_sleep.side_effect = KeyboardInterrupt()
-
-            try:
-                k1_odom_processor("my_custom_topic", mock_queue)
-            except KeyboardInterrupt:
-                pass
-
-            # Verify subscriber was declared with the correct topic
-            args, _ = mock_session.declare_subscriber.call_args
-            assert args[0] == "my_custom_topic"
-
-    def test_k1_odom_processor_handles_zenoh_error(self):
-        """Test k1_odom_processor handles Zenoh connection errors."""
-        mock_queue = MagicMock()
-
-        with (
-            patch("providers.k1_odom_provider.open_zenoh_session") as mock_zenoh,
-            patch("providers.k1_odom_provider.setup_logging"),
-            patch("providers.k1_odom_provider.logging") as mock_logging,
-        ):
-            mock_zenoh.side_effect = Exception("Connection failed")
-
-            result = k1_odom_processor("test_topic", mock_queue)
-
-            assert result is None
-            mock_logging.error.assert_called()
-
-    def test_k1_odom_processor_sets_up_logging(self):
-        """Test k1_odom_processor sets up logging."""
-        mock_queue = MagicMock()
-
-        with (
-            patch("providers.k1_odom_provider.open_zenoh_session"),
-            patch("providers.k1_odom_provider.setup_logging") as mock_setup_logging,
-            patch("providers.k1_odom_provider.time.sleep") as mock_sleep,
-        ):
-            mock_sleep.side_effect = KeyboardInterrupt()
-
-            try:
-                k1_odom_processor("test_topic", mock_queue, logging_config=None)
-            except KeyboardInterrupt:
-                pass
-
-            mock_setup_logging.assert_called_once_with("k1_odom_processor", logging_config=None)
-
-
-class TestPosition:
-    """Test position property."""
-
-    def test_position_property_returns_dict(self, mock_multiprocessing):
-        """Test position property returns a dictionary with odometry data."""
-        provider = K1OdomProvider()
-
-        position = provider.position
-
-        assert isinstance(position, dict)
-        assert "odom_x" in position
-        assert "odom_y" in position
-        assert "odom_yaw_m180_p180" in position
-        assert "odom_yaw_0_360" in position
-        assert "moving" in position
-        assert "body_attitude" in position
-
-    def test_position_property_values(self, mock_multiprocessing):
-        """Test position property returns correct values."""
-        provider = K1OdomProvider()
-
-        # Set some values
-        provider.x = 5.0
-        provider.y = 10.0
-        provider.odom_yaw_m180_p180 = 45.0
-        provider.odom_yaw_0_360 = 45.0
-        provider.moving = True
-        provider.body_attitude = RobotState.STANDING
-
-        position = provider.position
-
-        assert position["odom_x"] == 5.0
-        assert position["odom_y"] == 10.0
-        assert position["odom_yaw_m180_p180"] == 45.0
-        assert position["odom_yaw_0_360"] == 45.0
-        assert position["moving"] is True
-        assert position["body_attitude"] == RobotState.STANDING
-
-
-class TestRadToDegConstant:
-    """Test rad_to_deg constant."""
-
-    def test_rad_to_deg_value(self):
-        """Test rad_to_deg constant has correct value."""
-        # rad_to_deg should be approximately 180/pi = 57.2958
-        expected = 180.0 / math.pi
-        assert abs(rad_to_deg - expected) < 0.01
-
-    def test_rad_to_deg_conversion(self):
-        """Test rad_to_deg constant works for conversion."""
-        # Test converting pi radians to degrees
-        radians = math.pi
-        degrees = radians * rad_to_deg
-
-        assert abs(degrees - 180.0) < 0.1
-
-
-class TestIntegration:
-    """Integration tests for K1OdomProvider."""
-
-    def test_provider_initialization_and_start(self, mock_multiprocessing):
-        """Test complete initialization and start sequence."""
-        _, _, mock_process_class, mock_process_instance, mock_thread_class, mock_thread_instance = mock_multiprocessing
-
-        provider = K1OdomProvider(topic="integration_test")
-
-        # Verify initialization - body_attitude is None until odom is processed
-        assert provider.topic == "integration_test"
-        assert provider.body_attitude is None  # Not set until process_odom runs
-        assert provider.body_height_cm == 0  # Not set until _update_body_state is called
-        assert provider.x == 0.0
-        assert provider.y == 0.0
-        assert provider.moving is False
-
-        # Verify processes were started
-        assert mock_process_instance.start.call_count >= 1
-        assert mock_thread_instance.start.call_count >= 1
-
-    def test_complete_odom_processing_cycle(self, mock_multiprocessing):
-        """Test a complete odometry processing cycle."""
-        _, mock_queue_instance, _, _, _, _ = mock_multiprocessing
-
-        provider = K1OdomProvider(topic="test_topic")
-
-        # Simulate receiving odometry data
-        test_data = {"x": 1.0, "y": 2.0, "theta": math.pi / 4, "timestamp": 12345.0}
-
-        mock_queue_instance.get.return_value = test_data
-
-        with patch("providers.k1_odom_provider.time.time", return_value=1234567890.0):
-            provider._stop_event.is_set.side_effect = [False, True]  # type: ignore
-
-            provider.process_odom()
-
-        # Verify all data was processed correctly
-        assert provider.x == 1.0
-        assert provider.y == 2.0
-        assert provider.body_attitude == RobotState.STANDING
-        assert provider.odom_subscriber_ts == 1234567890.0
-        assert provider.odom_rockchip_ts == 12345.0
-
-        # Verify position property returns correct values
-        position = provider.position
-        assert position["odom_x"] == 1.0
-        assert position["odom_y"] == 2.0
-        assert position["body_attitude"] == RobotState.STANDING
diff --git a/tests/providers/test_kokoro_tts_provider.py b/tests/providers/test_kokoro_tts_provider.py
deleted file mode 100644
index 98c5292bfe..0000000000
--- a/tests/providers/test_kokoro_tts_provider.py
+++ /dev/null
@@ -1,255 +0,0 @@
-import logging
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.kokoro_tts_provider import KokoroTTSProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset the singleton instance before each test to ensure test isolation."""
-    KokoroTTSProvider.reset()  # type: ignore
-    yield
-    KokoroTTSProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_audio_stream():
-    """Fixture for mocked AudioOutputLiveStream."""
-    with patch("providers.kokoro_tts_provider.AudioOutputLiveStream") as mock:
-        mock_instance = MagicMock()
-        mock_instance._url = "http://127.0.0.1:8880/v1"
-        mock_instance._pending_requests = MagicMock()
-        mock_instance._pending_requests.qsize.return_value = 0
-        mock.return_value = mock_instance
-        yield mock
-
-
-@pytest.fixture
-def provider(mock_audio_stream):
-    """Fixture for KokoroTTSProvider with mocked audio stream."""
-    provider = KokoroTTSProvider()
-    return provider
-
-
-class TestKokoroTTSProviderInit:
-    """Test initialization of KokoroTTSProvider."""
-
-    def test_init_default_parameters(self, mock_audio_stream):
-        """Test initialization with default parameters."""
-        provider = KokoroTTSProvider()
-
-        assert provider.api_key is None
-        assert provider.running is False
-        assert provider._voice_id == "af_bella"
-        assert provider._model_id == "kokoro"
-        assert provider._output_format == "pcm"
-        assert provider._rate == 24000
-        assert provider._enable_tts_interrupt is False
-
-        mock_audio_stream.assert_called_once_with(
-            url="http://127.0.0.1:8880/v1",
-            tts_model="kokoro",
-            tts_voice="af_bella",
-            response_format="pcm",
-            rate=24000,
-            api_key=None,
-            enable_tts_interrupt=False,
-        )
-
-    def test_init_custom_parameters(self, mock_audio_stream):
-        """Test initialization with custom parameters."""
-        provider = KokoroTTSProvider(
-            url="http://custom:9000/v1",
-            api_key="test-key",
-            voice_id="custom_voice",
-            model_id="custom_model",
-            output_format="wav",
-            rate=48000,
-            enable_tts_interrupt=True,
-        )
-
-        assert provider.api_key == "test-key"
-        assert provider.running is False
-        assert provider._voice_id == "custom_voice"
-        assert provider._model_id == "custom_model"
-        assert provider._output_format == "wav"
-        assert provider._rate == 48000
-        assert provider._enable_tts_interrupt is True
-
-        mock_audio_stream.assert_called_once_with(
-            url="http://custom:9000/v1",
-            tts_model="custom_model",
-            tts_voice="custom_voice",
-            response_format="wav",
-            rate=48000,
-            api_key="test-key",
-            enable_tts_interrupt=True,
-        )
-
-
-class TestKokoroTTSProviderConfigure:
-    """Test configuration of KokoroTTSProvider."""
-
-    def test_configure_no_changes(self, provider):
-        """Test configure when no changes are needed."""
-        provider.running = True
-        initial_stream = provider._audio_stream
-
-        provider.configure()
-
-        # Should not restart or create new stream
-        assert provider._audio_stream is initial_stream
-
-    def test_configure_with_changes_while_stopped(self, provider, mock_audio_stream):
-        """Test configure with changes while provider is stopped."""
-        provider.configure(
-            voice_id="new_voice",
-            model_id="new_model",
-        )
-
-        assert provider._voice_id == "new_voice"
-        assert provider._model_id == "new_model"
-        provider._audio_stream.start.assert_called_once()
-
-    def test_configure_with_changes_while_running(self, provider, mock_audio_stream):
-        """Test configure with changes while provider is running."""
-        provider.running = True
-
-        provider.configure(
-            voice_id="new_voice",
-            output_format="wav",
-        )
-
-        assert provider._voice_id == "new_voice"
-        assert provider._output_format == "wav"
-        # Should stop and recreate stream
-        assert provider.running is False
-        provider._audio_stream.start.assert_called()
-
-    def test_configure_restart_needed_rate_change(self, provider, mock_audio_stream):
-        """Test restart is triggered when rate changes."""
-        provider.running = True
-
-        with patch.object(provider, "stop") as mock_stop:
-            provider.configure(rate=48000)
-            mock_stop.assert_called_once()
-
-        assert provider._rate == 48000
-
-
-class TestKokoroTTSProviderCallbacks:
-    """Test callback registration."""
-
-    def test_register_tts_state_callback(self, provider):
-        """Test registering a TTS state callback."""
-        callback = MagicMock()
-
-        provider.register_tts_state_callback(callback)
-
-        provider._audio_stream.set_tts_state_callback.assert_called_once_with(callback)
-
-    def test_register_tts_state_callback_none(self, provider):
-        """Test registering None callback does nothing."""
-        provider.register_tts_state_callback(None)
-
-        provider._audio_stream.set_tts_state_callback.assert_not_called()
-
-
-class TestKokoroTTSProviderMessages:
-    """Test message handling."""
-
-    def test_create_pending_message(self, provider):
-        """Test creating a pending message."""
-        result = provider.create_pending_message("Hello world")
-
-        assert result == {
-            "text": "Hello world",
-            "voice_id": "af_bella",
-            "model_id": "kokoro",
-            "output_format": "pcm",
-        }
-
-    def test_add_pending_message_as_string(self, provider):
-        """Test adding a pending message as string."""
-        provider.running = True
-
-        provider.add_pending_message("Test message")
-
-        provider._audio_stream.add_request.assert_called_once()
-        call_args = provider._audio_stream.add_request.call_args[0][0]
-        assert call_args["text"] == "Test message"
-        assert call_args["voice_id"] == "af_bella"
-
-    def test_add_pending_message_as_dict(self, provider):
-        """Test adding a pending message as dict."""
-        provider.running = True
-        message = {
-            "text": "Test message",
-            "voice_id": "custom_voice",
-            "model_id": "custom_model",
-            "output_format": "wav",
-        }
-
-        provider.add_pending_message(message)
-
-        provider._audio_stream.add_request.assert_called_once_with(message)
-
-    def test_add_pending_message_not_running(self, provider, caplog):
-        """Test adding a pending message when provider is not running."""
-        provider.running = False
-
-        with caplog.at_level(logging.WARNING):
-            provider.add_pending_message("Test message")
-
-        provider._audio_stream.add_request.assert_not_called()
-        assert "TTS provider is not running" in caplog.text
-
-    def test_get_pending_message_count(self, provider):
-        """Test getting pending message count."""
-        provider._audio_stream._pending_requests.qsize.return_value = 5
-
-        count = provider.get_pending_message_count()
-
-        assert count == 5
-
-
-class TestKokoroTTSProviderLifecycle:
-    """Test start and stop lifecycle."""
-
-    def test_start(self, provider):
-        """Test starting the provider."""
-        provider.running = False
-
-        provider.start()
-
-        assert provider.running is True
-        provider._audio_stream.start.assert_called_once()
-
-    def test_start_already_running(self, provider, caplog):
-        """Test starting when already running."""
-        provider.running = True
-
-        with caplog.at_level(logging.WARNING):
-            provider.start()
-
-        assert "already running" in caplog.text
-
-    def test_stop(self, provider):
-        """Test stopping the provider."""
-        provider.running = True
-
-        provider.stop()
-
-        assert provider.running is False
-        provider._audio_stream.stop.assert_called_once()
-
-    def test_stop_not_running(self, provider, caplog):
-        """Test stopping when not running."""
-        provider.running = False
-
-        with caplog.at_level(logging.WARNING):
-            provider.stop()
-
-        assert "is not running" in caplog.text
diff --git a/tests/providers/test_llm_history_manager.py b/tests/providers/test_llm_history_manager.py
deleted file mode 100644
index 7918cca831..0000000000
--- a/tests/providers/test_llm_history_manager.py
+++ /dev/null
@@ -1,965 +0,0 @@
-import asyncio
-from dataclasses import dataclass
-from unittest.mock import AsyncMock, MagicMock
-
-import openai
-import pytest
-
-from providers.llm_history_manager import ChatMessage, LLMHistoryManager
-
-
-@dataclass
-class MockAction:
-    type: str
-    value: str
-
-
-@pytest.fixture
-def llm_config():
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 5
-    config.agent_name = "Test Robot"
-    return config
-
-
-@pytest.fixture
-def openai_client():
-    client = MagicMock(spec=openai.AsyncClient)
-
-    response = MagicMock()
-    response.choices = [MagicMock()]
-    response.choices[0].message.content = "This is a test summary"
-
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-    completions_mock.create = AsyncMock(return_value=response)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    return client
-
-
-@pytest.fixture
-def history_manager(llm_config, openai_client):
-    return LLMHistoryManager(llm_config, openai_client)
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_success(history_manager):
-    # Create test messages
-    messages = [
-        ChatMessage(role="assistant", content="Previous summary"),
-        ChatMessage(role="user", content="New input"),
-        ChatMessage(role="user", content="Action taken"),
-    ]
-
-    # Test successful summarization
-    result = await history_manager.summarize_messages(messages)
-    assert result.role == "assistant"
-    assert "Previously, This is a test summary" == result.content
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_empty(history_manager):
-    # Test with empty messages
-    result = await history_manager.summarize_messages([])
-    assert result.role == "system"
-    assert "No history to summarize" == result.content
-
-
-@pytest.mark.asyncio
-async def test_start_summary_task(history_manager):
-    # Create test messages that we'll modify in-place
-    messages = [
-        ChatMessage(role="assistant", content="Previous summary"),
-        ChatMessage(role="user", content="New input"),
-        ChatMessage(role="user", content="Action taken"),
-    ]
-
-    # Replace summarize_messages with a mock
-    history_manager.summarize_messages = AsyncMock()
-    history_manager.summarize_messages.return_value = ChatMessage(role="assistant", content="New summary")
-
-    # Run the summary task
-    await history_manager.start_summary_task(messages)
-
-    # Let the task and callback complete
-    await asyncio.sleep(0.1)
-
-    # Verify the task was created
-    assert history_manager._summary_task is not None
-
-    # Let the event loop process the callback
-    await asyncio.sleep(0.1)
-
-    # Because we mocked summarize_messages, the callback should have run
-    # and updated the messages list
-    assert len(messages) == 1
-    assert messages[0].role == "assistant"
-    assert "New summary" == messages[0].content
-
-
-@pytest.mark.asyncio
-async def test_start_summary_task_empty_messages(history_manager):
-    # Test with empty messages
-    await history_manager.start_summary_task([])
-    assert history_manager._summary_task is None
-
-
-@pytest.mark.asyncio
-async def test_start_summary_task_error_handling(history_manager):
-    messages = [
-        ChatMessage(role="user", content="Message 1"),
-        ChatMessage(role="assistant", content="Response 1"),
-        ChatMessage(role="user", content="Message 2"),
-        ChatMessage(role="assistant", content="Response 2"),
-        ChatMessage(role="user", content="Message 3"),
-        ChatMessage(role="assistant", content="Response 3"),
-        ChatMessage(role="user", content="Test message"),
-    ]
-
-    history_manager.summarize_messages = AsyncMock()
-    history_manager.summarize_messages.return_value = ChatMessage(
-        role="system", content="Error: API service unavailable"
-    )
-
-    await history_manager.start_summary_task(messages)
-
-    await asyncio.sleep(0.1)
-
-    assert len(messages) == 5
-    assert messages[0].content == "Message 2"
-    assert messages[1].content == "Response 2"
-    assert messages[2].content == "Message 3"
-    assert messages[3].content == "Response 3"
-    assert messages[4].content == "Test message"
-
-
-@pytest.mark.asyncio
-async def test_update_history_only_current_tick_inputs():
-    """Test that only inputs matching the current tick are added to history."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 5
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    # Setup mock class that uses the decorator
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list) -> MagicMock:
-            # Return mock response with actions
-            response = MagicMock()
-            response.actions = [
-                MockAction(type="speak", value="Hello"),
-                MockAction(type="emotion", value="happy"),
-            ]
-            return response
-
-    # Create provider instance
-    provider = MockLLMProvider()
-
-    # Add inputs with different ticks
-    # Current tick is 0 (initial value)
-    provider.io_provider.add_input("audio", "User said hello", 1234.0)
-    provider.io_provider.add_input("vision", "Saw a person", 1235.0)
-
-    # Increment tick to 1
-    provider.io_provider.increment_tick()
-
-    # Add inputs for tick 1
-    provider.io_provider.add_input("audio_new", "User said goodbye", 1236.0)
-    provider.io_provider.add_input("lidar", "Detected obstacle", 1237.0)
-
-    # Process with current tick = 1
-    await provider.process("test prompt")
-
-    # Should have 2 messages: inputs and actions
-    assert len(history_manager.history) == 2
-
-    # First message should be the inputs message
-    inputs_msg = history_manager.history[0]
-    assert inputs_msg.role == "user"
-    assert "audio_new" in inputs_msg.content
-    assert "User said goodbye" in inputs_msg.content
-    assert "lidar" in inputs_msg.content
-    assert "Detected obstacle" in inputs_msg.content
-
-    assert "User said hello" not in inputs_msg.content
-    assert "Saw a person" not in inputs_msg.content
-
-
-@pytest.mark.asyncio
-async def test_update_history_no_inputs_for_current_tick():
-    """Test that when no inputs match current tick, only sensor info is added."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 5
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    # Setup mock class that uses the decorator
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list) -> MagicMock:
-            response = MagicMock()
-            response.actions = [MockAction(type="speak", value="Nothing to report")]
-            return response
-
-    provider = MockLLMProvider()
-
-    # Add inputs with tick 0
-    provider.io_provider.add_input("audio", "Old audio", 1234.0)
-
-    # Increment tick to 1 without adding new inputs
-    provider.io_provider.increment_tick()
-
-    # Process with current tick = 1 (no inputs for this tick)
-    await provider.process("test prompt")
-
-    # Should have 2 messages: empty inputs and actions
-    assert len(history_manager.history) == 2
-
-    # First message should be the inputs message with just the preamble
-    inputs_msg = history_manager.history[0]
-    assert inputs_msg.role == "user"
-    assert "TestBot sensed the following:" in inputs_msg.content
-    # Old inputs should not be included
-    assert "Old audio" not in inputs_msg.content
-
-
-@pytest.mark.asyncio
-async def test_update_history_multiple_ticks():
-    """Test that inputs are filtered correctly across multiple tick cycles."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 10
-    config.agent_name = "MultiTickBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list) -> MagicMock:
-            response = MagicMock()
-            response.actions = [MockAction(type="speak", value="Response")]
-            return response
-
-    provider = MockLLMProvider()
-
-    # Tick 0: Add inputs
-    provider.io_provider.add_input("input_tick0", "Data at tick 0", 1000.0)
-    await provider.process("prompt")
-
-    # Verify only tick 0 data in first cycle
-    first_inputs = history_manager.history[0]
-    assert "input_tick0" in first_inputs.content
-    assert "Data at tick 0" in first_inputs.content
-
-    # Tick 1: Increment and add new inputs
-    provider.io_provider.increment_tick()
-    provider.io_provider.add_input("input_tick1", "Data at tick 1", 2000.0)
-    await provider.process("prompt")
-
-    # Find the second input message (should be at index 2)
-    second_inputs = history_manager.history[2]
-    assert "input_tick1" in second_inputs.content
-    assert "Data at tick 1" in second_inputs.content
-    # Should NOT include tick 0 data
-    assert "Data at tick 0" not in second_inputs.content
-
-    # Tick 2: Increment and add new inputs
-    provider.io_provider.increment_tick()
-    provider.io_provider.add_input("input_tick2", "Data at tick 2", 3000.0)
-    await provider.process("prompt")
-
-    # Find the third input message (should be at index 4)
-    third_inputs = history_manager.history[4]
-    assert "input_tick2" in third_inputs.content
-    assert "Data at tick 2" in third_inputs.content
-    # Should NOT include previous tick data
-    assert "Data at tick 0" not in third_inputs.content
-    assert "Data at tick 1" not in third_inputs.content
-
-
-@pytest.mark.asyncio
-async def test_update_history_tick_boundary():
-    """Test input filtering at tick boundaries when inputs are updated."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 5
-    config.agent_name = "BoundaryBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list) -> MagicMock:
-            response = MagicMock()
-            response.actions = [MockAction(type="move", value="forward")]
-            return response
-
-    provider = MockLLMProvider()
-
-    # Add input at tick 0
-    provider.io_provider.add_input("sensor", "Initial reading", 1000.0)
-
-    # Increment to tick 1
-    provider.io_provider.increment_tick()
-
-    # Update the same input key with new data at tick 1
-    provider.io_provider.add_input("sensor", "Updated reading", 2000.0)
-
-    # Process at tick 1
-    await provider.process("prompt")
-
-    # Should only see the updated reading from tick 1
-    inputs_msg = history_manager.history[0]
-    assert "Updated reading" in inputs_msg.content
-    assert "Initial reading" not in inputs_msg.content
-
-
-@pytest.mark.asyncio
-async def test_summarization_failure_truncates_to_history_length(history_manager):
-    """Test that when summarization fails, history is truncated to history_length."""
-    # Set history_length to 4
-    history_manager.config.history_length = 4
-
-    # Create messages exceeding history_length
-    messages = [
-        ChatMessage(role="user", content="Message 1"),
-        ChatMessage(role="assistant", content="Response 1"),
-        ChatMessage(role="user", content="Message 2"),
-        ChatMessage(role="assistant", content="Response 2"),
-        ChatMessage(role="user", content="Message 3"),
-        ChatMessage(role="assistant", content="Response 3"),
-        ChatMessage(role="user", content="Message 4"),
-        ChatMessage(role="assistant", content="Response 4"),
-    ]
-
-    # Mock summarization to return an error
-    history_manager.summarize_messages = AsyncMock()
-    history_manager.summarize_messages.return_value = ChatMessage(role="system", content="Error: API request timed out")
-
-    # Run the summary task
-    await history_manager.start_summary_task(messages)
-
-    # Let the task and callback complete
-    await asyncio.sleep(0.1)
-
-    # Verify history was truncated to history_length (4)
-    assert len(messages) == 4
-    # The oldest messages should be removed
-    assert messages[0].content == "Message 3"
-    assert messages[1].content == "Response 3"
-    assert messages[2].content == "Message 4"
-    assert messages[3].content == "Response 4"
-
-
-@pytest.mark.asyncio
-async def test_summarization_exception_truncates_to_history_length(history_manager):
-    """Test that when summarization raises an exception, history is truncated to history_length."""
-    history_manager.config.history_length = 3
-
-    # Create messages exceeding history_length
-    messages = [
-        ChatMessage(role="user", content="Old message 1"),
-        ChatMessage(role="assistant", content="Old response 1"),
-        ChatMessage(role="user", content="Old message 2"),
-        ChatMessage(role="assistant", content="Old response 2"),
-        ChatMessage(role="user", content="Recent message"),
-        ChatMessage(role="assistant", content="Recent response"),
-    ]
-
-    # Mock summarization to raise an exception
-    history_manager.summarize_messages = AsyncMock()
-    history_manager.summarize_messages.side_effect = Exception("Unexpected error")
-
-    # Run the summary task
-    await history_manager.start_summary_task(messages)
-
-    # Let the task and callback complete
-    await asyncio.sleep(0.1)
-
-    # Verify history was truncated to history_length (3)
-    assert len(messages) == 3
-    # The oldest messages should be removed, keeping the most recent 3
-    assert messages[0].content == "Old response 2"
-    assert messages[1].content == "Recent message"
-    assert messages[2].content == "Recent response"
-
-
-@pytest.mark.asyncio
-async def test_llm_response_failure_removes_unpaired_user_message():
-    """Test that when LLM response is None, the unpaired user message is removed."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 5
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list) -> None:
-            # Return None to simulate LLM failure
-            return None
-
-    provider = MockLLMProvider()
-
-    # Add input
-    provider.io_provider.add_input("audio", "Test input", 1234.0)
-
-    # Process - this should add a user message but return None
-    result = await provider.process("test prompt")
-
-    # Verify the result is None
-    assert result is None
-
-    # Verify the unpaired user message was removed
-    assert len(history_manager.history) == 0
-
-
-@pytest.mark.asyncio
-async def test_llm_response_failure_with_existing_history():
-    """Test that unpaired user message removal doesn't affect existing paired messages."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 10
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-            self.call_count = 0
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list):
-            self.call_count += 1
-            if self.call_count == 1:
-                # First call succeeds
-                response = MagicMock()
-                response.actions = [MockAction(type="speak", value="Hello")]
-                return response
-            else:
-                # Second call fails
-                return None
-
-    provider = MockLLMProvider()
-
-    # First successful call
-    provider.io_provider.add_input("audio", "First input", 1234.0)
-    await provider.process("test prompt")
-
-    # Should have 2 messages (user + assistant)
-    assert len(history_manager.history) == 2
-    assert history_manager.history[0].role == "user"
-    assert history_manager.history[1].role == "assistant"
-
-    # Second failed call
-    provider.io_provider.increment_tick()
-    provider.io_provider.add_input("audio", "Second input", 1235.0)
-    await provider.process("test prompt")
-
-    # Should still have 2 messages - the failed user message was removed
-    assert len(history_manager.history) == 2
-    assert history_manager.history[0].role == "user"
-    assert "First input" in history_manager.history[0].content
-    assert history_manager.history[1].role == "assistant"
-
-
-@pytest.mark.asyncio
-async def test_multiple_summarization_failures_prevent_unbounded_growth():
-    """Test that repeated summarization failures don't cause unbounded history growth."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 6
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    # Mock summarization to always fail
-    history_manager.summarize_messages = AsyncMock()
-    history_manager.summarize_messages.return_value = ChatMessage(
-        role="system", content="Error: API service unavailable"
-    )
-
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list):
-            response = MagicMock()
-            response.actions = [MockAction(type="speak", value="Response")]
-            return response
-
-    provider = MockLLMProvider()
-
-    # Simulate many cycles that would exceed history_length
-    for i in range(15):
-        provider.io_provider.add_input(f"input_{i}", f"Message {i}", float(i))
-        await provider.process("test prompt")
-        provider.io_provider.increment_tick()
-
-        # Allow summary tasks to complete
-        await asyncio.sleep(0.1)
-
-        # Verify history never exceeds history_length + 1 (the +1 is because
-        # summarization is triggered AFTER exceeding history_length)
-        assert len(history_manager.history) <= config.history_length + 2
-
-    # Final check: history should be at or below history_length
-    assert len(history_manager.history) <= config.history_length
-
-
-def test_get_messages_empty(history_manager):
-    """Test get_messages returns empty list when no history."""
-    result = history_manager.get_messages()
-    assert result == []
-
-
-def test_get_messages_single(history_manager):
-    """Test get_messages with a single message in history."""
-    history_manager.history.append(ChatMessage(role="user", content="Hello"))
-    result = history_manager.get_messages()
-    assert result == [{"role": "user", "content": "Hello"}]
-
-
-def test_get_messages_multiple_roles(history_manager):
-    """Test get_messages with multiple messages of different roles."""
-    history_manager.history.extend(
-        [
-            ChatMessage(role="system", content="You are a robot"),
-            ChatMessage(role="user", content="Hello"),
-            ChatMessage(role="assistant", content="Hi there"),
-        ]
-    )
-    result = history_manager.get_messages()
-    assert len(result) == 3
-    assert result[0] == {"role": "system", "content": "You are a robot"}
-    assert result[1] == {"role": "user", "content": "Hello"}
-    assert result[2] == {"role": "assistant", "content": "Hi there"}
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_non_standard_length():
-    """Test summarization with non-standard message length (not 4)."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = MagicMock(spec=openai.AsyncClient)
-    response = MagicMock()
-    response.choices = [MagicMock()]
-    response.choices[0].message.content = "Summary of non-standard messages"
-
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-    completions_mock.create = AsyncMock(return_value=response)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [
-        ChatMessage(role="user", content="First message"),
-        ChatMessage(role="assistant", content="Second message"),
-        ChatMessage(role="user", content="Third message"),
-    ]
-
-    result = await history_manager.summarize_messages(messages)
-    assert result.role == "assistant"
-    assert "Previously, Summary of non-standard messages" == result.content
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_with_sync_client():
-    """Test summarization using synchronous OpenAI client."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "SyncBot"
-
-    client = MagicMock(spec=openai.OpenAI)
-    response = MagicMock()
-    response.choices = [MagicMock()]
-    response.choices[0].message.content = "Sync summary"
-
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-    completions_mock.create = MagicMock(return_value=response)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [
-        ChatMessage(role="user", content="Message 1"),
-        ChatMessage(role="assistant", content="Response 1"),
-    ]
-
-    result = await history_manager.summarize_messages(messages)
-    assert result.role == "assistant"
-    assert "Previously, Sync summary" == result.content
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_invalid_response_no_choices():
-    """Test handling of API response with no choices."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = MagicMock(spec=openai.AsyncClient)
-    response = MagicMock()
-    response.choices = []  # Empty choices
-
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-    completions_mock.create = AsyncMock(return_value=response)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [ChatMessage(role="user", content="Test")]
-    result = await history_manager.summarize_messages(messages)
-
-    assert result.role == "system"
-    assert "Error: Received invalid response from API" == result.content
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_empty_content():
-    """Test handling of API response with None content."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = MagicMock(spec=openai.AsyncClient)
-    response = MagicMock()
-    response.choices = [MagicMock()]
-    response.choices[0].message.content = None  # None content
-
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-    completions_mock.create = AsyncMock(return_value=response)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [ChatMessage(role="user", content="Test")]
-    result = await history_manager.summarize_messages(messages)
-
-    assert result.role == "system"
-    assert "Error: Received empty summary from API" == result.content
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_timeout():
-    """Test handling of API timeout."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = MagicMock(spec=openai.AsyncClient)
-
-    async def timeout_coroutine(*args, **kwargs):
-        await asyncio.sleep(20)  # Sleep longer than timeout
-
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-    completions_mock.create = AsyncMock(side_effect=timeout_coroutine)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [ChatMessage(role="user", content="Test")]
-    result = await history_manager.summarize_messages(messages)
-
-    assert result.role == "system"
-    assert "Error: API request timed out" == result.content
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_api_error():
-    """Test handling of OpenAI APIError."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = MagicMock(spec=openai.AsyncClient)
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-
-    error = openai.APIError(message="Service unavailable", request=MagicMock(), body=None)
-    completions_mock.create = AsyncMock(side_effect=error)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [ChatMessage(role="user", content="Test")]
-    result = await history_manager.summarize_messages(messages)
-
-    assert result.role == "system"
-    assert "Error: API service unavailable" in result.content
-
-
-@pytest.mark.asyncio
-async def test_start_summary_task_previous_task_running():
-    """Test that a new summary task is not started if previous task is still running."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [ChatMessage(role="user", content="Test")]
-
-    async def long_summarize(*args, **kwargs):
-        await asyncio.sleep(1)
-        return ChatMessage(role="assistant", content="Summary")
-
-    history_manager.summarize_messages = AsyncMock(side_effect=long_summarize)
-
-    await history_manager.start_summary_task(messages)
-    first_task = history_manager._summary_task
-
-    await history_manager.start_summary_task(messages)
-    second_task = history_manager._summary_task
-
-    assert first_task is second_task
-    await asyncio.sleep(1.5)
-
-
-@pytest.mark.asyncio
-async def test_start_summary_task_unexpected_summary_result():
-    """Test handling of unexpected summary result (not assistant or system error)."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [
-        ChatMessage(role="user", content="Message 1"),
-        ChatMessage(role="assistant", content="Response 1"),
-    ]
-
-    history_manager.summarize_messages = AsyncMock()
-    history_manager.summarize_messages.return_value = ChatMessage(role="user", content="Unexpected user role")
-
-    await history_manager.start_summary_task(messages)
-    await asyncio.sleep(0.1)
-
-    assert len(messages) == 2
-    assert messages[0].content == "Message 1"
-
-
-@pytest.mark.asyncio
-async def test_start_summary_task_cancelled():
-    """Test handling of cancelled summary task."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [ChatMessage(role="user", content="Test")]
-
-    async def cancellable_summarize(*args, **kwargs):
-        await asyncio.sleep(10)
-
-    history_manager.summarize_messages = AsyncMock(side_effect=cancellable_summarize)
-
-    await history_manager.start_summary_task(messages)
-    task = history_manager._summary_task
-    assert task is not None
-
-    task.cancel()
-    await asyncio.sleep(0.1)
-    assert task.cancelled()
-
-
-@pytest.mark.asyncio
-async def test_start_summary_task_exception_in_start():
-    """Test exception handling when starting summary task."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [
-        ChatMessage(role="user", content="Message 1"),
-        ChatMessage(role="assistant", content="Response 1"),
-    ]
-
-    # Mock summarize_messages to raise an exception during task creation
-    history_manager.summarize_messages = MagicMock(side_effect=Exception("Task creation failed"))
-
-    # This should handle the exception gracefully
-    await history_manager.start_summary_task(messages)
-
-    # Messages should have first two removed as fallback
-    assert len(messages) == 0
-
-
-@pytest.mark.asyncio
-async def test_update_history_skip_state_management():
-    """Test that update_history decorator skips when _skip_state_management is True."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 5
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = True  # Skip state management
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list):
-            response = MagicMock()
-            response.actions = [MockAction(type="speak", value="Hello")]
-            return response
-
-    provider = MockLLMProvider()
-    provider.io_provider.add_input("audio", "Test input", 1234.0)
-
-    await provider.process("test prompt")
-    assert len(history_manager.history) == 0
-
-
-@pytest.mark.asyncio
-async def test_update_history_zero_history_length():
-    """Test that update_history handles history_length=0."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.history_length = 0  # Zero history length
-    config.agent_name = "TestBot"
-
-    client = AsyncMock()
-    history_manager = LLMHistoryManager(config, client)
-
-    class MockLLMProvider:
-        def __init__(self):
-            self._config = config
-            self._skip_state_management = False
-            self.history_manager = history_manager
-            self.io_provider = history_manager.io_provider
-            self.agent_name = config.agent_name
-
-        @LLMHistoryManager.update_history()
-        async def process(self, prompt: str, messages: list):
-            response = MagicMock()
-            response.actions = [MockAction(type="speak", value="Hello")]
-            return response
-
-    provider = MockLLMProvider()
-    provider.io_provider.add_input("audio", "Test input", 1234.0)
-
-    await provider.process("test prompt")
-
-    assert len(history_manager.history) == 0
-    assert history_manager.frame_index == 1
-
-
-@pytest.mark.asyncio
-async def test_summarize_messages_with_4_messages():
-    """Test the standard 4-message summarization path."""
-    config = MagicMock()
-    config.model = "gpt-4o"
-    config.agent_name = "TestBot"
-
-    client = MagicMock(spec=openai.AsyncClient)
-    response = MagicMock()
-    response.choices = [MagicMock()]
-    response.choices[0].message.content = "Standard 4-message summary"
-
-    chat_mock = MagicMock()
-    completions_mock = MagicMock()
-    completions_mock.create = AsyncMock(return_value=response)
-    chat_mock.completions = completions_mock
-    client.chat = chat_mock
-
-    history_manager = LLMHistoryManager(config, client)
-
-    messages = [
-        ChatMessage(role="assistant", content="Previous summary"),
-        ChatMessage(role="assistant", content="Actions taken"),
-        ChatMessage(role="user", content="New input"),
-        ChatMessage(role="user", content="More new input"),
-    ]
-
-    result = await history_manager.summarize_messages(messages)
-    assert result.role == "assistant"
-    assert "Previously, Standard 4-message summary" == result.content
diff --git a/tests/providers/test_odom_provider_base.py b/tests/providers/test_odom_provider_base.py
deleted file mode 100644
index 2e148b0e58..0000000000
--- a/tests/providers/test_odom_provider_base.py
+++ /dev/null
@@ -1,413 +0,0 @@
-import math
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.odom_provider_base import OdomProviderBase, RobotState
-
-
-class ConcreteOdomProvider(OdomProviderBase):
-    """Concrete implementation of OdomProviderBase for testing."""
-
-    def start(self) -> None:
-        """Start the provider - simple implementation for testing."""
-        pass
-
-
-@pytest.fixture
-def mock_multiprocessing():
-    """Mock multiprocessing and threading components."""
-    with (
-        patch("providers.odom_provider_base.mp.Queue") as mock_queue,
-        patch("providers.odom_provider_base.threading.Event") as mock_event,
-    ):
-        mock_queue_instance = MagicMock()
-        mock_event_instance = MagicMock()
-
-        mock_queue.return_value = mock_queue_instance
-        mock_event.return_value = mock_event_instance
-
-        mock_event_instance.is_set.return_value = False
-
-        yield mock_queue, mock_queue_instance, mock_event, mock_event_instance
-
-
-class TestRobotState:
-    """Test cases for RobotState enum."""
-
-    def test_standing_value(self):
-        """Test STANDING enum value."""
-        assert RobotState.STANDING.value == "standing"
-
-    def test_sitting_value(self):
-        """Test SITTING enum value."""
-        assert RobotState.SITTING.value == "sitting"
-
-
-class TestOdomProviderBase:
-    """Test cases for OdomProviderBase."""
-
-    def test_initialization(self, mock_multiprocessing):
-        """Test basic initialization."""
-        provider = ConcreteOdomProvider()
-
-        assert provider.body_height_cm == 0
-        assert provider.body_attitude is None
-        assert provider.moving is False
-        assert provider.previous_x == 0.0
-        assert provider.previous_y == 0.0
-        assert provider.previous_z == 0.0
-        assert provider.move_history == 0.0
-        assert provider.x == 0.0
-        assert provider.y == 0.0
-        assert provider.z == 0.0
-        assert provider.odom_yaw_0_360 == 0.0
-        assert provider.odom_yaw_m180_p180 == 0.0
-        assert provider.odom_rockchip_ts == 0.0
-        assert provider.odom_subscriber_ts == 0.0
-
-    def test_euler_from_quaternion_identity(self, mock_multiprocessing):
-        """Test euler conversion with identity quaternion."""
-        provider = ConcreteOdomProvider()
-
-        # Identity quaternion (no rotation)
-        roll, pitch, yaw = provider.euler_from_quaternion(0, 0, 0, 1)
-
-        assert abs(roll) < 1e-10
-        assert abs(pitch) < 1e-10
-        assert abs(yaw) < 1e-10
-
-    def test_euler_from_quaternion_90_deg_yaw(self, mock_multiprocessing):
-        """Test euler conversion with 90 degree yaw rotation."""
-        provider = ConcreteOdomProvider()
-
-        # 90 degree rotation around z-axis
-        # quaternion for 90 deg yaw: w=cos(45°), z=sin(45°)
-        w = math.cos(math.pi / 4)
-        z = math.sin(math.pi / 4)
-        roll, pitch, yaw = provider.euler_from_quaternion(0, 0, z, w)
-
-        assert abs(roll) < 1e-6
-        assert abs(pitch) < 1e-6
-        assert abs(yaw - math.pi / 2) < 1e-6  # 90 degrees in radians
-
-    def test_euler_from_quaternion_180_deg_yaw(self, mock_multiprocessing):
-        """Test euler conversion with 180 degree yaw rotation."""
-        provider = ConcreteOdomProvider()
-
-        # 180 degree rotation around z-axis
-        roll, pitch, yaw = provider.euler_from_quaternion(0, 0, 1, 0)
-
-        assert abs(roll) < 1e-6
-        assert abs(pitch) < 1e-6
-        assert abs(abs(yaw) - math.pi) < 1e-6  # 180 degrees in radians
-
-    def test_position_property(self, mock_multiprocessing):
-        """Test position property returns correct dictionary."""
-        provider = ConcreteOdomProvider()
-
-        position = provider.position
-
-        assert "odom_x" in position
-        assert "odom_y" in position
-        assert "moving" in position
-        assert "odom_yaw_0_360" in position
-        assert "odom_yaw_m180_p180" in position
-        assert "body_height_cm" in position
-        assert "body_attitude" in position
-        assert "odom_rockchip_ts" in position
-        assert "odom_subscriber_ts" in position
-
-        assert position["odom_x"] == 0.0
-        assert position["odom_y"] == 0.0
-        assert position["moving"] is False
-        assert position["odom_yaw_0_360"] == 0.0
-        assert position["odom_yaw_m180_p180"] == 0.0
-        assert position["body_height_cm"] == 0
-        assert position["body_attitude"] is None
-
-    def test_position_property_with_updated_values(self, mock_multiprocessing):
-        """Test position property after updating internal state."""
-        provider = ConcreteOdomProvider()
-
-        provider.x = 1.5
-        provider.y = 2.3
-        provider.moving = True
-        provider.odom_yaw_0_360 = 90.0
-        provider.odom_yaw_m180_p180 = 45.0
-        provider.body_height_cm = 30
-        provider.body_attitude = RobotState.STANDING
-
-        position = provider.position
-
-        assert position["odom_x"] == 1.5
-        assert position["odom_y"] == 2.3
-        assert position["moving"] is True
-        assert position["odom_yaw_0_360"] == 90.0
-        assert position["odom_yaw_m180_p180"] == 45.0
-        assert position["body_height_cm"] == 30
-        assert position["body_attitude"] == RobotState.STANDING
-
-    def test_process_odom_stops_on_event(self, mock_multiprocessing):
-        """Test process_odom stops when stop event is set."""
-        _, mock_queue_instance, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        mock_event_instance.is_set.return_value = True
-
-        provider.process_odom()
-
-        mock_queue_instance.get.assert_not_called()
-
-    def test_process_odom_with_pose_data(self, mock_multiprocessing):
-        """Test process_odom processes pose data correctly."""
-        _, mock_queue_instance, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        mock_pose_data = MagicMock()
-        mock_pose_data.pose.position.x = 1.0
-        mock_pose_data.pose.position.y = 2.0
-        mock_pose_data.pose.position.z = 0.0
-        mock_pose_data.pose.orientation.x = 0.0
-        mock_pose_data.pose.orientation.y = 0.0
-        mock_pose_data.pose.orientation.z = 0.0
-        mock_pose_data.pose.orientation.w = 1.0
-        mock_pose_data.header.stamp.sec = 100
-        mock_pose_data.header.stamp.nanosec = 500000000
-        del mock_pose_data.pose.pose
-
-        call_count = [0]
-
-        def side_effect_get(*args, **kwargs):
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_pose_data
-            raise Exception("Queue timeout")
-
-        def side_effect_is_set():
-            return call_count[0] > 0
-
-        mock_queue_instance.get.side_effect = side_effect_get
-        mock_event_instance.is_set.side_effect = side_effect_is_set
-
-        with patch("providers.odom_provider_base.time.time", return_value=1000.0):
-            provider.process_odom()
-
-        assert provider.x == 1.0
-        assert provider.y == 2.0
-        assert provider.odom_rockchip_ts == 100.5
-
-    def test_process_odom_with_pose_with_covariance(self, mock_multiprocessing):
-        """Test process_odom handles PoseWithCovarianceStamped format."""
-        _, mock_queue_instance, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        mock_pose_data = MagicMock()
-        mock_pose_data.pose.pose.position.x = 1.5
-        mock_pose_data.pose.pose.position.y = 2.5
-        mock_pose_data.pose.pose.position.z = 0.0
-        mock_pose_data.pose.pose.orientation.x = 0.0
-        mock_pose_data.pose.pose.orientation.y = 0.0
-        mock_pose_data.pose.pose.orientation.z = 0.0
-        mock_pose_data.pose.pose.orientation.w = 1.0
-        mock_pose_data.header.stamp.sec = 200
-        mock_pose_data.header.stamp.nanosec = 0
-
-        call_count = [0]
-
-        def side_effect_get(*args, **kwargs):
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_pose_data
-            raise Exception("Queue timeout")
-
-        def side_effect_is_set():
-            return call_count[0] > 0
-
-        mock_queue_instance.get.side_effect = side_effect_get
-        mock_event_instance.is_set.side_effect = side_effect_is_set
-
-        with patch("providers.odom_provider_base.time.time", return_value=2000.0):
-            provider.process_odom()
-
-        assert provider.x == 1.5
-        assert provider.y == 2.5
-        assert provider.odom_rockchip_ts == 200.0
-        assert provider.odom_subscriber_ts == 2000.0
-
-    def test_process_odom_detects_movement(self, mock_multiprocessing):
-        """Test process_odom detects robot movement."""
-        _, mock_queue_instance, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        mock_pose_data1 = MagicMock()
-        mock_pose_data1.pose.position.x = 0.0
-        mock_pose_data1.pose.position.y = 0.0
-        mock_pose_data1.pose.position.z = 0.0
-        mock_pose_data1.pose.orientation.x = 0.0
-        mock_pose_data1.pose.orientation.y = 0.0
-        mock_pose_data1.pose.orientation.z = 0.0
-        mock_pose_data1.pose.orientation.w = 1.0
-        mock_pose_data1.header.stamp.sec = 100
-        mock_pose_data1.header.stamp.nanosec = 0
-        del mock_pose_data1.pose.pose
-
-        mock_pose_data2 = MagicMock()
-        mock_pose_data2.pose.position.x = 0.5  # Significant movement
-        mock_pose_data2.pose.position.y = 0.5
-        mock_pose_data2.pose.position.z = 0.0
-        mock_pose_data2.pose.orientation.x = 0.0
-        mock_pose_data2.pose.orientation.y = 0.0
-        mock_pose_data2.pose.orientation.z = 0.0
-        mock_pose_data2.pose.orientation.w = 1.0
-        mock_pose_data2.header.stamp.sec = 101
-        mock_pose_data2.header.stamp.nanosec = 0
-        del mock_pose_data2.pose.pose
-
-        call_count = [0]
-
-        def side_effect_get(*args, **kwargs):
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_pose_data1
-            elif call_count[0] == 2:
-                return mock_pose_data2
-            raise Exception("Queue timeout")
-
-        def side_effect_is_set():
-            return call_count[0] > 1
-
-        mock_queue_instance.get.side_effect = side_effect_get
-        mock_event_instance.is_set.side_effect = side_effect_is_set
-
-        with patch("providers.odom_provider_base.time.time", return_value=1000.0):
-            provider.process_odom()
-
-        # After significant movement, should be detected as moving
-        assert provider.moving is True
-
-    def test_update_body_state_default(self, mock_multiprocessing):
-        """Test _update_body_state default implementation does nothing."""
-        provider = ConcreteOdomProvider()
-
-        mock_pose = MagicMock()
-        initial_height = provider.body_height_cm
-        initial_attitude = provider.body_attitude
-
-        provider._update_body_state(mock_pose)
-
-        assert provider.body_height_cm == initial_height
-        assert provider.body_attitude == initial_attitude
-
-    def test_stop(self, mock_multiprocessing):
-        """Test stop method cleans up resources."""
-        _, _, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        mock_reader_thread = MagicMock()
-        mock_processor_thread = MagicMock()
-
-        provider._odom_reader_thread = mock_reader_thread
-        provider._odom_processor_thread = mock_processor_thread
-
-        provider.stop()
-
-        mock_event_instance.set.assert_called_once()
-        mock_reader_thread.terminate.assert_called_once()
-        mock_reader_thread.join.assert_called_once()
-        mock_processor_thread.join.assert_called_once()
-
-    def test_stop_without_threads(self, mock_multiprocessing):
-        """Test stop method when threads are None."""
-        _, _, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        provider._odom_reader_thread = None
-        provider._odom_processor_thread = None
-
-        provider.stop()
-        mock_event_instance.set.assert_called_once()
-
-    def test_yaw_conversion_positive(self, mock_multiprocessing):
-        """Test yaw angle conversion for positive angles."""
-        _, mock_queue_instance, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        # Create pose with yaw rotation (positive)
-        mock_pose_data = MagicMock()
-        mock_pose_data.pose.position.x = 0.0
-        mock_pose_data.pose.position.y = 0.0
-        mock_pose_data.pose.position.z = 0.0
-        # 45 degree yaw rotation
-        mock_pose_data.pose.orientation.x = 0.0
-        mock_pose_data.pose.orientation.y = 0.0
-        mock_pose_data.pose.orientation.z = math.sin(math.pi / 8)  # 22.5 deg
-        mock_pose_data.pose.orientation.w = math.cos(math.pi / 8)
-        mock_pose_data.header.stamp.sec = 100
-        mock_pose_data.header.stamp.nanosec = 0
-        del mock_pose_data.pose.pose
-
-        call_count = [0]
-
-        def side_effect_get(*args, **kwargs):
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_pose_data
-            raise Exception("Queue timeout")
-
-        def side_effect_is_set():
-            return call_count[0] > 0
-
-        mock_queue_instance.get.side_effect = side_effect_get
-        mock_event_instance.is_set.side_effect = side_effect_is_set
-
-        with patch("providers.odom_provider_base.time.time", return_value=1000.0):
-            provider.process_odom()
-
-        assert provider.odom_yaw_m180_p180 > 0
-        assert 0 <= provider.odom_yaw_0_360 <= 360
-
-    def test_yaw_conversion_negative(self, mock_multiprocessing):
-        """Test yaw angle conversion for negative angles."""
-        _, mock_queue_instance, _, mock_event_instance = mock_multiprocessing
-
-        provider = ConcreteOdomProvider()
-
-        mock_pose_data = MagicMock()
-        mock_pose_data.pose.position.x = 0.0
-        mock_pose_data.pose.position.y = 0.0
-        mock_pose_data.pose.position.z = 0.0
-        mock_pose_data.pose.orientation.x = 0.0
-        mock_pose_data.pose.orientation.y = 0.0
-        mock_pose_data.pose.orientation.z = -math.sin(math.pi / 8)
-        mock_pose_data.pose.orientation.w = math.cos(math.pi / 8)
-        mock_pose_data.header.stamp.sec = 100
-        mock_pose_data.header.stamp.nanosec = 0
-        del mock_pose_data.pose.pose
-
-        call_count = [0]
-
-        def side_effect_get(*args, **kwargs):
-            call_count[0] += 1
-            if call_count[0] == 1:
-                return mock_pose_data
-            raise Exception("Queue timeout")
-
-        def side_effect_is_set():
-            return call_count[0] > 0
-
-        mock_queue_instance.get.side_effect = side_effect_get
-        mock_event_instance.is_set.side_effect = side_effect_is_set
-
-        with patch("providers.odom_provider_base.time.time", return_value=1000.0):
-            provider.process_odom()
-
-        assert provider.odom_yaw_m180_p180 < 0
-        assert provider.odom_yaw_0_360 > 0
diff --git a/tests/providers/test_riva_tts_provider.py b/tests/providers/test_riva_tts_provider.py
deleted file mode 100644
index c6e43a6ae5..0000000000
--- a/tests/providers/test_riva_tts_provider.py
+++ /dev/null
@@ -1,66 +0,0 @@
-import sys
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-# Mock modules before importing from providers
-mock_om1_speech = MagicMock()
-mock_om1_speech.AudioOutputStream = MagicMock()
-sys.modules["om1_speech"] = mock_om1_speech
-
-mock_pyaudio = MagicMock()
-mock_pyaudio.PyAudio = MagicMock()
-mock_instance = MagicMock()
-mock_instance.get_default_output_device_info.return_value = {
-    "name": "Mock Speaker",
-    "index": 0,
-}
-mock_pyaudio.PyAudio.return_value = mock_instance
-sys.modules["pyaudio"] = mock_pyaudio
-
-# Import after mocking
-from providers.riva_tts_provider import RivaTTSProvider  # noqa: E402
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    RivaTTSProvider.reset()  # type: ignore
-    yield
-    RivaTTSProvider.reset()  # type: ignore
-
-
-@pytest.fixture(autouse=True)
-def mock_audio_stream():
-    with patch("providers.riva_tts_provider.AudioOutputStream") as mock:
-        mock_instance = MagicMock()
-        mock.return_value = mock_instance
-        yield mock
-
-
-def test_initialization(mock_audio_stream):
-    provider = RivaTTSProvider(url="test_url")
-    assert provider.running is False
-    mock_audio_stream.assert_called_once_with(url="test_url", headers=None)
-
-
-def test_start_stop(mock_audio_stream):
-    provider = RivaTTSProvider(url="test_url")
-    provider.start()
-    assert provider.running is True
-
-    provider.stop()
-    assert provider.running is False
-
-
-def test_register_callback(mock_audio_stream):
-    provider = RivaTTSProvider(url="test_url")
-    callback = Mock()
-    provider.register_tts_state_callback(callback)
-    mock_audio_stream.return_value.set_tts_state_callback.assert_called_once_with(callback)
-
-
-def test_add_pending_message(mock_audio_stream):
-    provider = RivaTTSProvider(url="test_url")
-    provider.add_pending_message("test message")
-    mock_audio_stream.return_value.add_request.assert_called_once_with({"text": "test message"})
diff --git a/tests/providers/test_ros2_publisher_provider.py b/tests/providers/test_ros2_publisher_provider.py
deleted file mode 100644
index ad8a227285..0000000000
--- a/tests/providers/test_ros2_publisher_provider.py
+++ /dev/null
@@ -1,89 +0,0 @@
-import sys
-from unittest.mock import MagicMock, Mock, patch
-
-import pytest
-
-from zenoh_msgs import String
-
-
-class FakeNode:
-    def __init__(self, node_name):
-        pass
-
-    def create_publisher(self, msg_type, topic, qos_profile):
-        return Mock()
-
-
-mock_rclpy = MagicMock()
-mock_rclpy.ok.return_value = True
-sys.modules["rclpy"] = mock_rclpy
-
-mock_node_module = MagicMock()
-mock_node_module.Node = FakeNode
-sys.modules["rclpy.node"] = mock_node_module
-
-sys.modules["std_msgs"] = MagicMock()
-sys.modules["std_msgs.msg"] = MagicMock()
-
-from providers.ros2_publisher_provider import ROS2PublisherProvider  # noqa: E402
-
-
-@pytest.fixture
-def provider():
-    """Create a provider instance with mocked dependencies."""
-    with patch("providers.ros2_publisher_provider.rclpy") as mock_rclpy_module:
-        mock_rclpy_module.ok.return_value = True
-
-        provider = ROS2PublisherProvider("test_topic")
-
-        yield provider
-
-
-def test_initialization(provider):
-    assert provider is not None
-    assert not provider.running
-
-
-def test_add_pending_message(provider):
-    provider.add_pending_message("Hello")
-
-    assert not provider._pending_messages.empty()
-
-
-def test_start(provider):
-    provider.start()
-
-    assert provider.running
-    assert provider._thread is not None
-    assert provider._thread.is_alive()
-
-    provider.stop()
-
-
-def test_start_already_running(provider):
-    provider.start()
-
-    thread1 = provider._thread
-
-    provider.start()
-
-    assert provider._thread == thread1
-
-    provider.stop()
-
-
-def test_stop(provider):
-    provider.start()
-    provider.stop()
-
-    assert not provider.running
-
-
-def test_publish_message(provider):
-    mock_publisher = MagicMock()
-    provider.publisher_ = mock_publisher
-
-    msg = String(data="test")
-    provider._publish_message(msg)
-
-    mock_publisher.publish.assert_called_once_with(msg)
diff --git a/tests/providers/test_rplidar_driver.py b/tests/providers/test_rplidar_driver.py
deleted file mode 100644
index d7572c1d60..0000000000
--- a/tests/providers/test_rplidar_driver.py
+++ /dev/null
@@ -1,90 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from providers.rplidar_driver import RPDriver
-
-
-def test_rplidar_driver_initialization():
-    """Test RPDriver initialization with mocked serial port."""
-    with patch("providers.rplidar_driver.serial.Serial") as mock_serial:
-        mock_serial_instance = MagicMock()
-        mock_serial.return_value = mock_serial_instance
-
-        driver = RPDriver(port="/dev/ttyUSB0")
-
-        mock_serial.assert_called_once()
-        assert driver is not None
-
-
-def test_rplidar_driver_get_info():
-    """Test getting device info."""
-    with (
-        patch("providers.rplidar_driver.serial.Serial") as mock_serial,
-        patch("providers.rplidar_driver.time.sleep"),
-    ):
-        mock_serial_instance = MagicMock()
-        mock_serial.return_value = mock_serial_instance
-        mock_serial_instance.inWaiting.side_effect = [
-            0,
-            7,
-            20,
-        ]  # 0 for initial check, then sizes
-
-        driver = RPDriver(port="/dev/ttyUSB0")
-
-        descriptor = b"\xa5\x5a\x14\x00\x00\x00\x04"
-        info_response = b"\x01\x02\x03\x04" + b"\x00" * 16
-        mock_serial_instance.read.side_effect = [descriptor, info_response]
-
-        info = driver.get_info()
-        assert info is not None
-        assert "model" in info
-        assert "firmware" in info
-        assert "hardware" in info
-        assert "serial number" in info
-
-
-def test_rplidar_driver_start():
-    """Test starting a scan."""
-    with (
-        patch("providers.rplidar_driver.serial.Serial") as mock_serial,
-        patch("providers.rplidar_driver.time.sleep"),
-    ):
-        mock_serial_instance = MagicMock()
-        mock_serial.return_value = mock_serial_instance
-        mock_serial_instance.inWaiting.side_effect = [
-            0,
-            7,
-            3,
-            7,
-        ]  # For health descriptor, health data, scan descriptor
-
-        driver = RPDriver(port="/dev/ttyUSB0")
-
-        health_descriptor = b"\xa5\x5a\x03\x00\x00\x00\x06"
-        health_response = b"\x00\x00\x00"  # Good health
-        scan_descriptor = b"\xa5\x5a\x05\x00\x00\x01\x81"  # normal scan descriptor
-        mock_serial_instance.read.side_effect = [
-            health_descriptor,
-            health_response,
-            scan_descriptor,
-        ]
-
-        driver.start(scan_type="normal")
-        assert driver.scanning[0] is True
-        assert driver.scanning[2] == "normal"
-
-
-def test_rplidar_driver_stop():
-    """Test stopping the driver."""
-    with patch("providers.rplidar_driver.serial.Serial") as mock_serial:
-        mock_serial_instance = MagicMock()
-        mock_serial.return_value = mock_serial_instance
-
-        driver = RPDriver(port="/dev/ttyUSB0")
-        driver.scanning = [True, 5, "normal"]  # Simulate active scan
-
-        driver.stop()
-
-        assert driver.scanning[0] is False
-        mock_serial_instance.write.assert_called()
-        mock_serial_instance.flushInput.assert_called()
diff --git a/tests/providers/test_rtk_provider.py b/tests/providers/test_rtk_provider.py
deleted file mode 100644
index 19b378425d..0000000000
--- a/tests/providers/test_rtk_provider.py
+++ /dev/null
@@ -1,128 +0,0 @@
-import datetime
-from unittest.mock import patch
-
-import pytest
-
-from providers.rtk_provider import RtkProvider
-
-
-@pytest.fixture
-def rtk_provider():
-    """
-    Fixture to create an RtkProvider instance for testing.
-    """
-    original_class = RtkProvider._singleton_class  # type: ignore
-    provider = original_class.__new__(original_class)
-    return provider
-
-
-def test_get_latest_gngga_message_single_valid(rtk_provider):
-    """Test with a single valid GNGGA message."""
-    nmea_data = "$GNGGA,123456.000,1234.5678,N,00123.4567,E,1,8,1.0,100.0,M,47.0,M,,*62"
-    expected = "$GNGGA,123456.000,1234.5678,N,00123.4567,E,1,8,1.0,100.0,M,47.0,M,,*62"
-    result = rtk_provider.get_latest_gngga_message(nmea_data)
-    assert result == expected
-
-
-def test_get_latest_gngga_message_multiple_messages(rtk_provider):
-    """Test with multiple GNGGA messages, should return the one with the latest time."""
-    nmea_data = (
-        "$GPGSA,A,3,04,05,,,,,,,,,,,3.0,3.0,3.0*02\n"
-        "$GNGGA,123455.000,1234.5678,N,00123.4567,E,1,8,1.0,100.0,M,47.0,M,,*63\n"  # Earlier time
-        "$GNRMC,123455.000,A,1234.5678,N,00123.4567,E,0.0,0.0,010124,,,A,V*32\n"
-        "$GNGGA,123457.000,1234.5678,N,00123.4567,E,1,8,1.0,101.0,M,47.0,M,,*60\n"  # Later time
-        "$GNVTG,0.0,T,,M,0.0,N,0.0,K,A*26\n"
-    )
-    expected = "$GNGGA,123457.000,1234.5678,N,00123.4567,E,1,8,1.0,101.0,M,47.0,M,,*60"
-    result = rtk_provider.get_latest_gngga_message(nmea_data)
-    assert result == expected
-
-
-def test_get_latest_gngga_message_multiple_messages_same_time(rtk_provider):
-    """Test with multiple GNGGA messages having the same time, should return the first one encountered."""
-    nmea_data = (
-        "$GNGGA,123456.000,1234.5678,N,00123.4567,E,1,8,1.0,100.0,M,47.0,M,,*62\n"  # First one encountered, same time
-        "Some other data\n"
-        "$GNGGA,123456.000,9999.9999,S,00999.9999,W,0,0,0.0,200.0,M,47.0,M,,*78\n"  # Second one, same time
-    )
-    expected = "$GNGGA,123456.000,1234.5678,N,00123.4567,E,1,8,1.0,100.0,M,47.0,M,,*62"
-    result = rtk_provider.get_latest_gngga_message(nmea_data)
-    assert result == expected
-
-
-def test_get_latest_gngga_message_no_gngga(rtk_provider):
-    """Test with data that contains no GNGGA messages."""
-    nmea_data = "$GNRMC,123456.000,A,1234.5678,N,00123.4567,E,0.0,0.0,010124,,,A,V*32\n$GPGSA,A,3,04,05,,,,,,,,,,,3.0,3.0,3.0*02"
-    result = rtk_provider.get_latest_gngga_message(nmea_data)
-    assert result is None
-
-
-def test_get_latest_gngga_message_empty_string(rtk_provider):
-    """Test with an empty string."""
-    nmea_data = ""
-    result = rtk_provider.get_latest_gngga_message(nmea_data)
-    assert result is None
-
-
-def test_get_latest_gngga_message_invalid_checksums(rtk_provider):
-    """Test with messages having invalid checksums, should still find the latest valid-looking one."""
-    nmea_data = (
-        "$GNGGA,123454.000,1234.5678,N,00123.4567,E,1,8,1.0,99.0,M,47.0,M,,*FF\n"  # Earlier time
-        "$GNGGA,123458.000,1234.5678,N,00123.4567,E,1,8,1.0,102.0,M,47.0,M,,*AA\n"  # Later time
-    )
-    expected = "$GNGGA,123458.000,1234.5678,N,00123.4567,E,1,8,1.0,102.0,M,47.0,M,,*AA"
-    result = rtk_provider.get_latest_gngga_message(nmea_data)
-    assert result == expected
-
-
-def test_get_latest_gngga_message_malformed_time_field(rtk_provider):
-    """Test with a GNGGA message having a malformed time field, should skip it."""
-    nmea_data = (
-        "$GNGGA,123453.000,1234.5678,N,00123.4567,E,1,8,1.0,98.0,M,47.0,M,,*65\n"  # Valid earlier time
-        "$GNGGA,NOTATIME,1234.5678,N,00123.4567,E,1,8,1.0,99.0,M,47.0,M,,*66\n"  # Malformed time
-        "$GNGGA,123459.000,1234.5678,N,00123.4567,E,1,8,1.0,103.0,M,47.0,M,,*67\n"  # Valid later time
-    )
-    expected = "$GNGGA,123459.000,1234.5678,N,00123.4567,E,1,8,1.0,103.0,M,47.0,M,,*67"
-    result = rtk_provider.get_latest_gngga_message(nmea_data)
-    assert result == expected
-
-
-def test_utc_time_obj_to_unix_valid(rtk_provider):
-    """Test converting a valid UTC time object to Unix timestamp."""
-    utc_time = datetime.time(12, 30, 45)
-
-    with patch("providers.rtk_provider.datetime") as mock_dt:
-        mock_dt.time = datetime.time
-        mock_dt.date.today.return_value = datetime.date(2026, 1, 15)
-        mock_dt.datetime.combine = datetime.datetime.combine
-        mock_dt.timezone = datetime.timezone
-
-        result = rtk_provider.utc_time_obj_to_unix(utc_time)
-
-    assert isinstance(result, float)
-    assert result > 0
-
-
-def test_utc_time_obj_to_unix_midnight(rtk_provider):
-    """Test converting midnight UTC time."""
-    utc_time = datetime.time(0, 0, 0)
-
-    with patch("providers.rtk_provider.datetime") as mock_dt:
-        mock_dt.time = datetime.time
-        mock_dt.date.today.return_value = datetime.date(2026, 1, 15)
-        mock_dt.datetime.combine = datetime.datetime.combine
-        mock_dt.timezone = datetime.timezone
-
-        result = rtk_provider.utc_time_obj_to_unix(utc_time)
-
-    assert isinstance(result, float)
-    assert result > 0
-
-
-def test_utc_time_obj_to_unix_invalid_type(rtk_provider):
-    """Test that non-datetime.time input raises TypeError."""
-    with pytest.raises(TypeError, match="Expected a datetime.time object"):
-        rtk_provider.utc_time_obj_to_unix("12:30:45")
-
-    with pytest.raises(TypeError, match="Expected a datetime.time object"):
-        rtk_provider.utc_time_obj_to_unix(12345)
diff --git a/tests/providers/test_simple_paths_provider.py b/tests/providers/test_simple_paths_provider.py
deleted file mode 100644
index 81cdf8bc7f..0000000000
--- a/tests/providers/test_simple_paths_provider.py
+++ /dev/null
@@ -1,145 +0,0 @@
-import threading
-from unittest.mock import MagicMock
-
-import pytest
-
-from providers.simple_paths_provider import SimplePathsProvider
-
-
-@pytest.fixture
-def simple_paths_provider():
-    """
-    Fixture to create a SimplePathsProvider instance for testing.
-    """
-    actual_class = SimplePathsProvider._singleton_class  # type: ignore
-    provider = actual_class.__new__(actual_class)
-    provider.turn_left = []
-    provider.turn_right = []
-    provider.advance = []
-    provider.retreat = False
-    provider._valid_paths = []
-    provider._lidar_string = ""
-    return provider
-
-
-def test_generate_movement_string_all_options(simple_paths_provider):
-    """Test string generation when all movement options are present."""
-    simple_paths_provider.turn_left = [0, 1, 2]
-    simple_paths_provider.advance = [3, 4, 5]
-    simple_paths_provider.turn_right = [6, 7, 8]
-    simple_paths_provider.retreat = True
-
-    expected = (
-        "The safe movement directions are: {'turn left', 'move forwards', 'turn right', 'move back', 'stand still'}. "
-    )
-    result = simple_paths_provider._generate_movement_string(["dummy"])
-    assert result == expected
-
-
-def test_generate_movement_string_only_turn_left(simple_paths_provider):
-    """Test string generation when only turn_left is populated."""
-    simple_paths_provider.turn_left = [0, 1]
-
-    expected = "The safe movement directions are: {'turn left', 'stand still'}. "
-    result = simple_paths_provider._generate_movement_string(["dummy"])
-    assert result == expected
-
-
-def test_generate_movement_string_only_advance(simple_paths_provider):
-    """Test string generation when only advance is populated."""
-    simple_paths_provider.advance = [3, 4, 5]
-
-    expected = "The safe movement directions are: {'move forwards', 'stand still'}. "
-    result = simple_paths_provider._generate_movement_string(["dummy"])
-    assert result == expected
-
-
-def test_generate_movement_string_only_turn_right(simple_paths_provider):
-    """Test string generation when only turn_right is populated."""
-    simple_paths_provider.turn_right = [6, 7, 8]
-
-    expected = "The safe movement directions are: {'turn right', 'stand still'}. "
-    result = simple_paths_provider._generate_movement_string(["dummy"])
-    assert result == expected
-
-
-def test_generate_movement_string_only_retreat(simple_paths_provider):
-    """Test string generation when only retreat is True."""
-    simple_paths_provider.retreat = True
-
-    expected = "The safe movement directions are: {'move back', 'stand still'}. "
-    result = simple_paths_provider._generate_movement_string(["dummy"])
-    assert result == expected
-
-
-def test_generate_movement_string_no_options(simple_paths_provider):
-    """Test string generation when no movement options are present (empty lists, False)."""
-    expected = "You are surrounded by objects and cannot safely move in any direction. DO NOT MOVE."
-    result = simple_paths_provider._generate_movement_string([])
-    assert result == expected
-
-
-def test_generate_movement_string_none_paths(simple_paths_provider):
-    """Test behavior when _valid_paths is None (though logic might not reach this string generation path directly)."""
-    simple_paths_provider.advance = [3, 4, 5]
-    expected_with_internal_state = "The safe movement directions are: {'move forwards', 'stand still'}. "
-    result = simple_paths_provider._generate_movement_string(["dummy"])
-    assert result == expected_with_internal_state
-
-    simple_paths_provider.turn_left = []
-    simple_paths_provider.turn_right = []
-    simple_paths_provider.advance = []
-    simple_paths_provider.retreat = False
-    expected_only_stand_still = "The safe movement directions are: {'stand still'}. "
-    result_only_stand_still = simple_paths_provider._generate_movement_string(["dummy"])
-    assert result_only_stand_still == expected_only_stand_still
-
-    expected_surrounded = "You are surrounded by objects and cannot safely move in any direction. DO NOT MOVE."
-    result_surrounded = simple_paths_provider._generate_movement_string([])
-    assert result_surrounded == expected_surrounded
-
-
-def test_movement_options(simple_paths_provider):
-    """Test movement_options property returns correct dict structure."""
-    simple_paths_provider.turn_left = [0, 1]
-    simple_paths_provider.advance = [3, 4, 5]
-    simple_paths_provider.turn_right = [7, 8]
-    simple_paths_provider.retreat = True
-
-    result = simple_paths_provider.movement_options
-    assert result == {
-        "turn_left": [0, 1],
-        "advance": [3, 4, 5],
-        "turn_right": [7, 8],
-        "retreat": True,
-    }
-
-
-def test_movement_options_empty(simple_paths_provider):
-    """Test movement_options property with default empty values."""
-    result = simple_paths_provider.movement_options
-    assert result == {
-        "turn_left": [],
-        "advance": [],
-        "turn_right": [],
-        "retreat": False,
-    }
-
-
-def test_stop(simple_paths_provider):
-    """Test stop method sets stop event, sends STOP to queue, and joins threads."""
-    simple_paths_provider._stop_event = threading.Event()
-    mock_queue = MagicMock()
-    simple_paths_provider.control_queue = mock_queue
-
-    mock_processor_thread = MagicMock()
-    mock_derived_thread = MagicMock()
-    simple_paths_provider._simple_paths_processor_thread = mock_processor_thread
-    simple_paths_provider._simple_paths_derived_thread = mock_derived_thread
-
-    simple_paths_provider.stop()
-
-    assert simple_paths_provider._stop_event.is_set()
-    mock_queue.put.assert_called_once_with("STOP")
-    mock_processor_thread.join.assert_called_once()
-    mock_derived_thread.join.assert_called_once()
diff --git a/tests/providers/test_singleton_provider.py b/tests/providers/test_singleton_provider.py
deleted file mode 100644
index 29c024bade..0000000000
--- a/tests/providers/test_singleton_provider.py
+++ /dev/null
@@ -1,56 +0,0 @@
-import threading
-import time
-
-from providers.singleton import singleton
-
-
-def test_singleton_basic_functionality():
-    """Test that two calls to the decorated class return the exact same instance."""
-
-    @singleton
-    class DatabaseConnection:
-        def __init__(self):
-            self.id = id(self)
-
-    db1 = DatabaseConnection()
-    db2 = DatabaseConnection()
-    assert db1 is db2
-    assert db1.id == db2.id
-
-
-def test_singleton_reset():
-    """Test that calling .reset() allows a new instance to be created."""
-
-    @singleton
-    class Logger:
-        pass
-
-    log1 = Logger()
-    Logger.reset()  # type: ignore
-    log2 = Logger()
-
-    assert log1 is not log2
-
-
-def test_singleton_thread_safety():
-    """Test that the singleton is thread-safe even with concurrent access."""
-
-    @singleton
-    class SharedResource:
-        def __init__(self):
-            time.sleep(0.01)
-
-    instances = []
-
-    def create_instance():
-        instances.append(SharedResource())
-
-    threads = [threading.Thread(target=create_instance) for _ in range(10)]
-    for t in threads:
-        t.start()
-    for t in threads:
-        t.join()
-
-    first_instance = instances[0]
-    for inst in instances:
-        assert inst is first_instance
diff --git a/tests/providers/test_sleep_ticker_provider.py b/tests/providers/test_sleep_ticker_provider.py
deleted file mode 100644
index 15a1be708b..0000000000
--- a/tests/providers/test_sleep_ticker_provider.py
+++ /dev/null
@@ -1,186 +0,0 @@
-import asyncio
-import time
-
-import pytest
-
-from providers.sleep_ticker_provider import SleepTickerProvider
-
-
-@pytest.fixture
-def sleep_ticker():
-    provider = SleepTickerProvider()
-    provider._skip_sleep = False
-    provider._current_sleep_task = None
-    return provider
-
-
-@pytest.mark.asyncio
-async def test_normal_sleep(sleep_ticker):
-    start_time = time.time()
-    await sleep_ticker.sleep(0.1)
-    duration = time.time() - start_time
-    assert duration >= 0.1
-
-
-@pytest.mark.asyncio
-async def test_skip_sleep_cancellation(sleep_ticker):
-    start_time = time.time()
-
-    async def cancel_sleep():
-        await asyncio.sleep(0.05)
-        sleep_ticker.skip_sleep = True
-
-    asyncio.create_task(cancel_sleep())
-    await sleep_ticker.sleep(0.2)
-
-    duration = time.time() - start_time
-    assert duration < 2
-    assert sleep_ticker.skip_sleep is True
-
-
-def test_singleton_behavior():
-    provider1 = SleepTickerProvider()
-    provider2 = SleepTickerProvider()
-    assert provider1 is provider2
-
-    provider1.skip_sleep = True
-    assert provider2.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_current_task_cleanup(sleep_ticker):
-    await sleep_ticker.sleep(0.1)
-    assert sleep_ticker._current_sleep_task is None
-
-
-@pytest.mark.asyncio
-async def test_skip_sleep_property(sleep_ticker):
-    assert sleep_ticker.skip_sleep is False
-    sleep_ticker.skip_sleep = True
-    assert sleep_ticker.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_skip_sleep_before_sleep(sleep_ticker):
-    sleep_ticker.skip_sleep = True
-
-    start_time = time.time()
-    await sleep_ticker.sleep(1.0)
-    duration = time.time() - start_time
-
-    assert duration < 0.1
-
-
-@pytest.mark.asyncio
-async def test_skip_sleep_setter_cancels_task(sleep_ticker):
-    sleep_task = asyncio.create_task(sleep_ticker.sleep(2.0))
-
-    await asyncio.sleep(0.05)
-
-    sleep_ticker.skip_sleep = True
-
-    await sleep_task
-    assert sleep_ticker._current_sleep_task is None
-
-
-@pytest.mark.asyncio
-async def test_multiple_sleeps_sequential(sleep_ticker):
-    start_time = time.time()
-    await sleep_ticker.sleep(0.05)
-    await sleep_ticker.sleep(0.05)
-    duration = time.time() - start_time
-
-    assert duration >= 0.1
-    assert sleep_ticker._current_sleep_task is None
-
-
-@pytest.mark.asyncio
-async def test_concurrent_sleep_calls(sleep_ticker):
-    async def sleep_task(duration):
-        await sleep_ticker.sleep(duration)
-
-    tasks = [
-        asyncio.create_task(sleep_task(0.1)),
-        asyncio.create_task(sleep_task(0.1)),
-        asyncio.create_task(sleep_task(0.1)),
-    ]
-
-    start_time = time.time()
-    await asyncio.gather(*tasks)
-    duration = time.time() - start_time
-
-    assert duration < 0.3
-
-
-@pytest.mark.asyncio
-async def test_skip_sleep_reset(sleep_ticker):
-    sleep_ticker.skip_sleep = True
-    assert sleep_ticker.skip_sleep is True
-
-    sleep_ticker.skip_sleep = False
-    assert sleep_ticker.skip_sleep is False
-
-    start_time = time.time()
-    await sleep_ticker.sleep(0.05)
-    duration = time.time() - start_time
-    assert duration >= 0.05
-
-
-@pytest.mark.asyncio
-async def test_skip_sleep_no_active_task(sleep_ticker):
-    assert sleep_ticker._current_sleep_task is None
-    sleep_ticker.skip_sleep = True
-    assert sleep_ticker.skip_sleep is True
-
-
-@pytest.mark.asyncio
-async def test_sleep_zero_duration(sleep_ticker):
-    start_time = time.time()
-    await sleep_ticker.sleep(0.0)
-    duration = time.time() - start_time
-
-    assert duration < 0.1
-    assert sleep_ticker._current_sleep_task is None
-
-
-@pytest.mark.asyncio
-async def test_sleep_very_short_duration(sleep_ticker):
-    start_time = time.time()
-    await sleep_ticker.sleep(0.001)
-    duration = time.time() - start_time
-
-    assert duration < 0.1
-    assert sleep_ticker._current_sleep_task is None
-
-
-@pytest.mark.asyncio
-async def test_task_cleanup_on_cancellation(sleep_ticker):
-    sleep_task = asyncio.create_task(sleep_ticker.sleep(2.0))
-    await asyncio.sleep(0.05)
-
-    assert sleep_ticker._current_sleep_task is not None
-
-    sleep_ticker.skip_sleep = True
-    await sleep_task
-
-    assert sleep_ticker._current_sleep_task is None
-
-
-@pytest.mark.asyncio
-async def test_skip_sleep_thread_safety(sleep_ticker):
-    import threading
-
-    def toggle_skip():
-        for _ in range(10):
-            sleep_ticker.skip_sleep = not sleep_ticker.skip_sleep
-
-    threads = []
-    for _ in range(5):
-        t = threading.Thread(target=toggle_skip)
-        threads.append(t)
-        t.start()
-
-    for t in threads:
-        t.join()
-
-    assert isinstance(sleep_ticker.skip_sleep, bool)
diff --git a/tests/providers/test_teleops_conversation_provider.py b/tests/providers/test_teleops_conversation_provider.py
deleted file mode 100644
index f4a387ca1f..0000000000
--- a/tests/providers/test_teleops_conversation_provider.py
+++ /dev/null
@@ -1,118 +0,0 @@
-from unittest.mock import patch
-
-import pytest
-
-from providers.teleops_conversation_provider import (
-    ConversationMessage,
-    MessageType,
-    TeleopsConversationProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    TeleopsConversationProvider.reset()  # type: ignore
-    yield
-    TeleopsConversationProvider.reset()  # type: ignore
-
-
-def test_message_type_enum():
-    """Test MessageType enum values."""
-    assert MessageType.USER.value == "user"
-    assert MessageType.ROBOT.value == "robot"
-
-
-def test_conversation_message_to_dict():
-    """Test converting ConversationMessage to a dictionary."""
-    msg = ConversationMessage(message_type=MessageType.USER, content="Hello", timestamp=1234567890.0)
-
-    msg_dict = msg.to_dict()
-
-    assert msg_dict["type"] == "user"
-    assert msg_dict["content"] == "Hello"
-    assert msg_dict["timestamp"] == 1234567890.0
-
-
-def test_conversation_message_from_dict():
-    """Test creating ConversationMessage from a dictionary."""
-    data = {"type": "robot", "content": "Hi there", "timestamp": 1234567890.0}
-
-    msg = ConversationMessage.from_dict(data)
-
-    assert msg.message_type == MessageType.ROBOT
-    assert msg.content == "Hi there"
-    assert msg.timestamp == 1234567890.0
-
-
-def test_initialization_with_api_key():
-    """Test initialization with an API key."""
-    provider = TeleopsConversationProvider(api_key="test_key")
-
-    assert provider.api_key == "test_key"
-    assert provider.base_url == "https://api.openmind.com/api/core/teleops/conversation"
-
-
-def test_initialization_without_api_key():
-    """Test initialization without an API key."""
-    provider = TeleopsConversationProvider()
-
-    assert provider.api_key is None
-
-
-def test_singleton_pattern():
-    """Test singleton pattern of the provider."""
-    provider1 = TeleopsConversationProvider()
-    provider2 = TeleopsConversationProvider()
-    assert provider1 is provider2
-
-
-@patch("providers.teleops_conversation_provider.requests.post")
-def test_store_user_message(mock_post):
-    """Test storing a user message with an API key."""
-    provider = TeleopsConversationProvider(api_key="test_key")
-
-    with patch.object(provider.executor, "submit") as mock_submit:
-        provider.store_user_message("Hello")
-        assert mock_submit.call_count == 1
-
-        call_args = mock_submit.call_args
-        message = call_args[0][1]  # Second argument to submit is the message
-        assert message.content == "Hello"
-        assert message.message_type == MessageType.USER
-
-
-@patch("providers.teleops_conversation_provider.requests.post")
-def test_store_robot_message(mock_post):
-    """Test storing a robot message with an API key."""
-    provider = TeleopsConversationProvider(api_key="test_key")
-
-    with patch.object(provider.executor, "submit") as mock_submit:
-        provider.store_robot_message("Hi there")
-        assert mock_submit.call_count == 1
-
-        call_args = mock_submit.call_args
-        message = call_args[0][1]  # Second argument to submit is the message
-        assert message.content == "Hi there"
-        assert message.message_type == MessageType.ROBOT
-
-
-def test_store_message_without_api_key():
-    """Test storing messages when no API key is provided."""
-    provider = TeleopsConversationProvider(api_key=None)
-
-    with patch.object(provider.executor, "submit") as mock_submit:
-
-        provider.store_user_message("Hello")
-        provider.store_robot_message("Hi")
-
-        assert mock_submit.call_count == 2
-
-        call_args = mock_submit.call_args
-        message = call_args[0][1]  # Second argument to submit is the message
-        assert message.content == "Hi"
-        assert message.message_type == MessageType.ROBOT
-
-        message = mock_submit.call_args_list[0][0][1]
-        assert message.content == "Hello"
-        assert message.message_type == MessageType.USER
diff --git a/tests/providers/test_teleops_status_provider.py b/tests/providers/test_teleops_status_provider.py
deleted file mode 100644
index 2dcba970c3..0000000000
--- a/tests/providers/test_teleops_status_provider.py
+++ /dev/null
@@ -1,298 +0,0 @@
-from unittest.mock import patch
-
-import pytest
-
-from providers.teleops_status_provider import (
-    ActionStatus,
-    ActionType,
-    BatteryStatus,
-    CommandStatus,
-    TeleopsStatus,
-    TeleopsStatusProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    TeleopsStatusProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = TeleopsStatusProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    TeleopsStatusProvider.reset()  # type: ignore
-
-
-def test_battery_status_creation():
-    """Test BatteryStatus creation."""
-    battery = BatteryStatus(
-        battery_level=85.5,
-        temperature=25.0,
-        voltage=12.5,
-        timestamp="2024-01-01T00:00:00",
-        charging_status=True,
-    )
-
-    assert battery.battery_level == 85.5
-    assert battery.temperature == 25.0
-    assert battery.voltage == 12.5
-    assert battery.timestamp == "2024-01-01T00:00:00"
-    assert battery.charging_status is True
-
-
-def test_battery_status_to_dict():
-    """Test BatteryStatus to_dict conversion."""
-    battery = BatteryStatus(
-        battery_level=85.5,
-        temperature=25.0,
-        voltage=12.5,
-        timestamp="2024-01-01T00:00:00",
-        charging_status=False,
-    )
-
-    result = battery.to_dict()
-
-    assert result["battery_level"] == 85.5
-    assert result["temperature"] == 25.0
-    assert result["voltage"] == 12.5
-    assert result["timestamp"] == "2024-01-01T00:00:00"
-    assert result["charging_status"] is False
-
-
-def test_battery_status_from_dict():
-    """Test BatteryStatus from_dict creation."""
-    data = {
-        "battery_level": 75.0,
-        "temperature": 30.0,
-        "voltage": 11.8,
-        "timestamp": "2024-01-01T12:00:00",
-        "charging_status": True,
-    }
-
-    battery = BatteryStatus.from_dict(data)
-
-    assert battery.battery_level == 75.0
-    assert battery.temperature == 30.0
-    assert battery.voltage == 11.8
-    assert battery.timestamp == "2024-01-01T12:00:00"
-    assert battery.charging_status is True
-
-
-def test_battery_status_from_dict_with_defaults():
-    """Test BatteryStatus from_dict with missing fields."""
-    data = {}
-    battery = BatteryStatus.from_dict(data)
-
-    assert battery.battery_level == 0.0
-    assert battery.temperature == 0.0
-    assert battery.voltage == 0.0
-    assert battery.charging_status is False
-    assert isinstance(battery.timestamp, str)
-
-
-def test_command_status_creation():
-    """Test CommandStatus creation."""
-    command = CommandStatus(vx=1.5, vy=0.5, vyaw=0.2, timestamp="2024-01-01T00:00:00")
-
-    assert command.vx == 1.5
-    assert command.vy == 0.5
-    assert command.vyaw == 0.2
-    assert command.timestamp == "2024-01-01T00:00:00"
-
-
-def test_command_status_to_dict():
-    """Test CommandStatus to_dict conversion."""
-    command = CommandStatus(vx=1.0, vy=0.0, vyaw=0.5, timestamp="2024-01-01T00:00:00")
-
-    result = command.to_dict()
-
-    assert result["vx"] == 1.0
-    assert result["vy"] == 0.0
-    assert result["vyaw"] == 0.5
-    assert result["timestamp"] == "2024-01-01T00:00:00"
-
-
-def test_command_status_from_dict():
-    """Test CommandStatus from_dict creation."""
-    data = {"vx": 2.0, "vy": 1.0, "vyaw": 0.3, "timestamp": "2024-01-01T12:00:00"}
-
-    command = CommandStatus.from_dict(data)
-
-    assert command.vx == 2.0
-    assert command.vy == 1.0
-    assert command.vyaw == 0.3
-    assert command.timestamp == "2024-01-01T12:00:00"
-
-
-def test_action_type_enum():
-    """Test ActionType enum values."""
-    assert ActionType.AI.value == "AI"
-    assert ActionType.TELEOPS.value == "TELEOPS"
-    assert ActionType.CONTROLLER.value == "CONTROLLER"
-
-
-def test_action_status_creation():
-    """Test ActionStatus creation."""
-    action = ActionStatus(action=ActionType.AI, timestamp=1234567890.0)
-
-    assert action.action == ActionType.AI
-    assert action.timestamp == 1234567890.0
-
-
-def test_action_status_to_dict():
-    """Test ActionStatus to_dict conversion."""
-    action = ActionStatus(action=ActionType.TELEOPS, timestamp=1234567890.0)
-
-    result = action.to_dict()
-
-    assert result["action"] == "TELEOPS"
-    assert result["timestamp"] == 1234567890.0
-
-
-def test_action_status_from_dict():
-    """Test ActionStatus from_dict creation."""
-    data = {"action": "CONTROLLER", "timestamp": 1234567890.0}
-
-    action = ActionStatus.from_dict(data)
-
-    assert action.action == ActionType.CONTROLLER
-    assert action.timestamp == 1234567890.0
-
-
-def test_teleops_status_creation():
-    """Test TeleopsStatus creation."""
-    battery = BatteryStatus(
-        battery_level=80.0,
-        temperature=25.0,
-        voltage=12.0,
-        timestamp="2024-01-01T00:00:00",
-    )
-
-    action = ActionStatus(action=ActionType.AI, timestamp=1234567890.0)
-
-    status = TeleopsStatus(
-        update_time="2024-01-01T00:00:00",
-        battery_status=battery,
-        action_status=action,
-        machine_name="robot1",
-        video_connected=True,
-    )
-
-    assert status.update_time == "2024-01-01T00:00:00"
-    assert status.battery_status == battery
-    assert status.action_status == action
-    assert status.machine_name == "robot1"
-    assert status.video_connected is True
-    assert status.om1_heartbeat == ""
-
-
-def test_teleops_status_to_dict():
-    """Test TeleopsStatus to_dict conversion."""
-    battery = BatteryStatus(
-        battery_level=80.0,
-        temperature=25.0,
-        voltage=12.0,
-        timestamp="2024-01-01T00:00:00",
-    )
-
-    action = ActionStatus(action=ActionType.AI, timestamp=1234567890.0)
-
-    status = TeleopsStatus(
-        update_time="2024-01-01T00:00:00",
-        battery_status=battery,
-        action_status=action,
-        machine_name="robot1",
-        video_connected=False,
-    )
-
-    result = status.to_dict()
-
-    assert result["update_time"] == "2024-01-01T00:00:00"
-    assert result["machine_name"] == "robot1"
-    assert result["video_connected"] is False
-    assert result["om1_heartbeat"] == ""
-    assert isinstance(result["battery_status"], dict)
-    assert isinstance(result["action_status"], dict)
-
-
-def test_teleops_status_from_dict():
-    """Test TeleopsStatus from_dict creation."""
-    data = {
-        "update_time": "2024-01-01T00:00:00",
-        "machine_name": "robot2",
-        "video_connected": True,
-        "battery_status": {
-            "battery_level": 90.0,
-            "temperature": 20.0,
-            "voltage": 12.5,
-            "timestamp": "2024-01-01T00:00:00",
-            "charging_status": True,
-        },
-        "action_status": {"action": "TELEOPS", "timestamp": 1234567890.0},
-    }
-
-    status = TeleopsStatus.from_dict(data)
-
-    assert status.update_time == "2024-01-01T00:00:00"
-    assert status.machine_name == "robot2"
-    assert status.video_connected is True
-    assert status.battery_status.battery_level == 90.0
-    assert status.action_status.action == ActionType.TELEOPS
-    assert status.om1_heartbeat == ""
-
-
-def test_teleops_status_with_heartbeat():
-    """Test TeleopsStatus creation and serialization with om1_heartbeat."""
-    status = TeleopsStatus(
-        update_time="1700000000",
-        battery_status=BatteryStatus(battery_level=0.0, temperature=0.0, voltage=0.0, timestamp=""),
-        machine_name="robot-hb",
-        om1_heartbeat="1700000000",
-    )
-
-    assert status.om1_heartbeat == "1700000000"
-
-    result = status.to_dict()
-    assert result["om1_heartbeat"] == "1700000000"
-
-    restored = TeleopsStatus.from_dict(result)
-    assert restored.om1_heartbeat == "1700000000"
-    assert restored.machine_name == "robot-hb"
-
-
-@pytest.fixture
-def mock_teleops_dependencies():
-    """Mock dependencies for TeleopsStatusProvider."""
-    with (
-        patch("providers.teleops_status_provider.requests.get") as mock_get,
-        patch("providers.teleops_status_provider.requests.post") as mock_post,
-    ):
-        yield mock_get, mock_post
-
-
-def test_teleops_status_provider_initialization(mock_teleops_dependencies):
-    """Test TeleopsStatusProvider initialization."""
-    provider = TeleopsStatusProvider(api_key="test_api_key_1234567890123456789")
-
-    assert provider.api_key == "test_api_key_1234567890123456789"
-    assert provider.base_url == "https://api.openmind.com/api/core/teleops/status"
-    assert provider.executor is not None
-
-
-def test_teleops_status_provider_singleton(mock_teleops_dependencies):
-    """Test that TeleopsStatusProvider follows singleton pattern."""
-    provider1 = TeleopsStatusProvider(api_key="key1")
-    provider2 = TeleopsStatusProvider(api_key="key2")
-    assert provider1 is provider2
-
-
-def test_teleops_status_provider_initialization_failure():
-    """Test handling of initialization failure."""
-    provider = TeleopsStatusProvider()
-
-    assert provider.api_key is None
-    assert provider.base_url == "https://api.openmind.com/api/core/teleops/status"
diff --git a/tests/providers/test_tracer.py b/tests/providers/test_tracer.py
deleted file mode 100644
index c01c64453b..0000000000
--- a/tests/providers/test_tracer.py
+++ /dev/null
@@ -1,151 +0,0 @@
-import json
-from unittest.mock import patch
-
-import pytest
-
-from providers.tracer import Tracer
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset the Tracer singleton before each test."""
-    Tracer.reset()  # type: ignore
-    yield
-    Tracer.reset()  # type: ignore
-
-
-def test_tracer_disabled_by_default():
-    tracer = Tracer()
-    assert tracer.enabled is False
-
-
-def test_enable_sets_enabled_flag(tmp_path):
-    tracer = Tracer(output_dir=str(tmp_path / "traces"))
-    tracer.enable()
-    assert tracer.enabled is True
-
-
-def test_disable_sets_enabled_flag_false(tmp_path):
-    tracer = Tracer(output_dir=str(tmp_path / "traces"))
-    tracer.enable()
-    tracer.disable()
-    assert tracer.enabled is False
-
-
-def test_enable_creates_output_directory(tmp_path):
-    output_dir = tmp_path / "traces"
-    tracer = Tracer(output_dir=str(output_dir))
-    assert not output_dir.exists()
-    tracer.enable()
-    assert output_dir.exists()
-
-
-def test_record_does_nothing_when_disabled(tmp_path):
-    tracer = Tracer(output_dir=str(tmp_path / "traces"))
-    tracer.gauge("input", [{"role": "assistant", "content": "hello"}])
-    assert list((tmp_path / "traces").glob("*.jsonl")) == []
-
-
-def test_record_writes_jsonl_when_enabled(tmp_path):
-    output_dir = tmp_path / "traces"
-    tracer = Tracer(output_dir=str(output_dir))
-    tracer.enable()
-
-    tracer.gauge("my prompt", [{"role": "assistant", "content": "reply"}])
-
-    files = list(output_dir.glob("*.jsonl"))
-    assert len(files) == 1
-    lines = files[0].read_text(encoding="utf-8").strip().splitlines()
-    assert len(lines) == 1
-    data = json.loads(lines[0])
-    assert data["llm_input"] == "my prompt"
-    assert data["llm_output"] == [{"role": "assistant", "content": "reply"}]
-    assert "ts" in data
-    assert "generation" in data
-
-
-def test_record_writes_generation_number(tmp_path):
-    output_dir = tmp_path / "traces"
-    tracer = Tracer(output_dir=str(output_dir))
-    tracer.enable()
-    tracer.set_generation(42)
-
-    tracer.gauge("prompt", [])
-
-    files = list(output_dir.glob("*.jsonl"))
-    data = json.loads(files[0].read_text(encoding="utf-8").strip())
-    assert data["generation"] == 42
-
-
-def test_record_appends_multiple_lines(tmp_path):
-    output_dir = tmp_path / "traces"
-    tracer = Tracer(output_dir=str(output_dir))
-    tracer.enable()
-
-    tracer.gauge("prompt1", [])
-    tracer.gauge("prompt2", [])
-
-    files = list(output_dir.glob("*.jsonl"))
-    assert len(files) == 1
-    lines = files[0].read_text(encoding="utf-8").strip().splitlines()
-    assert len(lines) == 2
-
-
-def test_stop_closes_file(tmp_path):
-    tracer = Tracer(output_dir=str(tmp_path / "traces"))
-    tracer.enable()
-    tracer.gauge("prompt", [])
-
-    assert tracer._file is not None
-    tracer.stop()
-    assert tracer._file is None
-    assert tracer._current_date is None
-
-
-def test_stop_is_idempotent(tmp_path):
-    tracer = Tracer(output_dir=str(tmp_path / "traces"))
-    tracer.enable()
-    tracer.stop()
-    tracer.stop()  # should not raise
-
-
-def test_set_generation(tmp_path):
-    tracer = Tracer(output_dir=str(tmp_path / "traces"))
-    tracer.set_generation(7)
-    assert tracer.generation == 7
-
-
-def test_record_logs_exception_on_write_failure(tmp_path):
-    tracer = Tracer(output_dir=str(tmp_path / "traces"))
-    tracer.enable()
-
-    with (
-        patch.object(tracer, "_write", side_effect=RuntimeError("disk full")),
-        patch("providers.tracer.logging.exception") as mock_log,
-    ):
-        tracer.gauge("prompt", [])
-        mock_log.assert_called_once()
-
-
-def test_daily_rotation(tmp_path):
-    output_dir = tmp_path / "traces"
-    tracer = Tracer(output_dir=str(output_dir))
-    tracer.enable()
-
-    dates = ["2025-01-01", "2025-01-02"]
-    with patch("providers.tracer.datetime") as mock_dt:
-        for date in dates:
-            mock_dt.now.return_value.strftime.return_value = date
-            mock_dt.now.return_value.isoformat.return_value = f"{date}T00:00:00+00:00"
-            tracer.gauge(f"prompt on {date}", [])
-
-    files = sorted(output_dir.glob("*.jsonl"))
-    assert len(files) == 2
-    assert files[0].name == "2025-01-01.jsonl"
-    assert files[1].name == "2025-01-02.jsonl"
-
-
-def test_singleton_returns_same_instance(tmp_path):
-    t1 = Tracer(output_dir=str(tmp_path / "traces"))
-    t2 = Tracer()
-    assert t1 is t2
diff --git a/tests/providers/test_tron_odom_provider.py b/tests/providers/test_tron_odom_provider.py
deleted file mode 100644
index a01b31a186..0000000000
--- a/tests/providers/test_tron_odom_provider.py
+++ /dev/null
@@ -1,226 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.tron_odom_provider import RobotState, TronOdomProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    TronOdomProvider.reset()  # type: ignore
-    yield
-    TronOdomProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_multiprocessing():
-    with (
-        patch("providers.tron_odom_provider.mp.Queue") as mock_queue,
-        patch("providers.tron_odom_provider.mp.Process") as mock_process,
-        patch("providers.tron_odom_provider.threading.Thread") as mock_thread,
-        patch("providers.tron_odom_provider.threading.Event") as mock_event,
-    ):
-        mock_queue_instance = MagicMock()
-        mock_process_instance = MagicMock()
-        mock_thread_instance = MagicMock()
-        mock_event_instance = MagicMock()
-
-        mock_queue.return_value = mock_queue_instance
-        mock_process.return_value = mock_process_instance
-        mock_thread.return_value = mock_thread_instance
-        mock_event.return_value = mock_event_instance
-
-        mock_process_instance.is_alive.return_value = False
-        mock_thread_instance.is_alive.return_value = False
-        mock_event_instance.is_set.return_value = False
-
-        yield (
-            mock_queue,
-            mock_queue_instance,
-            mock_process,
-            mock_process_instance,
-            mock_thread,
-            mock_thread_instance,
-        )
-
-
-def test_initialization_default_topic(mock_multiprocessing):
-    """Test initialization with default topic."""
-    mock_queue, _, _, _, _, _ = mock_multiprocessing
-
-    provider = TronOdomProvider()
-
-    assert provider.topic == "odom"
-    mock_queue.assert_called_once()
-
-
-def test_initialization_custom_topic(mock_multiprocessing):
-    """Test initialization with custom topic."""
-    mock_queue, _, _, _, _, _ = mock_multiprocessing
-
-    TronOdomProvider.reset()  # type: ignore
-    provider = TronOdomProvider(topic="custom_odom")
-
-    assert provider.topic == "custom_odom"
-    mock_queue.assert_called_once()
-
-
-def test_singleton_pattern(mock_multiprocessing):
-    """Test singleton pattern - same instance returned."""
-    provider1 = TronOdomProvider(topic="odom")
-    provider2 = TronOdomProvider(topic="other_topic")
-    assert provider1 is provider2
-
-
-def test_start(mock_multiprocessing):
-    """Test start() launches process and thread."""
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-    TronOdomProvider(topic="odom")
-
-    assert mock_process_instance.start.call_count >= 1
-    assert mock_thread_instance.start.call_count >= 1
-
-
-def test_start_already_running(mock_multiprocessing):
-    """Test start() does not restart when already running."""
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-    provider = TronOdomProvider(topic="odom")
-
-    mock_process_instance.is_alive.return_value = True
-    mock_thread_instance.is_alive.return_value = True
-
-    mock_process_instance.start.reset_mock()
-    mock_thread_instance.start.reset_mock()
-
-    provider.start()
-
-    mock_process_instance.start.assert_not_called()
-    mock_thread_instance.start.assert_not_called()
-
-
-def test_start_no_topic(mock_multiprocessing):
-    """Test start() returns early when topic is empty."""
-    _, _, _, mock_process_instance, _, _ = mock_multiprocessing
-
-    provider = TronOdomProvider(topic="odom")
-    mock_process_instance.is_alive.return_value = False
-    provider.topic = ""
-
-    mock_process_instance.start.reset_mock()
-    provider.start()
-
-    # Should not start because topic is empty
-    mock_process_instance.start.assert_not_called()
-
-
-def test_stop(mock_multiprocessing):
-    """Test stop() terminates process and joins thread."""
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-    provider = TronOdomProvider(topic="odom")
-    provider.stop()
-
-    assert provider._stop_event.set.called  # type: ignore
-    mock_process_instance.terminate.assert_called_once()
-    mock_process_instance.join.assert_called_once()
-    mock_thread_instance.join.assert_called_once()
-
-
-def test_robot_state_enum():
-    """Test RobotState enum values."""
-    assert RobotState.STANDING.value == "standing"
-    assert RobotState.SITTING.value == "sitting"
-
-
-def test_position_property(mock_multiprocessing):
-    """Test position property returns expected dictionary structure."""
-    provider = TronOdomProvider(topic="odom")
-
-    position = provider.position
-
-    assert "odom_x" in position
-    assert "odom_y" in position
-    assert "moving" in position
-    assert "odom_yaw_0_360" in position
-    assert "odom_yaw_m180_p180" in position
-    assert "body_height_cm" in position
-    assert "body_attitude" in position
-    assert "odom_rockchip_ts" in position
-    assert "odom_subscriber_ts" in position
-
-    assert position["odom_x"] == 0.0
-    assert position["odom_y"] == 0.0
-    assert position["moving"] is False
-
-
-def test_euler_from_quaternion(mock_multiprocessing):
-    """Test quaternion to Euler angle conversion."""
-    provider = TronOdomProvider(topic="odom")
-
-    # Identity quaternion (no rotation)
-    roll, pitch, yaw = provider.euler_from_quaternion(0.0, 0.0, 0.0, 1.0)
-    assert abs(roll) < 0.001
-    assert abs(pitch) < 0.001
-    assert abs(yaw) < 0.001
-
-
-def test_euler_from_quaternion_90_degree_yaw(mock_multiprocessing):
-    """Test quaternion representing 90 degree yaw rotation."""
-    import math
-
-    provider = TronOdomProvider(topic="odom")
-
-    # 90 degree rotation about z-axis
-    # quaternion: (0, 0, sin(45°), cos(45°)) = (0, 0, 0.7071, 0.7071)
-    roll, pitch, yaw = provider.euler_from_quaternion(0.0, 0.0, 0.7071, 0.7071)
-
-    # yaw should be approximately 90 degrees (pi/2 radians)
-    assert abs(yaw - math.pi / 2) < 0.01
-
-
-def test_body_attitude_standing(mock_multiprocessing):
-    """Test body attitude is set to STANDING when height > 60cm."""
-    provider = TronOdomProvider(topic="odom")
-
-    # Manually set body height to simulate standing
-    provider.body_height_cm = 70
-
-    # This happens in process_odom, but we can test the threshold logic
-    if provider.body_height_cm > 60:
-        provider.body_attitude = RobotState.STANDING
-
-    assert provider.body_attitude == RobotState.STANDING
-
-
-def test_body_attitude_sitting(mock_multiprocessing):
-    """Test body attitude is set to SITTING when height is between 3-60cm."""
-    provider = TronOdomProvider(topic="odom")
-
-    # Manually set body height to simulate sitting
-    provider.body_height_cm = 55
-
-    if provider.body_height_cm > 60:
-        provider.body_attitude = RobotState.STANDING
-    elif provider.body_height_cm > 3:
-        provider.body_attitude = RobotState.SITTING
-
-    assert provider.body_attitude == RobotState.SITTING
-
-
-def test_initial_values(mock_multiprocessing):
-    """Test initial values are set correctly."""
-    provider = TronOdomProvider(topic="odom")
-
-    assert provider.x == 0.0
-    assert provider.y == 0.0
-    assert provider.z == 0.0
-    assert provider.odom_yaw_0_360 == 0.0
-    assert provider.odom_yaw_m180_p180 == 0.0
-    assert provider.moving is False
-    assert provider.previous_x == 0
-    assert provider.previous_y == 0
-    assert provider.previous_z == 0
-    assert provider.move_history == 0
diff --git a/tests/providers/test_turtlebot4_camera_vlm_provider.py b/tests/providers/test_turtlebot4_camera_vlm_provider.py
deleted file mode 100644
index 0394f59e72..0000000000
--- a/tests/providers/test_turtlebot4_camera_vlm_provider.py
+++ /dev/null
@@ -1,200 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import numpy as np
-import pytest
-
-from providers.turtlebot4_camera_vlm_provider import (
-    TurtleBot4CameraVideoStream,
-    TurtleBot4CameraVLMProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    TurtleBot4CameraVLMProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = getattr(TurtleBot4CameraVLMProvider, "_instance", None)
-        if provider:
-            provider.stop()
-    except Exception:
-        pass
-
-    TurtleBot4CameraVLMProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_zenoh():
-    """Mock Zenoh dependencies."""
-    with patch("providers.turtlebot4_camera_vlm_provider.open_zenoh_session") as mock_session:
-        mock_session_instance = MagicMock()
-        mock_subscriber = MagicMock()
-        mock_session_instance.declare_subscriber.return_value = mock_subscriber
-        mock_session.return_value = mock_session_instance
-        yield mock_session, mock_session_instance, mock_subscriber
-
-
-def test_turtlebot4_video_stream_initialization(mock_zenoh):
-    """Test TurtleBot4CameraVideoStream initialization."""
-    _, mock_session_instance, _ = mock_zenoh
-
-    stream = TurtleBot4CameraVideoStream(fps=30, resolution=(640, 480), jpeg_quality=70, URID="test_robot")
-
-    assert stream.session == mock_session_instance
-    assert stream.debug is False
-    assert stream.image is None
-
-
-def test_turtlebot4_video_stream_with_debug(mock_zenoh):
-    """Test TurtleBot4CameraVideoStream with debug mode."""
-    stream = TurtleBot4CameraVideoStream(URID="test_robot", debug=True)
-
-    assert stream.debug is True
-
-
-def test_turtlebot4_video_stream_default_urid(mock_zenoh):
-    """Test default URID value."""
-    TurtleBot4CameraVideoStream()
-
-    mock_zenoh[1].declare_subscriber.assert_called_once()
-    call_args = mock_zenoh[1].declare_subscriber.call_args
-    assert "default/pi/oakd/rgb/preview/image_raw" in call_args[0][0]
-
-
-def test_turtlebot4_video_stream_custom_urid(mock_zenoh):
-    """Test custom URID value."""
-    TurtleBot4CameraVideoStream(URID="robot123")
-
-    mock_zenoh[1].declare_subscriber.assert_called_once()
-    call_args = mock_zenoh[1].declare_subscriber.call_args
-    assert "robot123/pi/oakd/rgb/preview/image_raw" in call_args[0][0]
-
-
-def test_turtlebot4_video_stream_with_callback(mock_zenoh):
-    """Test initialization with frame callback."""
-
-    def callback(frame):
-        pass
-
-    stream = TurtleBot4CameraVideoStream(frame_callback=callback)
-
-    assert callback in stream.frame_callbacks
-
-
-def test_turtlebot4_video_stream_initialization_failure():
-    """Test handling of Zenoh initialization failure."""
-    with patch("providers.turtlebot4_camera_vlm_provider.open_zenoh_session") as mock_session:
-        mock_session.side_effect = Exception("Connection failed")
-
-        stream = TurtleBot4CameraVideoStream()
-
-        assert stream.session is None
-
-
-def test_turtlebot4_video_stream_camera_listener(mock_zenoh):
-    """Test camera listener with valid data."""
-    stream = TurtleBot4CameraVideoStream()
-
-    mock_sample = MagicMock()
-    mock_payload = MagicMock()
-    data = np.zeros(187576, dtype=np.uint8)
-    mock_payload.to_bytes.return_value = data.tobytes()
-    mock_sample.payload = mock_payload
-
-    with patch("providers.turtlebot4_camera_vlm_provider.cv2"):
-        stream.camera_listener(mock_sample)
-
-        assert stream.image is not None
-
-
-def test_camera_listener_with_debug(mock_zenoh):
-    """Test camera listener in debug mode."""
-    stream = TurtleBot4CameraVideoStream(debug=True)
-
-    mock_sample = MagicMock()
-    mock_payload = MagicMock()
-
-    data = np.zeros(187576, dtype=np.uint8)
-    mock_payload.to_bytes.return_value = data.tobytes()
-    mock_sample.payload = mock_payload
-
-    with patch("providers.turtlebot4_camera_vlm_provider.cv2") as mock_cv2:
-        stream.camera_listener(mock_sample)
-
-        mock_cv2.imwrite.assert_called_once()
-
-
-def test_turtlebot4_vlm_provider_initialization():
-    """Test TurtleBot4CameraVLMProvider initialization."""
-    with (
-        patch("providers.turtlebot4_camera_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.turtlebot4_camera_vlm_provider.TurtleBot4CameraVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        provider = TurtleBot4CameraVLMProvider(ws_url="ws://localhost:8000", URID="test_robot", fps=15)
-
-        assert provider.running is False
-        mock_ws.assert_called_once_with(url="ws://localhost:8000")
-
-
-def test_turtlebot4_vlm_provider_singleton():
-    """Test that TurtleBot4CameraVLMProvider follows singleton pattern."""
-    with (
-        patch("providers.turtlebot4_camera_vlm_provider.ws.Client"),
-        patch("providers.turtlebot4_camera_vlm_provider.TurtleBot4CameraVideoStream"),
-    ):
-
-        provider1 = TurtleBot4CameraVLMProvider(ws_url="ws://localhost:8000", URID="robot1")
-        provider2 = TurtleBot4CameraVLMProvider(ws_url="ws://localhost:8001", URID="robot2")
-        assert provider1 is provider2
-
-
-def test_turtlebot4_vlm_provider_start():
-    """Test starting the VLM provider."""
-    with (
-        patch("providers.turtlebot4_camera_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.turtlebot4_camera_vlm_provider.TurtleBot4CameraVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        provider = TurtleBot4CameraVLMProvider(ws_url="ws://localhost:8000", URID="test")
-        provider.start()
-
-        assert provider.running is True
-        mock_ws_instance.start.assert_called_once()
-        mock_stream_instance.start.assert_called_once()
-
-
-def test_turtlebot4_vlm_provider_stop():
-    """Test stopping the VLM provider."""
-    with (
-        patch("providers.turtlebot4_camera_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.turtlebot4_camera_vlm_provider.TurtleBot4CameraVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        provider = TurtleBot4CameraVLMProvider(ws_url="ws://localhost:8000", URID="test")
-        provider.start()
-        provider.stop()
-
-        assert provider.running is False
-        mock_stream_instance.stop.assert_called_once()
-        mock_ws_instance.stop.assert_called_once()
diff --git a/tests/providers/test_turtlebot4_odom_provider.py b/tests/providers/test_turtlebot4_odom_provider.py
deleted file mode 100644
index f372586b20..0000000000
--- a/tests/providers/test_turtlebot4_odom_provider.py
+++ /dev/null
@@ -1,230 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.turtlebot4_odom_provider import TurtleBot4OdomProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    TurtleBot4OdomProvider.reset()  # type: ignore
-    yield
-    TurtleBot4OdomProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_multiprocessing():
-    """Mock multiprocessing and threading components."""
-    with (
-        patch("providers.turtlebot4_odom_provider.mp.Queue") as mock_queue,
-        patch("providers.turtlebot4_odom_provider.mp.Process") as mock_process,
-        patch("providers.turtlebot4_odom_provider.threading.Thread") as mock_thread,
-        patch("providers.turtlebot4_odom_provider.threading.Event") as mock_event,
-    ):
-        mock_queue_instance = MagicMock()
-        mock_process_instance = MagicMock()
-        mock_thread_instance = MagicMock()
-        mock_event_instance = MagicMock()
-
-        mock_queue.return_value = mock_queue_instance
-        mock_process.return_value = mock_process_instance
-        mock_thread.return_value = mock_thread_instance
-        mock_event.return_value = mock_event_instance
-
-        mock_process_instance.is_alive.return_value = False
-        mock_thread_instance.is_alive.return_value = False
-        mock_event_instance.is_set.return_value = False
-
-        yield (
-            mock_queue,
-            mock_queue_instance,
-            mock_process,
-            mock_process_instance,
-            mock_thread,
-            mock_thread_instance,
-        )
-
-
-class TestTurtleBot4OdomProvider:
-    """Test cases for TurtleBot4OdomProvider."""
-
-    def test_initialization_with_urid(self, mock_multiprocessing):
-        """Test initialization with URID."""
-        provider = TurtleBot4OdomProvider(URID="test_robot_123")
-
-        assert provider.URID == "test_robot_123"
-
-    def test_initialization_without_urid(self, mock_multiprocessing):
-        """Test initialization without URID (None)."""
-        provider = TurtleBot4OdomProvider(URID=None)
-
-        assert provider.URID is None
-
-    def test_initialization_default_urid(self, mock_multiprocessing):
-        """Test initialization with default URID parameter."""
-        provider = TurtleBot4OdomProvider()
-
-        assert provider.URID is None
-
-    def test_singleton_pattern(self, mock_multiprocessing):
-        """Test that TurtleBot4OdomProvider follows singleton pattern."""
-        provider1 = TurtleBot4OdomProvider(URID="robot_1")
-        provider2 = TurtleBot4OdomProvider(URID="robot_2")
-
-        assert provider1 is provider2
-        # First instance URID should be preserved
-        assert provider1.URID == "robot_1"
-
-    def test_start_creates_reader_thread(self, mock_multiprocessing):
-        """Test that start creates and starts reader thread."""
-        _, _, _, mock_process_instance, _, _ = mock_multiprocessing
-
-        TurtleBot4OdomProvider(URID="test_robot")
-
-        # Should have started the process during initialization
-        assert mock_process_instance.start.call_count >= 1
-
-    def test_start_creates_processor_thread(self, mock_multiprocessing):
-        """Test that start creates and starts processor thread."""
-        _, _, _, _, _, mock_thread_instance = mock_multiprocessing
-
-        TurtleBot4OdomProvider(URID="test_robot")
-
-        # Should have started the thread during initialization
-        assert mock_thread_instance.start.call_count >= 1
-
-    def test_start_already_running(self, mock_multiprocessing):
-        """Test that start doesn't restart if already running."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = TurtleBot4OdomProvider(URID="test_robot")
-
-        # Simulate threads already running
-        mock_process_instance.is_alive.return_value = True
-        mock_thread_instance.is_alive.return_value = True
-
-        # Reset call counts
-        mock_process_instance.start.reset_mock()
-        mock_thread_instance.start.reset_mock()
-
-        # Call start again
-        provider.start()
-
-        # Should not have started new threads
-        mock_process_instance.start.assert_not_called()
-        mock_thread_instance.start.assert_not_called()
-
-    def test_start_with_processor_thread_running(self, mock_multiprocessing):
-        """Test start when processor thread is already running."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = TurtleBot4OdomProvider(URID="test_robot")
-
-        # Simulate only processor thread running
-        mock_process_instance.is_alive.return_value = False
-        mock_thread_instance.is_alive.return_value = True
-
-        mock_process_instance.start.reset_mock()
-        mock_thread_instance.start.reset_mock()
-
-        provider.start()
-
-        # Reader thread should start, processor should not
-        mock_process_instance.start.assert_called_once()
-        mock_thread_instance.start.assert_not_called()
-
-    def test_stop(self, mock_multiprocessing):
-        """Test stop method cleans up resources."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = TurtleBot4OdomProvider(URID="test_robot")
-        provider.stop()
-
-        # Stop event should be set
-        assert provider._stop_event.set.called  # type: ignore
-
-        # Threads should be terminated/joined
-        mock_process_instance.terminate.assert_called_once()
-        mock_process_instance.join.assert_called_once()
-        mock_thread_instance.join.assert_called_once()
-
-    def test_position_property(self, mock_multiprocessing):
-        """Test position property returns correct data structure."""
-        provider = TurtleBot4OdomProvider(URID="test_robot")
-
-        position = provider.position
-
-        # Verify all expected keys are present
-        assert "odom_x" in position
-        assert "odom_y" in position
-        assert "moving" in position
-        assert "odom_yaw_0_360" in position
-        assert "odom_yaw_m180_p180" in position
-        assert "body_height_cm" in position
-        assert "body_attitude" in position
-        assert "odom_rockchip_ts" in position
-        assert "odom_subscriber_ts" in position
-
-        # Verify initial values
-        assert position["odom_x"] == 0.0
-        assert position["odom_y"] == 0.0
-        assert position["moving"] is False
-
-    def test_initialization_inherits_from_base(self, mock_multiprocessing):
-        """Test that initialization properly inherits from OdomProviderBase."""
-        provider = TurtleBot4OdomProvider(URID="test_robot")
-
-        # Check base class attributes are initialized
-        assert hasattr(provider, "data_queue")
-        assert hasattr(provider, "_odom_reader_thread")
-        assert hasattr(provider, "_odom_processor_thread")
-        assert hasattr(provider, "_stop_event")
-        assert hasattr(provider, "x")
-        assert hasattr(provider, "y")
-        assert hasattr(provider, "moving")
-
-    def test_start_logging_with_urid(self, mock_multiprocessing, caplog):
-        """Test that start logs the URID."""
-        with caplog.at_level("INFO"):
-            TurtleBot4OdomProvider(URID="robot_xyz")
-
-        assert "Starting TurtleBot4 Odom Provider with URID: robot_xyz" in caplog.text
-
-    def test_start_logging_without_urid(self, mock_multiprocessing, caplog):
-        """Test that start logs when URID is None."""
-        with caplog.at_level("INFO"):
-            TurtleBot4OdomProvider(URID=None)
-
-        assert "Starting TurtleBot4 Odom Provider with URID: None" in caplog.text
-
-    @patch("providers.turtlebot4_odom_provider.get_logging_config")
-    def test_start_passes_logging_config(self, mock_get_logging_config, mock_multiprocessing):
-        """Test that start passes logging config to the processor."""
-        _, _, mock_process, _, _, _ = mock_multiprocessing
-
-        mock_logging_config = MagicMock()
-        mock_get_logging_config.return_value = mock_logging_config
-
-        TurtleBot4OdomProvider(URID="test_robot")
-
-        # Verify Process was called with logging config
-        call_args = mock_process.call_args
-        assert call_args is not None
-        args = call_args[1]["args"]
-        assert args[2] == mock_logging_config
-
-    def test_multiple_start_calls_with_running_threads(self, mock_multiprocessing, caplog):
-        """Test multiple start calls when threads are already running."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = TurtleBot4OdomProvider(URID="test_robot")
-
-        # Simulate both threads running
-        mock_process_instance.is_alive.return_value = True
-        mock_thread_instance.is_alive.return_value = True
-
-        with caplog.at_level("WARNING"):
-            provider.start()
-
-        assert "TurtleBot4 Odom Provider is already running" in caplog.text
diff --git a/tests/providers/test_turtlebot4_rplidar_provider.py b/tests/providers/test_turtlebot4_rplidar_provider.py
deleted file mode 100644
index 6c8e48b206..0000000000
--- a/tests/providers/test_turtlebot4_rplidar_provider.py
+++ /dev/null
@@ -1,359 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.turtlebot4_rplidar_provider import (
-    RPLidarConfig,
-    TurtleBot4RPLidarProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    TurtleBot4RPLidarProvider.reset()  # type: ignore
-    yield
-
-    try:
-        # Get the singleton instance if it exists
-        if (
-            hasattr(TurtleBot4RPLidarProvider, "_singleton_instance")
-            and TurtleBot4RPLidarProvider._singleton_instance is not None  # type: ignore
-        ):
-            provider = TurtleBot4RPLidarProvider._singleton_instance  # type: ignore
-            if hasattr(provider, "running"):
-                provider.running = False
-            if hasattr(provider, "zen") and provider.zen:
-                try:
-                    provider.zen.close()
-                except Exception:
-                    pass
-    except Exception:
-        pass
-    finally:
-        TurtleBot4RPLidarProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_rplidar_dependencies():
-    """Mock all external dependencies for TurtleBot4RPLidarProvider."""
-    with (
-        patch("providers.turtlebot4_rplidar_provider.D435Provider") as mock_d435,
-        patch("providers.turtlebot4_rplidar_provider.open_zenoh_session") as mock_zenoh,
-    ):
-        mock_d435_instance = MagicMock()
-        mock_d435.return_value = mock_d435_instance
-
-        mock_zenoh_instance = MagicMock()
-        mock_zenoh.return_value = mock_zenoh_instance
-
-        yield {
-            "d435": mock_d435,
-            "d435_instance": mock_d435_instance,
-            "zenoh": mock_zenoh,
-            "zenoh_instance": mock_zenoh_instance,
-        }
-
-
-class TestRPLidarConfig:
-    """Test cases for RPLidarConfig."""
-
-    def test_default_values(self):
-        """Test RPLidarConfig default values."""
-        config = RPLidarConfig()
-
-        assert config.max_buf_meas == 0
-        assert config.min_len == 5
-        assert config.max_distance_mm == 10000
-
-    def test_custom_values(self):
-        """Test RPLidarConfig with custom values."""
-        config = RPLidarConfig(max_buf_meas=100, min_len=10, max_distance_mm=5000)
-
-        assert config.max_buf_meas == 100
-        assert config.min_len == 10
-        assert config.max_distance_mm == 5000
-
-
-class TestTurtleBot4RPLidarProvider:
-    """Test cases for TurtleBot4RPLidarProvider."""
-
-    def test_initialization_with_defaults(self, mock_rplidar_dependencies):
-        """Test initialization with default parameters."""
-        provider = TurtleBot4RPLidarProvider()
-
-        assert provider.half_width_robot == 0.20
-        assert provider.angles_blanked == []
-        assert provider.relevant_distance_max == 1.1
-        assert provider.relevant_distance_min == 0.08
-        assert provider.sensor_mounting_angle == 180.0
-        assert provider.URID == ""
-        assert provider.running is False
-        assert provider._raw_scan is None
-        assert provider._valid_paths is None
-        assert provider._lidar_string is None
-
-    def test_initialization_with_custom_values(self, mock_rplidar_dependencies):
-        """Test initialization with custom parameters."""
-        provider = TurtleBot4RPLidarProvider(
-            half_width_robot=0.25,
-            relevant_distance_max=1.5,
-            relevant_distance_min=0.1,
-            sensor_mounting_angle=90.0,
-            URID="test_robot",
-        )
-
-        assert provider.half_width_robot == 0.25
-        assert provider.relevant_distance_max == 1.5
-        assert provider.relevant_distance_min == 0.1
-        assert provider.sensor_mounting_angle == 90.0
-        assert provider.URID == "test_robot"
-
-    def test_singleton_pattern(self, mock_rplidar_dependencies):
-        """Test that TurtleBot4RPLidarProvider follows singleton pattern."""
-        provider1 = TurtleBot4RPLidarProvider(URID="robot_1")
-        provider2 = TurtleBot4RPLidarProvider(URID="robot_2")
-
-        assert provider1 is provider2
-        # First instance URID should be preserved
-        assert provider1.URID == "robot_1"
-
-    def test_path_angles_initialization(self, mock_rplidar_dependencies):
-        """Test path angles initialization."""
-        provider = TurtleBot4RPLidarProvider()
-
-        assert len(provider.path_angles) == 10
-        assert provider.path_angles == [-60, -45, -30, -15, 0, 15, 30, 45, 60, 180]
-
-    def test_paths_initialization(self, mock_rplidar_dependencies):
-        """Test paths initialization."""
-        provider = TurtleBot4RPLidarProvider()
-
-        assert len(provider.paths) == len(provider.path_angles)
-        assert len(provider.pp) == len(provider.paths)
-
-    def test_angles_blanked_default(self, mock_rplidar_dependencies):
-        """Test that angles_blanked defaults to empty list."""
-        provider = TurtleBot4RPLidarProvider()
-
-        assert provider.angles_blanked == []
-
-    def test_angles_blanked_custom(self, mock_rplidar_dependencies):
-        """Test angles_blanked with custom values."""
-        custom_blanked = [[-90, -45], [45, 90]]
-        provider = TurtleBot4RPLidarProvider(angles_blanked=custom_blanked)
-
-        assert provider.angles_blanked == custom_blanked
-
-    def test_log_file_initialization_disabled(self, mock_rplidar_dependencies):
-        """Test log file initialization when disabled."""
-        provider = TurtleBot4RPLidarProvider(log_file=False)
-
-        assert provider.write_to_local_file is False
-        assert provider.filename_current is None
-
-    def test_log_file_initialization_enabled(self, mock_rplidar_dependencies):
-        """Test log file initialization when enabled."""
-        with patch("providers.turtlebot4_rplidar_provider.time.time") as mock_time:
-            mock_time.return_value = 1234567890.123456
-            provider = TurtleBot4RPLidarProvider(log_file=True)
-
-            assert provider.write_to_local_file is True
-            assert provider.filename_current == "dump/lidar_1234567890_123456Z.jsonl"
-
-    def test_update_filename(self, mock_rplidar_dependencies):
-        """Test update_filename method."""
-        provider = TurtleBot4RPLidarProvider()
-
-        with patch("providers.turtlebot4_rplidar_provider.time.time") as mock_time:
-            mock_time.return_value = 9876543210.654321
-            filename = provider.update_filename()
-
-            assert filename.startswith("dump/lidar_9876543210_")
-            assert filename.endswith("Z.jsonl")
-            assert "9876543210" in filename
-
-    def test_write_str_to_file_with_valid_string(self, mock_rplidar_dependencies, tmp_path):
-        """Test writing string to file."""
-        provider = TurtleBot4RPLidarProvider()
-        provider.filename_current = str(tmp_path / "test.jsonl")
-
-        json_line = '{"test": "data"}'
-        provider.write_str_to_file(json_line)
-
-        with open(provider.filename_current, "r") as f:
-            content = f.read()
-            assert content == json_line + "\n"
-
-    def test_write_str_to_file_with_invalid_input(self, mock_rplidar_dependencies):
-        """Test writing non-string raises ValueError."""
-        provider = TurtleBot4RPLidarProvider()
-        provider.filename_current = "test.jsonl"
-
-        with pytest.raises(ValueError, match="must be a json string"):
-            provider.write_str_to_file({"test": "data"})  # type: ignore
-
-    def test_write_str_to_file_creates_new_file_on_size_limit(self, mock_rplidar_dependencies, tmp_path):
-        """Test creating new file when size limit is exceeded."""
-        provider = TurtleBot4RPLidarProvider()
-        provider.filename_current = str(tmp_path / "test.jsonl")
-        provider.max_file_size_bytes = 10  # Very small limit
-
-        provider.write_str_to_file('{"test": "data1"}')
-
-        original_filename = provider.filename_current
-
-        new_filename = str(tmp_path / "test_new.jsonl")
-        with patch.object(provider, "update_filename", return_value=new_filename):
-            provider.write_str_to_file('{"test": "data2"}')
-
-            assert provider.filename_current == new_filename
-            assert provider.filename_current != original_filename
-
-    def test_start(self, mock_rplidar_dependencies):
-        """Test start method sets running flag."""
-        provider = TurtleBot4RPLidarProvider()
-
-        assert provider.running is False
-
-        provider.start()
-
-        assert provider.running is True
-
-    def test_zenoh_initialization(self, mock_rplidar_dependencies):
-        """Test Zenoh session initialization."""
-        mocks = mock_rplidar_dependencies
-        provider = TurtleBot4RPLidarProvider(URID="test_robot")
-
-        mocks["zenoh"].assert_called_once()
-        assert provider.zen == mocks["zenoh_instance"]
-
-        mocks["zenoh_instance"].declare_subscriber.assert_called_once_with("test_robot/pi/scan", provider.listen_scan)
-
-    def test_zenoh_initialization_failure(self, mock_rplidar_dependencies, caplog):
-        """Test Zenoh initialization failure is handled."""
-        mocks = mock_rplidar_dependencies
-        mocks["zenoh"].side_effect = Exception("Connection failed")
-
-        with caplog.at_level("ERROR"):
-            TurtleBot4RPLidarProvider(URID="test_robot")
-
-        assert "Error opening Zenoh client" in caplog.text
-
-    def test_listen_scan(self, mock_rplidar_dependencies):
-        """Test listen_scan method."""
-        provider = TurtleBot4RPLidarProvider()
-
-        mock_sample = MagicMock()
-        mock_scan = MagicMock()
-
-        with patch("providers.turtlebot4_rplidar_provider.sensor_msgs.LaserScan.deserialize") as mock_deserialize:
-            mock_deserialize.return_value = mock_scan
-
-            with patch.object(provider, "_zenoh_processor") as mock_processor:
-                provider.listen_scan(mock_sample)
-
-                mock_deserialize.assert_called_once()
-                mock_processor.assert_called_once_with(mock_scan)
-                assert provider.scans == mock_scan
-
-    def test_zenoh_processor_with_none_scan(self, mock_rplidar_dependencies):
-        """Test _zenoh_processor with None scan."""
-        provider = TurtleBot4RPLidarProvider()
-
-        provider._zenoh_processor(None)
-
-        assert provider._raw_scan is None
-        assert provider._lidar_string is not None
-        assert "cannot safely move" in provider._lidar_string.lower()
-        assert provider._valid_paths == []
-
-    def test_zenoh_processor_with_scan_data(self, mock_rplidar_dependencies):
-        """Test _zenoh_processor with valid scan data."""
-        provider = TurtleBot4RPLidarProvider()
-
-        mock_scan = MagicMock()
-        mock_scan.angle_min = -3.14
-        mock_scan.angle_max = 3.14
-        mock_scan.angle_increment = 0.1
-        mock_scan.ranges = [1.0] * 63  # Should match the number of angles
-
-        with patch.object(provider, "_path_processor") as mock_path_processor:
-            provider._zenoh_processor(mock_scan)
-
-            mock_path_processor.assert_called_once()
-            assert provider.angles is not None
-            assert provider.angles_final is not None
-
-    def test_d435_provider_initialization(self, mock_rplidar_dependencies):
-        """Test D435 provider is initialized."""
-        mocks = mock_rplidar_dependencies
-        provider = TurtleBot4RPLidarProvider()
-
-        assert provider.d435_provider == mocks["d435_instance"]
-        mocks["d435"].assert_called_once()
-
-    def test_initial_state_variables(self, mock_rplidar_dependencies):
-        """Test initial state of tracking variables."""
-        provider = TurtleBot4RPLidarProvider()
-
-        assert provider.turn_left == []
-        assert provider.turn_right == []
-        assert provider.advance == []
-        assert provider.retreat is False
-        assert provider.angles is None
-        assert provider.angles_final is None
-
-    def test_initialization_logging(self, mock_rplidar_dependencies, caplog):
-        """Test initialization logging."""
-        with caplog.at_level("INFO"):
-            TurtleBot4RPLidarProvider(URID="robot_123")
-
-        assert "Booting TurtleBot4 RPLidar (Zenoh)" in caplog.text
-        assert "Connecting to the RPLIDAR via Zenoh" in caplog.text
-
-    def test_custom_rplidar_config(self, mock_rplidar_dependencies):
-        """Test initialization with custom RPLidarConfig."""
-        custom_config = RPLidarConfig(max_buf_meas=50, min_len=8, max_distance_mm=8000)
-        provider = TurtleBot4RPLidarProvider(rplidar_config=custom_config)
-
-        assert provider.rplidar_config == custom_config
-        assert provider.rplidar_config.max_buf_meas == 50
-        assert provider.rplidar_config.min_len == 8
-        assert provider.rplidar_config.max_distance_mm == 8000
-
-    def test_movement_options(self, mock_rplidar_dependencies):
-        """Test movement_options property returns correct dict structure."""
-        provider = TurtleBot4RPLidarProvider()
-        provider.turn_left = [0, 1, 2]
-        provider.advance = [4, 5]
-        provider.turn_right = [7, 8]
-        provider.retreat = True
-
-        result = provider.movement_options
-        assert result == {
-            "turn_left": [0, 1, 2],
-            "advance": [4, 5],
-            "turn_right": [7, 8],
-            "retreat": True,
-        }
-
-    def test_movement_options_default(self, mock_rplidar_dependencies):
-        """Test movement_options property with default empty values."""
-        provider = TurtleBot4RPLidarProvider()
-        result = provider.movement_options
-        assert result == {
-            "turn_left": [],
-            "advance": [],
-            "turn_right": [],
-            "retreat": False,
-        }
-
-    def test_stop(self, mock_rplidar_dependencies):
-        """Test stop method sets running to False."""
-        provider = TurtleBot4RPLidarProvider()
-        provider.running = True
-
-        provider.stop()
-
-        assert provider.running is False
diff --git a/tests/providers/test_ub_tts_provider.py b/tests/providers/test_ub_tts_provider.py
deleted file mode 100644
index 6c5f15499a..0000000000
--- a/tests/providers/test_ub_tts_provider.py
+++ /dev/null
@@ -1,325 +0,0 @@
-import time
-from concurrent.futures import ThreadPoolExecutor
-from unittest.mock import MagicMock, patch
-
-import requests
-
-from providers.ub_tts_provider import UbTtsProvider
-
-
-def test_initialization_sets_url():
-    """Test that initialization correctly sets the TTS URL."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-    assert provider.tts_url == "http://localhost:8080/tts"
-    provider.stop()
-
-
-def test_initialization_sets_headers():
-    """Test that initialization sets correct headers."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-    assert provider.headers == {"Content-Type": "application/json"}
-    provider.stop()
-
-
-def test_initialization_creates_executor():
-    """Test that initialization creates a ThreadPoolExecutor."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-    assert isinstance(provider.executor, ThreadPoolExecutor)
-    provider.stop()
-
-
-def test_start_method():
-    """Test start method logs appropriately."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    with patch("providers.ub_tts_provider.logging.info") as mock_log:
-        provider.start()
-        mock_log.assert_called_with("Ubtech TTS Provider started.")
-
-    provider.stop()
-
-
-def test_stop_method():
-    """Test stop method shuts down executor."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-    executor_mock = MagicMock()
-    provider.executor = executor_mock
-
-    provider.stop()
-
-    executor_mock.shutdown.assert_called_once_with(wait=True)
-
-
-# Tests for async message processing
-
-
-def test_adding_pending_message_submits_to_executor():
-    """Test that adding_pending_message submits work to the executor."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-    executor_mock = MagicMock()
-    provider.executor = executor_mock
-
-    provider.adding_pending_message("Hello world")
-
-    executor_mock.submit.assert_called_once()
-    args = executor_mock.submit.call_args[0]
-    assert args[0] == provider._speak_worker
-    assert args[1] == "Hello world"
-    assert args[2] is True  # interrupt default
-    assert args[3] == 0  # timestamp default
-
-    provider.stop()
-
-
-def test_adding_pending_message_with_custom_parameters():
-    """Test that adding_pending_message correctly passes custom parameters."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-    executor_mock = MagicMock()
-    provider.executor = executor_mock
-
-    provider.adding_pending_message("Custom message", interrupt=False, timestamp=12345)
-
-    executor_mock.submit.assert_called_once()
-    args = executor_mock.submit.call_args[0]
-    assert args[0] == provider._speak_worker
-    assert args[1] == "Custom message"
-    assert args[2] is False  # interrupt=False
-    assert args[3] == 12345  # timestamp=12345
-
-    provider.stop()
-
-
-def test_adding_pending_message_integration():
-    """Test integration of adding_pending_message with actual worker."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 0}
-    mock_response.raise_for_status = MagicMock()
-
-    with patch("providers.ub_tts_provider.requests.put", return_value=mock_response):
-        provider.adding_pending_message("Hello world")
-
-        time.sleep(0.1)
-
-    provider.stop()
-
-
-def test_speak_worker_success():
-    """Test successful TTS speak request through worker."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 0}
-    mock_response.raise_for_status = MagicMock()
-
-    with patch("providers.ub_tts_provider.requests.put", return_value=mock_response) as mock_put:
-        result = provider._speak_worker("Hello world")
-
-        assert result is True
-        mock_put.assert_called_once()
-        call_kwargs = mock_put.call_args[1]
-        assert call_kwargs["url"] == "http://localhost:8080/tts"
-        assert call_kwargs["timeout"] == 5
-
-    provider.stop()
-
-
-def test_speak_worker_with_parameters():
-    """Test speak worker with custom interrupt and timestamp parameters."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 0}
-    mock_response.raise_for_status = MagicMock()
-
-    with patch("providers.ub_tts_provider.requests.put", return_value=mock_response) as mock_put:
-        result = provider._speak_worker("Hello", interrupt=False, timestamp=12345)
-
-        assert result is True
-        call_data = mock_put.call_args[1]["data"]
-        assert '"interrupt": false' in call_data
-        assert '"timestamp": 12345' in call_data
-
-    provider.stop()
-
-
-def test_speak_worker_default_parameters():
-    """Test speak worker with default parameters."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 0}
-    mock_response.raise_for_status = MagicMock()
-
-    with patch("providers.ub_tts_provider.requests.put", return_value=mock_response) as mock_put:
-        result = provider._speak_worker("Hello")
-
-        assert result is True
-        call_data = mock_put.call_args[1]["data"]
-        assert '"interrupt": true' in call_data
-        assert '"timestamp": 0' in call_data
-
-    provider.stop()
-
-
-def test_speak_worker_failure_non_zero_code():
-    """Test speak worker returns False when response code is non-zero."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 1, "error": "TTS busy"}
-    mock_response.raise_for_status = MagicMock()
-
-    with patch("providers.ub_tts_provider.requests.put", return_value=mock_response):
-        result = provider._speak_worker("Hello")
-        assert result is False
-
-    provider.stop()
-
-
-def test_speak_worker_request_exception():
-    """Test speak worker handles request exceptions gracefully."""
-
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    with (
-        patch(
-            "providers.ub_tts_provider.requests.put",
-            side_effect=requests.exceptions.ConnectionError("Connection refused"),
-        ),
-        patch("providers.ub_tts_provider.logging.error") as mock_log,
-    ):
-        result = provider._speak_worker("Hello")
-        assert result is False
-        mock_log.assert_called_once()
-        assert "Failed to send TTS command" in mock_log.call_args[0][0]
-
-    provider.stop()
-
-
-def test_speak_worker_timeout_exception():
-    """Test speak worker handles timeout exceptions gracefully."""
-
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    with (
-        patch(
-            "providers.ub_tts_provider.requests.put",
-            side_effect=requests.exceptions.Timeout("Request timed out"),
-        ),
-        patch("providers.ub_tts_provider.logging.error") as mock_log,
-    ):
-        result = provider._speak_worker("Hello")
-        assert result is False
-        mock_log.assert_called_once()
-
-    provider.stop()
-
-
-def test_get_status_success():
-    """Test successful status retrieval."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 0, "status": "run"}
-
-    with patch("providers.ub_tts_provider.requests.get", return_value=mock_response) as mock_get:
-        result = provider.get_tts_status(12345)
-
-        assert result == "run"
-        mock_get.assert_called_once()
-        call_kwargs = mock_get.call_args[1]
-        assert call_kwargs["params"] == {"timestamp": 12345}
-        assert call_kwargs["timeout"] == 2
-
-    provider.stop()
-
-
-def test_get_status_all_possible_values():
-    """Test all possible status values."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    statuses = ["build", "wait", "run", "idle"]
-
-    for status in statuses:
-        mock_response = MagicMock()
-        mock_response.json.return_value = {"code": 0, "status": status}
-
-        with patch("providers.ub_tts_provider.requests.get", return_value=mock_response):
-            result = provider.get_tts_status(12345)
-            assert result == status
-
-    provider.stop()
-
-
-def test_get_status_idle():
-    """Test status returns idle when TTS is not active."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 0, "status": "idle"}
-
-    with patch("providers.ub_tts_provider.requests.get", return_value=mock_response):
-        result = provider.get_tts_status(0)
-        assert result == "idle"
-
-    provider.stop()
-
-
-def test_get_status_non_zero_code():
-    """Test status returns error when response code is non-zero."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 1}
-
-    with patch("providers.ub_tts_provider.requests.get", return_value=mock_response):
-        result = provider.get_tts_status(12345)
-        assert result == "error"
-
-    provider.stop()
-
-
-def test_get_status_request_exception():
-    """Test status returns error on request exception."""
-
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    with patch(
-        "providers.ub_tts_provider.requests.get",
-        side_effect=requests.exceptions.ConnectionError("Connection refused"),
-    ):
-        result = provider.get_tts_status(12345)
-        assert result == "error"
-
-    provider.stop()
-
-
-def test_get_status_missing_status_field():
-    """Test status returns error when status field is missing."""
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    mock_response = MagicMock()
-    mock_response.json.return_value = {"code": 0}  # No status field
-
-    with patch("providers.ub_tts_provider.requests.get", return_value=mock_response):
-        result = provider.get_tts_status(12345)
-        assert result == "error"
-
-    provider.stop()
-
-
-def test_get_status_timeout_exception():
-    """Test status returns error on timeout."""
-
-    provider = UbTtsProvider("http://localhost:8080/tts")
-
-    with patch(
-        "providers.ub_tts_provider.requests.get",
-        side_effect=requests.exceptions.Timeout("Request timed out"),
-    ):
-        result = provider.get_tts_status(12345)
-        assert result == "error"
-
-    provider.stop()
diff --git a/tests/providers/test_ubtech_asr_provider.py b/tests/providers/test_ubtech_asr_provider.py
deleted file mode 100644
index 4fc4852efa..0000000000
--- a/tests/providers/test_ubtech_asr_provider.py
+++ /dev/null
@@ -1,605 +0,0 @@
-import json
-from unittest.mock import MagicMock, patch
-
-import pytest
-import requests
-
-from providers.ubtech_asr_provider import UbtechASRProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UbtechASRProvider.reset()  # type: ignore
-    yield
-
-    try:
-        # Get instance by accessing the singleton class's _singleton_instance
-        provider = UbtechASRProvider._singleton_class._singleton_instance  # type: ignore
-        if provider:
-            provider.stop()
-    except Exception:
-        pass
-
-    UbtechASRProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_requests():
-    """Mock requests.Session for UbtechASRProvider."""
-    with patch("providers.ubtech_asr_provider.requests.Session") as mock_session_class:
-        mock_session = MagicMock()
-        mock_session_class.return_value = mock_session
-        yield mock_session
-
-
-def test_initialization(mock_requests):
-    """Test UbtechASRProvider initialization."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100", language_code="en")
-
-    assert provider.robot_ip == "192.168.1.100"
-    assert provider.language == "en"
-    assert provider.basic_url == "http://192.168.1.100:9090/v1/"
-    assert provider.running is False
-    assert provider.paused is False
-    assert provider.just_resumed is False
-    assert UbtechASRProvider() == provider  # type: ignore
-
-
-def test_singleton_pattern(mock_requests):
-    """Test that UbtechASRProvider follows singleton pattern."""
-    provider1 = UbtechASRProvider(robot_ip="192.168.1.100")
-    provider2 = UbtechASRProvider(robot_ip="192.168.1.101")
-    assert provider1 is provider2
-
-
-def test_register_message_callback(mock_requests):
-    """Test registering message callback."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100")
-
-    def callback(text):
-        pass
-
-    provider.register_message_callback(callback)
-
-    assert provider._message_callback == callback
-
-
-def test_start(mock_requests):
-    """Test starting the ASR provider."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100")
-
-    provider.start()
-
-    assert provider.running is True
-    assert provider._thread is not None
-    assert provider._thread.daemon is True
-
-
-def test_start_already_running(mock_requests):
-    """Test starting when already running."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100")
-
-    provider.start()
-    first_thread = provider._thread
-
-    provider.start()
-
-    assert provider._thread is first_thread
-
-
-def test_stop(mock_requests):
-    """Test stopping the ASR provider."""
-    with patch.object(UbtechASRProvider._singleton_class, "_stop_voice_iat") as mock_stop_iat:  # type: ignore
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.start()
-
-        assert provider.running is True
-
-        provider.stop()
-
-        assert provider.running is False
-        assert mock_stop_iat.called
-
-
-def test_stop_when_not_running(mock_requests):
-    """Test stopping when not running."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100")
-    provider.stop()
-
-    assert provider.running is False
-
-
-def test_pause(mock_requests):
-    """Test pausing the ASR provider."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100")
-
-    assert provider.paused is False
-
-    provider.pause()
-
-    assert provider.paused is True
-
-
-def test_resume(mock_requests):
-    """Test resuming the ASR provider."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100")
-    provider.pause()
-
-    assert provider.paused is True
-    assert provider.just_resumed is False
-
-    provider.resume()
-
-    assert provider.paused is False
-    assert provider.just_resumed is True
-
-
-def test_pause_resume_cycle(mock_requests):
-    """Test pause and resume cycle."""
-    provider = UbtechASRProvider(robot_ip="192.168.1.100")
-
-    assert provider.paused is False
-    assert provider.just_resumed is False
-
-    provider.pause()
-    assert provider.paused is True
-
-    provider.resume()
-    assert provider.paused is False
-    assert provider.just_resumed is True
-
-
-def test_language_setting(mock_requests):
-    """Test language code setting."""
-    provider_en = UbtechASRProvider(robot_ip="192.168.1.100", language_code="en")
-    assert provider_en.language == "en"
-
-    UbtechASRProvider.reset()  # type: ignore
-
-    provider_zh = UbtechASRProvider(robot_ip="192.168.1.100", language_code="zh")
-    assert provider_zh.language == "zh"
-
-
-def test_session_headers(mock_requests):
-    """Test that session headers are set correctly."""
-    UbtechASRProvider(robot_ip="192.168.1.100")
-
-    expected_headers = {"Content-Type": "application/json"}
-    mock_requests.headers.update.assert_called_once_with(expected_headers)
-
-
-class TestUbtechASRProviderInternal:
-    """Test internal methods and edge cases."""
-
-    def test_run_just_resumed(self, mock_requests):
-        """Test _run when just_resumed is True."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.just_resumed = True
-        provider.paused = False
-        provider.running = True
-
-        with (
-            patch.object(provider, "_get_single_utterance", return_value=None) as mock_get,
-            patch("time.sleep") as mock_sleep,
-            patch.object(provider, "pause") as mock_pause,
-        ):
-
-            def stop_after_first(*args):
-                provider.running = False
-
-            mock_sleep.side_effect = stop_after_first
-            provider._run()
-
-            mock_sleep.assert_any_call(1.0)
-            assert provider.just_resumed is False
-            mock_get.assert_called_once()
-            mock_pause.assert_called_once()
-
-    def test_run_paused(self, mock_requests):
-        """Test _run when paused is True."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.paused = True
-        provider.running = True
-
-        with (
-            patch("time.sleep") as mock_sleep,
-            patch.object(provider, "_get_single_utterance") as mock_get,
-        ):
-
-            def stop_after_pause(*args):
-                provider.running = False
-
-            mock_sleep.side_effect = stop_after_pause
-            provider._run()
-            mock_sleep.assert_called_with(0.1)
-            mock_get.assert_not_called()
-
-    def test_run_with_text(self, mock_requests):
-        """Test _run when a text is successfully obtained."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.running = True
-        callback = MagicMock()
-        provider.register_message_callback(callback)
-
-        with (
-            patch.object(provider, "_get_single_utterance", return_value="hello") as mock_get,
-            patch("time.sleep") as mock_sleep,
-            patch.object(provider, "pause") as mock_pause,
-        ):
-
-            def stop_after_first(*args):
-                provider.running = False
-
-            mock_sleep.side_effect = stop_after_first
-            provider._run()
-
-            mock_get.assert_called_once()
-            callback.assert_called_once_with("hello")
-            mock_pause.assert_called_once()
-            mock_sleep.assert_any_call(2.0)
-
-    def test_run_with_no_text(self, mock_requests):
-        """Test _run when no text is obtained."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.running = True
-
-        with (
-            patch.object(provider, "_get_single_utterance", return_value=None) as mock_get,
-            patch("time.sleep") as mock_sleep,
-            patch.object(provider, "pause") as mock_pause,
-        ):
-
-            def stop_after_first(*args):
-                provider.running = False
-
-            mock_sleep.side_effect = stop_after_first
-            provider._run()
-
-            mock_get.assert_called_once()
-            mock_pause.assert_called_once()
-            mock_sleep.assert_any_call(0.5)
-
-    def test_run_with_request_exception(self, mock_requests):
-        """Test _run when a RequestException occurs."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.running = True
-
-        with (
-            patch.object(
-                provider,
-                "_get_single_utterance",
-                side_effect=requests.RequestException("error"),
-            ) as mock_get,
-            patch("time.sleep") as mock_sleep,
-            patch.object(provider, "pause") as mock_pause,
-            patch("logging.error") as mock_log,
-        ):
-
-            def stop_after_first(*args):
-                provider.running = False
-
-            mock_sleep.side_effect = stop_after_first
-            provider._run()
-
-            mock_get.assert_called_once()
-            mock_pause.assert_called_once()
-            mock_log.assert_called_with("UbtechASRProvider: RequestException during _get_single_utterance: error")
-            mock_sleep.assert_any_call(0.5)
-
-    def test_run_with_general_exception(self, mock_requests):
-        """Test _run when a general exception occurs."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.running = True
-
-        with (
-            patch.object(provider, "_get_single_utterance", side_effect=Exception("unexpected")) as mock_get,
-            patch("time.sleep") as mock_sleep,
-            patch.object(provider, "pause") as mock_pause,
-            patch("logging.error") as mock_log,
-        ):
-
-            def stop_after_first(*args):
-                provider.running = False
-
-            mock_sleep.side_effect = stop_after_first
-            provider._run()
-
-            mock_get.assert_called_once()
-            mock_pause.assert_called_once()
-            mock_log.assert_called_with(
-                "UbtechASRProvider: Unexpected error in _run's try block: unexpected",
-                exc_info=True,
-            )
-            mock_sleep.assert_any_call(0.5)
-
-    def test_get_single_utterance_success(self, mock_requests):
-        """Test successful retrieval of a single utterance."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        provider.running = True
-        ts = 12345
-
-        with (
-            patch.object(provider, "_stop_voice_iat") as mock_stop,
-            patch.object(provider, "_start_voice_iat", return_value=True) as mock_start,
-            patch.object(provider, "_get_voice_iat") as mock_get,
-            patch("time.sleep"),
-            patch("time.time", return_value=ts),
-        ):
-
-            # Simulate two polling responses: first running, then idle with text
-            mock_get.side_effect = [
-                {"status": "running", "timestamp": ts},
-                {
-                    "status": "idle",
-                    "timestamp": ts,
-                    "code": 0,
-                    "data": {"text": {"ws": [{"cw": [{"w": "hello"}]}]}},
-                },
-            ]
-
-            result = provider._get_single_utterance()
-
-            assert mock_start.called, "_start_voice_iat was not called"
-            assert mock_get.call_count == 2, f"Expected 2 calls to _get_voice_iat, got {mock_get.call_count}"
-            assert result == "hello"
-            assert mock_stop.call_count == 2
-            mock_start.assert_called_once_with(ts)
-
-    def test_get_single_utterance_start_fails(self, mock_requests):
-        """Test when _start_voice_iat fails."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        with (
-            patch.object(provider, "_stop_voice_iat") as mock_stop,
-            patch.object(provider, "_start_voice_iat", return_value=False) as mock_start,
-            patch("time.sleep"),
-        ):
-            result = provider._get_single_utterance()
-            assert result is None
-            # _stop_voice_iat is called twice: at the beginning and in finally
-            assert mock_stop.call_count == 2
-            mock_start.assert_called_once()
-
-    def test_get_single_utterance_timeout(self, mock_requests):
-        """Test when polling times out without getting idle status."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        ts = 12345
-        with (
-            patch.object(provider, "_stop_voice_iat") as mock_stop,
-            patch.object(provider, "_start_voice_iat", return_value=True),
-            patch.object(
-                provider,
-                "_get_voice_iat",
-                return_value={"status": "running", "timestamp": ts},
-            ) as mock_get,
-            patch("time.sleep"),
-            patch("time.time", return_value=ts),
-        ):
-            provider.running = True
-            result = provider._get_single_utterance()
-            assert result is None
-            assert mock_get.call_count == 100
-            assert mock_stop.call_count == 2
-
-    def test_stop_voice_iat_http_error_500(self, mock_requests):
-        """Test _stop_voice_iat retries on HTTP 500 errors."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        error_response = MagicMock()
-        http_error_500 = requests.exceptions.HTTPError(response=MagicMock(status_code=500))
-        error_response.raise_for_status.side_effect = http_error_500
-        success_response = MagicMock()
-        success_response.raise_for_status.return_value = None
-
-        mock_delete = MagicMock(side_effect=[error_response, error_response, success_response])
-        with (
-            patch.object(provider.session, "delete", mock_delete),
-            patch("time.sleep") as mock_sleep,
-        ):
-            provider._stop_voice_iat()
-            assert mock_delete.call_count == 3
-            assert mock_sleep.call_count == 2
-
-    def test_stop_voice_iat_http_error_400(self, mock_requests):
-        """Test _stop_voice_iat handles non-retryable HTTP error."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        error_response = MagicMock()
-        http_error_400 = requests.exceptions.HTTPError(response=MagicMock(status_code=400))
-        error_response.raise_for_status.side_effect = http_error_400
-        mock_delete = MagicMock(return_value=error_response)
-        with (
-            patch.object(provider.session, "delete", mock_delete),
-            patch("logging.error") as mock_log,
-        ):
-            provider._stop_voice_iat()
-            mock_delete.assert_called_once()
-            mock_log.assert_called_once()
-            args, _ = mock_log.call_args
-            assert "UbtechASRProvider: _stop_voice_iat failed with HTTPError (attempt 1): " in args[0]
-
-    def test_stop_voice_iat_request_exception(self, mock_requests):
-        """Test _stop_voice_iat handles RequestException with retries."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        req_error = requests.RequestException("connection error")
-        mock_delete = MagicMock(side_effect=req_error)
-        with (
-            patch.object(provider.session, "delete", mock_delete),
-            patch("time.sleep") as mock_sleep,
-            patch("logging.error") as mock_log,
-        ):
-            provider._stop_voice_iat()
-            assert mock_delete.call_count == 3
-            assert mock_sleep.call_count == 2
-            assert mock_log.call_count == 3
-            mock_log.assert_any_call("UbtechASRProvider: _stop_voice_iat request failed (attempt 1): connection error")
-            mock_log.assert_any_call("UbtechASRProvider: _stop_voice_iat request failed (attempt 2): connection error")
-            mock_log.assert_any_call("UbtechASRProvider: _stop_voice_iat request failed (attempt 3): connection error")
-
-    def test_get_voice_iat_http_error_500(self, mock_requests):
-        """Test _get_voice_iat retries on HTTP 500 errors."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        error_response = MagicMock()
-        http_error_500 = requests.exceptions.HTTPError(response=MagicMock(status_code=500))
-        error_response.raise_for_status.side_effect = http_error_500
-        success_response = MagicMock()
-        success_response.json.return_value = {"status": "ok"}
-        success_response.raise_for_status.return_value = None
-
-        mock_get = MagicMock(side_effect=[error_response, error_response, success_response])
-        with (
-            patch.object(provider.session, "get", mock_get),
-            patch("time.sleep") as mock_sleep,
-        ):
-            result = provider._get_voice_iat()
-            assert result == {"status": "ok"}
-            assert mock_get.call_count == 3
-            assert mock_sleep.call_count == 2
-
-    def test_get_voice_iat_http_error_400(self, mock_requests):
-        """Test _get_voice_iat handles non-retryable HTTP error."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        error_response = MagicMock()
-        http_error_400 = requests.exceptions.HTTPError(response=MagicMock(status_code=400))
-        error_response.raise_for_status.side_effect = http_error_400
-        mock_get = MagicMock(return_value=error_response)
-        with (
-            patch.object(provider.session, "get", mock_get),
-            patch("logging.error") as mock_log,
-        ):
-            result = provider._get_voice_iat()
-            expected = {
-                "code": -1,
-                "message": str(http_error_400),
-                "data": None,
-                "status": "error",
-            }
-            assert result == expected
-            mock_log.assert_called_once()
-
-    def test_get_voice_iat_request_exception(self, mock_requests):
-        """Test _get_voice_iat handles RequestException with retries."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        req_error = requests.RequestException("timeout")
-        mock_get = MagicMock(side_effect=req_error)
-        with (
-            patch.object(provider.session, "get", mock_get),
-            patch("time.sleep") as mock_sleep,
-            patch("logging.error") as mock_log,
-        ):
-            result = provider._get_voice_iat()
-            assert result["code"] == -1
-            assert result["message"] == "timeout"
-            assert mock_get.call_count == 3
-            assert mock_sleep.call_count == 2
-            assert mock_log.call_count == 3
-
-    def test_get_voice_iat_json_decode_error(self, mock_requests):
-        """Test _get_voice_iat handles JSON decode error with retries."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_response = MagicMock()
-        mock_response.json.side_effect = json.JSONDecodeError("Expecting value", "", 0)
-        mock_response.raise_for_status.return_value = None
-        mock_get = MagicMock(return_value=mock_response)
-        with (
-            patch.object(provider.session, "get", mock_get),
-            patch("time.sleep") as mock_sleep,
-            patch("logging.error"),
-        ):
-            result = provider._get_voice_iat()
-            assert result["code"] == -1
-            assert "JSONDecodeError" in result["message"]
-            assert mock_get.call_count == 3
-            assert mock_sleep.call_count == 2
-
-    def test_get_voice_iat_data_string_cleaning(self, mock_requests):
-        """Test cleaning of embedded JSON string in data field."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_response = MagicMock()
-        mock_response.json.return_value = {
-            "code": 0,
-            "data": '{"text": {"ws": [{"cw": [{"w": "hi"}]}]}}\x00',
-            "status": "idle",
-        }
-        mock_response.raise_for_status.return_value = None
-        mock_get = MagicMock(return_value=mock_response)
-        with patch.object(provider.session, "get", mock_get):
-            result = provider._get_voice_iat()
-            assert result["data"] == {"text": {"ws": [{"cw": [{"w": "hi"}]}]}}
-
-    def test_get_voice_iat_data_string_invalid_json(self, mock_requests):
-        """Test handling of invalid JSON in data field."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_response = MagicMock()
-        mock_response.json.return_value = {
-            "code": 0,
-            "data": "invalid json",
-            "status": "idle",
-        }
-        mock_response.raise_for_status.return_value = None
-        mock_get = MagicMock(return_value=mock_response)
-        with (
-            patch.object(provider.session, "get", mock_get),
-            patch("logging.error") as mock_log,
-        ):
-            result = provider._get_voice_iat()
-            assert result["data"] == "invalid json"
-            mock_log.assert_called_with("UbtechASRProvider: Failed to decode JSON from data string: 'invalid json'")
-
-    def test_start_voice_iat_success(self, mock_requests):
-        """Test _start_voice_iat success."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_response = MagicMock()
-        mock_response.json.return_value = {"code": 0}
-        mock_put = MagicMock(return_value=mock_response)
-        with patch.object(provider.session, "put", mock_put):
-            result = provider._start_voice_iat(12345)
-            assert result is True
-            mock_put.assert_called_once_with(
-                "http://192.168.1.100:9090/v1/voice/iat",
-                json={"text": "", "timestamp": 12345, "lang": "en"},
-                timeout=3,
-            )
-
-    def test_start_voice_iat_failure(self, mock_requests):
-        """Test _start_voice_iat failure (non-zero code)."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_response = MagicMock()
-        mock_response.json.return_value = {"code": 1}
-        mock_put = MagicMock(return_value=mock_response)
-        with patch.object(provider.session, "put", mock_put):
-            result = provider._start_voice_iat(12345)
-            assert result is False
-
-    def test_start_voice_iat_exception(self, mock_requests):
-        """Test _start_voice_iat exception handling."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_put = MagicMock(side_effect=requests.RequestException("error"))
-        with (
-            patch.object(provider.session, "put", mock_put),
-            patch("logging.error") as mock_log,
-        ):
-            result = provider._start_voice_iat(12345)
-            assert result is False
-            mock_log.assert_called_with("UbtechASRProvider: _start_voice_iat request failed: error")
-
-    def test_set_robot_language_success(self, mock_requests):
-        """Test _set_robot_language success."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_put = MagicMock()
-        with patch.object(provider.session, "put", mock_put):
-            provider._set_robot_language("en")
-            mock_put.assert_called_once_with(
-                "http://192.168.1.100:9090/v1/system/language",
-                data=json.dumps({"language": "en"}),
-                timeout=3,
-            )
-
-    def test_set_robot_language_exception(self, mock_requests):
-        """Test _set_robot_language exception handling."""
-        provider = UbtechASRProvider(robot_ip="192.168.1.100")
-        mock_put = MagicMock(side_effect=requests.RequestException("error"))
-        with (
-            patch.object(provider.session, "put", mock_put),
-            patch("logging.error") as mock_log,
-        ):
-            provider._set_robot_language("en")
-            mock_log.assert_called_with("UbtechASRProvider: Failed to set robot language: error")
diff --git a/tests/providers/test_ubtech_video_stream.py b/tests/providers/test_ubtech_video_stream.py
deleted file mode 100644
index aca51bc034..0000000000
--- a/tests/providers/test_ubtech_video_stream.py
+++ /dev/null
@@ -1,141 +0,0 @@
-import time
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.ubtech_video_stream import UbtechCameraVideoStream
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for UbtechCameraVideoStream."""
-    with (
-        patch("providers.ubtech_video_stream.YanAPI") as mock_yan_api,
-        patch("providers.ubtech_video_stream.MJPEGClient") as mock_mjpeg_client,
-        patch("providers.ubtech_video_stream.cv2") as mock_cv2,
-    ):
-
-        mock_client_instance = MagicMock()
-        mock_mjpeg_client.return_value = mock_client_instance
-
-        yield {
-            "yan_api": mock_yan_api,
-            "mjpeg_client": mock_mjpeg_client,
-            "client_instance": mock_client_instance,
-            "cv2": mock_cv2,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test UbtechCameraVideoStream initialization."""
-    robot_ip = "192.168.1.100"
-
-    stream = UbtechCameraVideoStream(robot_ip=robot_ip, fps=30, resolution=(640, 480), jpeg_quality=70)
-
-    assert stream.robot_ip == robot_ip
-    assert stream.url == f"http://{robot_ip}:8000/stream.mjpg"
-    assert stream.stream_client is None
-    mock_dependencies["yan_api"].yan_api_init.assert_called_once_with(robot_ip)
-
-
-def test_initialization_with_callback(mock_dependencies):
-    """Test initialization with a frame callback."""
-
-    def callback(frame):
-        pass
-
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100", frame_callback=callback)
-
-    assert callback in stream.frame_callbacks
-
-
-def test_initialization_with_multiple_callbacks(mock_dependencies):
-    """Test initialization with multiple frame callbacks."""
-
-    def callback1(frame):
-        pass
-
-    def callback2(frame):
-        pass
-
-    callbacks = [callback1, callback2]
-
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100", frame_callbacks=callbacks)
-
-    assert callback1 in stream.frame_callbacks
-    assert callback2 in stream.frame_callbacks
-
-
-def test_default_fps(mock_dependencies):
-    """Test default FPS value."""
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100")
-
-    assert stream.fps == 30
-
-
-def test_custom_fps(mock_dependencies):
-    """Test custom FPS value."""
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100", fps=15)
-
-    assert stream.fps == 15
-
-
-def test_default_resolution(mock_dependencies):
-    """Test default resolution value."""
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100")
-
-    assert stream.resolution == (640, 480)
-
-
-def test_custom_resolution(mock_dependencies):
-    """Test custom resolution value."""
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100", resolution=(1280, 720))
-
-    assert stream.resolution == (1280, 720)
-
-
-def test_jpeg_quality(mock_dependencies):
-    """Test JPEG quality setting."""
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100", jpeg_quality=85)
-
-    assert stream.encode_quality == [1, 85]
-
-
-def test_url_format(mock_dependencies):
-    """Test URL format generation."""
-    robot_ip = "10.0.0.50"
-    stream = UbtechCameraVideoStream(robot_ip=robot_ip)
-
-    expected_url = f"http://{robot_ip}:8000/stream.mjpg"
-    assert stream.url == expected_url
-
-
-def test_yan_api_initialization(mock_dependencies):
-    """Test that YanAPI is initialized on creation."""
-    robot_ip = "192.168.1.100"
-    UbtechCameraVideoStream(robot_ip=robot_ip)
-
-    mock_dependencies["yan_api"].yan_api_init.assert_called_once_with(robot_ip)
-
-
-def test_start_calls_on_video(mock_dependencies):
-    """Test that start method initiates the video stream."""
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100")
-
-    with patch.object(stream, "on_video"):
-        stream.start()
-
-        time.sleep(0.1)
-        stream.stop()
-
-
-def test_multiple_frame_callbacks(mock_dependencies):
-    """Test adding multiple frame callbacks."""
-    callback1 = MagicMock()
-    callback2 = MagicMock()
-
-    stream = UbtechCameraVideoStream(robot_ip="192.168.1.100", frame_callbacks=[callback1, callback2])
-
-    assert len(stream.frame_callbacks) >= 2
-    assert callback1 in stream.frame_callbacks
-    assert callback2 in stream.frame_callbacks
diff --git a/tests/providers/test_ubtech_vlm_provider.py b/tests/providers/test_ubtech_vlm_provider.py
deleted file mode 100644
index d9f8e35a30..0000000000
--- a/tests/providers/test_ubtech_vlm_provider.py
+++ /dev/null
@@ -1,202 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.ubtech_vlm_provider import UbtechVLMProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UbtechVLMProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = getattr(UbtechVLMProvider, "_instance", None)
-        if provider:
-            provider.stop()
-    except Exception:
-        pass
-
-    UbtechVLMProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for UbtechVLMProvider."""
-    with (
-        patch("providers.ubtech_vlm_provider.ws.Client") as mock_ws_client,
-        patch("providers.ubtech_vlm_provider.UbtechCameraVideoStream") as mock_video_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws_client.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_video_stream.return_value = mock_stream_instance
-
-        yield {
-            "ws_client": mock_ws_client,
-            "ws_instance": mock_ws_instance,
-            "video_stream": mock_video_stream,
-            "stream_instance": mock_stream_instance,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test UbtechVLMProvider initialization."""
-    provider = UbtechVLMProvider(
-        ws_url="ws://localhost:8000",
-        robot_ip="192.168.1.100",
-        fps=30,
-        resolution=(640, 480),
-        jpeg_quality=70,
-    )
-
-    assert provider.robot_ip == "192.168.1.100"
-    assert provider.running is False
-
-    mock_dependencies["ws_client"].assert_called_with(url="ws://localhost:8000")
-    mock_dependencies["video_stream"].assert_called_once()
-
-
-def test_initialization_with_stream_url(mock_dependencies):
-    """Test initialization with stream URL."""
-    UbtechVLMProvider(
-        ws_url="ws://localhost:8000",
-        robot_ip="192.168.1.100",
-        stream_url="ws://localhost:8001",
-    )
-
-    assert mock_dependencies["ws_client"].call_count == 2
-
-
-def test_initialization_without_stream_url(mock_dependencies):
-    """Test initialization without stream URL."""
-    provider = UbtechVLMProvider(ws_url="ws://localhost:8000", robot_ip="192.168.1.100")
-
-    assert provider.stream_ws_client is None
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that UbtechVLMProvider follows singleton pattern."""
-    provider1 = UbtechVLMProvider(ws_url="ws://localhost:8000", robot_ip="192.168.1.100")
-    provider2 = UbtechVLMProvider(ws_url="ws://localhost:8001", robot_ip="192.168.1.101")
-    assert provider1 is provider2
-
-
-def test_register_message_callback(mock_dependencies):
-    """Test registering message callback."""
-    provider = UbtechVLMProvider(ws_url="ws://localhost:8000", robot_ip="192.168.1.100")
-
-    def callback(message):
-        pass
-
-    provider.register_message_callback(callback)
-
-    mock_dependencies["ws_instance"].register_message_callback.assert_called_once_with(callback)
-
-
-def test_register_message_callback_none(mock_dependencies):
-    """Test registering None callback."""
-    provider = UbtechVLMProvider(ws_url="ws://localhost:8000", robot_ip="192.168.1.100")
-
-    provider.register_message_callback(None)
-
-    mock_dependencies["ws_instance"].register_message_callback.assert_not_called()
-
-
-def test_start(mock_dependencies):
-    """Test starting the VLM provider."""
-    provider = UbtechVLMProvider(ws_url="ws://localhost:8000", robot_ip="192.168.1.100")
-
-    provider.start()
-
-    assert provider.running is True
-    mock_dependencies["ws_instance"].start.assert_called_once()
-    mock_dependencies["stream_instance"].start.assert_called_once()
-
-
-def test_start_with_stream_ws(mock_dependencies):
-    """Test starting with stream WebSocket client."""
-    mock_ws_instance1 = MagicMock()
-    mock_ws_instance2 = MagicMock()
-    mock_dependencies["ws_client"].side_effect = [mock_ws_instance1, mock_ws_instance2]
-
-    provider = UbtechVLMProvider(
-        ws_url="ws://localhost:8000",
-        robot_ip="192.168.1.100",
-        stream_url="ws://localhost:8001",
-    )
-
-    provider.start()
-
-    assert provider.running is True
-    mock_ws_instance1.start.assert_called_once()
-    mock_ws_instance2.start.assert_called_once()
-    mock_dependencies["stream_instance"].register_frame_callback.assert_called_once()
-
-
-def test_start_already_running(mock_dependencies):
-    """Test starting when already running."""
-    provider = UbtechVLMProvider(ws_url="ws://localhost:8000", robot_ip="192.168.1.100")
-
-    provider.start()
-
-    mock_dependencies["ws_instance"].start.reset_mock()
-    mock_dependencies["stream_instance"].start.reset_mock()
-
-    provider.start()
-
-    mock_dependencies["ws_instance"].start.assert_not_called()
-    mock_dependencies["stream_instance"].start.assert_not_called()
-
-
-def test_stop(mock_dependencies):
-    """Test stopping the VLM provider."""
-    provider = UbtechVLMProvider(ws_url="ws://localhost:8000", robot_ip="192.168.1.100")
-
-    provider.start()
-    provider.stop()
-
-    assert provider.running is False
-    mock_dependencies["stream_instance"].stop.assert_called_once()
-    mock_dependencies["ws_instance"].stop.assert_called_once()
-
-
-def test_stop_with_stream_ws(mock_dependencies):
-    """Test stopping with stream WebSocket client."""
-    mock_ws_instance1 = MagicMock()
-    mock_ws_instance2 = MagicMock()
-    mock_dependencies["ws_client"].side_effect = [mock_ws_instance1, mock_ws_instance2]
-
-    provider = UbtechVLMProvider(
-        ws_url="ws://localhost:8000",
-        robot_ip="192.168.1.100",
-        stream_url="ws://localhost:8001",
-    )
-
-    provider.start()
-    provider.stop()
-
-    assert provider.running is False
-    mock_dependencies["stream_instance"].stop.assert_called_once()
-    mock_ws_instance1.stop.assert_called_once()
-    mock_ws_instance2.stop.assert_called_once()
-
-
-def test_video_stream_parameters(mock_dependencies):
-    """Test that video stream is created with correct parameters."""
-    UbtechVLMProvider(
-        ws_url="ws://localhost:8000",
-        robot_ip="192.168.1.100",
-        fps=15,
-        resolution=(1280, 720),
-        jpeg_quality=85,
-    )
-
-    call_kwargs = mock_dependencies["video_stream"].call_args[1]
-    assert call_kwargs["fps"] == 15
-    assert call_kwargs["resolution"] == (1280, 720)
-    assert call_kwargs["jpeg_quality"] == 85
-    assert call_kwargs["robot_ip"] == "192.168.1.100"
diff --git a/tests/providers/test_unitree_camera_vlm_provider.py b/tests/providers/test_unitree_camera_vlm_provider.py
deleted file mode 100644
index 3489c7a3b0..0000000000
--- a/tests/providers/test_unitree_camera_vlm_provider.py
+++ /dev/null
@@ -1,141 +0,0 @@
-import base64
-import time
-from unittest.mock import Mock, patch
-
-import cv2
-import numpy as np
-import pytest
-
-from providers.unitree_camera_vlm_provider import (
-    UnitreeCameraVideoStream,
-    UnitreeCameraVLMProvider,
-)
-
-
-class MockVideoClient:
-    def __init__(self):
-        self.init_called = False
-
-    def Init(self):
-        self.init_called = True
-        return 0
-
-    def GetImageSample(self):
-        img = np.zeros((600, 800, 3), dtype=np.uint8)
-        _, img_encoded = cv2.imencode(".jpg", img)
-        return 0, img_encoded.tobytes()
-
-
-@pytest.fixture
-def mock_video_client():
-    # Check if VideoClient is available (might not be if Unitree SDK is not installed)
-    import providers.unitree_camera_vlm_provider as provider_module
-
-    if not hasattr(provider_module, "VideoClient"):
-        pytest.skip("Unitree SDK not available, VideoClient not found")
-
-    mock_client = MockVideoClient()
-    with patch("providers.unitree_camera_vlm_provider.VideoClient", return_value=mock_client):
-        yield mock_client
-
-
-@pytest.fixture
-def ws_url():
-    return "ws://test.url"
-
-
-@pytest.fixture
-def fps():
-    return 30
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeCameraVLMProvider.reset()  # type: ignore
-    yield
-    UnitreeCameraVLMProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    mock_ws_client = Mock()
-    mock_video_stream = Mock()
-    with (
-        patch(
-            "providers.unitree_camera_vlm_provider.ws.Client",
-            return_value=mock_ws_client,
-        ) as mock_ws_client_class,
-        patch(
-            "providers.unitree_camera_vlm_provider.UnitreeCameraVideoStream",
-            return_value=mock_video_stream,
-        ) as mock_video_stream_class,
-    ):
-        yield mock_ws_client_class, mock_video_stream_class, mock_ws_client, mock_video_stream
-
-
-def test_video_stream_initialization(mock_video_client):
-    callback = Mock()
-    stream = UnitreeCameraVideoStream(frame_callback=callback, fps=30)
-
-    assert len(stream.frame_callbacks) == 1
-    assert stream.frame_callbacks[0] == callback
-    assert stream.fps == 30
-    assert stream.frame_delay == 1 / 30
-    assert mock_video_client.init_called
-
-
-def test_video_stream_processing(mock_video_client):
-    callback = Mock()
-    stream = UnitreeCameraVideoStream(frame_callback=callback, fps=30)
-
-    stream.start()
-    time.sleep(1)
-    stream.stop()
-
-    assert callback.call_count > 0
-
-    call_args = callback.call_args_list[0][0][0]
-    assert isinstance(call_args, str)
-    assert len(call_args) > 0
-
-    try:
-        decoded = base64.b64decode(call_args)
-        assert len(decoded) > 0
-    except Exception as e:
-        pytest.fail(f"Failed to decode base64 string: {e}")
-
-
-def test_video_stream_resize(mock_video_client):
-    callback = Mock()
-    stream = UnitreeCameraVideoStream(frame_callback=callback, fps=30)
-
-    test_img = np.zeros((1200, 1600, 3), dtype=np.uint8)
-    _, img_encoded = cv2.imencode(".jpg", test_img)
-
-    stream.video_client.GetImageSample = Mock(return_value=(0, img_encoded.tobytes()))
-
-    stream.start()
-    time.sleep(0.1)
-    stream.stop()
-
-    assert callback.call_count > 0
-
-    call_args = callback.call_args_list[0][0][0]
-    img_data = base64.b64decode(call_args)
-    img_array = np.frombuffer(img_data, dtype=np.uint8)
-    decoded_img = cv2.imdecode(img_array, cv2.IMREAD_COLOR)
-
-    assert decoded_img is not None, "Failed to decode image"
-    height, width = decoded_img.shape[:2]
-    assert width <= 640
-    assert height <= 480
-
-
-def test_vlm_provider_singleton_pattern(mock_video_client, ws_url, fps):
-    provider1 = UnitreeCameraVLMProvider(ws_url, fps=fps)
-    provider2 = UnitreeCameraVLMProvider(ws_url, fps=fps)
-
-    assert provider1 is provider2
-    assert provider1.ws_client is provider2.ws_client
-    assert provider1.video_stream is provider2.video_stream
diff --git a/tests/providers/test_unitree_g1_locations_provider.py b/tests/providers/test_unitree_g1_locations_provider.py
deleted file mode 100644
index e1d19ba3c7..0000000000
--- a/tests/providers/test_unitree_g1_locations_provider.py
+++ /dev/null
@@ -1,283 +0,0 @@
-import threading
-from unittest.mock import MagicMock, patch
-
-import pytest
-import requests
-
-from providers.unitree_g1_locations_provider import UnitreeG1LocationsProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeG1LocationsProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeG1LocationsProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeG1LocationsProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for UnitreeG1LocationsProvider."""
-    with (
-        patch("providers.unitree_g1_locations_provider.IOProvider") as mock_io,
-        patch("providers.unitree_g1_locations_provider.requests") as mock_requests,
-    ):
-
-        mock_io_instance = MagicMock()
-        mock_io.return_value = mock_io_instance
-
-        yield {
-            "io": mock_io,
-            "io_instance": mock_io_instance,
-            "requests": mock_requests,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test UnitreeG1LocationsProvider initialization."""
-    provider = UnitreeG1LocationsProvider(base_url="http://localhost:5000/locations", timeout=10, refresh_interval=60)
-
-    assert provider.base_url == "http://localhost:5000/locations"
-    assert provider.timeout == 10
-    assert provider.refresh_interval == 60
-    assert provider._locations == {}
-    assert provider._thread is None
-
-
-def test_initialization_defaults(mock_dependencies):
-    """Test initialization with default values."""
-    provider = UnitreeG1LocationsProvider()
-
-    assert provider.base_url == "http://localhost:5000/maps/locations/list"
-    assert provider.timeout == 5
-    assert provider.refresh_interval == 30
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that UnitreeG1LocationsProvider follows singleton pattern."""
-    provider1 = UnitreeG1LocationsProvider(base_url="http://localhost:5000")
-    provider2 = UnitreeG1LocationsProvider(base_url="http://localhost:6000")
-    assert provider1 is provider2
-
-
-def test_start(mock_dependencies):
-    """Test starting the provider."""
-    provider = UnitreeG1LocationsProvider()
-
-    provider.start()
-
-    assert provider._thread is not None
-    assert provider._thread.is_alive()
-
-
-def test_start_already_running(mock_dependencies):
-    """Test starting when already running."""
-    provider = UnitreeG1LocationsProvider()
-
-    provider.start()
-    first_thread = provider._thread
-
-    # Try to start again
-    provider.start()
-
-    # Should be the same thread
-    assert provider._thread is first_thread
-
-
-def test_stop(mock_dependencies):
-    """Test stopping the provider."""
-    provider = UnitreeG1LocationsProvider()
-
-    provider.start()
-    assert provider._thread is not None
-
-    provider.stop()
-
-    # Thread should stop
-    import time
-
-    time.sleep(0.1)
-    assert not provider._thread.is_alive() or provider._stop_event.is_set()
-
-
-def test_fetch_success(mock_dependencies):
-    """Test successful location fetch."""
-    provider = UnitreeG1LocationsProvider()
-
-    mock_response = MagicMock()
-    mock_response.status_code = 200
-    mock_response.json.return_value = {
-        "location1": {"name": "Location 1", "pose": {"x": 1.0, "y": 2.0}},
-        "location2": {"name": "Location 2", "pose": {"x": 3.0, "y": 4.0}},
-    }
-    mock_dependencies["requests"].get.return_value = mock_response
-
-    provider._fetch()
-
-    assert "location1" in provider._locations
-    assert "location2" in provider._locations
-
-
-def test_fetch_with_nested_message(mock_dependencies):
-    """Test fetch with nested message JSON."""
-    import json
-
-    provider = UnitreeG1LocationsProvider()
-
-    locations_data = {
-        "home": {"name": "Home", "pose": {"x": 0.0, "y": 0.0}},
-        "kitchen": {"name": "Kitchen", "pose": {"x": 5.0, "y": 5.0}},
-    }
-
-    mock_response = MagicMock()
-    mock_response.status_code = 200
-    mock_response.json.return_value = {"message": json.dumps(locations_data)}
-    mock_dependencies["requests"].get.return_value = mock_response
-
-    provider._fetch()
-
-    assert "home" in provider._locations
-    assert "kitchen" in provider._locations
-
-
-def test_fetch_http_error(mock_dependencies):
-    """Test fetch with HTTP error response."""
-    provider = UnitreeG1LocationsProvider()
-
-    mock_response = MagicMock()
-    mock_response.status_code = 500
-    mock_response.text = "Internal Server Error"
-    mock_dependencies["requests"].get.return_value = mock_response
-
-    # Should not raise exception, just log error
-    provider._fetch()
-
-    assert provider._locations == {}
-
-
-def test_fetch_request_exception(mock_dependencies):
-    """Test fetch with request exception."""
-    provider = UnitreeG1LocationsProvider()
-
-    mock_dependencies["requests"].get.side_effect = requests.RequestException("Connection error")
-
-    provider._fetch()
-
-    assert provider._locations == {}
-
-
-def test_update_locations_dict(mock_dependencies):
-    """Test updating locations with dict format."""
-    provider = UnitreeG1LocationsProvider()
-
-    locations = {
-        "Location1": {"name": "Location One", "pose": {}},
-        "Location2": {"name": "Location Two", "pose": {}},
-    }
-
-    provider._update_locations(locations)
-
-    assert "location1" in provider._locations
-    assert "location2" in provider._locations
-
-
-def test_update_locations_list(mock_dependencies):
-    """Test updating locations with list format."""
-    provider = UnitreeG1LocationsProvider()
-
-    locations = [{"name": "Location1", "pose": {}}, {"label": "Location2", "pose": {}}]
-
-    provider._update_locations(locations)
-
-    assert "location1" in provider._locations
-    assert "location2" in provider._locations
-
-
-def test_get_all_locations(mock_dependencies):
-    """Test getting all locations."""
-    provider = UnitreeG1LocationsProvider()
-
-    test_locations = {
-        "home": {"name": "Home", "pose": {}},
-        "kitchen": {"name": "Kitchen", "pose": {}},
-    }
-
-    provider._update_locations(test_locations)
-
-    all_locations = provider.get_all_locations()
-
-    assert all_locations == provider._locations
-    assert "home" in all_locations
-    assert "kitchen" in all_locations
-
-
-def test_thread_safety(mock_dependencies):
-    """Test thread-safe access to locations."""
-    provider = UnitreeG1LocationsProvider()
-
-    def update_locations():
-        provider._update_locations({"loc1": {"name": "Loc1"}})
-
-    def get_locations():
-        return provider.get_all_locations()
-
-    threads = []
-    for _ in range(5):
-        t1 = threading.Thread(target=update_locations)
-        t2 = threading.Thread(target=get_locations)
-        threads.extend([t1, t2])
-
-    for t in threads:
-        t.start()
-
-    for t in threads:
-        t.join()
-
-    assert True
-
-
-def test_get_location_exact_match(mock_dependencies):
-    """Test get_location with exact lowercase match."""
-    provider = UnitreeG1LocationsProvider()
-    provider._locations = {
-        "home": {"name": "Home", "pose": {"x": 0.0, "y": 0.0}},
-    }
-
-    result = provider.get_location("home")
-    assert result == {"name": "Home", "pose": {"x": 0.0, "y": 0.0}}
-
-
-def test_get_location_case_insensitive(mock_dependencies):
-    """Test get_location with case-insensitive lookup."""
-    provider = UnitreeG1LocationsProvider()
-    provider._locations = {
-        "kitchen": {"name": "Kitchen", "pose": {"x": 5.0, "y": 5.0}},
-    }
-
-    result = provider.get_location("Kitchen")
-    assert result == {"name": "Kitchen", "pose": {"x": 5.0, "y": 5.0}}
-
-
-def test_get_location_missing_key(mock_dependencies):
-    """Test get_location returns None for missing key."""
-    provider = UnitreeG1LocationsProvider()
-    provider._locations = {
-        "home": {"name": "Home", "pose": {}},
-    }
-
-    result = provider.get_location("office")
-    assert result is None
-
-
-def test_get_location_empty_label(mock_dependencies):
-    """Test get_location returns None for empty label."""
-    provider = UnitreeG1LocationsProvider()
-    result = provider.get_location("")
-    assert result is None
diff --git a/tests/providers/test_unitree_g1_navigation_provider.py b/tests/providers/test_unitree_g1_navigation_provider.py
deleted file mode 100644
index 15a346a9b4..0000000000
--- a/tests/providers/test_unitree_g1_navigation_provider.py
+++ /dev/null
@@ -1,213 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_g1_navigation_provider import UnitreeG1NavigationProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeG1NavigationProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeG1NavigationProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeG1NavigationProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for UnitreeG1NavigationProvider."""
-    with (
-        patch("providers.unitree_g1_navigation_provider.open_zenoh_session") as mock_zenoh,
-        patch("providers.unitree_g1_navigation_provider.ElevenLabsTTSProvider") as mock_tts,
-    ):
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        mock_tts_instance = MagicMock()
-        mock_tts.return_value = mock_tts_instance
-
-        yield {
-            "zenoh": mock_zenoh,
-            "session": mock_session,
-            "publisher": mock_publisher,
-            "tts": mock_tts,
-            "tts_instance": mock_tts_instance,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test UnitreeG1NavigationProvider initialization."""
-    provider = UnitreeG1NavigationProvider(
-        navigation_status_topic="nav/status",
-        goal_pose_topic="nav/goal",
-        cancel_goal_topic="nav/cancel",
-    )
-
-    assert provider.navigation_status_topic == "nav/status"
-    assert provider.goal_pose_topic == "nav/goal"
-    assert provider.cancel_goal_topic == "nav/cancel"
-    assert provider.running is False
-    assert provider._nav_in_progress is False
-    assert provider._current_destination is None
-    assert provider.navigation_status == "UNKNOWN"
-
-
-def test_initialization_defaults(mock_dependencies):
-    """Test initialization with default values."""
-    provider = UnitreeG1NavigationProvider()
-
-    assert provider.navigation_status_topic == "navigate_to_pose/_action/status"
-    assert provider.goal_pose_topic == "goal_pose"
-    assert provider.cancel_goal_topic == "navigate_to_pose/_action/cancel_goal"
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that UnitreeG1NavigationProvider follows singleton pattern."""
-    provider1 = UnitreeG1NavigationProvider(navigation_status_topic="topic1")
-    provider2 = UnitreeG1NavigationProvider(navigation_status_topic="topic2")
-    assert provider1 is provider2
-
-
-def test_initialization_with_zenoh_session(mock_dependencies):
-    """Test that Zenoh session is created."""
-    provider = UnitreeG1NavigationProvider()
-
-    assert provider.session == mock_dependencies["session"]
-    mock_dependencies["zenoh"].assert_called_once()
-
-
-def test_initialization_zenoh_failure():
-    """Test handling of Zenoh initialization failure."""
-    with (
-        patch("providers.unitree_g1_navigation_provider.open_zenoh_session") as mock_zenoh,
-        patch("providers.unitree_g1_navigation_provider.ElevenLabsTTSProvider"),
-    ):
-
-        mock_zenoh.side_effect = Exception("Connection failed")
-
-        provider = UnitreeG1NavigationProvider()
-
-        assert provider.session is None
-
-
-def test_ai_status_publisher_initialization(mock_dependencies):
-    """Test AI status publisher is created."""
-    provider = UnitreeG1NavigationProvider()
-
-    mock_dependencies["session"].declare_publisher.assert_called_once_with("om/ai/request")
-    assert provider.ai_status_pub == mock_dependencies["publisher"]
-
-
-def test_start(mock_dependencies):
-    """Test starting the navigation provider."""
-    provider = UnitreeG1NavigationProvider()
-
-    provider.start()
-
-    assert provider.running is True
-    mock_dependencies["session"].declare_subscriber.assert_called_once()
-
-
-def test_start_without_session():
-    """Test starting when session is None."""
-    with (
-        patch("providers.unitree_g1_navigation_provider.open_zenoh_session") as mock_zenoh,
-        patch("providers.unitree_g1_navigation_provider.ElevenLabsTTSProvider"),
-    ):
-
-        mock_zenoh.side_effect = Exception("Connection failed")
-
-        provider = UnitreeG1NavigationProvider()
-
-        # Should not raise exception, just log error
-        provider.start()
-
-        assert provider.running is False
-
-
-def test_start_already_running(mock_dependencies):
-    """Test starting when already running."""
-    provider = UnitreeG1NavigationProvider()
-
-    provider.start()
-
-    # Reset mock
-    mock_dependencies["session"].declare_subscriber.reset_mock()
-
-    # Try to start again
-    provider.start()
-
-    # Should not subscribe again
-    mock_dependencies["session"].declare_subscriber.assert_not_called()
-
-
-def test_navigation_status_unknown_initially(mock_dependencies):
-    """Test that navigation status is UNKNOWN initially."""
-    provider = UnitreeG1NavigationProvider()
-
-    assert provider.navigation_status == "UNKNOWN"
-
-
-def test_tts_provider_initialization(mock_dependencies):
-    """Test that TTS provider is initialized."""
-    provider = UnitreeG1NavigationProvider()
-
-    assert provider.tts_provider == mock_dependencies["tts_instance"]
-    mock_dependencies["tts"].assert_called_once()
-
-
-def test_nav_in_progress_flag(mock_dependencies):
-    """Test navigation in progress flag."""
-    provider = UnitreeG1NavigationProvider()
-
-    assert provider._nav_in_progress is False
-
-
-def test_current_destination_initial_value(mock_dependencies):
-    """Test current destination is None initially."""
-    provider = UnitreeG1NavigationProvider()
-
-    assert provider._current_destination is None
-
-
-def test_ai_status_topic(mock_dependencies):
-    """Test AI status topic configuration."""
-    provider = UnitreeG1NavigationProvider()
-
-    assert provider.ai_status_topic == "om/ai/request"
-
-
-def test_subscriber_callback_registration(mock_dependencies):
-    """Test that subscriber callback is registered."""
-    provider = UnitreeG1NavigationProvider()
-
-    provider.start()
-
-    call_args = mock_dependencies["session"].declare_subscriber.call_args
-    assert call_args[0][0] == provider.navigation_status_topic
-    assert callable(call_args[0][1])
-
-
-def test_session_none_handling(mock_dependencies):
-    """Test handling when session creation fails."""
-    with (
-        patch("providers.unitree_g1_navigation_provider.open_zenoh_session") as mock_zenoh,
-        patch("providers.unitree_g1_navigation_provider.ElevenLabsTTSProvider"),
-    ):
-
-        mock_zenoh.side_effect = Exception("Failed")
-
-        provider = UnitreeG1NavigationProvider()
-
-        assert provider.session is None
-        assert provider.ai_status_pub is None
diff --git a/tests/providers/test_unitree_g1_odom_provider.py b/tests/providers/test_unitree_g1_odom_provider.py
deleted file mode 100644
index 98d9c64242..0000000000
--- a/tests/providers/test_unitree_g1_odom_provider.py
+++ /dev/null
@@ -1,236 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_g1_odom_provider import UnitreeG1OdomProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeG1OdomProvider.reset()  # type: ignore
-    yield
-    # Stop the provider before resetting to clean up threads
-    try:
-        provider = UnitreeG1OdomProvider._instances.get(UnitreeG1OdomProvider)  # type: ignore
-        if provider:
-            provider._stop_event.set()
-            provider.stop()
-    except Exception:
-        pass
-    UnitreeG1OdomProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_multiprocessing():
-    """Mock multiprocessing and threading components."""
-    with (
-        patch("providers.unitree_g1_odom_provider.mp.Queue") as mock_queue,
-        patch("providers.unitree_g1_odom_provider.mp.Process") as mock_process,
-        patch("providers.unitree_g1_odom_provider.threading.Thread") as mock_thread,
-        patch("providers.unitree_g1_odom_provider.threading.Event") as mock_event,
-        patch("providers.odom_provider_base.mp.Queue") as mock_base_queue,
-        patch("providers.odom_provider_base.threading.Event") as mock_base_event,
-    ):
-        mock_queue_instance = MagicMock()
-        mock_process_instance = MagicMock()
-        mock_thread_instance = MagicMock()
-        mock_event_instance = MagicMock()
-
-        mock_queue.return_value = mock_queue_instance
-        mock_base_queue.return_value = mock_queue_instance
-        mock_process.return_value = mock_process_instance
-        mock_thread.return_value = mock_thread_instance
-        mock_event.return_value = mock_event_instance
-        mock_base_event.return_value = mock_event_instance
-
-        mock_process_instance.is_alive.return_value = False
-        mock_thread_instance.is_alive.return_value = False
-        mock_event_instance.is_set.return_value = True
-        mock_process_instance.join.return_value = None
-        mock_thread_instance.join.return_value = None
-
-        yield (
-            mock_queue,
-            mock_queue_instance,
-            mock_process,
-            mock_process_instance,
-            mock_thread,
-            mock_thread_instance,
-        )
-
-
-class TestUnitreeG1OdomProvider:
-    """Test cases for UnitreeG1OdomProvider."""
-
-    def test_initialization_with_channel(self, mock_multiprocessing):
-        """Test initialization with channel."""
-        provider = UnitreeG1OdomProvider(channel="test_channel")
-
-        assert provider.channel == "test_channel"
-
-    def test_initialization_without_channel(self, mock_multiprocessing):
-        """Test initialization without channel (None)."""
-        provider = UnitreeG1OdomProvider(channel=None)
-
-        assert provider.channel is None
-
-    def test_initialization_default_channel(self, mock_multiprocessing):
-        """Test initialization with default channel parameter."""
-        provider = UnitreeG1OdomProvider()
-
-        assert provider.channel is None
-
-    def test_singleton_pattern(self, mock_multiprocessing):
-        """Test that UnitreeG1OdomProvider follows singleton pattern."""
-        provider1 = UnitreeG1OdomProvider(channel="channel_1")
-        provider2 = UnitreeG1OdomProvider(channel="channel_2")
-
-        assert provider1 is provider2
-        assert provider1.channel == "channel_1"
-
-    def test_start_creates_reader_thread(self, mock_multiprocessing):
-        """Test that start creates and starts reader thread."""
-        _, _, _, mock_process_instance, _, _ = mock_multiprocessing
-
-        UnitreeG1OdomProvider(channel="test_channel")
-        assert mock_process_instance.start.call_count >= 1
-
-    def test_start_creates_processor_thread(self, mock_multiprocessing):
-        """Test that start creates and starts processor thread."""
-        _, _, _, _, _, mock_thread_instance = mock_multiprocessing
-
-        UnitreeG1OdomProvider(channel="test_channel")
-        assert mock_thread_instance.start.call_count >= 1
-
-    def test_start_already_running(self, mock_multiprocessing):
-        """Test that start doesn't restart if already running."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = UnitreeG1OdomProvider(channel="test_channel")
-
-        mock_process_instance.is_alive.return_value = True
-        mock_thread_instance.is_alive.return_value = True
-
-        mock_process_instance.start.reset_mock()
-        mock_thread_instance.start.reset_mock()
-
-        provider.start()
-
-        mock_process_instance.start.assert_not_called()
-        mock_thread_instance.start.assert_not_called()
-
-    def test_start_without_channel(self, mock_multiprocessing, caplog):
-        """Test that start logs error when channel is not specified."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        UnitreeG1OdomProvider(channel=None)
-
-        mock_process_instance.start.assert_not_called()
-        mock_thread_instance.start.assert_not_called()
-
-    def test_start_with_processor_thread_running(self, mock_multiprocessing):
-        """Test start when processor thread is already running."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = UnitreeG1OdomProvider(channel="test_channel")
-
-        mock_process_instance.is_alive.return_value = False
-        mock_thread_instance.is_alive.return_value = True
-
-        mock_process_instance.start.reset_mock()
-        mock_thread_instance.start.reset_mock()
-
-        provider.start()
-
-        mock_process_instance.start.assert_called_once()
-        mock_thread_instance.start.assert_not_called()
-
-    def test_stop(self, mock_multiprocessing):
-        """Test stop method cleans up resources."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = UnitreeG1OdomProvider(channel="test_channel")
-        provider.stop()
-
-        assert provider._stop_event.set.called  # type: ignore
-
-        mock_process_instance.terminate.assert_called_once()
-        mock_process_instance.join.assert_called_once()
-        mock_thread_instance.join.assert_called_once()
-
-    def test_position_property(self, mock_multiprocessing):
-        """Test position property returns correct data structure."""
-        provider = UnitreeG1OdomProvider(channel="test_channel")
-
-        position = provider.position
-
-        assert "odom_x" in position
-        assert "odom_y" in position
-        assert "moving" in position
-        assert "odom_yaw_0_360" in position
-        assert "odom_yaw_m180_p180" in position
-        assert "body_height_cm" in position
-        assert "body_attitude" in position
-        assert "odom_rockchip_ts" in position
-        assert "odom_subscriber_ts" in position
-
-        assert position["odom_x"] == 0.0
-        assert position["odom_y"] == 0.0
-        assert position["moving"] is False
-
-    def test_initialization_inherits_from_base(self, mock_multiprocessing):
-        """Test that initialization properly inherits from OdomProviderBase."""
-        provider = UnitreeG1OdomProvider(channel="test_channel")
-
-        # Check base class attributes are initialized
-        assert hasattr(provider, "data_queue")
-        assert hasattr(provider, "_odom_reader_thread")
-        assert hasattr(provider, "_odom_processor_thread")
-        assert hasattr(provider, "_stop_event")
-        assert hasattr(provider, "x")
-        assert hasattr(provider, "y")
-        assert hasattr(provider, "moving")
-
-    def test_start_logging_with_channel(self, mock_multiprocessing, caplog):
-        """Test that start logs the channel."""
-        with caplog.at_level("INFO"):
-            UnitreeG1OdomProvider(channel="channel_xyz")
-
-        assert "Starting Unitree G1 Odom Provider on channel: channel_xyz" in caplog.text
-
-    def test_start_logging_without_channel(self, mock_multiprocessing, caplog):
-        """Test that start logs error when channel is None."""
-        with caplog.at_level("ERROR"):
-            UnitreeG1OdomProvider(channel=None)
-
-        assert "Channel must be specified to start the G1 Odom Provider" in caplog.text
-
-    @patch("providers.unitree_g1_odom_provider.get_logging_config")
-    def test_start_passes_logging_config(self, mock_get_logging_config, mock_multiprocessing):
-        """Test that start passes logging config to the processor."""
-        _, _, mock_process, _, _, _ = mock_multiprocessing
-
-        mock_logging_config = MagicMock()
-        mock_get_logging_config.return_value = mock_logging_config
-
-        UnitreeG1OdomProvider(channel="test_channel")
-
-        call_args = mock_process.call_args
-        assert call_args is not None
-        args = call_args[1]["args"]
-        assert args[2] == mock_logging_config
-
-    def test_multiple_start_calls_with_running_threads(self, mock_multiprocessing, caplog):
-        """Test multiple start calls when threads are already running."""
-        _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-
-        provider = UnitreeG1OdomProvider(channel="test_channel")
-
-        mock_process_instance.is_alive.return_value = True
-        mock_thread_instance.is_alive.return_value = True
-
-        with caplog.at_level("WARNING"):
-            provider.start()
-
-        assert "G1 Odom Provider is already running" in caplog.text
diff --git a/tests/providers/test_unitree_go2_amcl_provider.py b/tests/providers/test_unitree_go2_amcl_provider.py
deleted file mode 100644
index 7f1a9390a6..0000000000
--- a/tests/providers/test_unitree_go2_amcl_provider.py
+++ /dev/null
@@ -1,75 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_amcl_provider import UnitreeGo2AMCLProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2AMCLProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeGo2AMCLProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeGo2AMCLProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_zenoh():
-    """Mock Zenoh dependencies."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_session:
-        mock_session_instance = MagicMock()
-        mock_session.return_value = mock_session_instance
-        yield mock_session, mock_session_instance
-
-
-def test_initialization(mock_zenoh):
-    """Test UnitreeGo2AMCLProvider initialization."""
-    provider = UnitreeGo2AMCLProvider(topic="test/amcl", pose_tolerance=0.5, yaw_tolerance=0.3)
-
-    assert provider.sub_topic == "test/amcl"
-    assert provider.pose_tolerance == 0.5
-    assert provider.yaw_tolerance == 0.3
-    assert provider.localization_pose is None
-    assert provider.localization_status is False
-
-
-def test_initialization_defaults(mock_zenoh):
-    """Test initialization with default values."""
-    provider = UnitreeGo2AMCLProvider()
-
-    assert provider.sub_topic == "amcl_pose"
-    assert provider.pose_tolerance == 0.4
-    assert provider.yaw_tolerance == 0.2
-
-
-def test_singleton_pattern(mock_zenoh):
-    """Test that UnitreeGo2AMCLProvider follows singleton pattern."""
-    provider1 = UnitreeGo2AMCLProvider(topic="topic1")
-    provider2 = UnitreeGo2AMCLProvider(topic="topic2")
-    assert provider1 is provider2
-
-
-def test_is_localized_property(mock_zenoh):
-    """Test is_localized property."""
-    provider = UnitreeGo2AMCLProvider()
-
-    assert provider.is_localized is False
-
-    provider.localization_status = True
-    assert provider.is_localized is True
-
-
-def test_start(mock_zenoh):
-    """Test starting the provider."""
-    provider = UnitreeGo2AMCLProvider()
-
-    provider.start()
-
-    assert provider.running is True
diff --git a/tests/providers/test_unitree_go2_charging_provider.py b/tests/providers/test_unitree_go2_charging_provider.py
deleted file mode 100644
index 7464bec6b1..0000000000
--- a/tests/providers/test_unitree_go2_charging_provider.py
+++ /dev/null
@@ -1,221 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_charging_provider import UnitreeGo2ChargingProvider
-from zenoh_msgs.idl.status_msgs import ChargingStatus
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2ChargingProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeGo2ChargingProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeGo2ChargingProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_zenoh():
-    """Mock Zenoh dependencies."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_session:
-        mock_session_instance = MagicMock()
-        mock_session.return_value = mock_session_instance
-        yield mock_session, mock_session_instance
-
-
-def test_initialization(mock_zenoh):
-    """Test UnitreeGo2ChargingProvider initialization with default topic."""
-    provider = UnitreeGo2ChargingProvider()
-
-    assert provider.sub_topic == "om/go2/charging_status"
-    assert provider.latest_status is None
-    assert provider.status_history == []
-    assert provider.running is False
-
-
-def test_initialization_custom_topic(mock_zenoh):
-    """Test initialization with custom topic."""
-    provider = UnitreeGo2ChargingProvider(topic="custom/charging")
-
-    assert provider.sub_topic == "custom/charging"
-    assert provider.latest_status is None
-
-
-def test_singleton_pattern(mock_zenoh):
-    """Test that UnitreeGo2ChargingProvider follows singleton pattern."""
-    provider1 = UnitreeGo2ChargingProvider(topic="topic1")
-    provider2 = UnitreeGo2ChargingProvider(topic="topic2")
-
-    assert provider1 is provider2
-
-
-def test_charging_message_callback_valid_data(mock_zenoh):
-    """Test charging message callback with valid ChargingStatus data."""
-    provider = UnitreeGo2ChargingProvider()
-
-    # Create mock ChargingStatus message
-    from zenoh_msgs.idl.std_msgs import Header, String, Time
-
-    mock_sample = MagicMock()
-    charging_status = ChargingStatus(
-        header=Header(stamp=Time(sec=0, nanosec=0), frame_id=""),
-        code=1,
-        status=String("CHARGING"),
-    )
-
-    mock_sample.payload.to_bytes.return_value = charging_status.serialize()
-
-    provider.charging_message_callback(mock_sample)
-
-    assert provider.latest_status == 1
-    assert 1 in provider.status_history
-
-
-def test_charging_message_callback_multiple_messages(mock_zenoh):
-    """Test that multiple messages accumulate in status history."""
-    provider = UnitreeGo2ChargingProvider()
-
-    # Send multiple status updates
-    from zenoh_msgs.idl.std_msgs import Header, String, Time
-
-    for status_code in [0, 1, 2, 3, 1, 0]:
-        mock_sample = MagicMock()
-        charging_status = ChargingStatus(
-            header=Header(stamp=Time(sec=0, nanosec=0), frame_id=""),
-            code=status_code,
-            status=String(""),
-        )
-
-        mock_sample.payload.to_bytes.return_value = charging_status.serialize()
-        provider.charging_message_callback(mock_sample)
-
-    assert provider.latest_status == 0  # Last status
-    assert provider.status_history == [0, 1, 2, 3, 1, 0]
-
-
-def test_charging_message_callback_empty_payload(mock_zenoh):
-    """Test charging message callback with empty payload."""
-    provider = UnitreeGo2ChargingProvider()
-
-    mock_sample = MagicMock()
-    mock_sample.payload = None
-
-    provider.charging_message_callback(mock_sample)
-
-    assert provider.latest_status is None
-    assert provider.status_history == []
-
-
-def test_charging_message_callback_invalid_data(mock_zenoh):
-    """Test charging message callback with invalid data that fails deserialization."""
-    provider = UnitreeGo2ChargingProvider()
-
-    mock_sample = MagicMock()
-    mock_sample.payload.to_bytes.return_value = b"invalid data"
-
-    # Should handle exception gracefully
-    provider.charging_message_callback(mock_sample)
-
-    assert provider.latest_status is None
-    assert provider.status_history == []
-
-
-def test_start(mock_zenoh):
-    """Test starting the provider."""
-    mock_session, mock_session_instance = mock_zenoh
-    mock_subscriber = MagicMock()
-    mock_session_instance.declare_subscriber.return_value = mock_subscriber
-
-    provider = UnitreeGo2ChargingProvider()
-    provider.start()
-
-    assert provider.running is True
-    mock_session_instance.declare_subscriber.assert_called_once()
-
-
-def test_start_already_running(mock_zenoh):
-    """Test starting provider when already running."""
-    provider = UnitreeGo2ChargingProvider()
-    provider.start()
-
-    assert provider.running is True
-
-    # Try to start again
-    provider.start()
-
-    assert provider.running is True
-
-
-def test_charging_status_property(mock_zenoh):
-    """Test the charging_status property getter."""
-    provider = UnitreeGo2ChargingProvider()
-
-    assert provider.charging_status is None
-
-    # Simulate receiving a message
-    from zenoh_msgs.idl.std_msgs import Header, String, Time
-
-    mock_sample = MagicMock()
-    charging_status = ChargingStatus(
-        header=Header(stamp=Time(sec=0, nanosec=0), frame_id=""),
-        code=2,
-        status=String("ENROUTE_CHARGING"),
-    )
-
-    mock_sample.payload.to_bytes.return_value = charging_status.serialize()
-    provider.charging_message_callback(mock_sample)
-
-    assert provider.charging_status == 2
-
-
-def test_get_charging_status(mock_zenoh):
-    """Test the get_charging_status() method."""
-    from zenoh_msgs.idl.std_msgs import Header, String, Time
-
-    provider = UnitreeGo2ChargingProvider()
-
-    assert provider.get_charging_status() is None
-
-    # Simulate receiving a message
-    mock_sample = MagicMock()
-    charging_status = ChargingStatus(
-        header=Header(stamp=Time(sec=0, nanosec=0), frame_id=""),
-        code=3,
-        status=String("FULLY_CHARGED"),
-    )
-
-    mock_sample.payload.to_bytes.return_value = charging_status.serialize()
-    provider.charging_message_callback(mock_sample)
-
-    assert provider.get_charging_status() == 3
-
-
-def test_get_status_history(mock_zenoh):
-    """Test get_status_history() returns accumulated statuses."""
-    from zenoh_msgs.idl.std_msgs import Header, String, Time
-
-    provider = UnitreeGo2ChargingProvider()
-
-    assert provider.get_status_history() == []
-
-    # Send multiple updates
-    statuses = [0, 1, 1, 2, 3]
-    for status_code in statuses:
-        mock_sample = MagicMock()
-        charging_status = ChargingStatus(
-            header=Header(stamp=Time(sec=0, nanosec=0), frame_id=""),
-            code=status_code,
-            status=String(""),
-        )
-
-        mock_sample.payload.to_bytes.return_value = charging_status.serialize()
-        provider.charging_message_callback(mock_sample)
-
-    assert provider.get_status_history() == statuses
diff --git a/tests/providers/test_unitree_go2_frontier_exploration.py b/tests/providers/test_unitree_go2_frontier_exploration.py
deleted file mode 100644
index 98f8f27325..0000000000
--- a/tests/providers/test_unitree_go2_frontier_exploration.py
+++ /dev/null
@@ -1,108 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_frontier_exploration import (
-    UnitreeGo2FrontierExplorationProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2FrontierExplorationProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeGo2FrontierExplorationProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeGo2FrontierExplorationProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies."""
-    with (
-        patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh,
-        patch("providers.unitree_go2_frontier_exploration.ContextProvider") as mock_context,
-    ):
-
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        mock_context_instance = MagicMock()
-        mock_context.return_value = mock_context_instance
-
-        yield {
-            "zenoh": mock_zenoh,
-            "session": mock_session,
-            "context": mock_context,
-            "context_instance": mock_context_instance,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test UnitreeGo2FrontierExplorationProvider initialization."""
-    provider = UnitreeGo2FrontierExplorationProvider(
-        topic="test/explore", context_aware_text={"exploration_done": False}
-    )
-
-    assert provider.sub_topic == "test/explore"
-    assert provider.context_aware_text == {"exploration_done": False}
-    assert provider.exploration_info is None
-    assert provider.exploration_complete is False
-
-
-def test_initialization_defaults(mock_dependencies):
-    """Test initialization with default values."""
-    provider = UnitreeGo2FrontierExplorationProvider()
-
-    assert provider.sub_topic == "explore/status"
-    assert provider.context_aware_text == {"exploration_done": True}
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that UnitreeGo2FrontierExplorationProvider follows singleton pattern."""
-    provider1 = UnitreeGo2FrontierExplorationProvider(topic="topic1")
-    provider2 = UnitreeGo2FrontierExplorationProvider(topic="topic2")
-    assert provider1 is provider2
-
-
-def test_status_property(mock_dependencies):
-    """Test status property."""
-    provider = UnitreeGo2FrontierExplorationProvider()
-
-    assert provider.status is False
-
-    provider.exploration_complete = True
-    assert provider.status is True
-
-
-def test_info_property(mock_dependencies):
-    """Test info property."""
-    provider = UnitreeGo2FrontierExplorationProvider()
-
-    assert provider.info is None
-
-    provider.exploration_info = "Exploration completed successfully"
-    assert provider.info == "Exploration completed successfully"
-
-
-def test_start(mock_dependencies):
-    """Test starting the provider."""
-    provider = UnitreeGo2FrontierExplorationProvider()
-
-    provider.start()
-
-    assert provider.running is True
-
-
-def test_context_provider_initialization(mock_dependencies):
-    """Test that ContextProvider is initialized."""
-    provider = UnitreeGo2FrontierExplorationProvider()
-
-    assert provider.context_provider == mock_dependencies["context_instance"]
-    mock_dependencies["context"].assert_called_once()
diff --git a/tests/providers/test_unitree_go2_lidar_localization_provider.py b/tests/providers/test_unitree_go2_lidar_localization_provider.py
deleted file mode 100644
index 9cfa3f93dd..0000000000
--- a/tests/providers/test_unitree_go2_lidar_localization_provider.py
+++ /dev/null
@@ -1,82 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_lidar_localization_provider import (
-    UnitreeGo2LidarLocalizationProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2LidarLocalizationProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeGo2LidarLocalizationProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeGo2LidarLocalizationProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_zenoh():
-    """Mock Zenoh dependencies."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_session:
-        mock_session_instance = MagicMock()
-        mock_session.return_value = mock_session_instance
-        yield mock_session, mock_session_instance
-
-
-def test_initialization(mock_zenoh):
-    """Test UnitreeGo2LidarLocalizationProvider initialization."""
-    provider = UnitreeGo2LidarLocalizationProvider(topic="test/lidar_loc", quality_tolerance=0.85)
-
-    assert provider.sub_topic == "test/lidar_loc"
-    assert provider.quality_tolerance == 0.85
-    assert provider.localization_pose is None
-    assert provider.localization_status is False
-
-
-def test_initialization_defaults(mock_zenoh):
-    """Test initialization with default values."""
-    provider = UnitreeGo2LidarLocalizationProvider()
-
-    assert provider.sub_topic == "om/localization_pose"
-    assert provider.quality_tolerance == 0.7
-
-
-def test_singleton_pattern(mock_zenoh):
-    """Test that UnitreeGo2LidarLocalizationProvider follows singleton pattern."""
-    provider1 = UnitreeGo2LidarLocalizationProvider(topic="topic1")
-    provider2 = UnitreeGo2LidarLocalizationProvider(topic="topic2")
-    assert provider1 is provider2
-
-
-def test_is_localized_property(mock_zenoh):
-    """Test is_localized property."""
-    provider = UnitreeGo2LidarLocalizationProvider()
-
-    assert provider.is_localized is False
-
-    provider.localization_status = True
-    assert provider.is_localized is True
-
-
-def test_pose_property(mock_zenoh):
-    """Test pose property."""
-    provider = UnitreeGo2LidarLocalizationProvider()
-
-    assert provider.pose is None
-
-
-def test_start(mock_zenoh):
-    """Test starting the provider."""
-    provider = UnitreeGo2LidarLocalizationProvider()
-
-    provider.start()
-
-    assert provider.running is True
diff --git a/tests/providers/test_unitree_go2_locations_provider.py b/tests/providers/test_unitree_go2_locations_provider.py
deleted file mode 100644
index 2a9a588daf..0000000000
--- a/tests/providers/test_unitree_go2_locations_provider.py
+++ /dev/null
@@ -1,166 +0,0 @@
-import time
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_locations_provider import UnitreeGo2LocationsProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2LocationsProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeGo2LocationsProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeGo2LocationsProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for UnitreeGo2LocationsProvider."""
-    with (
-        patch("providers.unitree_go2_locations_provider.IOProvider") as mock_io,
-        patch("providers.unitree_go2_locations_provider.requests") as mock_requests,
-    ):
-
-        mock_io_instance = MagicMock()
-        mock_io.return_value = mock_io_instance
-
-        yield {
-            "io": mock_io,
-            "io_instance": mock_io_instance,
-            "requests": mock_requests,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test UnitreeGo2LocationsProvider initialization."""
-    provider = UnitreeGo2LocationsProvider(base_url="http://localhost:5000/locations", timeout=10, refresh_interval=60)
-
-    assert provider.base_url == "http://localhost:5000/locations"
-    assert provider.timeout == 10
-    assert provider.refresh_interval == 60
-    assert provider._locations == {}
-
-
-def test_initialization_defaults(mock_dependencies):
-    """Test initialization with default values."""
-    provider = UnitreeGo2LocationsProvider()
-
-    assert provider.base_url == "http://localhost:5000/maps/locations/list"
-    assert provider.timeout == 5
-    assert provider.refresh_interval == 30
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that UnitreeGo2LocationsProvider follows singleton pattern."""
-    provider1 = UnitreeGo2LocationsProvider(base_url="http://localhost:5000")
-    provider2 = UnitreeGo2LocationsProvider(base_url="http://localhost:6000")
-    assert provider1 is provider2
-
-
-def test_start(mock_dependencies):
-    """Test starting the provider."""
-    provider = UnitreeGo2LocationsProvider()
-
-    provider.start()
-
-    assert provider._thread is not None
-    assert provider._thread.is_alive()
-
-
-def test_stop(mock_dependencies):
-    """Test stopping the provider."""
-    provider = UnitreeGo2LocationsProvider()
-
-    provider.start()
-    provider.stop()
-
-    time.sleep(0.1)
-    assert provider._stop_event.is_set()
-
-
-def test_get_all_locations_empty(mock_dependencies):
-    """Test get_all_locations returns empty dict when no locations cached."""
-    provider = UnitreeGo2LocationsProvider()
-    result = provider.get_all_locations()
-    assert result == {}
-
-
-def test_get_all_locations_populated(mock_dependencies):
-    """Test get_all_locations returns copy of cached locations."""
-    provider = UnitreeGo2LocationsProvider()
-    provider._locations = {
-        "home": {"name": "Home", "pose": {"x": 0.0, "y": 0.0}},
-        "kitchen": {"name": "Kitchen", "pose": {"x": 5.0, "y": 5.0}},
-    }
-
-    result = provider.get_all_locations()
-    assert "home" in result
-    assert "kitchen" in result
-    # Verify it's a copy (not the same object)
-    assert result is not provider._locations
-
-
-def test_get_location_exact_match(mock_dependencies):
-    """Test get_location with exact lowercase match."""
-    provider = UnitreeGo2LocationsProvider()
-    provider._locations = {
-        "home": {"name": "Home", "pose": {"x": 0.0, "y": 0.0}},
-    }
-
-    result = provider.get_location("home")
-    assert result == {"name": "Home", "pose": {"x": 0.0, "y": 0.0}}
-
-
-def test_get_location_case_insensitive(mock_dependencies):
-    """Test get_location with case-insensitive lookup."""
-    provider = UnitreeGo2LocationsProvider()
-    provider._locations = {
-        "home": {"name": "Home", "pose": {"x": 0.0, "y": 0.0}},
-    }
-
-    result = provider.get_location("Home")
-    assert result == {"name": "Home", "pose": {"x": 0.0, "y": 0.0}}
-
-
-def test_get_location_strips_whitespace(mock_dependencies):
-    """Test get_location strips whitespace from label."""
-    provider = UnitreeGo2LocationsProvider()
-    provider._locations = {
-        "home": {"name": "Home", "pose": {"x": 0.0, "y": 0.0}},
-    }
-
-    result = provider.get_location("  home  ")
-    assert result == {"name": "Home", "pose": {"x": 0.0, "y": 0.0}}
-
-
-def test_get_location_missing_key(mock_dependencies):
-    """Test get_location returns None for missing key."""
-    provider = UnitreeGo2LocationsProvider()
-    provider._locations = {
-        "home": {"name": "Home", "pose": {"x": 0.0, "y": 0.0}},
-    }
-
-    result = provider.get_location("office")
-    assert result is None
-
-
-def test_get_location_empty_label(mock_dependencies):
-    """Test get_location returns None for empty label."""
-    provider = UnitreeGo2LocationsProvider()
-    result = provider.get_location("")
-    assert result is None
-
-
-def test_get_location_none_label(mock_dependencies):
-    """Test get_location returns None for None label."""
-    provider = UnitreeGo2LocationsProvider()
-    result = provider.get_location(None)  # type: ignore[arg-type]
-    assert result is None
diff --git a/tests/providers/test_unitree_go2_navigation_provider.py b/tests/providers/test_unitree_go2_navigation_provider.py
deleted file mode 100644
index ee44b67fb7..0000000000
--- a/tests/providers/test_unitree_go2_navigation_provider.py
+++ /dev/null
@@ -1,86 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_navigation_provider import UnitreeGo2NavigationProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2NavigationProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeGo2NavigationProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeGo2NavigationProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for UnitreeGo2NavigationProvider."""
-    with (
-        patch("providers.unitree_go2_navigation_provider.open_zenoh_session") as mock_zenoh,
-        patch("providers.unitree_go2_navigation_provider.ElevenLabsTTSProvider") as mock_tts,
-    ):
-
-        mock_session = MagicMock()
-        mock_publisher = MagicMock()
-        mock_session.declare_publisher.return_value = mock_publisher
-        mock_zenoh.return_value = mock_session
-
-        mock_tts_instance = MagicMock()
-        mock_tts.return_value = mock_tts_instance
-
-        yield {
-            "zenoh": mock_zenoh,
-            "session": mock_session,
-            "publisher": mock_publisher,
-            "tts": mock_tts,
-            "tts_instance": mock_tts_instance,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test UnitreeGo2NavigationProvider initialization."""
-    provider = UnitreeGo2NavigationProvider(
-        navigation_status_topic="nav/status",
-        goal_pose_topic="nav/goal",
-        cancel_goal_topic="nav/cancel",
-    )
-
-    assert provider.navigation_status_topic == "nav/status"
-    assert provider.goal_pose_topic == "nav/goal"
-    assert provider.cancel_goal_topic == "nav/cancel"
-    assert provider.running is False
-    assert provider.navigation_status == "UNKNOWN"
-
-
-def test_initialization_defaults(mock_dependencies):
-    """Test initialization with default values."""
-    provider = UnitreeGo2NavigationProvider()
-
-    assert provider.navigation_status_topic == "navigate_to_pose/_action/status"
-    assert provider.goal_pose_topic == "goal_pose"
-    assert provider.cancel_goal_topic == "navigate_to_pose/_action/cancel_goal"
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that UnitreeGo2NavigationProvider follows singleton pattern."""
-    provider1 = UnitreeGo2NavigationProvider(navigation_status_topic="topic1")
-    provider2 = UnitreeGo2NavigationProvider(navigation_status_topic="topic2")
-    assert provider1 is provider2
-
-
-def test_start(mock_dependencies):
-    """Test starting the navigation provider."""
-    provider = UnitreeGo2NavigationProvider()
-
-    provider.start()
-
-    assert provider.running is True
-    mock_dependencies["session"].declare_subscriber.assert_called_once()
diff --git a/tests/providers/test_unitree_go2_odom_provider.py b/tests/providers/test_unitree_go2_odom_provider.py
deleted file mode 100644
index 589b1b080a..0000000000
--- a/tests/providers/test_unitree_go2_odom_provider.py
+++ /dev/null
@@ -1,144 +0,0 @@
-import logging
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_odom_provider import RobotState, UnitreeGo2OdomProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2OdomProvider.reset()  # type: ignore
-    yield
-    UnitreeGo2OdomProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_multiprocessing():
-    with (
-        patch("providers.unitree_go2_odom_provider.mp.Queue") as mock_queue,
-        patch("providers.unitree_go2_odom_provider.mp.Process") as mock_process,
-        patch("providers.unitree_go2_odom_provider.threading.Thread") as mock_thread,
-        patch("providers.unitree_go2_odom_provider.threading.Event") as mock_event,
-    ):
-        mock_queue_instance = MagicMock()
-        mock_process_instance = MagicMock()
-        mock_thread_instance = MagicMock()
-        mock_event_instance = MagicMock()
-
-        mock_queue.return_value = mock_queue_instance
-        mock_process.return_value = mock_process_instance
-        mock_thread.return_value = mock_thread_instance
-        mock_event.return_value = mock_event_instance
-
-        mock_process_instance.is_alive.return_value = False
-        mock_thread_instance.is_alive.return_value = False
-        mock_event_instance.is_set.return_value = False
-
-        yield mock_queue, mock_queue_instance, mock_process, mock_process_instance, mock_thread, mock_thread_instance
-
-
-def test_initialization_with_channel(mock_multiprocessing):
-    provider = UnitreeGo2OdomProvider(channel="test")
-    assert provider.channel == "test"
-
-
-def test_singleton_pattern(mock_multiprocessing):
-    provider1 = UnitreeGo2OdomProvider(channel="test")
-    provider2 = UnitreeGo2OdomProvider(channel="test2")
-    assert provider1 is provider2
-
-
-def test_start_processes_and_threads(mock_multiprocessing):
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-    UnitreeGo2OdomProvider(channel="test")
-    assert mock_process_instance.start.call_count >= 1
-    assert mock_thread_instance.start.call_count >= 1
-
-
-def test_start_already_running(mock_multiprocessing):
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-    provider = UnitreeGo2OdomProvider(channel="test")
-    mock_process_instance.is_alive.return_value = True
-    mock_thread_instance.is_alive.return_value = True
-    mock_process_instance.start.reset_mock()
-    mock_thread_instance.start.reset_mock()
-    provider.start()
-    mock_process_instance.start.assert_not_called()
-    mock_thread_instance.start.assert_not_called()
-
-
-def test_stop_terminates_processes(mock_multiprocessing):
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-    provider = UnitreeGo2OdomProvider(channel="test")
-    provider.stop()
-    assert provider._stop_event.set.called  # type: ignore
-    mock_process_instance.terminate.assert_called_once()
-    mock_process_instance.join.assert_called_once()
-    mock_thread_instance.join.assert_called_once()
-
-
-def test_robot_state_enum_values():
-    assert RobotState.STANDING.value == "standing"
-    assert RobotState.SITTING.value == "sitting"
-
-
-def test_position_property_defaults(mock_multiprocessing):
-    provider = UnitreeGo2OdomProvider(channel="test")
-    position = provider.position
-    assert position["odom_x"] == 0.0
-    assert position["odom_y"] == 0.0
-    assert position["moving"] is False
-    assert "odom_yaw_0_360" in position
-    assert "odom_yaw_m180_p180" in position
-    assert "body_height_cm" in position
-    assert "body_attitude" in position
-    assert "odom_rockchip_ts" in position
-    assert "odom_subscriber_ts" in position
-
-
-def test_update_body_state_standing(mock_multiprocessing):
-    provider = UnitreeGo2OdomProvider(channel="test")
-    mock_pose = MagicMock()
-    mock_pose.position.z = 0.25  # 25 cm
-    provider._update_body_state(mock_pose)
-    assert provider.body_height_cm == 25
-    assert provider.body_attitude == RobotState.STANDING
-
-
-def test_update_body_state_sitting(mock_multiprocessing):
-    provider = UnitreeGo2OdomProvider(channel="test")
-    mock_pose = MagicMock()
-    mock_pose.position.z = 0.15  # 15 cm
-    provider._update_body_state(mock_pose)
-    assert provider.body_height_cm == 15
-    assert provider.body_attitude == RobotState.SITTING
-
-
-def test_update_body_state_lying_down(mock_multiprocessing):
-    provider = UnitreeGo2OdomProvider(channel="test")
-    mock_pose = MagicMock()
-    mock_pose.position.z = 0.02  # 2 cm
-    provider._update_body_state(mock_pose)
-    assert provider.body_height_cm == 2
-
-
-def test_start_already_running_logs_warning(caplog, mock_multiprocessing):
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-    provider = UnitreeGo2OdomProvider(channel="test")
-    mock_process_instance.is_alive.return_value = True
-    mock_thread_instance.is_alive.return_value = True
-    with caplog.at_level(logging.WARNING):
-        provider.start()
-        assert "Go2 Odom Provider is already running." in caplog.text
-
-
-def test_start_processor_already_running_logs_warning(caplog, mock_multiprocessing):
-    _, _, _, mock_process_instance, _, mock_thread_instance = mock_multiprocessing
-    provider = UnitreeGo2OdomProvider(channel="test")
-    provider._odom_processor_thread = MagicMock()
-    provider._odom_processor_thread.is_alive.return_value = True
-    with caplog.at_level(logging.WARNING):
-        provider.start()
-        assert "Odom processor thread is already running." in caplog.text
diff --git a/tests/providers/test_unitree_go2_odom_zenoh_provider.py b/tests/providers/test_unitree_go2_odom_zenoh_provider.py
deleted file mode 100644
index 697222dd04..0000000000
--- a/tests/providers/test_unitree_go2_odom_zenoh_provider.py
+++ /dev/null
@@ -1,137 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_odom_zenoh_provider import UnitreeGo2OdomZenohProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    UnitreeGo2OdomZenohProvider.reset()  # type: ignore
-    yield
-    UnitreeGo2OdomZenohProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def patches():
-    with (
-        patch("providers.unitree_go2_odom_zenoh_provider.mp.Process") as mock_process_class,
-        patch("providers.unitree_go2_odom_zenoh_provider.threading.Thread") as mock_thread_class,
-    ):
-        proc = MagicMock()
-        proc.is_alive.return_value = True
-        mock_process_class.return_value = proc
-        the = MagicMock()
-        the.is_alive.return_value = True
-        mock_thread_class.return_value = the
-        yield {
-            "process_class": mock_process_class,
-            "process": proc,
-            "thread_class": mock_thread_class,
-            "thread": the,
-        }
-
-
-def test_initialization(patches):
-    provider = UnitreeGo2OdomZenohProvider()
-    assert provider.topic == "utlidar/robot_pose"
-    assert provider.api_key is None
-    assert provider.use_sim is False
-    patches["process"].start.assert_called_once()
-    patches["thread"].start.assert_called_once()
-
-
-def test_initialization_custom(patches):
-    UnitreeGo2OdomZenohProvider.reset()  # type: ignore[attr-defined]
-    provider = UnitreeGo2OdomZenohProvider(api_key="k", topic="odom", use_sim=True)
-    assert provider.topic == "odom"
-    assert provider.api_key == "k"
-    assert provider.use_sim is True
-
-
-def test_start_is_idempotent(patches):
-    provider = UnitreeGo2OdomZenohProvider()
-    initial_process_calls = patches["process_class"].call_count
-    initial_thread_calls = patches["thread_class"].call_count
-    provider.start()
-    # Should not spawn new ones because reader_proc and processor_thread are alive
-    assert patches["process_class"].call_count == initial_process_calls
-    assert patches["thread_class"].call_count == initial_thread_calls
-
-
-def test_update_body_state_standing(patches):
-    from providers.odom_provider_base import RobotState
-
-    provider = UnitreeGo2OdomZenohProvider()
-    pose = MagicMock()
-    pose.position.z = 0.30  # cm > 24
-    provider._update_body_state(pose)
-    assert provider.body_attitude is RobotState.STANDING
-    assert provider.body_height_cm == 30
-
-
-def test_update_body_state_sitting(patches):
-    from providers.odom_provider_base import RobotState
-
-    provider = UnitreeGo2OdomZenohProvider()
-    pose = MagicMock()
-    pose.position.z = 0.10  # 10 cm > 3 but < 24
-    provider._update_body_state(pose)
-    assert provider.body_attitude is RobotState.SITTING
-
-
-def test_processor_function_subscribes(monkeypatch):
-    """Run _go2_odom_zenoh_processor directly and verify it subscribes."""
-    import multiprocessing as mp
-
-    from providers.unitree_go2_odom_zenoh_provider import (
-        _go2_odom_zenoh_processor,
-    )
-
-    session = MagicMock()
-    with (
-        patch(
-            "providers.unitree_go2_odom_zenoh_provider.open_zenoh_session",
-            return_value=session,
-        ),
-        patch(
-            "providers.unitree_go2_odom_zenoh_provider.load_session_config",
-        ),
-        patch(
-            "providers.unitree_go2_odom_zenoh_provider.setup_logging",
-        ),
-        patch("providers.unitree_go2_odom_zenoh_provider.threading.Event") as mock_event_cls,
-    ):
-        # threading.Event().wait() blocks forever; make it return immediately.
-        mock_event = MagicMock()
-        mock_event.wait.return_value = None
-        mock_event_cls.return_value = mock_event
-
-        data_queue: mp.Queue = mp.Queue()
-        _go2_odom_zenoh_processor(None, "odom", False, data_queue)
-
-    session.declare_subscriber.assert_called_once()
-
-
-def test_processor_session_failure_exits_cleanly():
-    import multiprocessing as mp
-
-    from providers.unitree_go2_odom_zenoh_provider import (
-        _go2_odom_zenoh_processor,
-    )
-
-    with (
-        patch(
-            "providers.unitree_go2_odom_zenoh_provider.open_zenoh_session",
-            side_effect=RuntimeError("fail"),
-        ),
-        patch(
-            "providers.unitree_go2_odom_zenoh_provider.load_session_config",
-        ),
-        patch(
-            "providers.unitree_go2_odom_zenoh_provider.setup_logging",
-        ),
-    ):
-        data_queue: mp.Queue = mp.Queue()
-        # Should not raise
-        _go2_odom_zenoh_processor(None, "odom", False, data_queue)
diff --git a/tests/providers/test_unitree_go2_patrol_provider.py b/tests/providers/test_unitree_go2_patrol_provider.py
deleted file mode 100644
index a00381a282..0000000000
--- a/tests/providers/test_unitree_go2_patrol_provider.py
+++ /dev/null
@@ -1,390 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from aiohttp import ClientError
-
-from providers.unitree_go2_patrol_provider import UnitreeGo2PatrolProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2PatrolProvider.reset()  # type: ignore
-    yield
-    UnitreeGo2PatrolProvider.reset()  # type: ignore
-
-
-class TestUnitreeGo2PatrolProviderInitialization:
-    """Tests for UnitreeGo2PatrolProvider initialization."""
-
-    def test_initialization_default_params(self):
-        """Test initialization with default parameters."""
-        provider = UnitreeGo2PatrolProvider()
-
-        assert provider.patrol_base_url == "http://localhost:5000"
-        assert provider.face_presence_base_url == "http://localhost:6793"
-        assert provider.patrol_image_report_base_url == "https://api.openmind.com"
-        assert provider.api_key == ""
-
-    def test_initialization_custom_params(self):
-        """Test initialization with custom parameters."""
-        provider = UnitreeGo2PatrolProvider(
-            api_key="test_key",
-            patrol_base_url="http://robot.local:8000",
-            face_presence_base_url="http://robot.local:9000",
-            patrol_image_report_base_url="https://custom.api.com",
-        )
-
-        assert provider.patrol_base_url == "http://robot.local:8000"
-        assert provider.face_presence_base_url == "http://robot.local:9000"
-        assert provider.patrol_image_report_base_url == "https://custom.api.com"
-        assert provider.api_key == "test_key"
-
-    def test_singleton_pattern(self):
-        """Test that UnitreeGo2PatrolProvider follows singleton pattern."""
-        provider1 = UnitreeGo2PatrolProvider(api_key="key1")
-        provider2 = UnitreeGo2PatrolProvider(api_key="key2")
-
-        assert provider1 is provider2
-        assert provider1.api_key == "key1"
-
-
-class TestUnitreeGo2PatrolProviderStartPatrol:
-    """Tests for start_patrol method."""
-
-    @pytest.mark.asyncio
-    async def test_start_patrol_success(self):
-        """Test successful patrol start."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await provider.start_patrol()
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://localhost:5000/patrol/start"
-        mock_response.raise_for_status.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_start_patrol_client_error(self):
-        """Test patrol start with client error."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection failed"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(ClientError, match="Connection failed"):
-                await provider.start_patrol()
-
-
-class TestUnitreeGo2PatrolProviderStopPatrol:
-    """Tests for stop_patrol method."""
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol_success(self):
-        """Test successful patrol stop."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await provider.stop_patrol()
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://localhost:5000/patrol/stop"
-        mock_response.raise_for_status.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_stop_patrol_client_error(self):
-        """Test patrol stop with client error."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection timeout"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(ClientError, match="Connection timeout"):
-                await provider.stop_patrol()
-
-
-class TestUnitreeGo2PatrolProviderPausePatrol:
-    """Tests for pause_patrol method."""
-
-    @pytest.mark.asyncio
-    async def test_pause_patrol_success(self):
-        """Test successful patrol pause."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await provider.pause_patrol()
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://localhost:5000/patrol/pause"
-        mock_response.raise_for_status.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_pause_patrol_client_error(self):
-        """Test patrol pause with client error."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Network error"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(ClientError, match="Network error"):
-                await provider.pause_patrol()
-
-
-class TestUnitreeGo2PatrolProviderResumePatrol:
-    """Tests for resume_patrol method."""
-
-    @pytest.mark.asyncio
-    async def test_resume_patrol_success(self):
-        """Test successful patrol resume."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            await provider.resume_patrol()
-
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://localhost:5000/patrol/resume"
-        mock_response.raise_for_status.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_resume_patrol_client_error(self):
-        """Test patrol resume with client error."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Service unavailable"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(ClientError, match="Service unavailable"):
-                await provider.resume_patrol()
-
-
-class TestUnitreeGo2PatrolProviderGetReport:
-    """Tests for get_report method."""
-
-    @pytest.mark.asyncio
-    async def test_get_report_success_default_params(self):
-        """Test successful get report with default parameters."""
-        provider = UnitreeGo2PatrolProvider()
-
-        expected_report = {
-            "frame_b64": "base64_encoded_image",
-            "unknown_captures": [
-                {"track_id": 1, "unknown_duration": 3},
-                {"track_id": 2, "unknown_duration": 5},
-            ],
-        }
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.json = AsyncMock(return_value=expected_report)
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            report = await provider.get_report()
-
-        assert report == expected_report
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "http://localhost:6793/who"
-        assert call_args[1]["json"] == {"recent_sec": 3}
-        assert call_args[1]["headers"]["Content-Type"] == "application/json"
-
-    @pytest.mark.asyncio
-    async def test_get_report_success_custom_recent_sec(self):
-        """Test successful get report with custom recent_sec parameter."""
-        provider = UnitreeGo2PatrolProvider()
-
-        expected_report = {"frame_b64": "", "unknown_captures": []}
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.json = AsyncMock(return_value=expected_report)
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            report = await provider.get_report(recent_sec=10)
-
-        assert report == expected_report
-        call_args = mock_session.post.call_args
-        assert call_args[1]["json"] == {"recent_sec": 10}
-
-    @pytest.mark.asyncio
-    async def test_get_report_client_error(self):
-        """Test get report with client error."""
-        provider = UnitreeGo2PatrolProvider()
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Connection refused"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(ClientError, match="Connection refused"):
-                await provider.get_report()
-
-
-class TestUnitreeGo2PatrolProviderUploadPatrolImage:
-    """Tests for upload_patrol_image method."""
-
-    @pytest.mark.asyncio
-    async def test_upload_patrol_image_success(self):
-        """Test successful patrol image upload."""
-        provider = UnitreeGo2PatrolProvider(api_key="test_api_key")
-
-        image_base64 = "aGVsbG8gd29ybGQ="  # "hello world" in base64
-        description = "Test patrol image"
-
-        expected_response = {"upload_id": "12345", "status": "success"}
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.json = AsyncMock(return_value=expected_response)
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await provider.upload_patrol_image(image_base64, description)
-
-        assert result == expected_response
-        call_args = mock_session.post.call_args
-        assert call_args[0][0] == "https://api.openmind.com/api/core/patrol/upload"
-        assert "Authorization" in call_args[1]["headers"]
-        assert call_args[1]["headers"]["Authorization"] == "Bearer test_api_key"
-
-    @pytest.mark.asyncio
-    async def test_upload_patrol_image_no_api_key(self):
-        """Test patrol image upload without API key."""
-        provider = UnitreeGo2PatrolProvider()  # No API key
-
-        image_base64 = "aGVsbG8gd29ybGQ="
-        description = "Test patrol image"
-
-        result = await provider.upload_patrol_image(image_base64, description)
-
-        assert result == {}
-
-    @pytest.mark.asyncio
-    async def test_upload_patrol_image_empty_description(self):
-        """Test patrol image upload with empty description."""
-        provider = UnitreeGo2PatrolProvider(api_key="test_api_key")
-
-        image_base64 = "aGVsbG8gd29ybGQ="
-
-        expected_response = {"upload_id": "12345"}
-
-        mock_response = MagicMock()
-        mock_response.status = 200
-        mock_response.raise_for_status = MagicMock()
-        mock_response.json = AsyncMock(return_value=expected_response)
-        mock_response.__aenter__ = AsyncMock(return_value=mock_response)
-        mock_response.__aexit__ = AsyncMock(return_value=None)
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(return_value=mock_response)
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            result = await provider.upload_patrol_image(image_base64)
-
-        assert result == expected_response
-
-    @pytest.mark.asyncio
-    async def test_upload_patrol_image_client_error(self):
-        """Test patrol image upload with client error."""
-        provider = UnitreeGo2PatrolProvider(api_key="test_api_key")
-
-        image_base64 = "aGVsbG8gd29ybGQ="
-
-        mock_session = MagicMock()
-        mock_session.post = MagicMock(side_effect=ClientError("Upload failed"))
-        mock_session.__aenter__ = AsyncMock(return_value=mock_session)
-        mock_session.__aexit__ = AsyncMock(return_value=None)
-
-        with patch("aiohttp.ClientSession", return_value=mock_session):
-            with pytest.raises(ClientError, match="Upload failed"):
-                await provider.upload_patrol_image(image_base64, "Test")
-
-    @pytest.mark.asyncio
-    async def test_upload_patrol_image_invalid_base64(self):
-        """Test patrol image upload with invalid base64 data."""
-        provider = UnitreeGo2PatrolProvider(api_key="test_api_key")
-
-        invalid_base64 = "not_valid_base64!!!"
-
-        with pytest.raises(Exception):
-            await provider.upload_patrol_image(invalid_base64, "Test")
diff --git a/tests/providers/test_unitree_go2_rplidar_provider.py b/tests/providers/test_unitree_go2_rplidar_provider.py
deleted file mode 100644
index c65b01726b..0000000000
--- a/tests/providers/test_unitree_go2_rplidar_provider.py
+++ /dev/null
@@ -1,265 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import numpy as np
-import pytest
-
-from providers.unitree_go2_rplidar_provider import (
-    RPLidarConfig,
-    UnitreeGo2RPLidarProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2RPLidarProvider.reset()  # type: ignore
-    yield
-
-    try:
-        # Get the singleton instance if it exists
-        if hasattr(UnitreeGo2RPLidarProvider, "_singleton_instance") and UnitreeGo2RPLidarProvider._singleton_instance is not None:  # type: ignore
-            provider = UnitreeGo2RPLidarProvider._singleton_instance  # type: ignore
-            if hasattr(provider, "running"):
-                provider.running = False
-            if hasattr(provider, "_serial_processor_thread") and provider._serial_processor_thread:
-                provider._serial_processor_thread.join(timeout=1)
-            if hasattr(provider, "_rplidar_processor_thread") and provider._rplidar_processor_thread:
-                try:
-                    if hasattr(provider, "control_queue"):
-                        provider.control_queue.put_nowait("STOP")
-                except Exception:
-                    pass
-                provider._rplidar_processor_thread.join(timeout=1)
-    except Exception:
-        pass
-    finally:
-        UnitreeGo2RPLidarProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_rplidar_dependencies():
-    """Mock all external dependencies for UnitreeGo2RPLidarProvider."""
-    with (
-        patch("providers.unitree_go2_rplidar_provider.UnitreeGo2OdomProvider") as mock_odom,
-        patch("providers.unitree_go2_rplidar_provider.D435Provider") as mock_d435,
-        patch("providers.unitree_go2_rplidar_provider.mp.Queue") as mock_queue,
-        patch("providers.unitree_go2_rplidar_provider.mp.Process") as mock_process,
-    ):
-        mock_odom_instance = MagicMock()
-        mock_odom.return_value = mock_odom_instance
-
-        mock_d435_instance = MagicMock()
-        mock_d435.return_value = mock_d435_instance
-
-        mock_queue_instance = MagicMock()
-        mock_queue.return_value = mock_queue_instance
-
-        mock_process_instance = MagicMock()
-        mock_process.return_value = mock_process_instance
-
-        yield {
-            "odom": mock_odom,
-            "odom_instance": mock_odom_instance,
-            "d435": mock_d435,
-            "d435_instance": mock_d435_instance,
-            "queue": mock_queue,
-            "queue_instance": mock_queue_instance,
-            "process": mock_process,
-            "process_instance": mock_process_instance,
-        }
-
-
-def test_initialization(mock_rplidar_dependencies):
-    """Test UnitreeGo2RPLidarProvider initialization."""
-    provider = UnitreeGo2RPLidarProvider(
-        serial_port="/dev/ttyUSB0",
-        half_width_robot=0.25,
-        relevant_distance_max=1.5,
-        relevant_distance_min=0.1,
-    )
-
-    assert provider.serial_port == "/dev/ttyUSB0"
-    assert provider.half_width_robot == 0.25
-    assert provider.relevant_distance_max == 1.5
-    assert provider.relevant_distance_min == 0.1
-    assert provider.running is False
-    assert provider._raw_scan is None
-    assert provider._valid_paths is None
-
-
-def test_singleton_pattern(mock_rplidar_dependencies):
-    """Test that UnitreeGo2RPLidarProvider follows singleton pattern."""
-    provider1 = UnitreeGo2RPLidarProvider(serial_port="/dev/ttyUSB0")
-    provider2 = UnitreeGo2RPLidarProvider(serial_port="/dev/ttyUSB1")
-    assert provider1 is provider2
-
-
-def test_rplidar_config_defaults():
-    """Test RPLidarConfig default values."""
-    config = RPLidarConfig()
-
-    assert config.max_buf_meas == 0
-    assert config.min_len == 5
-    assert config.max_distance_mm == 10000
-
-
-def test_rplidar_config_custom():
-    """Test RPLidarConfig with custom values."""
-    config = RPLidarConfig(max_buf_meas=100, min_len=10, max_distance_mm=5000)
-
-    assert config.max_buf_meas == 100
-    assert config.min_len == 10
-    assert config.max_distance_mm == 5000
-
-
-def test_initialize_paths(mock_rplidar_dependencies):
-    """Test path initialization."""
-    provider = UnitreeGo2RPLidarProvider()
-
-    assert len(provider.path_angles) == 10
-    assert provider.path_angles == [-60, -45, -30, -15, 0, 15, 30, 45, 60, 180]
-    assert len(provider.paths) == len(provider.path_angles)
-
-
-def test_angles_blanked_default(mock_rplidar_dependencies):
-    """Test that angles_blanked defaults to empty list."""
-    provider = UnitreeGo2RPLidarProvider()
-    assert provider.angles_blanked == []
-
-
-def test_angles_blanked_custom(mock_rplidar_dependencies):
-    """Test angles_blanked with custom values."""
-    custom_blanked = [[-90, -45], [45, 90]]
-    provider = UnitreeGo2RPLidarProvider(angles_blanked=custom_blanked)
-    assert provider.angles_blanked == custom_blanked
-
-
-def test_path_processor_filters_blanked_angles(mock_rplidar_dependencies):
-    """Test that _path_processor excludes readings from blanked angle ranges.
-
-    The blanked range [-170, -150] (in the converted [-180, +180] space)
-    corresponds to angles behind the robot's mounting bracket. Readings
-    that land inside this range should be filtered out before reaching
-    the path planner.
-    """
-    mocks = mock_rplidar_dependencies
-    mocks["d435_instance"].running = False
-    mocks["d435_instance"].obstacle = []
-
-    provider = UnitreeGo2RPLidarProvider(
-        angles_blanked=[[-170.0, -150.0]],
-        sensor_mounting_angle=180.0,
-        relevant_distance_max=1.1,
-        relevant_distance_min=0.08,
-    )
-
-    # Build scan data as (sensor_angle, distance_m) pairs.
-    # After adding sensor_mounting_angle (180) and converting to [-180, +180]:
-    #   sensor 0.0   -> oriented 180.0 -> converted 0.0    (outside blank)
-    #   sensor 190.0 -> oriented 10.0  -> converted -170.0 (inside blank)
-    #   sensor 200.0 -> oriented 20.0  -> converted -160.0 (inside blank)
-    #   sensor 215.0 -> oriented 35.0  -> converted -145.0 (outside blank)
-    scan_data = np.array(
-        [
-            [0.0, 0.5],
-            [190.0, 0.5],
-            [200.0, 0.5],
-            [215.0, 0.5],
-        ]
-    )
-
-    provider._path_processor(scan_data)
-
-    assert provider._raw_scan is not None
-    result_angles = provider._raw_scan[:, 2]
-
-    assert len(result_angles) == 2
-    assert -170.0 not in result_angles
-    assert -160.0 not in result_angles
-
-
-def test_path_processor_no_blanking_when_empty(mock_rplidar_dependencies):
-    """Test that all valid readings pass through when angles_blanked is empty."""
-    mocks = mock_rplidar_dependencies
-    mocks["d435_instance"].running = False
-    mocks["d435_instance"].obstacle = []
-
-    provider = UnitreeGo2RPLidarProvider(
-        angles_blanked=[],
-        sensor_mounting_angle=180.0,
-        relevant_distance_max=1.1,
-        relevant_distance_min=0.08,
-    )
-
-    scan_data = np.array(
-        [
-            [0.0, 0.5],
-            [90.0, 0.5],
-            [180.0, 0.5],
-        ]
-    )
-
-    provider._path_processor(scan_data)
-
-    assert provider._raw_scan is not None
-    assert len(provider._raw_scan) == 3
-
-
-def test_log_file_initialization(mock_rplidar_dependencies):
-    """Test log file initialization."""
-    with patch("providers.unitree_go2_rplidar_provider.time.time") as mock_time:
-        mock_time.return_value = 1234567890.123456
-        provider = UnitreeGo2RPLidarProvider(log_file=True)
-
-        assert provider.write_to_local_file is True
-        assert provider.filename_current == "dump/lidar_1234567890_123456Z.jsonl"
-        mock_time.assert_called()
-
-
-def test_movement_options(mock_rplidar_dependencies):
-    """Test movement_options property returns correct dict structure."""
-    provider = UnitreeGo2RPLidarProvider()
-    provider.turn_left = [0, 1, 2]
-    provider.advance = [4, 5]
-    provider.turn_right = [7, 8]
-    provider.retreat = True
-
-    result = provider.movement_options
-    assert result == {
-        "turn_left": [0, 1, 2],
-        "advance": [4, 5],
-        "turn_right": [7, 8],
-        "retreat": True,
-    }
-
-
-def test_movement_options_default(mock_rplidar_dependencies):
-    """Test movement_options property with default empty values."""
-    provider = UnitreeGo2RPLidarProvider()
-    result = provider.movement_options
-    assert result == {
-        "turn_left": [],
-        "advance": [],
-        "turn_right": [],
-        "retreat": False,
-    }
-
-
-def test_stop(mock_rplidar_dependencies):
-    """Test stop method sets running to False, sends STOP to queue, and joins threads."""
-    provider = UnitreeGo2RPLidarProvider()
-    provider.running = True
-
-    mock_rplidar_thread = MagicMock()
-    mock_serial_thread = MagicMock()
-    mock_queue = MagicMock()
-    provider._rplidar_processor_thread = mock_rplidar_thread
-    provider._serial_processor_thread = mock_serial_thread
-    provider.control_queue = mock_queue
-
-    provider.stop()
-
-    assert provider.running is False
-    mock_queue.put.assert_called_once_with("STOP")
-    mock_rplidar_thread.join.assert_called_once_with(timeout=5)
-    mock_serial_thread.join.assert_called_once_with(timeout=5)
diff --git a/tests/providers/test_unitree_go2_state_provider.py b/tests/providers/test_unitree_go2_state_provider.py
deleted file mode 100644
index 82b0e7763e..0000000000
--- a/tests/providers/test_unitree_go2_state_provider.py
+++ /dev/null
@@ -1,173 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_state_provider import (
-    UnitreeGo2StateProvider,
-    state_machine_codes,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeGo2StateProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = UnitreeGo2StateProvider()
-        provider.stop()
-    except Exception:
-        pass
-
-    UnitreeGo2StateProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for UnitreeGo2StateProvider."""
-    with (
-        patch("providers.unitree_go2_state_provider.mp.Queue") as mock_queue,
-        patch("providers.unitree_go2_state_provider.mp.Process") as mock_process,
-        patch("providers.unitree_go2_state_provider.threading.Thread") as mock_thread,
-    ):
-
-        mock_queue_instance = MagicMock()
-        mock_queue.return_value = mock_queue_instance
-
-        mock_process_instance = MagicMock()
-        mock_process.return_value = mock_process_instance
-
-        mock_thread_instance = MagicMock()
-        mock_thread.return_value = mock_thread_instance
-
-        yield {
-            "queue": mock_queue,
-            "queue_instance": mock_queue_instance,
-            "process": mock_process,
-            "process_instance": mock_process_instance,
-            "thread": mock_thread,
-            "thread_instance": mock_thread_instance,
-        }
-
-
-def test_state_machine_codes():
-    """Test state machine codes dictionary."""
-    assert state_machine_codes[100] == "Agile"
-    assert state_machine_codes[1001] == "Damping"
-    assert state_machine_codes[1007] == "Sit"
-    assert state_machine_codes[1015] == "Regular Walking"
-    assert state_machine_codes[2012] == "Front Flip"
-
-
-def test_initialization(mock_dependencies):
-    """Test UnitreeGo2StateProvider initialization."""
-    provider = UnitreeGo2StateProvider(channel="test_channel")
-
-    assert provider.channel == "test_channel"
-    assert provider.state_code is None
-    assert provider.state is None
-    assert provider.go2_action_progress == 0
-
-
-def test_initialization_default_channel(mock_dependencies):
-    """Test initialization with default channel."""
-    provider = UnitreeGo2StateProvider()
-
-    assert provider.channel == ""
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that UnitreeGo2StateProvider follows singleton pattern."""
-    provider1 = UnitreeGo2StateProvider(channel="channel1")
-    provider2 = UnitreeGo2StateProvider(channel="channel2")
-    assert provider1 is provider2
-
-
-def test_start(mock_dependencies):
-    """Test starting the provider."""
-    provider = UnitreeGo2StateProvider()
-
-    provider.start()
-
-    mock_dependencies["process_instance"].start.assert_called_once()
-    mock_dependencies["thread_instance"].start.assert_called_once()
-
-
-def test_start_already_running(mock_dependencies):
-    """Test starting when already running."""
-    provider = UnitreeGo2StateProvider()
-
-    # Mock the threads to appear alive
-    mock_dependencies["process_instance"].is_alive.return_value = True
-    mock_dependencies["thread_instance"].is_alive.return_value = True
-
-    provider.start()
-
-    mock_dependencies["process_instance"].start.reset_mock()
-    mock_dependencies["thread_instance"].start.reset_mock()
-
-    provider.start()
-
-    mock_dependencies["process_instance"].start.assert_not_called()
-    mock_dependencies["thread_instance"].start.assert_not_called()
-
-
-def test_stop(mock_dependencies):
-    """Test stopping the provider."""
-    provider = UnitreeGo2StateProvider()
-
-    provider.start()
-    provider.stop()
-
-    assert provider._stop_event.is_set()
-    mock_dependencies["queue_instance"].put.assert_called_with("STOP")
-    mock_dependencies["process_instance"].join.assert_called_once()
-    mock_dependencies["thread_instance"].join.assert_called_once()
-
-
-def test_state_code_initial_value(mock_dependencies):
-    """Test initial state code value."""
-    provider = UnitreeGo2StateProvider()
-
-    assert provider.state_code is None
-
-
-def test_state_initial_value(mock_dependencies):
-    """Test initial state value."""
-    provider = UnitreeGo2StateProvider()
-
-    assert provider.state is None
-
-
-def test_data_queue_creation(mock_dependencies):
-    """Test that data queue is created."""
-    UnitreeGo2StateProvider()
-
-    assert mock_dependencies["queue"].call_count >= 1
-
-
-def test_control_queue_creation(mock_dependencies):
-    """Test that control queue is created."""
-    UnitreeGo2StateProvider()
-
-    assert mock_dependencies["queue"].call_count >= 2
-
-
-def test_process_creation(mock_dependencies):
-    """Test that process is created on start."""
-    provider = UnitreeGo2StateProvider()
-
-    mock_dependencies["process"].assert_not_called()
-
-    provider.start()
-
-    mock_dependencies["process"].assert_called_once()
-
-
-def test_channel_parameter(mock_dependencies):
-    """Test channel parameter is stored."""
-    custom_channel = "custom/state/channel"
-    provider = UnitreeGo2StateProvider(channel=custom_channel)
-
-    assert provider.channel == custom_channel
diff --git a/tests/providers/test_unitree_go2_state_zenoh_provider.py b/tests/providers/test_unitree_go2_state_zenoh_provider.py
deleted file mode 100644
index 168c46142c..0000000000
--- a/tests/providers/test_unitree_go2_state_zenoh_provider.py
+++ /dev/null
@@ -1,138 +0,0 @@
-from queue import Queue
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_go2_state_zenoh_provider import (
-    UnitreeGo2StateZenohProvider,
-    _state_zenoh_processor,
-    state_machine_codes,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    UnitreeGo2StateZenohProvider.reset()  # type: ignore
-    yield
-    UnitreeGo2StateZenohProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def patches():
-    with (
-        patch("providers.unitree_go2_state_zenoh_provider.mp.Process") as mock_process_class,
-        patch("providers.unitree_go2_state_zenoh_provider.threading.Thread") as mock_thread_class,
-    ):
-        proc = MagicMock()
-        proc.is_alive.return_value = True
-        mock_process_class.return_value = proc
-        the = MagicMock()
-        the.is_alive.return_value = True
-        mock_thread_class.return_value = the
-        yield {
-            "process_class": mock_process_class,
-            "process": proc,
-            "thread_class": mock_thread_class,
-            "thread": the,
-        }
-
-
-def test_initialization_default_topic(patches):
-    provider = UnitreeGo2StateZenohProvider()
-    assert provider.go2_state is None
-    assert provider.go2_state_code is None
-    assert provider.go2_action_progress == 0
-    patches["process"].start.assert_called_once()
-    patches["thread"].start.assert_called_once()
-
-
-def test_start_is_idempotent(patches):
-    provider = UnitreeGo2StateZenohProvider()
-    initial_process_calls = patches["process_class"].call_count
-    initial_thread_calls = patches["thread_class"].call_count
-    provider.start()
-    assert patches["process_class"].call_count == initial_process_calls
-    assert patches["thread_class"].call_count == initial_thread_calls
-
-
-def test_state_properties(patches):
-    provider = UnitreeGo2StateZenohProvider()
-    provider.go2_state = "Sit"
-    provider.go2_state_code = 1007
-    provider.go2_action_progress = 50
-    assert provider.state == "Sit"
-    assert provider.state_code == 1007
-    assert provider.action_progress == 50
-
-
-def test_processor_loop_consumes_data(patches):
-    from queue import Queue
-
-    provider = UnitreeGo2StateZenohProvider()
-    provider.data_queue = Queue()  # type: ignore[assignment]
-    sample = {
-        "go2_sport_mode_state_msg": "msg",
-        "go2_state_code": 1007,
-        "go2_state": "Sit",
-        "go2_action_progress": 75,
-    }
-    provider.data_queue.put(sample)
-    # is_set returns False once (so the body runs once) then True (loop exits).
-    provider._stop_event = MagicMock()
-    provider._stop_event.is_set.side_effect = [False, True]
-    provider._processor_loop()
-    assert provider.go2_state == "Sit"
-    assert provider.go2_state_code == 1007
-    assert provider.go2_action_progress == 75
-
-
-def test_stop_signals_stop(patches):
-    provider = UnitreeGo2StateZenohProvider()
-    provider._reader_proc = patches["process"]
-    provider._processor_thread = patches["thread"]
-    provider.stop()
-    patches["process"].terminate.assert_called_once()
-
-
-def test_state_machine_codes_present():
-    assert state_machine_codes[1007] == "Sit"
-    assert state_machine_codes[1015] == "Regular Walking"
-    assert state_machine_codes.get(99999) is None
-
-
-def test_state_zenoh_processor_subscribes(patches):
-    """Run the in-process worker function with a pre-stopped control queue."""
-    data_queue: Queue = Queue()
-    control_queue: Queue = Queue()
-    control_queue.put("STOP")
-
-    session = MagicMock()
-    with (
-        patch(
-            "providers.unitree_go2_state_zenoh_provider.open_zenoh_session",
-            return_value=session,
-        ),
-        patch("providers.unitree_go2_state_zenoh_provider.setup_logging"),
-        patch(
-            "providers.unitree_go2_state_zenoh_provider.time.sleep",
-            return_value=None,
-        ),
-    ):
-        _state_zenoh_processor(None, False, data_queue, control_queue)  # type: ignore[arg-type]
-
-    session.declare_subscriber.assert_called_once()
-    topic_arg = session.declare_subscriber.call_args[0][0]
-    assert topic_arg == "sportmodestate"
-
-
-def test_state_zenoh_processor_session_failure():
-    data_queue: Queue = Queue()
-    control_queue: Queue = Queue()
-    with (
-        patch(
-            "providers.unitree_go2_state_zenoh_provider.open_zenoh_session",
-            side_effect=RuntimeError("fail"),
-        ),
-        patch("providers.unitree_go2_state_zenoh_provider.setup_logging"),
-    ):
-        _state_zenoh_processor(None, False, data_queue, control_queue)  # type: ignore[arg-type]
diff --git a/tests/providers/test_unitree_realsense_dev_vlm_provider.py b/tests/providers/test_unitree_realsense_dev_vlm_provider.py
deleted file mode 100644
index 70eafb0651..0000000000
--- a/tests/providers/test_unitree_realsense_dev_vlm_provider.py
+++ /dev/null
@@ -1,275 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.unitree_realsense_dev_vlm_provider import (
-    UnitreeRealSenseDevVideoStream,
-    UnitreeRealSenseDevVLMProvider,
-)
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    UnitreeRealSenseDevVLMProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = getattr(UnitreeRealSenseDevVLMProvider, "_instance", None)
-        if provider:
-            provider.stop()
-    except Exception:
-        pass
-
-    UnitreeRealSenseDevVLMProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_cv2():
-    """Mock OpenCV."""
-    with patch("providers.unitree_realsense_dev_vlm_provider.cv2") as mock:
-        yield mock
-
-
-def test_video_stream_initialization(mock_cv2):
-    """Test UnitreeRealSenseDevVideoStream initialization."""
-    stream = UnitreeRealSenseDevVideoStream(fps=30, resolution=(640, 480), jpeg_quality=70)
-
-    assert stream.fps == 30
-    assert stream.resolution == (640, 480)
-    assert stream.encode_quality == [1, 70]
-
-
-def test_video_stream_with_callback(mock_cv2):
-    """Test initialization with callback."""
-
-    def callback(frame):
-        pass
-
-    stream = UnitreeRealSenseDevVideoStream(frame_callback=callback)
-
-    assert callback in stream.frame_callbacks
-
-
-def test_video_stream_with_multiple_callbacks(mock_cv2):
-    """Test initialization with multiple callbacks."""
-
-    def callback1(frame):
-        pass
-
-    def callback2(frame):
-        pass
-
-    stream = UnitreeRealSenseDevVideoStream(frame_callbacks=[callback1, callback2])
-
-    assert callback1 in stream.frame_callbacks
-    assert callback2 in stream.frame_callbacks
-
-
-def test_video_stream_default_fps(mock_cv2):
-    """Test default FPS value."""
-    stream = UnitreeRealSenseDevVideoStream()
-
-    assert stream.fps == 30
-
-
-def test_video_stream_custom_fps(mock_cv2):
-    """Test custom FPS value."""
-    stream = UnitreeRealSenseDevVideoStream(fps=15)
-
-    assert stream.fps == 15
-
-
-def test_video_stream_default_resolution(mock_cv2):
-    """Test default resolution."""
-    stream = UnitreeRealSenseDevVideoStream()
-
-    assert stream.resolution == (640, 480)
-
-
-def test_video_stream_custom_resolution(mock_cv2):
-    """Test custom resolution."""
-    stream = UnitreeRealSenseDevVideoStream(resolution=(1280, 720))
-
-    assert stream.resolution == (1280, 720)
-
-
-def test_video_stream_jpeg_quality(mock_cv2):
-    """Test JPEG quality setting."""
-    stream = UnitreeRealSenseDevVideoStream(jpeg_quality=85)
-
-    assert stream.encode_quality == [1, 85]
-
-
-def test_vlm_provider_initialization():
-    """Test UnitreeRealSenseDevVLMProvider initialization."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        provider = UnitreeRealSenseDevVLMProvider(
-            ws_url="ws://localhost:8000", fps=30, resolution=(640, 480), jpeg_quality=70
-        )
-
-        assert provider.running is False
-        mock_ws.assert_called_once_with(url="ws://localhost:8000")
-
-
-def test_vlm_provider_singleton():
-    """Test that UnitreeRealSenseDevVLMProvider follows singleton pattern."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client"),
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream"),
-    ):
-
-        provider1 = UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:8000")
-        provider2 = UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:9000")
-        assert provider1 is provider2
-
-
-def test_vlm_provider_register_message_callback():
-    """Test registering message callback."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream"),
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        provider = UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:8000")
-
-        def callback(message):
-            pass
-
-        provider.register_message_callback(callback)
-
-        mock_ws_instance.register_message_callback.assert_called_once_with(callback)
-
-
-def test_vlm_provider_register_message_callback_none():
-    """Test registering None callback."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream"),
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        provider = UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:8000")
-
-        provider.register_message_callback(None)
-
-        mock_ws_instance.register_message_callback.assert_not_called()
-
-
-def test_vlm_provider_start():
-    """Test starting the VLM provider."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        provider = UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:8000")
-        provider.start()
-
-        assert provider.running is True
-        mock_ws_instance.start.assert_called_once()
-        mock_stream_instance.start.assert_called_once()
-
-
-def test_vlm_provider_start_already_running():
-    """Test starting when already running."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        provider = UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:8000")
-        provider.start()
-
-        mock_ws_instance.start.reset_mock()
-        mock_stream_instance.start.reset_mock()
-
-        provider.start()
-
-        mock_ws_instance.start.assert_not_called()
-        mock_stream_instance.start.assert_not_called()
-
-
-def test_vlm_provider_stop():
-    """Test stopping the VLM provider."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        provider = UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:8000")
-        provider.start()
-        provider.stop()
-
-        assert provider.running is False
-        mock_stream_instance.stop.assert_called_once()
-        mock_ws_instance.stop.assert_called_once()
-
-
-def test_vlm_provider_video_stream_parameters():
-    """Test that video stream is created with correct parameters."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client"),
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream") as mock_stream,
-    ):
-
-        UnitreeRealSenseDevVLMProvider(
-            ws_url="ws://localhost:8000",
-            fps=15,
-            resolution=(1280, 720),
-            jpeg_quality=85,
-        )
-
-        call_kwargs = mock_stream.call_args[1]
-        assert call_kwargs["fps"] == 15
-        assert call_kwargs["resolution"] == (1280, 720)
-        assert call_kwargs["jpeg_quality"] == 85
-
-
-def test_vlm_provider_ws_client_callback():
-    """Test that ws_client.send_message is used as frame callback."""
-    with (
-        patch("providers.unitree_realsense_dev_vlm_provider.ws.Client") as mock_ws,
-        patch("providers.unitree_realsense_dev_vlm_provider.UnitreeRealSenseDevVideoStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        UnitreeRealSenseDevVLMProvider(ws_url="ws://localhost:8000")
-
-        call_args = mock_stream.call_args[0]
-        assert call_args[0] == mock_ws_instance.send_message
diff --git a/tests/providers/test_vlm_gemini_provider.py b/tests/providers/test_vlm_gemini_provider.py
deleted file mode 100644
index 6115df2ad4..0000000000
--- a/tests/providers/test_vlm_gemini_provider.py
+++ /dev/null
@@ -1,120 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from providers.vlm_gemini_provider import VLMGeminiProvider
-
-
-@pytest.fixture
-def base_url():
-    return "https://api.openmind.com/api/core/gemini"
-
-
-@pytest.fixture
-def fps():
-    return 30
-
-
-@pytest.fixture
-def api_key():
-    return "test_api_key"
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    VLMGeminiProvider.reset()  # type: ignore
-    yield
-    VLMGeminiProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    mock_client_instance = MagicMock()
-    mock_video_stream_instance = MagicMock()
-    with (
-        patch(
-            "providers.vlm_gemini_provider.AsyncOpenAI",
-            return_value=mock_client_instance,
-        ) as mock_client_class,
-        patch(
-            "providers.vlm_gemini_provider.VideoStream",
-            return_value=mock_video_stream_instance,
-        ) as mock_video_stream_class,
-    ):
-        yield mock_client_class, mock_video_stream_class, mock_client_instance, mock_video_stream_instance
-
-
-def test_initialization(base_url, api_key, fps, mock_dependencies):
-    (
-        mock_client_class,
-        mock_video_stream_class,
-        mock_client_instance,
-        mock_video_stream_instance,
-    ) = mock_dependencies
-    provider = VLMGeminiProvider(base_url, api_key, fps=fps)
-
-    mock_client_class.assert_called_once_with(api_key=api_key, base_url=base_url)
-    mock_video_stream_class.assert_called_once_with(frame_callback=provider._process_frame, fps=fps, device_index=0)
-
-    assert not provider.running
-    assert provider.api_client is mock_client_instance
-    assert provider.video_stream is mock_video_stream_instance
-
-
-def test_singleton_pattern(base_url, api_key, fps, mock_dependencies):
-    provider1 = VLMGeminiProvider(base_url, api_key, fps=fps)
-    provider2 = VLMGeminiProvider(base_url, api_key, fps=fps)
-
-    assert provider1 is provider2
-    assert provider1.api_client is provider2.api_client
-    assert provider1.video_stream is provider2.video_stream
-
-
-def test_register_message_callback(base_url, api_key, fps, mock_dependencies):
-    provider = VLMGeminiProvider(base_url, api_key, fps=fps)
-    callback = MagicMock()
-
-    provider.register_message_callback(callback)
-    assert provider.message_callback == callback
-
-
-@pytest.mark.asyncio
-async def test_start(base_url, api_key, fps, mock_dependencies):
-    (
-        _,
-        _,
-        mock_client_instance,
-        mock_video_stream_instance,
-    ) = mock_dependencies
-    provider = VLMGeminiProvider(base_url, api_key, fps=fps)
-    provider.start()
-
-    assert provider.running
-    mock_video_stream_instance.start.assert_called_once()
-
-    # The provider unwraps the raw OpenAI HTTP response with `with_raw_response.create`
-    # and then parses `raw.text` as JSON. Wire the mock to return that shape so the
-    # callback path exercises end-to-end.
-    raw_response = MagicMock()
-    raw_response.text = '{"choices": [{"message": {"content": "ok"}}]}'
-    mock_client_instance.chat.completions.with_raw_response.create = AsyncMock(return_value=raw_response)
-
-    # Simulate processing a frame so the async API call is triggered.
-    await provider._process_frame("fake_frame")
-    mock_client_instance.chat.completions.with_raw_response.create.assert_called_once()
-
-
-def test_stop(base_url, api_key, fps, mock_dependencies):
-    (
-        _,
-        _,
-        _,
-        mock_video_stream_instance,
-    ) = mock_dependencies
-    provider = VLMGeminiProvider(base_url, api_key, fps=fps)
-    provider.start()
-    provider.stop()
-
-    assert not provider.running
-    mock_video_stream_instance.stop.assert_called_once()
diff --git a/tests/providers/test_vlm_gemini_zenoh_provider.py b/tests/providers/test_vlm_gemini_zenoh_provider.py
deleted file mode 100644
index ff91814002..0000000000
--- a/tests/providers/test_vlm_gemini_zenoh_provider.py
+++ /dev/null
@@ -1,161 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-
-from providers.vlm_gemini_zenoh_provider import VLMGeminiZenohProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    VLMGeminiZenohProvider.reset()  # type: ignore
-    yield
-    VLMGeminiZenohProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def deps():
-    with (
-        patch("providers.vlm_gemini_zenoh_provider.AsyncOpenAI") as mock_openai_class,
-        patch("providers.vlm_gemini_zenoh_provider.VideoZenohStream") as mock_video_class,
-        patch("providers.vlm_gemini_zenoh_provider.threading.Thread") as mock_thread_class,
-    ):
-        client = MagicMock()
-        mock_openai_class.return_value = client
-        video = MagicMock()
-        mock_video_class.return_value = video
-        thread = MagicMock()
-        mock_thread_class.return_value = thread
-        yield {
-            "openai_class": mock_openai_class,
-            "client": client,
-            "video_class": mock_video_class,
-            "video": video,
-            "thread_class": mock_thread_class,
-            "thread": thread,
-        }
-
-
-def test_initialization(deps):
-    provider = VLMGeminiZenohProvider(base_url="http://x", api_key="k", topic="rgb_image")
-    assert provider.running is False
-    assert provider.model == "gemini-2.5-flash"
-    assert provider.max_tokens == 1024
-    assert provider.message_callback is None
-    deps["openai_class"].assert_called_once_with(api_key="k", base_url="http://x")
-    deps["video_class"].assert_called_once()
-    deps["thread"].start.assert_called_once()
-
-
-def test_initialization_custom_model_prompt(deps):
-    provider = VLMGeminiZenohProvider(
-        base_url="http://x",
-        api_key="k",
-        model="gemini-2.5-pro",
-        max_tokens=512,
-        prompt="describe",
-    )
-    assert provider.model == "gemini-2.5-pro"
-    assert provider.max_tokens == 512
-    assert provider.prompt == "describe"
-
-
-def test_register_message_callback(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    cb = MagicMock()
-    provider.register_message_callback(cb)
-    assert provider.message_callback is cb
-
-
-def test_start_idempotent(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    provider.start()
-    assert provider.running is True
-    deps["video"].start.assert_called_once()
-    # Second call should warn but not re-start.
-    provider.start()
-    deps["video"].start.assert_called_once()
-
-
-def test_stop(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    provider.start()
-    # Give the loop a no-op stop method
-    provider._loop = MagicMock()
-    provider.stop()
-    assert provider.running is False
-    deps["video"].stop.assert_called_once()
-    provider._loop.call_soon_threadsafe.assert_called_once()
-
-
-def test_dispatch_frame_backpressure(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    provider._loop = MagicMock()
-    provider._max_inflight = 1
-    provider._inflight = 1  # already at limit
-    with patch("providers.vlm_gemini_zenoh_provider.asyncio.run_coroutine_threadsafe") as mock_schedule:
-        provider._dispatch_frame("frame")
-        mock_schedule.assert_not_called()
-
-
-def test_dispatch_frame_schedules(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    provider._loop = MagicMock()
-    with patch("providers.vlm_gemini_zenoh_provider.asyncio.run_coroutine_threadsafe") as mock_schedule:
-        # Need to consume the awaitable created by _process_frame
-        async def fake_process(_frame):
-            return None
-
-        with patch.object(provider, "_process_frame", side_effect=fake_process):
-            provider._dispatch_frame("frame")
-        mock_schedule.assert_called_once()
-        assert provider._inflight == 1
-
-
-@pytest.mark.asyncio
-async def test_process_frame_success_calls_callback(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    raw = MagicMock()
-    raw.text = '{"choices": [{"message": {"content": "ok"}}]}'
-    provider.api_client.chat.completions.with_raw_response.create = AsyncMock(return_value=raw)
-    cb = MagicMock()
-    provider.register_message_callback(cb)
-    provider._inflight = 1
-    await provider._process_frame('{"frame": "BASE64", "timestamp": 0.0}')
-    cb.assert_called_once_with("ok")
-    assert provider._inflight == 0
-
-
-@pytest.mark.asyncio
-async def test_process_frame_handles_bare_b64(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    raw = MagicMock()
-    raw.text = '{"choices": [{"message": {"content": "fine"}}]}'
-    provider.api_client.chat.completions.with_raw_response.create = AsyncMock(return_value=raw)
-    cb = MagicMock()
-    provider.register_message_callback(cb)
-    provider._inflight = 1
-    await provider._process_frame("not-json-but-base64")
-    cb.assert_called_once_with("fine")
-
-
-@pytest.mark.asyncio
-async def test_process_frame_swallows_api_errors(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    provider.api_client.chat.completions.with_raw_response.create = AsyncMock(side_effect=RuntimeError("fail"))
-    cb = MagicMock()
-    provider.register_message_callback(cb)
-    provider._inflight = 1
-    await provider._process_frame('{"frame": "x"}')
-    cb.assert_not_called()
-    assert provider._inflight == 0
-
-
-@pytest.mark.asyncio
-async def test_process_frame_no_callback_no_crash(deps):
-    provider = VLMGeminiZenohProvider("http://x", "k")
-    raw = MagicMock()
-    raw.text = '{"choices": [{"message": {"content": "ok"}}]}'
-    provider.api_client.chat.completions.with_raw_response.create = AsyncMock(return_value=raw)
-    provider._inflight = 1
-    # No callback registered — should not raise
-    await provider._process_frame('{"frame": "x"}')
diff --git a/tests/providers/test_vlm_openai_provider.py b/tests/providers/test_vlm_openai_provider.py
deleted file mode 100644
index 9d0c244490..0000000000
--- a/tests/providers/test_vlm_openai_provider.py
+++ /dev/null
@@ -1,105 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.vlm_openai_provider import VLMOpenAIProvider
-
-
-@pytest.fixture
-def base_url():
-    return "https://api.openmind.com/api/core/openai"
-
-
-@pytest.fixture
-def fps():
-    return 30
-
-
-@pytest.fixture
-def api_key():
-    return "test_api_key"
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    VLMOpenAIProvider.reset()  # type: ignore
-    yield
-    VLMOpenAIProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    mock_client_instance = MagicMock()
-    mock_video_stream_instance = MagicMock()
-    with (
-        patch(
-            "providers.vlm_openai_provider.AsyncOpenAI",
-            return_value=mock_client_instance,
-        ) as mock_client_class,
-        patch(
-            "providers.vlm_openai_provider.VideoStream",
-            return_value=mock_video_stream_instance,
-        ) as mock_video_stream_class,
-    ):
-        yield mock_client_class, mock_video_stream_class, mock_client_instance, mock_video_stream_instance
-
-
-def test_initialization(base_url, api_key, fps, mock_dependencies):
-    (
-        mock_client_class,
-        mock_video_stream_class,
-        mock_client_instance,
-        mock_video_stream_instance,
-    ) = mock_dependencies
-    provider = VLMOpenAIProvider(base_url, api_key, fps=fps)
-
-    mock_client_class.assert_called_once_with(api_key=api_key, base_url=base_url)
-    mock_video_stream_class.assert_called_once_with(frame_callback=provider._process_frame, fps=fps, device_index=0)
-
-    assert not provider.running
-    assert provider.api_client is mock_client_instance
-    assert provider.video_stream is mock_video_stream_instance
-
-
-def test_singleton_pattern(base_url, api_key, fps, mock_dependencies):
-    provider1 = VLMOpenAIProvider(base_url, api_key, fps=fps)
-    provider2 = VLMOpenAIProvider(base_url, api_key, fps=fps)
-
-    assert provider1 is provider2
-    assert provider1.api_client is provider2.api_client
-    assert provider1.video_stream is provider2.video_stream
-
-
-def test_register_message_callback(base_url, api_key, fps, mock_dependencies):
-    provider = VLMOpenAIProvider(base_url, api_key, fps=fps)
-    callback = MagicMock()
-
-    provider.register_message_callback(callback)
-    assert provider.message_callback == callback
-
-
-@pytest.mark.asyncio
-async def test_start(base_url, api_key, fps, mock_dependencies):
-    _, _, mock_client_instance, mock_video_stream_instance = mock_dependencies
-    provider = VLMOpenAIProvider(base_url, api_key, fps=fps)
-    provider.start()
-
-    assert provider.running
-    mock_video_stream_instance.start.assert_called_once()
-
-    # Simulate processing a frame so the async API call is triggered.
-    # (Using "fake_frame" as an example frame.)
-    await provider._process_frame("fake_frame")
-    # Now assert the chat.completions.create was called.
-    mock_client_instance.chat.completions.create.assert_called_once()
-
-
-def test_stop(base_url, api_key, fps, mock_dependencies):
-    _, _, _, mock_video_stream_instance = mock_dependencies
-    provider = VLMOpenAIProvider(base_url, api_key, fps=fps)
-    provider.start()
-    provider.stop()
-
-    assert not provider.running
-    mock_video_stream_instance.stop.assert_called_once()
diff --git a/tests/providers/test_vlm_openai_rtsp_provider.py b/tests/providers/test_vlm_openai_rtsp_provider.py
deleted file mode 100644
index 4819ed7e9d..0000000000
--- a/tests/providers/test_vlm_openai_rtsp_provider.py
+++ /dev/null
@@ -1,168 +0,0 @@
-import json
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.vlm_openai_rtsp_provider import VLMOpenAIRTSPProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    VLMOpenAIRTSPProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = getattr(VLMOpenAIRTSPProvider, "_instance", None)
-        if provider:
-            provider.running = False
-            if hasattr(provider, "batch_task") and provider.batch_task:
-                mock_task = MagicMock()
-                mock_task.done.return_value = True
-                provider.batch_task = mock_task
-    except Exception:
-        pass
-
-    VLMOpenAIRTSPProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for VLMOpenAIRTSPProvider."""
-    with (
-        patch("providers.vlm_openai_rtsp_provider.AsyncOpenAI", new_callable=MagicMock) as mock_openai,
-        patch("providers.vlm_openai_rtsp_provider.VideoRTSPStream") as mock_stream,
-    ):
-
-        mock_client = MagicMock(spec=[])
-        mock_openai.return_value = mock_client
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        yield {
-            "openai": mock_openai,
-            "client": mock_client,
-            "stream": mock_stream,
-            "stream_instance": mock_stream_instance,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test VLMOpenAIRTSPProvider initialization."""
-    provider = VLMOpenAIRTSPProvider(
-        base_url="http://localhost:8000",
-        api_key="test-key",
-        rtsp_url="rtsp://localhost:8554/camera",
-        fps=30,
-        batch_size=5,
-    )
-
-    assert provider.running is False
-    assert provider.prompt == "What is the most interesting aspect in this series of images?"
-    assert provider.batch_size == 5
-    assert provider.batch_interval == 0.5
-
-    mock_dependencies["openai"].assert_called_once()
-    mock_dependencies["stream"].assert_called_once()
-
-
-def test_initialization_with_custom_prompt(mock_dependencies):
-    """Test initialization with custom prompt."""
-    custom_prompt = "Describe what you see"
-
-    provider = VLMOpenAIRTSPProvider(base_url="http://localhost:8000", api_key="test-key", prompt=custom_prompt)
-
-    assert provider.prompt == custom_prompt
-
-
-def test_initialization_with_custom_batch_settings(mock_dependencies):
-    """Test initialization with custom batch settings."""
-    provider = VLMOpenAIRTSPProvider(
-        base_url="http://localhost:8000",
-        api_key="test-key",
-        batch_size=10,
-        batch_interval=1.0,
-    )
-
-    assert provider.batch_size == 10
-    assert provider.batch_interval == 1.0
-    assert provider.frame_queue.maxlen == 10
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that VLMOpenAIRTSPProvider follows singleton pattern."""
-    provider1 = VLMOpenAIRTSPProvider(base_url="http://localhost:8000", api_key="key1")
-    provider2 = VLMOpenAIRTSPProvider(base_url="http://localhost:9000", api_key="key2")
-    assert provider1 is provider2
-
-
-def test_queue_frame(mock_dependencies):
-    """Test queuing a frame."""
-    provider = VLMOpenAIRTSPProvider(base_url="http://localhost:8000", api_key="test-key")
-
-    frame_data = json.dumps({"frame": "base64encodeddata"})
-    provider._queue_frame(frame_data)
-
-    assert len(provider.frame_queue) == 1
-    assert provider.frame_queue[0] == "base64encodeddata"
-
-
-def test_queue_frame_with_invalid_json(mock_dependencies):
-    """Test queuing a frame with invalid JSON."""
-    provider = VLMOpenAIRTSPProvider(base_url="http://localhost:8000", api_key="test-key")
-
-    # Should not raise exception, just log error
-    provider._queue_frame("invalid json")
-
-    assert len(provider.frame_queue) == 0
-
-
-def test_frame_queue_maxlen(mock_dependencies):
-    """Test that frame queue respects maxlen."""
-    provider = VLMOpenAIRTSPProvider(base_url="http://localhost:8000", api_key="test-key", batch_size=3)
-
-    # Add more frames than batch_size
-    for i in range(5):
-        frame_data = json.dumps({"frame": f"frame{i}"})
-        provider._queue_frame(frame_data)
-
-    # Should only keep last 3
-    assert len(provider.frame_queue) == 3
-
-
-def test_register_message_callback(mock_dependencies):
-    """Test registering message callback."""
-    provider = VLMOpenAIRTSPProvider(base_url="http://localhost:8000", api_key="test-key")
-
-    def callback(message):
-        pass
-
-    provider.register_message_callback(callback)
-
-    assert provider.message_callback == callback
-
-
-def test_video_stream_parameters(mock_dependencies):
-    """Test that video stream is created with correct parameters."""
-    VLMOpenAIRTSPProvider(
-        base_url="http://localhost:8000",
-        api_key="test-key",
-        rtsp_url="rtsp://test:8554/cam",
-        decode_format="H265",
-        fps=15,
-    )
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][0] == "rtsp://test:8554/cam"
-    assert call_args[0][1] == "H265"
-    assert call_args[1]["fps"] == 15
-
-
-def test_openai_client_initialization(mock_dependencies):
-    """Test that AsyncOpenAI client is initialized correctly."""
-    VLMOpenAIRTSPProvider(base_url="http://localhost:8000", api_key="test-key-123")
-
-    call_kwargs = mock_dependencies["openai"].call_args[1]
-    assert call_kwargs["api_key"] == "test-key-123"
-    assert call_kwargs["base_url"] == "http://localhost:8000"
diff --git a/tests/providers/test_vlm_vila_provider.py b/tests/providers/test_vlm_vila_provider.py
deleted file mode 100644
index 3f0a0b50c2..0000000000
--- a/tests/providers/test_vlm_vila_provider.py
+++ /dev/null
@@ -1,96 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.vlm_vila_provider import VLMVilaProvider
-
-
-@pytest.fixture
-def ws_url():
-    return "ws://test.url"
-
-
-@pytest.fixture
-def fps():
-    return 30
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    VLMVilaProvider.reset()  # type: ignore
-    yield
-    VLMVilaProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    mock_ws_client_instance = MagicMock()
-    mock_video_stream_instance = MagicMock()
-    with (
-        patch(
-            "providers.vlm_vila_provider.ws.Client",
-            return_value=mock_ws_client_instance,
-        ) as mock_ws_client_class,
-        patch(
-            "providers.vlm_vila_provider.VideoStream",
-            return_value=mock_video_stream_instance,
-        ) as mock_video_stream_class,
-    ):
-        yield mock_ws_client_class, mock_video_stream_class, mock_ws_client_instance, mock_video_stream_instance
-
-
-def test_initialization(ws_url, fps, mock_dependencies):
-    (
-        mock_ws_client_class,
-        mock_video_stream_class,
-        mock_ws_client_instance,
-        mock_video_stream_instance,
-    ) = mock_dependencies
-    provider = VLMVilaProvider(ws_url, fps=fps)
-
-    mock_ws_client_class.assert_called_once_with(url=ws_url)
-    mock_video_stream_class.assert_called_once_with(mock_ws_client_instance.send_message, fps=fps, device_index=0)
-
-    assert not provider.running
-    assert provider.ws_client is mock_ws_client_instance
-    assert provider.video_stream is mock_video_stream_instance
-
-
-def test_singleton_pattern(ws_url, fps, mock_dependencies):
-    provider1 = VLMVilaProvider(ws_url, fps=fps)
-    provider2 = VLMVilaProvider(ws_url, fps=fps)
-
-    assert provider1 is provider2
-    assert provider1.ws_client is provider2.ws_client
-    assert provider1.video_stream is provider2.video_stream
-
-
-def test_register_message_callback(ws_url, fps, mock_dependencies):
-    _, _, mock_ws_client_instance, _ = mock_dependencies
-    provider = VLMVilaProvider(ws_url, fps=fps)
-    callback = MagicMock()
-
-    provider.register_message_callback(callback)
-    mock_ws_client_instance.register_message_callback.assert_called_once_with(callback)
-
-
-def test_start(ws_url, fps, mock_dependencies):
-    _, _, mock_ws_client_instance, mock_video_stream_instance = mock_dependencies
-    provider = VLMVilaProvider(ws_url, fps=fps)
-    provider.start()
-
-    assert provider.running
-    mock_ws_client_instance.start.assert_called_once()
-    mock_video_stream_instance.start.assert_called_once()
-
-
-def test_stop(ws_url, fps, mock_dependencies):
-    _, _, mock_ws_client_instance, mock_video_stream_instance = mock_dependencies
-    provider = VLMVilaProvider(ws_url, fps=fps)
-    provider.start()
-    provider.stop()
-
-    assert not provider.running
-    mock_video_stream_instance.stop.assert_called_once()
-    mock_ws_client_instance.stop.assert_called_once()
diff --git a/tests/providers/test_vlm_vila_rtsp_provider.py b/tests/providers/test_vlm_vila_rtsp_provider.py
deleted file mode 100644
index ba71d7191d..0000000000
--- a/tests/providers/test_vlm_vila_rtsp_provider.py
+++ /dev/null
@@ -1,192 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.vlm_vila_rtsp_provider import VLMVilaRTSPProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    VLMVilaRTSPProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = getattr(VLMVilaRTSPProvider, "_instance", None)
-        if provider:
-            provider.stop()
-    except Exception:
-        pass
-
-    VLMVilaRTSPProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for VLMVilaRTSPProvider."""
-    with (
-        patch("providers.vlm_vila_rtsp_provider.ws.Client") as mock_ws,
-        patch("providers.vlm_vila_rtsp_provider.VideoRTSPStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        yield {
-            "ws": mock_ws,
-            "ws_instance": mock_ws_instance,
-            "stream": mock_stream,
-            "stream_instance": mock_stream_instance,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test VLMVilaRTSPProvider initialization."""
-    provider = VLMVilaRTSPProvider(
-        ws_url="ws://localhost:8000",
-        rtsp_url="rtsp://localhost:8554/camera",
-        decode_format="H264",
-        fps=30,
-    )
-
-    assert provider.running is False
-
-    mock_dependencies["ws"].assert_called_once_with(url="ws://localhost:8000")
-    mock_dependencies["stream"].assert_called_once()
-
-
-def test_initialization_defaults(mock_dependencies):
-    """Test initialization with default values."""
-    VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][0] == "rtsp://localhost:8554/top_camera"
-    assert call_args[0][1] == "H264"
-    assert call_args[1]["fps"] == 30
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that VLMVilaRTSPProvider follows singleton pattern."""
-    provider1 = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-    provider2 = VLMVilaRTSPProvider(ws_url="ws://localhost:9000")
-    assert provider1 is provider2
-
-
-def test_register_frame_callback(mock_dependencies):
-    """Test registering frame callback."""
-    provider = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    def callback(frame):
-        pass
-
-    provider.register_frame_callback(callback)
-
-    mock_dependencies["stream_instance"].register_frame_callback.assert_called_once_with(callback)
-
-
-def test_register_frame_callback_none(mock_dependencies):
-    """Test registering None frame callback."""
-    provider = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    provider.register_frame_callback(None)
-
-    mock_dependencies["stream_instance"].register_frame_callback.assert_not_called()
-
-
-def test_register_message_callback(mock_dependencies):
-    """Test registering message callback."""
-    provider = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    def callback(message):
-        pass
-
-    provider.register_message_callback(callback)
-
-    mock_dependencies["ws_instance"].register_message_callback.assert_called_once_with(callback)
-
-
-def test_register_message_callback_none(mock_dependencies):
-    """Test registering None message callback."""
-    provider = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    provider.register_message_callback(None)
-
-    mock_dependencies["ws_instance"].register_message_callback.assert_not_called()
-
-
-def test_start(mock_dependencies):
-    """Test starting the provider."""
-    provider = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    provider.start()
-
-    assert provider.running is True
-    mock_dependencies["ws_instance"].start.assert_called_once()
-    mock_dependencies["stream_instance"].start.assert_called_once()
-
-
-def test_start_already_running(mock_dependencies):
-    """Test starting when already running."""
-    provider = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    provider.start()
-
-    # Reset mocks
-    mock_dependencies["ws_instance"].start.reset_mock()
-    mock_dependencies["stream_instance"].start.reset_mock()
-
-    # Try to start again
-    provider.start()
-
-    # Should not call start again
-    mock_dependencies["ws_instance"].start.assert_not_called()
-    mock_dependencies["stream_instance"].start.assert_not_called()
-
-
-def test_stop(mock_dependencies):
-    """Test stopping the provider."""
-    provider = VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    provider.start()
-    provider.stop()
-
-    assert provider.running is False
-    mock_dependencies["stream_instance"].stop.assert_called_once()
-    mock_dependencies["ws_instance"].stop.assert_called_once()
-
-
-def test_custom_rtsp_url(mock_dependencies):
-    """Test custom RTSP URL."""
-    custom_url = "rtsp://10.0.0.100:8554/custom_camera"
-
-    VLMVilaRTSPProvider(ws_url="ws://localhost:8000", rtsp_url=custom_url)
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][0] == custom_url
-
-
-def test_custom_decode_format(mock_dependencies):
-    """Test custom decode format."""
-    VLMVilaRTSPProvider(ws_url="ws://localhost:8000", decode_format="H265")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][1] == "H265"
-
-
-def test_custom_fps(mock_dependencies):
-    """Test custom FPS."""
-    VLMVilaRTSPProvider(ws_url="ws://localhost:8000", fps=15)
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[1]["fps"] == 15
-
-
-def test_ws_client_send_message_callback(mock_dependencies):
-    """Test that ws_client.send_message is used as frame callback."""
-    VLMVilaRTSPProvider(ws_url="ws://localhost:8000")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[1]["frame_callback"] == mock_dependencies["ws_instance"].send_message
diff --git a/tests/providers/test_vlm_vila_zenoh_provider.py b/tests/providers/test_vlm_vila_zenoh_provider.py
deleted file mode 100644
index 1d6e26fd02..0000000000
--- a/tests/providers/test_vlm_vila_zenoh_provider.py
+++ /dev/null
@@ -1,193 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from providers.vlm_vila_zenoh_provider import VLMVilaZenohProvider
-
-
-@pytest.fixture(autouse=True)
-def reset_singleton():
-    """Reset singleton instances between tests."""
-    VLMVilaZenohProvider.reset()  # type: ignore
-    yield
-
-    try:
-        provider = getattr(VLMVilaZenohProvider, "_instance", None)
-        if provider:
-            provider.stop()
-    except Exception:
-        pass
-
-    VLMVilaZenohProvider.reset()  # type: ignore
-
-
-@pytest.fixture
-def mock_dependencies():
-    """Mock dependencies for VLMVilaZenohProvider."""
-    with (
-        patch("providers.vlm_vila_zenoh_provider.ws.Client") as mock_ws,
-        patch("providers.vlm_vila_zenoh_provider.VideoZenohStream") as mock_stream,
-    ):
-
-        mock_ws_instance = MagicMock()
-        mock_ws.return_value = mock_ws_instance
-
-        mock_stream_instance = MagicMock()
-        mock_stream.return_value = mock_stream_instance
-
-        yield {
-            "ws": mock_ws,
-            "ws_instance": mock_ws_instance,
-            "stream": mock_stream,
-            "stream_instance": mock_stream_instance,
-        }
-
-
-def test_initialization(mock_dependencies):
-    """Test VLMVilaZenohProvider initialization."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000", topic="test/camera", decode_format="H264")
-
-    assert provider.running is False
-
-    mock_dependencies["ws"].assert_called_once_with(url="ws://localhost:8000")
-    mock_dependencies["stream"].assert_called_once()
-
-
-def test_initialization_defaults(mock_dependencies):
-    """Test initialization with default values."""
-    VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][0] == "rgb_image"
-    assert call_args[0][1] == "H264"
-
-
-def test_singleton_pattern(mock_dependencies):
-    """Test that VLMVilaZenohProvider follows singleton pattern."""
-    provider1 = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-    provider2 = VLMVilaZenohProvider(ws_url="ws://localhost:9000")
-    assert provider1 is provider2
-
-
-def test_register_frame_callback(mock_dependencies):
-    """Test registering frame callback."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    def callback(frame):
-        pass
-
-    provider.register_frame_callback(callback)
-
-    mock_dependencies["stream_instance"].register_frame_callback.assert_called_once_with(callback)
-
-
-def test_register_frame_callback_none(mock_dependencies):
-    """Test registering None frame callback."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    provider.register_frame_callback(None)
-
-    mock_dependencies["stream_instance"].register_frame_callback.assert_not_called()
-
-
-def test_register_message_callback(mock_dependencies):
-    """Test registering message callback."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    def callback(message):
-        pass
-
-    provider.register_message_callback(callback)
-
-    mock_dependencies["ws_instance"].register_message_callback.assert_called_once_with(callback)
-
-
-def test_register_message_callback_none(mock_dependencies):
-    """Test registering None message callback."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    provider.register_message_callback(None)
-
-    mock_dependencies["ws_instance"].register_message_callback.assert_not_called()
-
-
-def test_start(mock_dependencies):
-    """Test starting the provider."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    provider.start()
-
-    assert provider.running is True
-    mock_dependencies["ws_instance"].start.assert_called_once()
-    mock_dependencies["stream_instance"].start.assert_called_once()
-
-
-def test_start_already_running(mock_dependencies):
-    """Test starting when already running."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    provider.start()
-
-    mock_dependencies["ws_instance"].start.reset_mock()
-    mock_dependencies["stream_instance"].start.reset_mock()
-
-    provider.start()
-
-    mock_dependencies["ws_instance"].start.assert_not_called()
-    mock_dependencies["stream_instance"].start.assert_not_called()
-
-
-def test_stop(mock_dependencies):
-    """Test stopping the provider."""
-    provider = VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    provider.start()
-    provider.stop()
-
-    assert provider.running is False
-    mock_dependencies["stream_instance"].stop.assert_called_once()
-    mock_dependencies["ws_instance"].stop.assert_called_once()
-
-
-def test_custom_topic(mock_dependencies):
-    """Test custom topic."""
-    custom_topic = "robot/camera/front"
-
-    VLMVilaZenohProvider(ws_url="ws://localhost:8000", topic=custom_topic)
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][0] == custom_topic
-
-
-def test_custom_decode_format(mock_dependencies):
-    """Test custom decode format."""
-    VLMVilaZenohProvider(ws_url="ws://localhost:8000", decode_format="H265")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][1] == "H265"
-
-
-def test_ws_client_send_message_callback(mock_dependencies):
-    """Test that ws_client.send_message is used as frame callback."""
-    VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[1]["frame_callback"] == mock_dependencies["ws_instance"].send_message
-
-
-def test_default_topic_value(mock_dependencies):
-    """Test default topic value is 'rgb_image'."""
-    VLMVilaZenohProvider(ws_url="ws://localhost:8000")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][0] == "rgb_image"
-
-
-def test_video_zenoh_stream_initialization(mock_dependencies):
-    """Test VideoZenohStream is initialized correctly."""
-    VLMVilaZenohProvider(ws_url="ws://localhost:8000", topic="custom_topic", decode_format="H265")
-
-    call_args = mock_dependencies["stream"].call_args
-    assert call_args[0][0] == "custom_topic"
-    assert call_args[0][1] == "H265"
-    assert "frame_callback" in call_args[1]
diff --git a/tests/providers/test_zenoh_listener_provider.py b/tests/providers/test_zenoh_listener_provider.py
deleted file mode 100644
index 07754c36f4..0000000000
--- a/tests/providers/test_zenoh_listener_provider.py
+++ /dev/null
@@ -1,166 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-from providers.zenoh_listener_provider import ZenohListenerProvider
-
-
-def test_initialization_success():
-    """Test successful ZenohListenerProvider initialization."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider(topic="test/topic")
-
-        assert provider.session == mock_session
-        assert provider.sub_topic == "test/topic"
-        assert provider.running is False
-        mock_zenoh.assert_called_once()
-
-
-def test_initialization_default_topic():
-    """Test initialization with default topic."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider()
-
-        assert provider.sub_topic == "speech"
-
-
-def test_initialization_failure():
-    """Test handling of initialization failure."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_zenoh.side_effect = Exception("Connection failed")
-
-        provider = ZenohListenerProvider()
-
-        assert provider.session is None
-        assert provider.running is False
-
-
-def test_register_message_callback_success():
-    """Test registering a message callback."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_subscriber = MagicMock()
-        mock_session.declare_subscriber.return_value = mock_subscriber
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider(topic="test/topic")
-
-        def callback(sample):
-            pass
-
-        provider.register_message_callback(callback)
-
-        mock_session.declare_subscriber.assert_called_once_with("test/topic", callback)
-
-
-def test_register_message_callback_without_session():
-    """Test registering callback when session is None."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_zenoh.side_effect = Exception("Connection failed")
-
-        provider = ZenohListenerProvider()
-
-        def callback(sample):
-            pass
-
-        # Should not raise an exception, just log an error
-        provider.register_message_callback(callback)
-
-
-def test_start_without_callback():
-    """Test starting provider without callback."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider()
-        provider.start()
-
-        assert provider.running is True
-
-
-def test_start_with_callback():
-    """Test starting provider with callback."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_subscriber = MagicMock()
-        mock_session.declare_subscriber.return_value = mock_subscriber
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider(topic="test/topic")
-
-        def callback(sample):
-            pass
-
-        provider.start(message_callback=callback)
-
-        assert provider.running is True
-        mock_session.declare_subscriber.assert_called_once_with("test/topic", callback)
-
-
-def test_start_already_running():
-    """Test starting provider when already running."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider()
-        provider.start()
-
-        provider.start()
-
-        assert provider.running is True
-
-
-def test_stop():
-    """Test stopping the provider."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider()
-        provider.start()
-
-        assert provider.running is True
-
-        provider.stop()
-
-        assert provider.running is False
-        assert provider.session is None
-        mock_session.close.assert_called_once()
-
-
-def test_stop_without_session():
-    """Test stopping when session is None."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_zenoh.side_effect = Exception("Connection failed")
-
-        provider = ZenohListenerProvider()
-        provider.running = True
-
-        provider.stop()
-
-        assert provider.running is False
-        assert provider.session is None
-
-
-def test_stop_with_session_close_exception():
-    """Test stopping when session.close() raises an exception."""
-    with patch("providers.zenoh_listener_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_session.close.side_effect = Exception("Close failed")
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohListenerProvider()
-        provider.start()
-
-        # Should not raise exception, just log error
-        provider.stop()
-
-        assert provider.running is False
-        assert provider.session is None
-        mock_session.close.assert_called_once()
diff --git a/tests/providers/test_zenoh_publisher_provider.py b/tests/providers/test_zenoh_publisher_provider.py
deleted file mode 100644
index ca9aadf3e2..0000000000
--- a/tests/providers/test_zenoh_publisher_provider.py
+++ /dev/null
@@ -1,173 +0,0 @@
-import time
-from queue import Queue
-from unittest.mock import MagicMock, patch
-
-from providers.zenoh_publisher_provider import ZenohPublisherProvider
-
-
-def test_initialization_success():
-    """Test successful ZenohPublisherProvider initialization."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider(topic="test/topic")
-
-        assert provider.session == mock_session
-        assert provider.pub_topic == "test/topic"
-        assert provider.running is False
-        assert isinstance(provider._pending_messages, Queue)
-        mock_zenoh.assert_called_once()
-
-
-def test_initialization_default_topic():
-    """Test initialization with default topic."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider()
-
-        assert provider.pub_topic == "speech"
-
-
-def test_initialization_failure():
-    """Test handling of initialization failure."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_zenoh.side_effect = Exception("Connection failed")
-
-        provider = ZenohPublisherProvider()
-
-        assert provider.session is None
-        assert provider.running is False
-
-
-def test_add_pending_message():
-    """Test adding a message to the pending queue."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider()
-
-        provider.add_pending_message("test message")
-
-        assert not provider._pending_messages.empty()
-        msg = provider._pending_messages.get()
-        assert msg["message"] == "test message"
-        assert "time_stamp" in msg
-        assert isinstance(msg["time_stamp"], float)
-
-
-def test_publish_message_success():
-    """Test publishing a message successfully."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider(topic="test/topic")
-
-        msg = {"time_stamp": time.time(), "message": "test"}
-        provider._publish_message(msg)
-
-        mock_session.put.assert_called_once()
-        call_args = mock_session.put.call_args
-        assert call_args[0][0] == "test/topic"
-
-
-def test_publish_message_without_session():
-    """Test publishing when session is None."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_zenoh.side_effect = Exception("Connection failed")
-
-        provider = ZenohPublisherProvider()
-
-        msg = {"time_stamp": time.time(), "message": "test"}
-        # Should not raise an exception, just log and return
-        provider._publish_message(msg)
-
-
-def test_start():
-    """Test starting the publisher provider."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider()
-        provider.start()
-
-        assert provider.running is True
-        assert provider._thread is not None
-        assert provider._thread.daemon is True
-
-
-def test_start_already_running():
-    """Test starting when already running."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider()
-        provider.start()
-
-        first_thread = provider._thread
-
-        # Try to start again
-        provider.start()
-
-        # Thread should not change
-        assert provider._thread is first_thread
-
-
-def test_stop():
-    """Test stopping the publisher provider."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider()
-        provider.start()
-
-        assert provider.running is True
-
-        provider.stop()
-
-        assert provider.running is False
-        mock_session.close.assert_called_once()
-
-
-def test_run_loop_processes_messages():
-    """Test that the run loop processes pending messages."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider()
-        provider.add_pending_message("test message 1")
-        provider.add_pending_message("test message 2")
-
-        provider.start()
-
-        # Give thread time to process
-        time.sleep(0.1)
-        provider.stop()
-
-        # Should have published both messages
-        assert mock_session.put.call_count >= 2
-
-
-def test_message_format():
-    """Test that messages are formatted correctly."""
-    with patch("providers.zenoh_publisher_provider.open_zenoh_session") as mock_zenoh:
-        mock_session = MagicMock()
-        mock_zenoh.return_value = mock_session
-
-        provider = ZenohPublisherProvider()
-        provider.add_pending_message("test message")
-
-        msg = provider._pending_messages.get()
-
-        assert "time_stamp" in msg
-        assert "message" in msg
-        assert msg["message"] == "test message"
-        assert isinstance(msg["time_stamp"], float)
diff --git a/tests/runtime/__init__.py b/tests/runtime/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/runtime/test_config.py b/tests/runtime/test_config.py
deleted file mode 100644
index 390fafdbc1..0000000000
--- a/tests/runtime/test_config.py
+++ /dev/null
@@ -1,732 +0,0 @@
-import logging
-import os
-import tempfile
-from unittest.mock import Mock, mock_open, patch
-
-import pytest
-from jsonschema import ValidationError
-
-from runtime.config import (
-    ModeConfig,
-    ModeSystemConfig,
-    RuntimeConfig,
-    TransitionRule,
-    TransitionType,
-    _load_mode_components,
-    _load_schema,
-    load_mode_config,
-    mode_config_to_dict,
-    validate_config_schema,
-)
-
-
-@pytest.fixture
-def mock_sensor():
-    """Mock sensor for testing."""
-    mock = Mock()
-    mock.config = Mock()
-    return mock
-
-
-@pytest.fixture
-def mock_llm():
-    """Mock LLM for testing."""
-    mock = Mock()
-    mock.config = Mock()
-    return mock
-
-
-@pytest.fixture
-def mock_action():
-    """Mock action for testing."""
-    mock = Mock()
-    mock.config = Mock()
-    return mock
-
-
-@pytest.fixture
-def mock_background():
-    """Mock background for testing."""
-    mock = Mock()
-    mock.config = Mock()
-    return mock
-
-
-@pytest.fixture
-def sample_mode_config():
-    """Sample mode configuration for testing."""
-    return ModeConfig(
-        version="v1.0.0",
-        name="test_mode",
-        display_name="Test Mode",
-        description="A test mode for unit testing",
-        system_prompt_base="You are a test assistant.",
-        hertz=2.0,
-        timeout_seconds=300.0,
-        remember_locations=True,
-        save_interactions=True,
-    )
-
-
-@pytest.fixture
-def sample_system_config():
-    """Sample system configuration for testing."""
-    return ModeSystemConfig(
-        version="v1.0.5",
-        name="test_system",
-        default_mode="default",
-        config_name="test_config",
-        allow_manual_switching=True,
-        mode_memory_enabled=True,
-        api_key="test_api_key",
-        robot_ip="192.168.1.100",
-        URID="test_urid",
-        unitree_ethernet="eth0",
-        system_governance="Test governance",
-        system_prompt_examples="Test examples",
-    )
-
-
-@pytest.fixture
-def sample_transition_rule():
-    """Sample transition rule for testing."""
-    return TransitionRule(
-        from_mode="mode1",
-        to_mode="mode2",
-        transition_type=TransitionType.INPUT_TRIGGERED,
-        trigger_keywords=["switch", "change mode"],
-        priority=5,
-        cooldown_seconds=10.0,
-    )
-
-
-class TestTransitionRule:
-    """Test cases for TransitionRule class."""
-
-    def test_transition_rule_creation(self, sample_transition_rule):
-        """Test basic transition rule creation."""
-        rule = sample_transition_rule
-        assert rule.from_mode == "mode1"
-        assert rule.to_mode == "mode2"
-        assert rule.transition_type == TransitionType.INPUT_TRIGGERED
-        assert rule.trigger_keywords == ["switch", "change mode"]
-        assert rule.priority == 5
-        assert rule.cooldown_seconds == 10.0
-
-    def test_transition_rule_defaults(self):
-        """Test transition rule with default values."""
-        rule = TransitionRule(
-            from_mode="default_from",
-            to_mode="default_to",
-            transition_type=TransitionType.MANUAL,
-        )
-        assert rule.trigger_keywords == []
-        assert rule.priority == 1
-        assert rule.cooldown_seconds == 0.0
-        assert rule.timeout_seconds is None
-        assert rule.context_conditions == {}
-
-    def test_transition_type_enum(self):
-        """Test TransitionType enum values."""
-        assert TransitionType.INPUT_TRIGGERED.value == "input_triggered"
-        assert TransitionType.TIME_BASED.value == "time_based"
-        assert TransitionType.CONTEXT_AWARE.value == "context_aware"
-        assert TransitionType.MANUAL.value == "manual"
-
-
-class TestModeConfig:
-    """Test cases for ModeConfig class."""
-
-    def test_mode_config_creation(self, sample_mode_config):
-        """Test basic mode config creation."""
-        config = sample_mode_config
-        assert config.name == "test_mode"
-        assert config.display_name == "Test Mode"
-        assert config.description == "A test mode for unit testing"
-        assert config.system_prompt_base == "You are a test assistant."
-        assert config.hertz == 2.0
-        assert config.timeout_seconds == 300.0
-        assert config.remember_locations is True
-        assert config.save_interactions is True
-
-    def test_mode_config_defaults(self):
-        """Test mode config with default values."""
-        config = ModeConfig(
-            version="v1.0.0",
-            name="minimal_mode",
-            display_name="Minimal Mode",
-            description="Minimal test mode",
-            system_prompt_base="Basic prompt",
-        )
-        assert config.hertz == 1.0
-        assert config.timeout_seconds is None
-        assert config.remember_locations is False
-        assert config.save_interactions is False
-        assert len(config.agent_inputs) == 0
-        assert config.cortex_llm is None
-        assert len(config.agent_actions) == 0
-        assert len(config.backgrounds) == 0
-
-    def test_to_runtime_config_success(self, sample_mode_config, sample_system_config, mock_llm):
-        """Test successful conversion to RuntimeConfig."""
-        sample_mode_config.cortex_llm = mock_llm
-        sample_system_config.modes = {"test_mode": sample_mode_config}
-
-        runtime_config = sample_mode_config.to_runtime_config(sample_system_config)
-
-        assert isinstance(runtime_config, RuntimeConfig)
-        assert runtime_config.hertz == 2.0
-        assert runtime_config.name == "test_system_test_mode"
-        assert runtime_config.system_prompt_base == "You are a test assistant."
-        assert runtime_config.system_governance == "Test governance"
-        assert runtime_config.system_prompt_examples == "Test examples"
-        assert runtime_config.cortex_llm == mock_llm
-        assert runtime_config.robot_ip == "192.168.1.100"
-        assert runtime_config.api_key == "test_api_key"
-        assert runtime_config.URID == "test_urid"
-        assert runtime_config.unitree_ethernet == "eth0"
-
-    def test_to_runtime_config_with_knowledge_base(self, sample_mode_config, sample_system_config, mock_llm):
-        """Test conversion to RuntimeConfig with knowledge_base configuration."""
-        sample_mode_config.cortex_llm = mock_llm
-        sample_system_config.modes = {"test_mode": sample_mode_config}
-        sample_system_config.knowledge_base = {
-            "knowledge_base": "demo",
-            "knowledge_base_root": "/tmp/kb",
-        }
-
-        runtime_config = sample_mode_config.to_runtime_config(sample_system_config)
-
-        assert isinstance(runtime_config, RuntimeConfig)
-        assert runtime_config.knowledge_base is not None
-        assert runtime_config.knowledge_base["knowledge_base"] == "demo"
-        assert runtime_config.knowledge_base["knowledge_base_root"] == "/tmp/kb"
-
-    def test_to_runtime_config_no_llm(self, sample_mode_config, sample_system_config):
-        """Test conversion to RuntimeConfig fails when no LLM is configured."""
-        sample_system_config.modes = {"test_mode": sample_mode_config}
-
-        with pytest.raises(ValueError, match="No LLM configured for mode test_mode"):
-            sample_mode_config.to_runtime_config(sample_system_config)
-
-    @patch("runtime.config._load_mode_components")
-    def test_load_components(self, mock_load_components, sample_mode_config, sample_system_config):
-        """Test load_components calls _load_mode_components."""
-        sample_mode_config.load_components(sample_system_config)
-        mock_load_components.assert_called_once_with(sample_mode_config, sample_system_config)
-
-
-class TestModeSystemConfig:
-    """Test cases for ModeSystemConfig class."""
-
-    def test_system_config_creation(self, sample_system_config):
-        """Test basic system config creation."""
-        config = sample_system_config
-        assert config.version == "v1.0.5"
-        assert config.name == "test_system"
-        assert config.default_mode == "default"
-        assert config.config_name == "test_config"
-        assert config.allow_manual_switching is True
-        assert config.mode_memory_enabled is True
-        assert config.api_key == "test_api_key"
-        assert config.robot_ip == "192.168.1.100"
-        assert config.URID == "test_urid"
-        assert config.unitree_ethernet == "eth0"
-        assert config.system_governance == "Test governance"
-        assert config.system_prompt_examples == "Test examples"
-
-    def test_system_config_defaults(self):
-        """Test system config with default values."""
-        config = ModeSystemConfig(
-            version="v1.0.5",
-            name="minimal_system",
-            default_mode="default",
-        )
-        assert config.version == "v1.0.5"
-        assert config.config_name == ""
-        assert config.allow_manual_switching is True
-        assert config.mode_memory_enabled is True
-        assert config.api_key is None
-        assert config.robot_ip is None
-        assert config.URID is None
-        assert config.knowledge_base is None
-        assert config.unitree_ethernet is None
-        assert config.system_governance == ""
-        assert config.system_prompt_examples == ""
-        assert config.global_cortex_llm is None
-        assert len(config.modes) == 0
-        assert len(config.transition_rules) == 0
-
-
-class TestLoadModeComponents:
-    """Test cases for _load_mode_components function."""
-
-    @patch("runtime.config.load_input")
-    @patch("runtime.config.load_action")
-    @patch("runtime.config.load_background")
-    @patch("runtime.config.load_llm")
-    def test_load_mode_components_complete(
-        self,
-        mock_load_llm,
-        mock_load_background,
-        mock_load_action,
-        mock_load_input,
-        sample_mode_config,
-        sample_system_config,
-        mock_sensor,
-        mock_action,
-        mock_background,
-        mock_llm,
-    ):
-        """Test loading all component types."""
-        mock_load_input.return_value = mock_sensor
-        mock_load_action.return_value = mock_action
-        mock_load_background.return_value = mock_background
-        mock_load_llm.return_value = mock_llm
-
-        sample_mode_config._raw_inputs = [{"type": "test_input", "config": {}}]
-        sample_mode_config._raw_actions = [{"type": "test_action", "config": {}}]
-        sample_mode_config._raw_backgrounds = [{"type": "test_background", "config": {}}]
-        sample_mode_config._raw_llm = {"type": "test_llm", "config": {}}
-
-        _load_mode_components(sample_mode_config, sample_system_config)
-
-        assert len(sample_mode_config.agent_inputs) == 1
-        assert sample_mode_config.agent_inputs[0] == mock_sensor
-        assert len(sample_mode_config.agent_actions) == 1
-        assert sample_mode_config.agent_actions[0] == mock_action
-        assert len(sample_mode_config.backgrounds) == 1
-        assert sample_mode_config.backgrounds[0] == mock_background
-        assert sample_mode_config.cortex_llm == mock_llm
-
-    @patch("runtime.config.load_llm")
-    def test_load_mode_components_with_global_llm(
-        self,
-        mock_load_llm,
-        sample_mode_config,
-        sample_system_config,
-        mock_llm,
-    ):
-        """Test loading components with global LLM configuration."""
-        mock_load_llm.return_value = mock_llm
-
-        sample_mode_config._raw_llm = None
-        sample_system_config.global_cortex_llm = {"type": "global_llm", "config": {}}
-
-        _load_mode_components(sample_mode_config, sample_system_config)
-
-        assert sample_mode_config.cortex_llm == mock_llm
-        mock_load_llm.assert_called_once()
-
-    def test_load_mode_components_no_llm_raises_error(
-        self,
-        sample_mode_config,
-        sample_system_config,
-    ):
-        """Test that missing LLM configuration raises ValueError."""
-        sample_mode_config._raw_llm = None
-        sample_system_config.global_cortex_llm = None
-
-        with pytest.raises(ValueError, match="No LLM configuration found for mode test_mode"):
-            _load_mode_components(sample_mode_config, sample_system_config)
-
-
-class TestLoadModeConfig:
-    """Test cases for load_mode_config function."""
-
-    def test_load_mode_config_file_not_found(self):
-        """Test load_mode_config with non-existent file."""
-        with pytest.raises(FileNotFoundError):
-            load_mode_config("non_existent_config")
-
-    @patch("runtime.config.validate_config_schema")
-    @patch.dict(
-        os.environ,
-        {"ROBOT_IP": "env_robot_ip", "OM_API_KEY": "env_api_key", "URID": "env_urid"},
-    )
-    def test_load_mode_config_env_loading(self, mock_validate):
-        """Test that ${ENV_VAR} patterns in config are resolved by load_env_vars."""
-        config_data = {
-            "version": "v1.0.5",
-            "default_mode": "default",
-            "api_key": "${OM_API_KEY:-openmind_free}",
-            "robot_ip": "${ROBOT_IP:-}",
-            "URID": "${URID:-default}",
-            "system_governance": "Env governance",
-            "modes": {
-                "default": {
-                    "hertz": 1.0,
-                    "display_name": "Default",
-                    "description": "Default mode",
-                    "system_prompt_base": "Test prompt",
-                    "agent_inputs": [],
-                    "agent_actions": [],
-                }
-            },
-            "cortex_llm": {"type": "test_llm"},
-        }
-
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".json5", delete=False) as f:
-            import json5
-
-            json5.dump(config_data, f)
-            temp_file = f.name
-
-        try:
-            with patch("runtime.config.os.path.join") as mock_join:
-                mock_join.return_value = temp_file
-
-                config = load_mode_config("env_test")
-
-                assert config.robot_ip == "env_robot_ip"
-                assert config.api_key == "env_api_key"
-                assert config.URID == "env_urid"
-
-        finally:
-            os.unlink(temp_file)
-
-    @patch("runtime.config.load_unitree")
-    @patch("runtime.config.validate_config_schema")
-    def test_load_mode_config_with_unitree_ethernet(self, mock_validate, mock_load_unitree):
-        """Test that unitree_ethernet triggers load_unitree call."""
-        config_data = {
-            "version": "v1.0.5",
-            "unitree_ethernet": "eth0",
-            "default_mode": "default",
-            "api_key": "openmind_free",
-            "system_governance": "Env governance",
-            "modes": {
-                "default": {
-                    "hertz": 1.0,
-                    "display_name": "Default",
-                    "description": "Default mode",
-                    "system_prompt_base": "Test prompt",
-                    "agent_inputs": [],
-                    "agent_actions": [],
-                }
-            },
-            "cortex_llm": {"type": "test_llm"},
-        }
-
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".json5", delete=False) as f:
-            import json5
-
-            json5.dump(config_data, f)
-            temp_file = f.name
-
-        try:
-            with patch("runtime.config.os.path.join") as mock_join:
-                mock_join.return_value = temp_file
-
-                config = load_mode_config("unitree_test")
-
-                assert config.unitree_ethernet == "eth0"
-                mock_load_unitree.assert_called_once_with("eth0")
-
-        finally:
-            os.unlink(temp_file)
-
-    def test_load_mode_config_invalid_version(self):
-        """Test load_mode_config with invalid version format."""
-        config_data = {
-            "version": "invalid_version",
-            "name": "invalid_version_test",
-            "default_mode": "default",
-            "api_key": "test_key",
-            "system_governance": "Test governance",
-            "cortex_llm": {"type": "test_llm"},
-            "modes": {
-                "default": {
-                    "display_name": "Default",
-                    "description": "Default mode",
-                    "system_prompt_base": "Test prompt",
-                }
-            },
-        }
-
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".json5", delete=False) as f:
-            import json5
-
-            json5.dump(config_data, f)
-            temp_file = f.name
-
-        try:
-            with patch("runtime.config.os.path.join") as mock_join:
-                mock_join.return_value = temp_file
-
-                with pytest.raises(ValueError, match="Invalid version format"):
-                    load_mode_config("invalid_version_test")
-
-        finally:
-            os.unlink(temp_file)
-
-
-class TestModeConfigToDict:
-    """Test cases for mode_config_to_dict function."""
-
-    def test_mode_config_to_dict_includes_version(self, sample_system_config):
-        """Test that mode_config_to_dict includes the version field."""
-        result = mode_config_to_dict(sample_system_config)
-
-        assert "version" in result
-        assert result["version"] == "v1.0.5"
-
-    def test_mode_config_to_dict_all_fields(self, sample_system_config):
-        """Test that mode_config_to_dict includes all expected fields."""
-        result = mode_config_to_dict(sample_system_config)
-
-        # Verify all top-level fields are present
-        expected_fields = [
-            "version",
-            "name",
-            "default_mode",
-            "allow_manual_switching",
-            "mode_memory_enabled",
-            "api_key",
-            "robot_ip",
-            "URID",
-            "unitree_ethernet",
-            "system_governance",
-            "system_prompt_examples",
-            "cortex_llm",
-            "global_lifecycle_hooks",
-            "modes",
-            "transition_rules",
-        ]
-
-        for field in expected_fields:
-            assert field in result, f"Missing field: {field}"
-
-        # Verify field values
-        assert result["version"] == sample_system_config.version
-        assert result["name"] == sample_system_config.name
-        assert result["default_mode"] == sample_system_config.default_mode
-        assert result["api_key"] == sample_system_config.api_key
-        assert result["robot_ip"] == sample_system_config.robot_ip
-
-
-class TestSchemaLoading:
-    """Test cases for _load_schema function."""
-
-    def test_load_schema_success(self):
-        """Test successful loading of a schema file."""
-        schema = _load_schema("single_mode_schema.json")
-        assert isinstance(schema, dict)
-        assert len(schema) > 0
-
-    def test_load_multi_mode_schema_success(self):
-        """Test successful loading of multi-mode schema file."""
-        schema = _load_schema("multi_mode_schema.json")
-        assert isinstance(schema, dict)
-        assert len(schema) > 0
-
-    def test_load_schema_file_not_found(self):
-        """Test that FileNotFoundError is raised for non-existent schema file."""
-        with pytest.raises(FileNotFoundError) as exc_info:
-            _load_schema("nonexistent_schema.json")
-        assert "Schema file not found" in str(exc_info.value)
-
-    def test_load_schema_returns_valid_json(self):
-        """Test that loaded schema is valid JSON structure."""
-        schema = _load_schema("multi_mode_schema.json")
-        assert "$schema" in schema or "type" in schema or "properties" in schema
-
-    @patch("builtins.open", mock_open(read_data='{"type": "object", "properties": {}}'))
-    @patch("pathlib.Path.exists", return_value=True)
-    def test_load_schema_with_mock_file(self, mock_exists):
-        """Test schema loading with mocked file."""
-        schema = _load_schema("test_schema.json")
-        assert schema == {"type": "object", "properties": {}}
-
-    @patch("pathlib.Path.exists", return_value=False)
-    def test_load_schema_path_does_not_exist(self, mock_exists):
-        """Test that FileNotFoundError is raised when path doesn't exist."""
-        with pytest.raises(FileNotFoundError):
-            _load_schema("missing_schema.json")
-
-
-class TestValidateConfigSchema:
-    """Test cases for validate_config_schema function."""
-
-    def test_validate_single_mode_config(self):
-        """Test that a single-mode config passes validation with single-mode schema."""
-        config = {
-            "version": "v1.0.0",
-            "hertz": 10.0,
-            "name": "test_config",
-            "api_key": "test_key",
-            "system_prompt_base": "You are a helpful assistant.",
-            "system_governance": "Be helpful and harmless.",
-            "system_prompt_examples": "Example: Q: Hello A: Hi there!",
-            "agent_inputs": [],
-            "cortex_llm": {"type": "test_llm"},
-            "agent_actions": [],
-        }
-        validate_config_schema(config)
-
-    def test_validate_multi_mode_config_minimal(self):
-        """Test validation of minimal valid multi-mode configuration."""
-        config = {
-            "version": "v1.0.0",
-            "default_mode": "mode1",
-            "api_key": "test_key",
-            "system_governance": "Be helpful and harmless.",
-            "cortex_llm": {"type": "test_llm"},
-            "modes": {
-                "mode1": {
-                    "display_name": "Test Mode",
-                    "description": "A test mode",
-                    "system_prompt_base": "You are a helpful assistant.",
-                    "hertz": 10.0,
-                    "agent_inputs": [],
-                    "agent_actions": [],
-                }
-            },
-        }
-        validate_config_schema(config)
-
-    def test_validate_config_selects_single_mode_schema(self):
-        """Test that single-mode schema is selected when no 'modes' key."""
-        config = {
-            "name": "test_config",
-            "version": "v1.0.0",
-            "actions": [],
-            "inputs": [],
-            "backgrounds": [],
-        }
-        with patch("runtime.config._load_schema") as mock_load:
-            mock_load.return_value = {
-                "type": "object",
-                "properties": {},
-                "additionalProperties": True,
-            }
-            validate_config_schema(config)
-        mock_load.assert_called_once_with("single_mode_schema.json")
-
-    def test_validate_config_selects_multi_mode_schema(self):
-        """Test that multi-mode schema is selected when 'modes' and 'default_mode' keys are present."""
-        config = {
-            "name": "test_multi_mode",
-            "version": "v1.0.0",
-            "modes": {},
-            "default_mode": "test",
-        }
-        with patch("runtime.config._load_schema") as mock_load:
-            mock_load.return_value = {
-                "type": "object",
-                "properties": {},
-                "additionalProperties": True,
-            }
-            validate_config_schema(config)
-        mock_load.assert_called_once_with("multi_mode_schema.json")
-
-    def test_validate_config_schema_file_not_found(self):
-        """Test that FileNotFoundError is raised when schema file is missing."""
-        config = {"name": "test"}
-        with patch(
-            "runtime.config._load_schema",
-            side_effect=FileNotFoundError("Schema not found"),
-        ):
-            with pytest.raises(FileNotFoundError):
-                validate_config_schema(config)
-
-    def test_validate_config_invalid_schema_raises_validation_error(self):
-        """Test that ValidationError is raised for invalid configuration."""
-        config = {"invalid_field": "value"}
-        with pytest.raises(ValidationError):
-            validate_config_schema(config)
-
-    def test_validate_config_logs_validation_error_with_path(self, caplog):
-        """Test that validation errors are logged with field path."""
-        config = {
-            "name": 123,  # Should be string
-            "version": "v1.0.0",
-            "actions": [],
-            "inputs": [],
-            "backgrounds": [],
-        }
-        with caplog.at_level(logging.ERROR):
-            with pytest.raises(ValidationError):
-                validate_config_schema(config)
-        assert "Schema validation failed" in caplog.text
-
-    def test_validate_config_logs_file_not_found_error(self, caplog):
-        """Test that FileNotFoundError is logged."""
-        config = {"name": "test"}
-        with patch(
-            "runtime.config._load_schema",
-            side_effect=FileNotFoundError("Schema file missing"),
-        ):
-            with caplog.at_level(logging.ERROR):
-                with pytest.raises(FileNotFoundError):
-                    validate_config_schema(config)
-            assert "Schema file missing" in caplog.text
-
-    def test_validate_config_handles_nested_validation_error(self, caplog):
-        """Test that nested validation errors are properly logged."""
-        config = {
-            "name": "test",
-            "version": "v1.0.0",
-            "actions": [{"invalid_nested": True}],
-            "inputs": [],
-            "backgrounds": [],
-        }
-        with caplog.at_level(logging.ERROR):
-            with pytest.raises(ValidationError):
-                validate_config_schema(config)
-        assert "Schema validation failed" in caplog.text
-
-    def test_validate_config_empty_dict(self):
-        """Test validation with empty configuration dictionary."""
-        config = {}
-        with pytest.raises(ValidationError):
-            validate_config_schema(config)
-
-    def test_validate_config_with_additional_properties(self):
-        """Test validation behavior with additional properties."""
-        config = {
-            "name": "test_config",
-            "version": "v1.0.0",
-            "actions": [],
-            "inputs": [],
-            "backgrounds": [],
-            "extra_field": "should_be_validated_by_schema",
-        }
-        try:
-            validate_config_schema(config)
-        except ValidationError:
-            pass
-
-    def test_validate_config_with_complex_modes(self):
-        """Test validation with complex multi-mode configuration."""
-        config = {
-            "name": "complex_multi_mode",
-            "version": "v1.0.0",
-            "modes": {
-                "mode1": {"actions": [], "inputs": [], "backgrounds": []},
-                "mode2": {"actions": [], "inputs": [], "backgrounds": []},
-            },
-        }
-        try:
-            validate_config_schema(config)
-        except ValidationError:
-            pass
-
-    @patch("runtime.config.validate")
-    def test_validate_config_calls_jsonschema_validate(self, mock_validate):
-        """Test that jsonschema.validate is called with correct parameters."""
-        config = {"name": "test", "modes": {}, "default_mode": "test"}
-        schema = {"type": "object"}
-
-        with patch("runtime.config._load_schema", return_value=schema):
-            validate_config_schema(config)
-        mock_validate.assert_called_once_with(instance=config, schema=schema)
-
-    def test_validate_config_error_message_at_root(self, caplog):
-        """Test error logging when validation fails at root level."""
-        config = "not_a_dict"
-
-        with caplog.at_level(logging.ERROR):
-            with pytest.raises(ValidationError):
-                validate_config_schema(config)  # type: ignore
-            assert "root" in caplog.text or "Schema validation failed" in caplog.text
diff --git a/tests/runtime/test_convert.py b/tests/runtime/test_convert.py
deleted file mode 100644
index 8ea92413b3..0000000000
--- a/tests/runtime/test_convert.py
+++ /dev/null
@@ -1,200 +0,0 @@
-import copy
-
-import pytest
-
-from runtime.converter import (
-    ConfigConverter,
-    convert_to_multi_mode,
-)
-
-SINGLE_MODE_CONFIG = {
-    "version": "0.3.0",
-    "name": "test_robot",
-    "hertz": 2.0,
-    "system_prompt_base": "You are a test robot.",
-    "system_governance": "Be safe.",
-    "system_prompt_examples": "Example 1.",
-    "api_key": "test_key",
-    "robot_ip": "192.168.1.1",
-    "URID": "test-urid",
-    "unitree_ethernet": "eth0",
-    "cortex_llm": {"type": "TestLLM", "model": "test-model"},
-    "agent_inputs": [{"type": "TestInput"}],
-    "agent_actions": [{"name": "TestAction"}],
-    "simulators": [{"type": "TestSim"}],
-    "backgrounds": [{"type": "TestBG"}],
-    "action_execution_mode": "parallel",
-    "action_dependencies": {"TestAction": ["OtherAction"]},
-}
-
-MULTI_MODE_CONFIG = {
-    "version": "0.3.0",
-    "name": "test_modes",
-    "default_mode": "mode_a",
-    "allow_manual_switching": True,
-    "mode_memory_enabled": False,
-    "cortex_llm": {"type": "TestLLM"},
-    "system_governance": "Be safe.",
-    "modes": {
-        "mode_a": {
-            "display_name": "Mode A",
-            "description": "First mode",
-            "hertz": 1.0,
-            "system_prompt_base": "Prompt A",
-            "agent_inputs": [],
-            "agent_actions": [],
-            "simulators": [],
-            "backgrounds": [],
-        }
-    },
-    "transition_rules": [],
-}
-
-
-class TestIsSingleMode:
-    def test_single_mode_detected(self):
-        assert ConfigConverter.is_single_mode(SINGLE_MODE_CONFIG) is True
-
-    def test_multi_mode_detected(self):
-        assert ConfigConverter.is_single_mode(MULTI_MODE_CONFIG) is False
-
-    def test_partial_keys_treated_as_single(self):
-        """Config with 'modes' but no 'default_mode' is still single-mode."""
-        partial = {"modes": {}, "name": "partial"}
-        assert ConfigConverter.is_single_mode(partial) is True
-
-    def test_empty_config_is_single(self):
-        assert ConfigConverter.is_single_mode({}) is True
-
-
-class TestConvertToMultiMode:
-    def test_multi_mode_passthrough(self):
-        """Multi-mode configs should be returned unchanged."""
-        original = copy.deepcopy(MULTI_MODE_CONFIG)
-        result = convert_to_multi_mode(MULTI_MODE_CONFIG)
-        assert result == original
-        assert result is MULTI_MODE_CONFIG
-
-    def test_single_mode_conversion(self):
-        config = copy.deepcopy(SINGLE_MODE_CONFIG)
-        result = convert_to_multi_mode(config)
-
-        # Top-level structure
-        assert "modes" in result
-        assert "default_mode" in result
-        assert result["default_mode"] == "test_robot"
-        assert "test_robot" in result["modes"]
-
-    def test_global_fields_promoted(self):
-        config = copy.deepcopy(SINGLE_MODE_CONFIG)
-        result = convert_to_multi_mode(config)
-
-        assert result["api_key"] == "test_key"
-        assert result["robot_ip"] == "192.168.1.1"
-        assert result["URID"] == "test-urid"
-        assert result["unitree_ethernet"] == "eth0"
-        assert result["system_governance"] == "Be safe."
-        assert result["system_prompt_examples"] == "Example 1."
-
-    def test_mode_fields_nested(self):
-        config = copy.deepcopy(SINGLE_MODE_CONFIG)
-        result = convert_to_multi_mode(config)
-        mode = result["modes"]["test_robot"]
-
-        assert mode["hertz"] == 2.0
-        assert mode["system_prompt_base"] == "You are a test robot."
-        assert mode["agent_inputs"] == [{"type": "TestInput"}]
-        assert mode["agent_actions"] == [{"name": "TestAction"}]
-        assert mode["simulators"] == [{"type": "TestSim"}]
-        assert mode["backgrounds"] == [{"type": "TestBG"}]
-        assert mode["action_execution_mode"] == "parallel"
-        assert mode["action_dependencies"] == {"TestAction": ["OtherAction"]}
-
-    def test_cortex_llm_at_both_levels(self):
-        config = copy.deepcopy(SINGLE_MODE_CONFIG)
-        result = convert_to_multi_mode(config)
-
-        assert result["cortex_llm"] == {"type": "TestLLM", "model": "test-model"}
-        assert result["modes"]["test_robot"]["cortex_llm"] == {
-            "type": "TestLLM",
-            "model": "test-model",
-        }
-
-    def test_manual_switching_disabled(self):
-        config = copy.deepcopy(SINGLE_MODE_CONFIG)
-        result = convert_to_multi_mode(config)
-
-        assert result["allow_manual_switching"] is False
-        assert result["mode_memory_enabled"] is False
-
-    def test_transition_rules_empty(self):
-        config = copy.deepcopy(SINGLE_MODE_CONFIG)
-        result = convert_to_multi_mode(config)
-
-        assert result["transition_rules"] == []
-
-    def test_default_name_fallback(self):
-        config = {"version": "0.1.0"}
-        result = convert_to_multi_mode(config)
-
-        assert result["default_mode"] == "default"
-        assert "default" in result["modes"]
-
-    def test_missing_optional_fields_have_defaults(self):
-        config = {
-            "name": "minimal",
-            "version": "0.1.0",
-        }
-        result = convert_to_multi_mode(config)
-        mode = result["modes"]["minimal"]
-
-        # Global defaults
-        assert result["api_key"] == ""
-        assert result["robot_ip"] == ""
-        assert result["URID"] == "default"
-        assert result["unitree_ethernet"] == ""
-        assert result["system_governance"] == ""
-        assert result["system_prompt_examples"] == ""
-
-        # Mode defaults
-        assert mode["hertz"] == 1.0
-        assert mode["agent_inputs"] == []
-        assert mode["agent_actions"] == []
-        assert mode["backgrounds"] == []
-        assert mode["simulators"] == []
-        assert mode["action_execution_mode"] == "concurrent"
-        assert mode["action_dependencies"] == {}
-
-
-class TestValidateConverted:
-    def test_valid_config_passes(self):
-        config = copy.deepcopy(SINGLE_MODE_CONFIG)
-        result = convert_to_multi_mode(config)
-        # Should not raise
-        ConfigConverter._validate(result, "test_robot")
-
-    def test_missing_modes_raises(self):
-        with pytest.raises(ValueError, match="modes"):
-            ConfigConverter._validate({"default_mode": "x"}, "x")
-
-    def test_missing_default_mode_raises(self):
-        with pytest.raises(ValueError, match="default_mode"):
-            ConfigConverter._validate({"modes": {"x": {}}}, "x")
-
-    def test_mode_name_mismatch_raises(self):
-        with pytest.raises(ValueError, match="not in modes"):
-            ConfigConverter._validate({"modes": {"a": {}}, "default_mode": "b"}, "b")
-
-    def test_missing_display_name_raises(self):
-        with pytest.raises(ValueError, match="display_name"):
-            ConfigConverter._validate(
-                {"modes": {"x": {"description": "test"}}, "default_mode": "x"},
-                "x",
-            )
-
-    def test_missing_description_raises(self):
-        with pytest.raises(ValueError, match="description"):
-            ConfigConverter._validate(
-                {"modes": {"x": {"display_name": "X"}}, "default_mode": "x"},
-                "x",
-            )
diff --git a/tests/runtime/test_cortex.py b/tests/runtime/test_cortex.py
deleted file mode 100644
index ca92b44571..0000000000
--- a/tests/runtime/test_cortex.py
+++ /dev/null
@@ -1,1578 +0,0 @@
-import asyncio
-import os
-import tempfile
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from runtime.config import ModeConfig, ModeSystemConfig
-from runtime.cortex import ModeCortexRuntime
-
-
-@pytest.fixture
-def sample_mode_config():
-    mode_config = ModeConfig(
-        version="v1.0.5",
-        name="test_mode",
-        display_name="Test Mode",
-        description="A test mode",
-        system_prompt_base="You are a test agent",
-    )
-    return mode_config
-
-
-@pytest.fixture
-def mock_mode_config():
-    """Mock mode config for testing."""
-    mock_config = Mock(spec=ModeConfig)
-    mock_config.name = "test_mode"
-    mock_config.display_name = "Test Mode"
-    mock_config.description = "A test mode"
-    mock_config.system_prompt_base = "You are a test agent"
-    mock_config.load_components = Mock()
-    mock_config.to_runtime_config = Mock()
-    return mock_config
-
-
-@pytest.fixture
-def mock_system_config(mock_mode_config):
-    """Mock system configuration for testing."""
-    config = Mock(spec=ModeSystemConfig)
-    config.name = "test_system"
-    config.default_mode = "default"
-    config.modes = {
-        "default": mock_mode_config,
-        "advanced": mock_mode_config,
-    }
-    return config
-
-
-@pytest.fixture
-def mock_mode_manager():
-    """Mock mode manager for testing."""
-    manager = Mock()
-    manager.current_mode_name = "default"
-    manager.add_transition_callback = Mock()
-    manager.process_tick = AsyncMock(return_value=None)
-    return manager
-
-
-@pytest.fixture
-def mock_orchestrators():
-    """Mock orchestrators for testing."""
-    return {
-        "fuser": Mock(),
-        "action_orchestrator": Mock(),
-        "background_orchestrator": Mock(),
-        "input_orchestrator": Mock(),
-    }
-
-
-@pytest.fixture
-def cortex_runtime(mock_system_config):
-    """ModeCortexRuntime instance for testing."""
-    with (
-        patch("runtime.cortex.ModeManager") as mock_manager_class,
-        patch("runtime.cortex.IOProvider") as mock_io_provider_class,
-        patch("runtime.cortex.SleepTickerProvider") as mock_sleep_provider_class,
-    ):
-        mock_manager = Mock()
-        mock_manager.current_mode_name = "default"
-        mock_manager.add_transition_callback = Mock()
-        mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-        mock_manager_class.return_value = mock_manager
-
-        mock_io_provider = Mock()
-        mock_io_provider_class.return_value = mock_io_provider
-
-        mock_sleep_provider = Mock()
-        mock_sleep_provider.skip_sleep = False
-        mock_sleep_provider_class.return_value = mock_sleep_provider
-
-        runtime = ModeCortexRuntime(mock_system_config, "test_config")
-        runtime.mode_manager = mock_manager
-        runtime.io_provider = mock_io_provider
-        runtime.sleep_ticker_provider = mock_sleep_provider
-
-        return runtime, {
-            "mode_manager": mock_manager,
-            "io_provider": mock_io_provider,
-            "sleep_provider": mock_sleep_provider,
-        }
-
-
-class TestModeCortexRuntime:
-    """Test cases for ModeCortexRuntime class."""
-
-    def test_initialization(self, mock_system_config):
-        """Test cortex runtime initialization."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config")
-
-            assert runtime.mode_config == mock_system_config
-            assert runtime.mode_config_name == "test_config"
-            assert runtime.current_config is None
-            assert runtime.fuser is None
-            assert runtime.action_orchestrator is None
-            assert runtime.background_orchestrator is None
-            assert runtime.input_orchestrator is None
-            assert runtime._mode_initialized is False
-
-            mock_manager.add_transition_callback.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_initialize_mode(self, cortex_runtime, mock_mode_config):
-        """Test mode initialization."""
-        runtime, mocks = cortex_runtime
-
-        with (
-            patch("runtime.cortex.Fuser") as mock_fuser_class,
-            patch("runtime.cortex.ActionOrchestrator") as mock_action_class,
-            patch("runtime.cortex.BackgroundOrchestrator") as mock_background_class,
-            patch("runtime.cortex.MCPOrchestrator") as mock_mcp_class,
-        ):
-            mock_fuser = Mock()
-            mock_action_orch = Mock()
-            mock_background_orch = Mock()
-            mock_mcp_orch = Mock()
-
-            mock_fuser_class.return_value = mock_fuser
-            mock_action_class.return_value = mock_action_orch
-            mock_background_class.return_value = mock_background_orch
-            mock_mcp_class.return_value = mock_mcp_orch
-
-            mock_mcp_servers = Mock()
-            mock_mcp_servers.start = AsyncMock()
-            mock_mode_config.to_runtime_config.return_value = Mock(
-                mcp_servers=mock_mcp_servers,
-                cortex_llm=Mock(),
-            )
-            runtime.mode_config.modes = {"test_mode": mock_mode_config}
-
-            await runtime._initialize_mode("test_mode")
-
-            mock_mode_config.load_components.assert_called_once_with(runtime.mode_config)
-            mock_mode_config.to_runtime_config.assert_called_once_with(runtime.mode_config)
-
-            assert runtime.fuser == mock_fuser
-            assert runtime.action_orchestrator == mock_action_orch
-            assert runtime.background_orchestrator == mock_background_orch
-            # mcp_orchestrator is created in _initialize_mode but start()
-            # is called later in _start_orchestrators(), not here.
-            assert runtime.mcp_orchestrator == mock_mcp_orch
-            mock_mcp_servers.start.assert_not_awaited()
-
-    @pytest.mark.asyncio
-    async def test_initialize_mode_no_mcp_servers(self, cortex_runtime, mock_mode_config):
-        """Test that mcp_orchestrator is None when mcp_servers is absent."""
-        runtime, mocks = cortex_runtime
-
-        with (
-            patch("runtime.cortex.Fuser"),
-            patch("runtime.cortex.ActionOrchestrator"),
-            patch("runtime.cortex.BackgroundOrchestrator"),
-            patch("runtime.cortex.MCPOrchestrator") as mock_mcp_class,
-        ):
-            mock_mode_config.to_runtime_config.return_value = Mock(
-                mcp_servers=None,
-                cortex_llm=Mock(),
-            )
-            runtime.mode_config.modes = {"test_mode": mock_mode_config}
-
-            await runtime._initialize_mode("test_mode")
-
-            mock_mcp_class.assert_not_called()
-            assert runtime.mcp_orchestrator is None
-
-    @pytest.mark.asyncio
-    async def test_tick_calls_mcp_extract(self, cortex_runtime):
-        """Test that _tick enters the MCP branch and calls extract_mcp_actions."""
-        runtime, mocks = cortex_runtime
-
-        mock_output = Mock()
-        mock_output.actions = []
-
-        async def stream_output(_: str):
-            yield mock_output
-
-        runtime.current_config = Mock()
-        runtime.current_config.hertz = 10.0
-        runtime.current_config.cortex_llm = Mock()
-        runtime.current_config.cortex_llm.ask_stream = Mock(side_effect=stream_output)
-        runtime.current_config.agent_inputs = []
-
-        runtime.fuser = Mock()
-        runtime.fuser.fuse = AsyncMock(return_value="test prompt")
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.flush_promises = AsyncMock(return_value=([], None))
-        runtime.action_orchestrator.promise = AsyncMock()
-        runtime.mcp_orchestrator = Mock()
-        runtime.mcp_orchestrator.max_rounds = 3
-        runtime.mcp_orchestrator.extract_om1_actions = Mock(return_value=[])
-        runtime.mcp_orchestrator.execute_mcp_actions = AsyncMock(return_value=(None, None))
-        runtime.mcp_orchestrator.build_call_signature = Mock(return_value="sig")
-
-        # Mock io_provider with mode_transition_input context manager
-        ctx = Mock()
-        ctx.__enter__ = Mock(return_value=None)
-        ctx.__exit__ = Mock(return_value=False)
-        runtime.io_provider = Mock()
-        runtime.io_provider.mode_transition_input = Mock(return_value=ctx)
-
-        runtime.mode_manager = Mock()
-        runtime.mode_manager.process_tick = AsyncMock(return_value=None)
-
-        runtime._pending_mode_transition = None
-        runtime._mode_transition_event = Mock()
-        runtime._mode_transition_event.set = Mock()
-        runtime._cortex_loop_generation = 0
-
-        await runtime._tick(0)
-
-        runtime.mcp_orchestrator.execute_mcp_actions.assert_awaited_once()
-
-    @pytest.mark.asyncio
-    async def test_tick_skips_mcp_when_none(self, cortex_runtime):
-        """Test that _tick works normally when mcp_orchestrator is None."""
-        runtime, mocks = cortex_runtime
-
-        mock_output = Mock()
-        mock_output.actions = []
-
-        async def stream_output(_: str):
-            yield mock_output
-
-        runtime.current_config = Mock()
-        runtime.current_config.hertz = 10.0
-        runtime.current_config.cortex_llm = Mock()
-        runtime.current_config.cortex_llm.ask_stream = Mock(side_effect=stream_output)
-        runtime.current_config.agent_inputs = []
-
-        runtime.fuser = Mock()
-        runtime.fuser.fuse = AsyncMock(return_value="test prompt")
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.flush_promises = AsyncMock(return_value=([], None))
-        runtime.action_orchestrator.promise = AsyncMock()
-        runtime.mcp_orchestrator = None
-
-        # Mock io_provider with mode_transition_input context manager
-        ctx = Mock()
-        ctx.__enter__ = Mock(return_value=None)
-        ctx.__exit__ = Mock(return_value=False)
-        runtime.io_provider = Mock()
-        runtime.io_provider.mode_transition_input = Mock(return_value=ctx)
-
-        runtime.mode_manager = Mock()
-        runtime.mode_manager.process_tick = AsyncMock(return_value=None)
-
-        runtime._pending_mode_transition = None
-        runtime._mode_transition_event = Mock()
-        runtime._mode_transition_event.set = Mock()
-        runtime._cortex_loop_generation = 0
-
-        await runtime._tick(0)
-
-        # Should still reach action_orchestrator.promise
-        runtime.action_orchestrator.promise.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_on_mode_transition(self, cortex_runtime):
-        """Test mode transition handling."""
-        runtime, mocks = cortex_runtime
-
-        with (
-            patch.object(runtime, "_stop_current_orchestrators") as mock_stop,
-            patch.object(runtime, "_initialize_mode") as mock_init,
-            patch.object(runtime, "_start_orchestrators") as mock_start,
-        ):
-            mock_from_mode = Mock()
-            mock_to_mode = Mock()
-            runtime.mode_config.modes = {
-                "from_mode": mock_from_mode,
-                "to_mode": mock_to_mode,
-            }
-
-            await runtime._on_mode_transition("from_mode", "to_mode")
-
-            mock_stop.assert_called_once()
-            mock_init.assert_called_once_with("to_mode")
-            mock_start.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_on_mode_transition_no_announcement(self, cortex_runtime):
-        """Test mode transition without announcement."""
-        runtime, mocks = cortex_runtime
-
-        with (
-            patch.object(runtime, "_stop_current_orchestrators"),
-            patch.object(runtime, "_initialize_mode"),
-            patch.object(runtime, "_start_orchestrators"),
-        ):
-            mock_mode = Mock()
-            runtime.mode_config.modes = {"to_mode": mock_mode}
-
-            await runtime._on_mode_transition("from_mode", "to_mode")
-
-    @pytest.mark.asyncio
-    async def test_on_mode_transition_exception(self, cortex_runtime):
-        """Test mode transition with exception handling."""
-        runtime, mocks = cortex_runtime
-
-        mock_from_mode = Mock()
-        mock_to_mode = Mock()
-        runtime.mode_config.modes = {
-            "from_mode": mock_from_mode,
-            "to_mode": mock_to_mode,
-        }
-
-        with patch.object(runtime, "_stop_current_orchestrators", side_effect=Exception("Test error")):
-            with pytest.raises(Exception, match="Test error"):
-                await runtime._on_mode_transition("from_mode", "to_mode")
-
-    @pytest.mark.asyncio
-    async def test_stop_current_orchestrators(self, cortex_runtime):
-        """Test stopping current orchestrators."""
-        runtime, mocks = cortex_runtime
-
-        mock_input_task = Mock()
-        mock_input_task.done.return_value = False
-        mock_input_task.cancel = Mock()
-
-        mock_action_task = Mock()
-        mock_action_task.done.return_value = False
-        mock_action_task.cancel = Mock()
-
-        mock_background_task = Mock()
-        mock_background_task.done.return_value = False
-        mock_background_task.cancel = Mock()
-
-        runtime.input_listener_task = mock_input_task
-        runtime.action_task = mock_action_task
-        runtime.background_task = mock_background_task
-
-        with patch("asyncio.wait", new_callable=AsyncMock) as mock_wait:
-            mock_wait.return_value = (
-                {
-                    mock_input_task,
-                    mock_action_task,
-                    mock_background_task,
-                },
-                set(),
-            )
-
-            await runtime._stop_current_orchestrators()
-
-            mock_input_task.cancel.assert_called_once()
-            mock_action_task.cancel.assert_called_once()
-            mock_background_task.cancel.assert_called_once()
-
-            mock_wait.assert_called_once()
-
-            assert runtime.input_listener_task is None
-            assert runtime.action_task is None
-            assert runtime.background_task is None
-
-    @pytest.mark.asyncio
-    async def test_stop_current_orchestrators_done_tasks(self, cortex_runtime):
-        """Test stopping orchestrators with already done tasks."""
-        runtime, mocks = cortex_runtime
-
-        mock_task = Mock()
-        mock_task.done.return_value = True
-        mock_task.cancel = Mock()
-
-        runtime.input_listener_task = mock_task
-
-        with patch("asyncio.gather", new_callable=AsyncMock) as mock_gather:
-            await runtime._stop_current_orchestrators()
-
-            mock_task.cancel.assert_not_called()
-            mock_gather.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_start_orchestrators_no_config(self, cortex_runtime):
-        """Test starting orchestrators without current config raises error."""
-        runtime, mocks = cortex_runtime
-        runtime.current_config = None
-
-        with pytest.raises(RuntimeError, match="No current config available"):
-            await runtime._start_orchestrators()
-
-    @pytest.mark.asyncio
-    async def test_cleanup_tasks(self, cortex_runtime):
-        """Test cleanup of all tasks."""
-        runtime, mocks = cortex_runtime
-
-        mock_task = Mock()
-        mock_task.done.return_value = False
-        mock_task.cancel = Mock()
-
-        runtime.input_listener_task = mock_task
-
-        with patch("asyncio.gather", new_callable=AsyncMock) as mock_gather:
-            await runtime._cleanup_tasks()
-
-            mock_task.cancel.assert_called_once()
-            mock_gather.assert_called_once()
-
-
-class TestMCPModeTransition:
-    """Test MCP lifecycle during cortex mode transitions."""
-
-    @pytest.mark.asyncio
-    async def test_initialize_mode_creates_mcp_orchestrator(self, cortex_runtime, mock_mode_config):
-        """_initialize_mode should create MCPOrchestrator when MCP is configured."""
-        runtime, mocks = cortex_runtime
-
-        mock_mcp_servers = Mock()
-        mock_mode_config.to_runtime_config.return_value = Mock(
-            mcp_servers=mock_mcp_servers,
-            cortex_llm=Mock(),
-        )
-        runtime.mode_config.modes = {"test_mode": mock_mode_config}
-
-        with (
-            patch("runtime.cortex.Fuser"),
-            patch("runtime.cortex.ActionOrchestrator"),
-            patch("runtime.cortex.BackgroundOrchestrator"),
-            patch("runtime.cortex.MCPOrchestrator") as mock_mcp_class,
-        ):
-            await runtime._initialize_mode("test_mode")
-
-        mock_mcp_class.assert_called_once()
-        assert runtime.mcp_orchestrator is not None
-
-    @pytest.mark.asyncio
-    async def test_stop_orchestrators_calls_mcp_stop(self, cortex_runtime):
-        """_stop_current_orchestrators should call mcp_orchestrator.stop()."""
-        runtime, mocks = cortex_runtime
-
-        mock_mcp_orch = Mock()
-        mock_mcp_orch.stop = AsyncMock()
-        runtime.current_config = Mock()
-        runtime.mcp_orchestrator = mock_mcp_orch
-
-        with patch("asyncio.wait", new_callable=AsyncMock) as mock_wait:
-            mock_wait.return_value = (set(), set())
-            await runtime._stop_current_orchestrators()
-
-        mock_mcp_orch.stop.assert_awaited_once()
-        assert runtime.mcp_orchestrator is None
-
-    @pytest.mark.asyncio
-    async def test_transition_mcp_to_no_mcp(self, cortex_runtime, mock_mode_config):
-        """Mode transition from MCP mode to non-MCP mode."""
-        runtime, mocks = cortex_runtime
-
-        mock_mcp_orch = Mock()
-        mock_mcp_orch.stop = AsyncMock()
-        runtime.current_config = Mock()
-        runtime.mcp_orchestrator = mock_mcp_orch
-
-        with patch("asyncio.wait", new_callable=AsyncMock) as mock_wait:
-            mock_wait.return_value = (set(), set())
-            await runtime._stop_current_orchestrators()
-
-        mock_mcp_orch.stop.assert_awaited_once()
-        assert runtime.mcp_orchestrator is None
-
-        mock_mode_config.to_runtime_config.return_value = Mock(
-            mcp_servers=None,
-            cortex_llm=Mock(),
-        )
-        runtime.mode_config.modes = {"no_mcp_mode": mock_mode_config}
-
-        with (
-            patch("runtime.cortex.Fuser"),
-            patch("runtime.cortex.ActionOrchestrator"),
-            patch("runtime.cortex.BackgroundOrchestrator"),
-            patch("runtime.cortex.MCPOrchestrator") as mock_mcp_class,
-        ):
-            await runtime._initialize_mode("no_mcp_mode")
-
-        mock_mcp_class.assert_not_called()
-        assert runtime.mcp_orchestrator is None
-
-    @pytest.mark.asyncio
-    async def test_initialize_mode_calls_mcp_start(self, cortex_runtime, mock_mode_config):
-        """_start_orchestrators should call mcp_orchestrator.start()."""
-        runtime, mocks = cortex_runtime
-
-        mock_mcp_servers = Mock()
-        mock_mode_config.to_runtime_config.return_value = Mock(
-            mcp_servers=mock_mcp_servers,
-            cortex_llm=Mock(),
-        )
-        runtime.mode_config.modes = {"test_mode": mock_mode_config}
-
-        with (
-            patch("runtime.cortex.Fuser"),
-            patch("runtime.cortex.ActionOrchestrator"),
-            patch("runtime.cortex.BackgroundOrchestrator"),
-            patch("runtime.cortex.MCPOrchestrator") as mock_mcp_class,
-        ):
-            mock_mcp_orch = AsyncMock()
-            mock_mcp_orch.start = AsyncMock()
-            mock_mcp_class.return_value = mock_mcp_orch
-
-            await runtime._initialize_mode("test_mode")
-
-        # Verify the orchestrator was created.
-        mock_mcp_class.assert_called_once()
-        assert runtime.mcp_orchestrator is not None
-
-    @pytest.mark.asyncio
-    async def test_transition_no_mcp_to_mcp(self, cortex_runtime, mock_mode_config):
-        """Mode transition from non-MCP mode to MCP mode."""
-        runtime, mocks = cortex_runtime
-
-        runtime.current_config = Mock(mcp_servers=None)
-        runtime.mcp_orchestrator = None
-
-        with patch("asyncio.wait", new_callable=AsyncMock) as mock_wait:
-            mock_wait.return_value = (set(), set())
-            await runtime._stop_current_orchestrators()
-
-        mock_mcp_servers = Mock()
-        mock_mcp_servers.start = AsyncMock()
-        mock_mode_config.to_runtime_config.return_value = Mock(
-            mcp_servers=mock_mcp_servers,
-            cortex_llm=Mock(),
-        )
-        runtime.mode_config.modes = {"mcp_mode": mock_mode_config}
-
-        with (
-            patch("runtime.cortex.Fuser"),
-            patch("runtime.cortex.ActionOrchestrator"),
-            patch("runtime.cortex.BackgroundOrchestrator"),
-            patch("runtime.cortex.MCPOrchestrator") as mock_mcp_class,
-        ):
-            mock_mcp_orch = AsyncMock()
-            mock_mcp_orch.start = AsyncMock()
-            mock_mcp_class.return_value = mock_mcp_orch
-            await runtime._initialize_mode("mcp_mode")
-
-        mock_mcp_class.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_transition_mcp_to_mcp(self, cortex_runtime, mock_mode_config):
-        """Full e2e mode transition from MCP mode to a different MCP mode."""
-        runtime, mocks = cortex_runtime
-
-        old_mcp_orch = Mock()
-        old_mcp_orch.stop = AsyncMock()
-        runtime.current_config = Mock()
-        runtime.mcp_orchestrator = old_mcp_orch
-
-        with patch("asyncio.wait", new_callable=AsyncMock) as mock_wait:
-            mock_wait.return_value = (set(), set())
-            await runtime._stop_current_orchestrators()
-
-        old_mcp_orch.stop.assert_awaited_once()
-        assert runtime.mcp_orchestrator is None
-
-        new_mcp_servers = Mock()
-        new_mcp_servers.start = AsyncMock()
-        mock_mode_config.to_runtime_config.return_value = Mock(
-            mcp_servers=new_mcp_servers,
-            cortex_llm=Mock(),
-        )
-        runtime.mode_config.modes = {"new_mcp_mode": mock_mode_config}
-
-        with (
-            patch("runtime.cortex.Fuser"),
-            patch("runtime.cortex.ActionOrchestrator"),
-            patch("runtime.cortex.BackgroundOrchestrator"),
-            patch("runtime.cortex.MCPOrchestrator") as mock_mcp_class,
-        ):
-            mock_new_orch = AsyncMock()
-            mock_new_orch.start = AsyncMock()
-            mock_mcp_class.return_value = mock_new_orch
-            await runtime._initialize_mode("new_mcp_mode")
-
-        mock_mcp_class.assert_called_once()
-        assert runtime.mcp_orchestrator == mock_new_orch
-
-
-class TestModeCortexRuntimeHotReload:
-    """Test cases for hot reload functionality in ModeCortexRuntime."""
-
-    @pytest.fixture
-    def temp_config_file(self):
-        """Create a temporary config file for testing hot reload."""
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".json5", delete=False) as f:
-            f.write('{"test": "config"}')
-            temp_path = f.name
-
-        yield temp_path
-
-        # Cleanup
-        if os.path.exists(temp_path):
-            os.unlink(temp_path)
-
-    def test_hot_reload_initialization_enabled(self, mock_system_config):
-        """Test hot reload initialization when enabled."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-            patch("os.path.exists", return_value=True),
-            patch("os.path.getmtime", return_value=1234567890.0),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True, check_interval=30)
-
-            assert runtime.hot_reload is True
-            assert runtime.check_interval == 30
-            assert runtime.last_modified == 1234567890.0
-            assert runtime.config_path.endswith("test_config.json5")
-
-    def test_hot_reload_initialization_disabled(self, mock_system_config):
-        """Test hot reload initialization when disabled."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=False)
-
-            assert runtime.hot_reload is False
-            assert runtime.last_modified is None
-
-    def test_get_file_mtime_existing_file(self, mock_system_config, temp_config_file):
-        """Test getting modification time of existing file."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True)
-            runtime.config_path = temp_config_file
-
-            mtime = runtime._get_file_mtime()
-            assert mtime > 0
-
-    def test_get_file_mtime_nonexistent_file(self, mock_system_config):
-        """Test getting modification time of non-existent file."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True)
-            runtime.config_path = "/nonexistent/file.json5"
-
-            mtime = runtime._get_file_mtime()
-            assert mtime == 0.0
-
-    @pytest.mark.asyncio
-    async def test_check_config_changes_file_changed(self, mock_system_config, temp_config_file):
-        """Test config change detection when file is modified."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True, check_interval=0.1)
-            runtime.config_path = temp_config_file
-            runtime.last_modified = 1.0
-
-            runtime._reload_config = AsyncMock()
-
-            task = asyncio.create_task(runtime._check_config_changes())
-
-            try:
-                await asyncio.sleep(0.2)
-                task.cancel()
-
-                runtime._reload_config.assert_called_once()
-            except asyncio.CancelledError:
-                pass
-
-    @pytest.mark.asyncio
-    async def test_check_config_changes_no_change(self, mock_system_config):
-        """Test config change detection when file is not modified."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-            patch("os.path.exists", return_value=True),
-            patch("os.path.getmtime", return_value=1234567890.0),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True, check_interval=0.1)
-            runtime.last_modified = 1234567890.0
-
-            runtime._reload_config = AsyncMock()
-
-            task = asyncio.create_task(runtime._check_config_changes())
-
-            try:
-                await asyncio.sleep(0.2)
-                task.cancel()
-
-                runtime._reload_config.assert_not_called()
-            except asyncio.CancelledError:
-                pass
-
-    @pytest.mark.asyncio
-    async def test_check_config_changes_nonexistent_file(self, mock_system_config):
-        """Test config change detection with non-existent file."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True, check_interval=0.1)
-            runtime.config_path = "/nonexistent/file.json5"
-            runtime.last_modified = 1.0
-
-            runtime._reload_config = AsyncMock()
-
-            task = asyncio.create_task(runtime._check_config_changes())
-
-            try:
-                await asyncio.sleep(0.2)
-                task.cancel()
-
-                runtime._reload_config.assert_not_called()
-            except asyncio.CancelledError:
-                pass
-
-    @pytest.mark.asyncio
-    async def test_reload_config_success(self, mock_system_config):
-        """Test successful config reload."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-            patch("runtime.cortex.load_mode_config") as mock_load_config,
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "test_mode"
-            mock_manager.state = Mock()
-            mock_manager.state.transition_history = []
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            new_mock_config = Mock(spec=ModeSystemConfig)
-            new_mock_config.default_mode = "test_mode"
-            new_mock_config.modes = {"test_mode": Mock()}
-            mock_load_config.return_value = new_mock_config
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True)
-            runtime.mode_manager = mock_manager
-
-            runtime._stop_current_orchestrators = AsyncMock()
-            runtime._initialize_mode = AsyncMock()
-            runtime._start_orchestrators = AsyncMock()
-            runtime._run_cortex_loop = AsyncMock()
-
-            await runtime._reload_config()
-
-            mock_load_config.assert_called_once_with("test_config", mode_source_path="/fake/path/test_config.json5")
-            runtime._stop_current_orchestrators.assert_called_once()
-            runtime._initialize_mode.assert_called_once_with("test_mode")
-            runtime._start_orchestrators.assert_called_once()
-
-            assert runtime.mode_config == new_mock_config
-            assert runtime.mode_manager.config == new_mock_config
-
-    @pytest.mark.asyncio
-    async def test_reload_config_mode_not_found(self, mock_system_config):
-        """Test config reload when current mode is not in new config."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-            patch("runtime.cortex.load_mode_config") as mock_load_config,
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "old_mode"
-            mock_manager.state = Mock()
-            mock_manager.state.transition_history = []
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            new_mock_config = Mock(spec=ModeSystemConfig)
-            new_mock_config.default_mode = "default_mode"
-            new_mock_config.modes = {"default_mode": Mock()}
-            mock_load_config.return_value = new_mock_config
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True)
-            runtime.mode_manager = mock_manager
-
-            runtime._stop_current_orchestrators = AsyncMock()
-            runtime._initialize_mode = AsyncMock()
-            runtime._start_orchestrators = AsyncMock()
-            runtime._run_cortex_loop = AsyncMock()
-
-            await runtime._reload_config()
-
-            runtime._initialize_mode.assert_called_once_with("default_mode")
-            assert runtime.mode_manager.state.current_mode == "default_mode"
-
-    @pytest.mark.asyncio
-    async def test_reload_config_failure(self, mock_system_config):
-        """Test config reload failure handling."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-            patch(
-                "runtime.cortex.load_mode_config",
-                side_effect=Exception("Load failed"),
-            ),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True)
-            runtime.mode_manager = mock_manager
-
-            runtime._stop_current_orchestrators = AsyncMock()
-
-            await runtime._reload_config()
-
-            runtime._stop_current_orchestrators.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_run_with_hot_reload_enabled(self, mock_system_config):
-        """Test run method with hot reload enabled."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "test_mode"
-            mock_manager.set_event_loop = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            mock_system_config.execute_global_lifecycle_hooks = AsyncMock(return_value=True)
-            mock_system_config.modes = {"test_mode": Mock()}
-            mock_system_config.modes["test_mode"].execute_lifecycle_hooks = AsyncMock()
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True, check_interval=1)
-            runtime.mode_manager = mock_manager
-
-            runtime._initialize_mode = AsyncMock()
-            runtime._start_orchestrators = AsyncMock()
-            runtime._cleanup_tasks = AsyncMock()
-            runtime._check_config_changes = AsyncMock()
-
-            call_count = 0
-            original_gather = asyncio.gather
-
-            async def mock_gather_with_exit(*args, **kwargs):
-                nonlocal call_count
-                call_count += 1
-                if call_count == 1:
-                    await asyncio.sleep(0.01)
-                    raise KeyboardInterrupt()
-                return await original_gather(*args, **kwargs)
-
-            with patch("asyncio.gather", side_effect=mock_gather_with_exit):
-                try:
-                    await runtime.run()
-                except KeyboardInterrupt:
-                    pass
-
-            assert runtime.config_watcher_task is not None
-
-            runtime._initialize_mode.assert_called_once_with("test_mode")
-            runtime._start_orchestrators.assert_called_once()
-            runtime._cleanup_tasks.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_cleanup_tasks_with_config_watcher(self, mock_system_config):
-        """Test cleanup includes config watcher task when hot reload is enabled."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True)
-            runtime.mode_manager = mock_manager
-
-            mock_config_watcher = Mock()
-            mock_config_watcher.done.return_value = False
-            mock_config_watcher.cancel = Mock()
-            runtime.config_watcher_task = mock_config_watcher
-
-            with patch("asyncio.gather", new_callable=AsyncMock) as mock_gather:
-                await runtime._cleanup_tasks()
-
-                mock_config_watcher.cancel.assert_called_once()
-                mock_gather.assert_called_once()
-
-
-class TestHotReloadMultiToSingle:
-    """Test hot reload from multi-mode config to single-mode config."""
-
-    @pytest.mark.asyncio
-    async def test_reload_multi_to_single_mode(self, mock_system_config):
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-            patch("runtime.cortex.load_mode_config") as mock_load_config,
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "mode_1"
-            mock_manager.state = Mock()
-            mock_manager.state.transition_history = []
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            mock_system_config.modes = {
-                "mode_1": Mock(),
-                "mode_2": Mock(),
-            }
-            mock_system_config.default_mode = "mode_1"
-
-            single_mode_mock = Mock(spec=ModeConfig)
-            single_mode_mock.name = "single_mode"
-            single_mode_mock.display_name = "single_mode"
-
-            new_single_config = Mock(spec=ModeSystemConfig)
-            new_single_config.default_mode = "single_mode"
-            new_single_config.modes = {"single_mode": single_mode_mock}
-            mock_load_config.return_value = new_single_config
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True)
-            runtime.mode_manager = mock_manager
-
-            runtime._stop_current_orchestrators = AsyncMock()
-            runtime._initialize_mode = AsyncMock()
-            runtime._start_orchestrators = AsyncMock()
-            runtime._run_cortex_loop = AsyncMock()
-
-            await runtime._reload_config()
-
-            runtime._initialize_mode.assert_called_once_with("single_mode")
-            assert runtime.mode_manager.state.current_mode == "single_mode"
-
-            assert runtime.mode_config == new_single_config
-            assert runtime.mode_manager.config == new_single_config
-
-            runtime._stop_current_orchestrators.assert_called_once()
-            runtime._start_orchestrators.assert_called_once()
-
-            assert len(runtime.mode_manager.state.transition_history) == 1
-            assert "config_reload->single_mode:hot_reload" in runtime.mode_manager.state.transition_history[0]
-
-            assert len(new_single_config.modes) == 1
-            assert "single_mode" in new_single_config.modes
-
-
-class TestAdditionalCoverage:
-    """Additional tests to increase coverage above 65%."""
-
-    @pytest.mark.asyncio
-    async def test_handle_mode_transitions_success(self, mock_system_config):
-        """Test _handle_mode_transitions with successful transition."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager._execute_transition = AsyncMock(return_value=True)
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config")
-            runtime._pending_mode_transition = "target_mode"
-            runtime._pending_transition_reason = "test_reason"
-
-            # Run the handler for one iteration
-            task = asyncio.create_task(runtime._handle_mode_transitions())
-
-            # Wait a bit and trigger the event
-            await asyncio.sleep(0.01)
-            runtime._mode_transition_event.set()
-            await asyncio.sleep(0.02)
-
-            # Cancel the task
-            task.cancel()
-            try:
-                await task
-            except asyncio.CancelledError:
-                pass
-
-            # Verify transition was executed
-            mock_manager._execute_transition.assert_called_once_with("target_mode", "test_reason")
-
-    @pytest.mark.asyncio
-    async def test_handle_mode_transitions_failure(self, mock_system_config):
-        """Test _handle_mode_transitions with failed transition."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager._execute_transition = AsyncMock(return_value=False)
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config")
-            runtime._pending_mode_transition = "target_mode"
-            runtime._pending_transition_reason = None  # Test default reason
-
-            task = asyncio.create_task(runtime._handle_mode_transitions())
-            await asyncio.sleep(0.01)
-            runtime._mode_transition_event.set()
-            await asyncio.sleep(0.02)
-
-            task.cancel()
-            try:
-                await task
-            except asyncio.CancelledError:
-                pass
-
-            mock_manager._execute_transition.assert_called_once_with("target_mode", "input_triggered")
-
-    @pytest.mark.asyncio
-    async def test_handle_mode_transitions_exception(self, mock_system_config):
-        """Test _handle_mode_transitions with exception during transition."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager._execute_transition = AsyncMock(side_effect=Exception("Transition error"))
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config")
-            runtime._pending_mode_transition = "target_mode"
-
-            task = asyncio.create_task(runtime._handle_mode_transitions())
-            await asyncio.sleep(0.01)
-            runtime._mode_transition_event.set()
-            await asyncio.sleep(0.1)  # Give it time to handle exception
-
-            task.cancel()
-            try:
-                await task
-            except asyncio.CancelledError:
-                pass
-
-    def test_is_generation_valid_invalid(self, cortex_runtime):
-        """Test _is_generation_valid with mismatched generation."""
-        runtime, _ = cortex_runtime
-        runtime._cortex_loop_generation = 5
-
-        # Test with mismatched generation
-        result = runtime._is_generation_valid(3, "test context")
-        assert result is False
-
-        # Test with valid generation
-        result = runtime._is_generation_valid(5, "test context")
-        assert result is True
-
-    @pytest.mark.asyncio
-    async def test_get_mode_info(self, mock_system_config):
-        """Test get_mode_info method."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.get_mode_info = Mock(return_value={"mode": "info"})
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config")
-            info = runtime.get_mode_info()
-
-            assert info == {"mode": "info"}
-            mock_manager.get_mode_info.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_request_mode_change(self, mock_system_config):
-        """Test request_mode_change method."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.request_transition = AsyncMock(return_value=True)
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config")
-            result = await runtime.request_mode_change("new_mode")
-
-            assert result is True
-            mock_manager.request_transition.assert_called_once_with("new_mode", "manual")
-
-    def test_get_available_modes(self, mock_system_config):
-        """Test get_available_modes method."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "mode1"
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            mode1_config = Mock()
-            mode1_config.display_name = "Mode 1"
-            mode1_config.description = "First mode"
-
-            mode2_config = Mock()
-            mode2_config.display_name = "Mode 2"
-            mode2_config.description = "Second mode"
-
-            mock_system_config.modes = {
-                "mode1": mode1_config,
-                "mode2": mode2_config,
-            }
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config")
-            modes = runtime.get_available_modes()
-
-            assert "mode1" in modes
-            assert "mode2" in modes
-            assert modes["mode1"]["is_current"] is True
-            assert modes["mode2"]["is_current"] is False
-            assert modes["mode1"]["display_name"] == "Mode 1"
-            assert modes["mode2"]["description"] == "Second mode"
-
-    @pytest.mark.asyncio
-    async def test_run_cortex_loop_cancelled(self, cortex_runtime):
-        """Test _run_cortex_loop when cancelled."""
-        runtime, _ = cortex_runtime
-        runtime.current_config = Mock()
-        runtime.current_config.hertz = 10
-        runtime.sleep_ticker_provider = Mock()
-        runtime.sleep_ticker_provider.skip_sleep = False
-        runtime.sleep_ticker_provider.sleep = AsyncMock()
-
-        runtime._tick = AsyncMock(side_effect=asyncio.CancelledError())
-
-        with pytest.raises(asyncio.CancelledError):
-            await runtime._run_cortex_loop()
-
-    @pytest.mark.asyncio
-    async def test_run_cortex_loop_unexpected_error(self, cortex_runtime):
-        """Test _run_cortex_loop with unexpected error."""
-        runtime, _ = cortex_runtime
-        runtime.current_config = Mock()
-        runtime.current_config.hertz = 10
-        runtime.sleep_ticker_provider = Mock()
-        runtime.sleep_ticker_provider.skip_sleep = False
-        runtime.sleep_ticker_provider.sleep = AsyncMock()
-
-        runtime._tick = AsyncMock(side_effect=Exception("Unexpected error"))
-
-        with pytest.raises(Exception, match="Unexpected error"):
-            await runtime._run_cortex_loop()
-
-    @pytest.mark.asyncio
-    async def test_tick_not_initialized(self, cortex_runtime):
-        """Test _tick when cortex is not properly initialized."""
-        runtime, _ = cortex_runtime
-        runtime.current_config = None
-        runtime.fuser = None
-        runtime.action_orchestrator = None
-
-        await runtime._tick(0)
-
-    @pytest.mark.asyncio
-    async def test_tick_during_reload(self, cortex_runtime):
-        """Test _tick skips processing during reload."""
-        runtime, _ = cortex_runtime
-        runtime.current_config = Mock()
-        runtime.fuser = Mock()
-        runtime.action_orchestrator = Mock()
-        runtime._is_reloading = True
-
-        await runtime._tick(0)
-
-        runtime.fuser.fuse.assert_not_called()
-
-    @pytest.mark.asyncio
-    async def test_tick_no_prompt(self, cortex_runtime):
-        """Test _tick when fuser returns None."""
-        runtime, _ = cortex_runtime
-        runtime.current_config = Mock()
-        runtime.current_config.agent_inputs = []
-        runtime.fuser = Mock()
-        runtime.fuser.fuse = AsyncMock(return_value=None)
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.flush_promises = AsyncMock(return_value=([], None))
-        runtime.io_provider.increment_tick = Mock(return_value=1)
-        runtime._is_reloading = False
-        runtime._cortex_loop_generation = 0
-
-        await runtime._tick(0)
-
-        runtime.fuser.fuse.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_tick_mode_transition_triggered(self, cortex_runtime):
-        """Test _tick when mode transition is triggered."""
-        runtime, _ = cortex_runtime
-        runtime.current_config = Mock()
-        runtime.current_config.agent_inputs = []
-        runtime.fuser = Mock()
-        runtime.fuser.fuse = AsyncMock(return_value="test prompt")
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.flush_promises = AsyncMock(return_value=([], None))
-        runtime.io_provider.increment_tick = Mock(return_value=1)
-
-        ctx = Mock()
-        ctx.__enter__ = Mock(return_value=None)
-        ctx.__exit__ = Mock(return_value=False)
-        runtime.io_provider.mode_transition_input = Mock(return_value=ctx)
-        runtime.io_provider.get_mode_transition_input = Mock(return_value="input")
-
-        runtime.mode_manager = Mock()
-        runtime.mode_manager.process_tick = AsyncMock(return_value=("new_mode", "test_reason"))
-        runtime._pending_mode_transition = None
-        runtime._mode_transition_event = Mock()
-        runtime._is_reloading = False
-        runtime._cortex_loop_generation = 0
-
-        await runtime._tick(0)
-
-        assert runtime._pending_mode_transition == "new_mode"
-        assert runtime._pending_transition_reason == "test_reason"
-        runtime._mode_transition_event.set.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_tick_llm_cancelled(self, cortex_runtime):
-        """Test _tick when LLM call is cancelled."""
-        runtime, _ = cortex_runtime
-
-        async def cancelled_stream(_):
-            if False:
-                yield  # Make it an async generator
-            raise asyncio.CancelledError()
-
-        runtime.current_config = Mock()
-        runtime.current_config.hertz = 10.0
-        runtime.current_config.cortex_llm = Mock()
-        runtime.current_config.cortex_llm.ask_stream = cancelled_stream
-        runtime.current_config.agent_inputs = []
-
-        runtime.fuser = Mock()
-        runtime.fuser.fuse = AsyncMock(return_value="test prompt")
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.flush_promises = AsyncMock(return_value=([], None))
-        runtime.mcp_orchestrator = None
-
-        ctx = Mock()
-        ctx.__enter__ = Mock(return_value=None)
-        ctx.__exit__ = Mock(return_value=False)
-        runtime.io_provider.mode_transition_input = Mock(return_value=ctx)
-        runtime.io_provider.get_mode_transition_input = Mock(return_value="input")
-        runtime.io_provider.increment_tick = Mock(return_value=1)
-
-        runtime.mode_manager = Mock()
-        runtime.mode_manager.process_tick = AsyncMock(return_value=None)
-
-        runtime._pending_mode_transition = None
-        runtime._is_reloading = False
-        runtime._cortex_loop_generation = 0
-
-        with pytest.raises(asyncio.CancelledError):
-            await runtime._tick(0)
-
-    @pytest.mark.asyncio
-    async def test_stop_current_orchestrators_with_timeout(self, cortex_runtime):
-        """Test _stop_current_orchestrators when tasks don't complete in time."""
-        runtime, _ = cortex_runtime
-
-        runtime.background_orchestrator = Mock()
-        runtime.background_orchestrator.stop = Mock()
-
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.stop = Mock()
-
-        runtime.input_orchestrator = Mock()
-        runtime.input_orchestrator.stop = Mock()
-
-        mock_cortex_task = Mock()
-        mock_cortex_task.done.return_value = False
-        mock_cortex_task.cancel = Mock()
-        runtime.cortex_loop_task = mock_cortex_task
-
-        pending_task = Mock()
-
-        with patch("asyncio.wait", new_callable=AsyncMock) as mock_wait:
-            mock_wait.return_value = (set(), {pending_task})
-
-            await runtime._stop_current_orchestrators()
-
-            mock_cortex_task.cancel.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_check_config_changes_exception(self, mock_system_config):
-        """Test _check_config_changes with exception in file check."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=True, check_interval=0.01)
-
-            async def sleep_return():
-                return None
-
-            with (
-                patch("os.path.exists", side_effect=Exception("File check error")),
-                patch("asyncio.sleep", new_callable=AsyncMock) as mock_sleep,
-            ):
-                mock_sleep.side_effect = [
-                    None,  # First check_interval sleep
-                    None,  # Error retry sleep
-                    asyncio.CancelledError(),  # Cancel on next iteration
-                ]
-
-                try:
-                    await runtime._check_config_changes()
-                except asyncio.CancelledError:
-                    pass
-
-            assert mock_sleep.call_count >= 2
-
-    @pytest.mark.asyncio
-    @pytest.mark.filterwarnings("ignore::RuntimeWarning")
-    async def test_run_with_exception_in_main_loop(self, mock_system_config):
-        """Test run() method when exception occurs in orchestrator tasks."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "test_mode"
-            mock_manager.set_event_loop = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            mock_system_config.execute_global_lifecycle_hooks = AsyncMock(return_value=True)
-            mock_mode_config = Mock()
-            mock_mode_config.execute_lifecycle_hooks = AsyncMock()
-            mock_system_config.modes = {"test_mode": mock_mode_config}
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=False)
-            runtime.mode_manager = mock_manager
-
-            runtime._initialize_mode = AsyncMock()
-            runtime._cleanup_tasks = AsyncMock()
-
-            runtime._run_cortex_loop = AsyncMock()
-            runtime._handle_mode_transitions = AsyncMock()
-
-            iteration_count = 0
-
-            async def start_with_mocked_tasks():
-                runtime.cortex_loop_task = Mock()
-                runtime.cortex_loop_task.done.return_value = False
-                runtime.mode_transition_task = Mock()
-                runtime.mode_transition_task.done.return_value = False
-
-            runtime._start_orchestrators = start_with_mocked_tasks
-
-            async def gather_with_exception(*args, **kwargs):
-                nonlocal iteration_count
-                iteration_count += 1
-                if iteration_count == 1:
-                    await asyncio.sleep(0.01)
-                    raise Exception("Test orchestrator error")
-                elif iteration_count == 2:
-                    await asyncio.sleep(1.0)  # Sleep to trigger the error handling path
-                    raise KeyboardInterrupt()  # Exit the loop
-                return await asyncio.gather(*args, **kwargs)
-
-            with patch("asyncio.gather", side_effect=gather_with_exception):
-                try:
-                    await runtime.run()
-                except KeyboardInterrupt:
-                    pass
-
-            runtime._cleanup_tasks.assert_called_once()
-
-    @pytest.mark.asyncio
-    @pytest.mark.filterwarnings("ignore::RuntimeWarning")
-    async def test_run_with_cancelled_error_in_main_loop(self, mock_system_config):
-        """Test run() method when CancelledError occurs in orchestrator tasks."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "test_mode"
-            mock_manager.set_event_loop = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            mock_system_config.execute_global_lifecycle_hooks = AsyncMock(return_value=True)
-            mock_mode_config = Mock()
-            mock_mode_config.execute_lifecycle_hooks = AsyncMock()
-            mock_system_config.modes = {"test_mode": mock_mode_config}
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=False)
-            runtime.mode_manager = mock_manager
-
-            runtime._initialize_mode = AsyncMock()
-            runtime._cleanup_tasks = AsyncMock()
-
-            runtime._run_cortex_loop = AsyncMock()
-            runtime._handle_mode_transitions = AsyncMock()
-
-            iteration_count = 0
-
-            async def start_with_mocked_tasks():
-                runtime.cortex_loop_task = Mock()
-                runtime.cortex_loop_task.done.return_value = False
-                runtime.mode_transition_task = Mock()
-                runtime.mode_transition_task.done.return_value = False
-
-            runtime._start_orchestrators = start_with_mocked_tasks
-
-            async def gather_with_cancel(*args, **kwargs):
-                nonlocal iteration_count
-                iteration_count += 1
-                await asyncio.sleep(0.01)
-                if iteration_count == 1:
-                    raise asyncio.CancelledError()
-                elif iteration_count == 2:
-                    await asyncio.sleep(0.1)  # Allow the cancellation handling to run
-                    raise KeyboardInterrupt()
-                return await asyncio.gather(*args, **kwargs)
-
-            with patch("asyncio.gather", side_effect=gather_with_cancel):
-                try:
-                    await runtime.run()
-                except KeyboardInterrupt:
-                    pass
-
-            runtime._cleanup_tasks.assert_called_once()
-
-    @pytest.mark.asyncio
-    @pytest.mark.filterwarnings("ignore::RuntimeWarning")
-    async def test_run_with_startup_hooks_failure(self, mock_system_config):
-        """Test run() method when startup hooks fail."""
-        with (
-            patch("runtime.cortex.ModeManager") as mock_manager_class,
-            patch("runtime.cortex.IOProvider"),
-            patch("runtime.cortex.SleepTickerProvider"),
-        ):
-            mock_manager = Mock()
-            mock_manager.add_transition_callback = Mock()
-            mock_manager.current_mode_name = "test_mode"
-            mock_manager.set_event_loop = Mock()
-            mock_manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-            mock_manager_class.return_value = mock_manager
-
-            mock_system_config.execute_global_lifecycle_hooks = AsyncMock(return_value=False)
-            mock_mode_config = Mock()
-            mock_mode_config.execute_lifecycle_hooks = AsyncMock()
-            mock_system_config.modes = {"test_mode": mock_mode_config}
-
-            runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=False)
-            runtime.mode_manager = mock_manager
-
-            runtime._initialize_mode = AsyncMock()
-            runtime._start_orchestrators = AsyncMock()
-            runtime._cleanup_tasks = AsyncMock()
-
-            mock_task = Mock()
-            mock_task.done.return_value = False
-
-            def mock_create_task(coro, *args, **kwargs):
-                coro.close()
-                return mock_task
-
-            with (
-                patch("asyncio.create_task", side_effect=mock_create_task),
-                patch("asyncio.gather", side_effect=KeyboardInterrupt()),
-            ):
-                try:
-                    await runtime.run()
-                except KeyboardInterrupt:
-                    pass
-
-            # Should still initialize even if hooks fail
-            runtime._initialize_mode.assert_called_once()
-            runtime._cleanup_tasks.assert_called_once()
diff --git a/tests/runtime/test_cortex_mode_transition.py b/tests/runtime/test_cortex_mode_transition.py
deleted file mode 100644
index 4f75cdeee7..0000000000
--- a/tests/runtime/test_cortex_mode_transition.py
+++ /dev/null
@@ -1,804 +0,0 @@
-import asyncio
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from runtime.config import (
-    ModeConfig,
-    ModeSystemConfig,
-    TransitionRule,
-    TransitionType,
-)
-from runtime.cortex import ModeCortexRuntime
-
-
-async def _mock_ask_stream_generator(result):
-    """Helper to create an async generator that yields a single result."""
-    if result is not None:
-        yield result
-
-
-@pytest.fixture
-def sample_mode_configs():
-    """Sample mode configurations for testing mode transitions."""
-    default_mode = ModeConfig(
-        version="v1.0.0",
-        name="default",
-        display_name="Default Mode",
-        description="Default operational mode",
-        system_prompt_base="You are a default agent",
-    )
-
-    advanced_mode = ModeConfig(
-        version="v1.0.0",
-        name="advanced",
-        display_name="Advanced Mode",
-        description="Advanced operational mode",
-        system_prompt_base="You are an advanced agent",
-    )
-
-    emergency_mode = ModeConfig(
-        version="v1.0.0",
-        name="emergency",
-        display_name="Emergency Mode",
-        description="Emergency operational mode",
-        system_prompt_base="You are an emergency response agent",
-    )
-
-    return {
-        "default": default_mode,
-        "advanced": advanced_mode,
-        "emergency": emergency_mode,
-    }
-
-
-@pytest.fixture
-def sample_transition_rules():
-    """Sample transition rules for testing mode transitions."""
-    return [
-        TransitionRule(
-            from_mode="default",
-            to_mode="advanced",
-            transition_type=TransitionType.INPUT_TRIGGERED,
-            trigger_keywords=["advanced", "complex", "detailed"],
-            priority=5,
-            cooldown_seconds=1.0,
-        ),
-        TransitionRule(
-            from_mode="default",
-            to_mode="emergency",
-            transition_type=TransitionType.INPUT_TRIGGERED,
-            trigger_keywords=["emergency", "urgent", "help"],
-            priority=10,  # Higher priority than advanced
-            cooldown_seconds=0.5,
-        ),
-        TransitionRule(
-            from_mode="advanced",
-            to_mode="default",
-            transition_type=TransitionType.INPUT_TRIGGERED,
-            trigger_keywords=["default", "normal", "basic"],
-            priority=5,
-            cooldown_seconds=1.0,
-        ),
-        TransitionRule(
-            from_mode="*",  # Wildcard - from any mode
-            to_mode="emergency",
-            transition_type=TransitionType.INPUT_TRIGGERED,
-            trigger_keywords=["emergency", "critical", "urgent"],
-            priority=15,  # Highest priority
-            cooldown_seconds=0.0,
-        ),
-    ]
-
-
-@pytest.fixture
-def mock_system_config(sample_mode_configs, sample_transition_rules):
-    """Mock system configuration with proper mode transition setup."""
-    config = Mock(spec=ModeSystemConfig)
-    config.name = "test_system"
-    config.default_mode = "default"
-    config.modes = sample_mode_configs
-    config.transition_rules = sample_transition_rules
-    config.allow_manual_switching = True
-    config.execute_global_lifecycle_hooks = AsyncMock(return_value=True)
-
-    for mode_config in sample_mode_configs.values():
-        mode_config.load_components = Mock()
-        mode_config.to_runtime_config = Mock()
-        mode_config.execute_lifecycle_hooks = AsyncMock()
-
-    return config
-
-
-@pytest.fixture
-def mock_io_provider():
-    """Mock IOProvider with mode transition input functionality."""
-    io_provider = Mock()
-    io_provider._mode_transition_input = None
-
-    def add_mode_transition_input(input_text: str):
-        if io_provider._mode_transition_input is None:
-            io_provider._mode_transition_input = input_text
-        else:
-            io_provider._mode_transition_input = io_provider._mode_transition_input + " " + input_text
-
-    def get_mode_transition_input():
-        return io_provider._mode_transition_input
-
-    def delete_mode_transition_input():
-        io_provider._mode_transition_input = None
-
-    class MockModeTransitionInputContext:
-        def __init__(self, io_provider):
-            self.io_provider = io_provider
-            self.current_input = None
-
-        def __enter__(self):
-            self.current_input = io_provider._mode_transition_input
-            return self.current_input
-
-        def __exit__(self, exc_type, exc_val, exc_tb):
-            delete_mode_transition_input()
-
-    def mode_transition_input():
-        return MockModeTransitionInputContext(io_provider)
-
-    io_provider.add_mode_transition_input = add_mode_transition_input
-    io_provider.get_mode_transition_input = get_mode_transition_input
-    io_provider.delete_mode_transition_input = delete_mode_transition_input
-    io_provider.mode_transition_input = mode_transition_input
-
-    return io_provider
-
-
-@pytest.fixture
-def mock_mode_manager():
-    """Mock mode manager with transition capabilities."""
-    manager = Mock()
-    manager.current_mode_name = "default"
-    manager.add_transition_callback = Mock()
-    manager.remove_transition_callback = Mock()
-    manager.set_event_loop = Mock()
-    manager._get_runtime_config_path = Mock(return_value="/fake/path/test_config.json5")
-
-    async def mock_process_tick(input_text=None):
-        if not input_text:
-            return None
-
-        input_lower = input_text.lower()
-        if "emergency" in input_lower or "urgent" in input_lower:
-            return ("emergency", "input_triggered")
-        elif "advanced" in input_lower:
-            return ("advanced", "input_triggered")
-        elif "default" in input_lower or "normal" in input_lower:
-            return ("default", "input_triggered")
-        return None
-
-    manager.process_tick = AsyncMock(side_effect=mock_process_tick)
-    manager._execute_transition = AsyncMock(return_value=True)
-
-    return manager
-
-
-@pytest.fixture
-def cortex_runtime_with_mode_transition(mock_system_config, mock_io_provider, mock_mode_manager):
-    """ModeCortexRuntime instance configured for mode transition testing."""
-    with (
-        patch("runtime.cortex.ModeManager") as mock_manager_class,
-        patch("runtime.cortex.IOProvider") as mock_io_provider_class,
-        patch("runtime.cortex.SleepTickerProvider") as mock_sleep_provider_class,
-    ):
-        mock_manager_class.return_value = mock_mode_manager
-        mock_io_provider_class.return_value = mock_io_provider
-
-        mock_sleep_provider = Mock()
-        mock_sleep_provider.skip_sleep = False
-        mock_sleep_provider.sleep = AsyncMock()
-        mock_sleep_provider_class.return_value = mock_sleep_provider
-
-        runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=False)
-
-        mock_runtime_config = Mock()
-        mock_runtime_config.hertz = 10.0
-        mock_runtime_config.cortex_llm = Mock()
-        mock_result = Mock(actions=[])
-        mock_runtime_config.cortex_llm.ask = AsyncMock(return_value=mock_result)
-        mock_runtime_config.cortex_llm.ask_stream = Mock(return_value=_mock_ask_stream_generator(mock_result))
-        mock_runtime_config.agent_inputs = []
-
-        runtime.current_config = mock_runtime_config
-        runtime.fuser = Mock()
-        runtime.fuser.fuse = AsyncMock(return_value="test prompt")
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.flush_promises = AsyncMock(return_value=([], None))
-        runtime.action_orchestrator.promise = AsyncMock()
-        runtime.mcp_orchestrator = Mock()
-        runtime.mcp_orchestrator.max_rounds = 3
-        runtime.mcp_orchestrator.extract_om1_actions = Mock(return_value=[])
-        runtime.mcp_orchestrator.execute_mcp_actions = AsyncMock(return_value=(None, None))
-        runtime.mcp_orchestrator.build_call_signature = Mock(return_value="sig")
-
-        return runtime, {
-            "mode_manager": mock_mode_manager,
-            "io_provider": mock_io_provider,
-            "sleep_provider": mock_sleep_provider,
-            "system_config": mock_system_config,
-        }
-
-
-@pytest.fixture
-def cortex_runtime(mock_system_config, mock_io_provider, mock_mode_manager):
-    """Create a cortex runtime instance for basic testing."""
-    with (
-        patch("runtime.cortex.ModeManager") as mock_manager_class,
-        patch("runtime.cortex.IOProvider") as mock_io_class,
-        patch("runtime.cortex.SleepTickerProvider") as mock_sleep_class,
-    ):
-        mock_manager_class.return_value = mock_mode_manager
-        mock_io_class.return_value = mock_io_provider
-
-        mock_sleep_provider = Mock()
-        mock_sleep_provider.skip_sleep = False
-        mock_sleep_provider.sleep = AsyncMock()
-        mock_sleep_class.return_value = mock_sleep_provider
-
-        runtime = ModeCortexRuntime(mock_system_config, "test_config", hot_reload=False)
-
-        mock_runtime_config = Mock()
-        mock_runtime_config.hertz = 10.0
-        mock_runtime_config.cortex_llm = Mock()
-        mock_result = Mock(actions=[])
-        mock_runtime_config.cortex_llm.ask = AsyncMock(return_value=mock_result)
-        mock_runtime_config.cortex_llm.ask_stream = Mock(return_value=_mock_ask_stream_generator(mock_result))
-        mock_runtime_config.agent_inputs = []
-
-        runtime.current_config = mock_runtime_config
-        runtime.fuser = Mock()
-        runtime.fuser.fuse = AsyncMock(return_value="test prompt")
-        runtime.action_orchestrator = Mock()
-        runtime.action_orchestrator.flush_promises = AsyncMock(return_value=([], None))
-        runtime.action_orchestrator.promise = AsyncMock()
-        runtime.mcp_orchestrator = Mock()
-        runtime.mcp_orchestrator.max_rounds = 3
-        runtime.mcp_orchestrator.extract_om1_actions = Mock(return_value=[])
-        runtime.mcp_orchestrator.execute_mcp_actions = AsyncMock(return_value=(None, None))
-        runtime.mcp_orchestrator.build_call_signature = Mock(return_value="sig")
-
-        runtime._pending_mode_transition = None
-        runtime._mode_transition_event = Mock()
-        runtime._mode_transition_event.set = Mock()
-
-        return runtime, {
-            "mode_manager": mock_mode_manager,
-            "io_provider": mock_io_provider,
-            "system_config": mock_system_config,
-        }
-
-
-@pytest.mark.asyncio
-async def test_tick_with_mode_transition_input_triggers_transition(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that mode transition input in _tick triggers a mode transition."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("I need advanced mode")
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_called_once_with("I need advanced mode")
-
-    assert runtime._pending_mode_transition == "advanced"
-    runtime._mode_transition_event.set.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_tick_with_emergency_input_triggers_emergency_mode(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that emergency keywords trigger emergency mode transition."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("Emergency help needed!")
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_called_once_with("Emergency help needed!")
-    assert runtime._pending_mode_transition == "emergency"
-    runtime._mode_transition_event.set.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_tick_with_no_mode_transition_input_continues_normally(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that _tick continues normally when there's no mode transition input."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    assert mocks["io_provider"].get_mode_transition_input() is None
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_called_once_with(None)
-
-    assert runtime._pending_mode_transition is None
-    runtime._mode_transition_event.set.assert_not_called()
-
-    runtime.action_orchestrator.promise.assert_called_once()
-    runtime.mcp_orchestrator.execute_mcp_actions.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_tick_with_unrecognized_input_continues_normally(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that unrecognized input doesn't trigger mode transition."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("just some random text")
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_called_once_with("just some random text")
-
-    assert runtime._pending_mode_transition is None
-    runtime._mode_transition_event.set.assert_not_called()
-
-    runtime.action_orchestrator.promise.assert_called_once()
-    runtime.mcp_orchestrator.execute_mcp_actions.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_mode_transition_input_is_cleared_after_use(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that mode transition input is cleared after processing."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("advanced mode please")
-    assert mocks["io_provider"].get_mode_transition_input() == "advanced mode please"
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    assert mocks["io_provider"].get_mode_transition_input() is None
-
-
-@pytest.mark.asyncio
-async def test_multiple_mode_transition_inputs_are_combined(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that multiple mode transition inputs are properly combined."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("I need")
-    mocks["io_provider"].add_mode_transition_input("advanced")
-    mocks["io_provider"].add_mode_transition_input("mode")
-
-    assert mocks["io_provider"].get_mode_transition_input() == "I need advanced mode"
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_called_once_with("I need advanced mode")
-    assert runtime._pending_mode_transition == "advanced"
-
-
-@pytest.mark.asyncio
-async def test_tick_skips_processing_during_reload(cortex_runtime_with_mode_transition):
-    """Test that _tick skips processing when a config reload is in progress."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("emergency help")
-
-    runtime._is_reloading = True
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_not_called()
-    runtime.action_orchestrator.promise.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_tick_handles_llm_returning_none(cortex_runtime_with_mode_transition):
-    """Test that _tick handles gracefully when LLM returns None."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    runtime.current_config.cortex_llm.ask.return_value = None
-    runtime.current_config.cortex_llm.ask_stream = Mock(return_value=_mock_ask_stream_generator(None))
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_called_once_with(None)
-
-    runtime.action_orchestrator.promise.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_tick_handles_fuser_returning_none(cortex_runtime_with_mode_transition):
-    """Test that _tick handles gracefully when fuser returns None."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("default mode")
-
-    runtime.fuser.fuse.return_value = None
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    mocks["mode_manager"].process_tick.assert_not_called()
-    assert runtime._pending_mode_transition is None
-
-    runtime.current_config.cortex_llm.ask_stream.assert_not_called()
-    runtime.action_orchestrator.promise.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_handle_mode_transitions_processes_pending_transition(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that _handle_mode_transitions processes pending transitions."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    runtime._pending_mode_transition = "emergency"
-    runtime._mode_transition_event = asyncio.Event()
-    runtime._mode_transition_event.set()
-
-    mocks["mode_manager"]._execute_transition = AsyncMock(return_value=True)
-
-    async def limited_handle_transitions():
-        await runtime._mode_transition_event.wait()
-
-        success = False
-        if runtime._pending_mode_transition:
-            target_mode = runtime._pending_mode_transition
-            runtime._pending_mode_transition = None
-
-            success = await mocks["mode_manager"]._execute_transition(target_mode, "input_triggered")
-
-        runtime._mode_transition_event.clear()
-        return success
-
-    success = await limited_handle_transitions()
-
-    assert success is True
-    mocks["mode_manager"]._execute_transition.assert_called_once_with("emergency", "input_triggered")
-
-
-@pytest.mark.asyncio
-async def test_handle_mode_transitions_handles_failed_transition(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that _handle_mode_transitions handles failed transitions gracefully."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    runtime._pending_mode_transition = "invalid_mode"
-    runtime._mode_transition_event = asyncio.Event()
-    runtime._mode_transition_event.set()
-
-    mocks["mode_manager"]._execute_transition = AsyncMock(return_value=False)
-
-    async def limited_handle_transitions():
-        await runtime._mode_transition_event.wait()
-
-        success = False
-        if runtime._pending_mode_transition:
-            target_mode = runtime._pending_mode_transition
-            runtime._pending_mode_transition = None
-
-            success = await mocks["mode_manager"]._execute_transition(target_mode, "input_triggered")
-
-        runtime._mode_transition_event.clear()
-        return success
-
-    success = await limited_handle_transitions()
-
-    assert success is False
-    assert success is False
-    mocks["mode_manager"]._execute_transition.assert_called_once_with("invalid_mode", "input_triggered")
-
-
-@pytest.mark.asyncio
-async def test_on_mode_transition_callback_integration(
-    cortex_runtime_with_mode_transition,
-):
-    """Test the integration of mode transition callback with cortex runtime."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    transition_callback = mocks["mode_manager"].add_transition_callback.call_args[0][0]
-
-    runtime._stop_current_orchestrators = AsyncMock()
-    runtime._initialize_mode = AsyncMock()
-    runtime._start_orchestrators = AsyncMock()
-
-    await transition_callback("default", "advanced")
-
-    runtime._stop_current_orchestrators.assert_called_once()
-    runtime._initialize_mode.assert_called_once_with("advanced")
-    runtime._start_orchestrators.assert_called_once()
-
-
-def test_get_mode_info_integration(cortex_runtime_with_mode_transition):
-    """Test get_mode_info method integration with mode manager."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    expected_info = {
-        "current_mode": "default",
-        "available_transitions": ["advanced", "emergency"],
-        "mode_duration": 120.5,
-    }
-    mocks["mode_manager"].get_mode_info = Mock(return_value=expected_info)
-
-    result = runtime.get_mode_info()
-
-    assert result == expected_info
-    mocks["mode_manager"].get_mode_info.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_request_mode_change_integration(cortex_runtime_with_mode_transition):
-    """Test request_mode_change method integration with mode manager."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["mode_manager"].request_transition = AsyncMock(return_value=True)
-
-    result = await runtime.request_mode_change("emergency")
-
-    assert result is True
-    mocks["mode_manager"].request_transition.assert_called_once_with("emergency", "manual")
-
-
-def test_get_available_modes_returns_correct_structure(
-    cortex_runtime_with_mode_transition,
-):
-    """Test get_available_modes returns the correct mode information structure."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    result = runtime.get_available_modes()
-
-    assert isinstance(result, dict)
-    assert "default" in result
-    assert "advanced" in result
-    assert "emergency" in result
-
-    for mode_name, mode_info in result.items():
-        assert "display_name" in mode_info
-        assert "description" in mode_info
-        assert "is_current" in mode_info
-        assert isinstance(mode_info["is_current"], bool)
-
-    assert result["default"]["is_current"] is True
-    assert result["advanced"]["is_current"] is False
-    assert result["emergency"]["is_current"] is False
-
-
-@pytest.mark.asyncio
-async def test_emergency_mode_has_highest_priority(cortex_runtime_with_mode_transition):
-    """Test that emergency mode transitions have highest priority."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("I need advanced emergency help")
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    assert runtime._pending_mode_transition == "emergency"
-
-
-@pytest.mark.asyncio
-async def test_mode_transition_during_reload_is_ignored(
-    cortex_runtime_with_mode_transition,
-):
-    """Test that mode transitions are ignored during config reload."""
-    runtime, mocks = cortex_runtime_with_mode_transition
-
-    mocks["io_provider"].add_mode_transition_input("emergency help needed")
-
-    runtime._is_reloading = True
-
-    runtime._pending_mode_transition = None
-    runtime._mode_transition_event = Mock()
-    runtime._mode_transition_event.set = Mock()
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    assert runtime._pending_mode_transition is None
-    runtime._mode_transition_event.set.assert_not_called()
-    mocks["mode_manager"].process_tick.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_mode_transition_input_triggers_advanced_mode(cortex_runtime):
-    """Test that setting mode transition input triggers transition to advanced mode."""
-    runtime, components = cortex_runtime
-
-    components["io_provider"].add_mode_transition_input("switch to advanced mode")
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    components["mode_manager"].process_tick.assert_called_once_with("switch to advanced mode")
-
-    assert runtime._pending_mode_transition == "advanced"
-    runtime._mode_transition_event.set.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_mode_transition_input_triggers_emergency_mode(cortex_runtime):
-    """Test that emergency keywords trigger emergency mode transition."""
-    runtime, components = cortex_runtime
-
-    components["io_provider"].add_mode_transition_input("emergency help needed!")
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    components["mode_manager"].process_tick.assert_called_once_with("emergency help needed!")
-
-    assert runtime._pending_mode_transition == "emergency"
-    runtime._mode_transition_event.set.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_no_mode_transition_input_continues_normal_processing(cortex_runtime):
-    """Test that no mode transition input allows normal LLM processing."""
-    runtime, components = cortex_runtime
-
-    assert components["io_provider"].get_mode_transition_input() is None
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    components["mode_manager"].process_tick.assert_called_once_with(None)
-
-    assert runtime._pending_mode_transition is None
-    runtime._mode_transition_event.set.assert_not_called()
-
-    runtime.current_config.cortex_llm.ask_stream.assert_called_once_with("test prompt")
-    runtime.action_orchestrator.promise.assert_called_once()
-    runtime.mcp_orchestrator.execute_mcp_actions.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_mode_transition_input_is_cleared_after_use_basic(cortex_runtime):
-    """Test that mode transition input is automatically cleared after processing."""
-    runtime, components = cortex_runtime
-
-    components["io_provider"].add_mode_transition_input("default mode")
-    assert components["io_provider"].get_mode_transition_input() == "default mode"
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    assert components["io_provider"].get_mode_transition_input() is None
-
-
-@pytest.mark.asyncio
-async def test_unrecognized_input_does_not_trigger_transition(cortex_runtime):
-    """Test that unrecognized input doesn't trigger mode transitions."""
-    runtime, components = cortex_runtime
-
-    components["io_provider"].add_mode_transition_input("some random text")
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    components["mode_manager"].process_tick.assert_called_once_with("some random text")
-    assert runtime._pending_mode_transition is None
-    runtime._mode_transition_event.set.assert_not_called()
-
-    runtime.action_orchestrator.promise.assert_called_once()
-    runtime.mcp_orchestrator.execute_mcp_actions.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_mode_transition_during_reload_is_skipped_basic(cortex_runtime):
-    """Test that mode transitions are skipped during config reload."""
-    runtime, components = cortex_runtime
-
-    components["io_provider"].add_mode_transition_input("emergency")
-    runtime._is_reloading = True
-
-    await runtime._tick(runtime._cortex_loop_generation)
-
-    components["mode_manager"].process_tick.assert_not_called()
-    runtime.action_orchestrator.promise.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_mode_transition_callback_registration(cortex_runtime):
-    """Test that the cortex runtime registers a transition callback with the mode manager."""
-    runtime, components = cortex_runtime
-
-    components["mode_manager"].add_transition_callback.assert_called_once()
-
-    callback = components["mode_manager"].add_transition_callback.call_args[0][0]
-
-    runtime._stop_current_orchestrators = AsyncMock()
-    runtime._initialize_mode = AsyncMock()
-    runtime._start_orchestrators = AsyncMock()
-
-    await callback("default", "advanced")
-
-    runtime._stop_current_orchestrators.assert_called_once()
-    runtime._initialize_mode.assert_called_once_with("advanced")
-    runtime._start_orchestrators.assert_called_once()
-
-
-def test_mode_info_delegation_to_manager(cortex_runtime):
-    """Test that get_mode_info delegates to the mode manager."""
-    runtime, components = cortex_runtime
-
-    expected_info = {"current_mode": "default", "transitions": ["advanced"]}
-    components["mode_manager"].get_mode_info = Mock(return_value=expected_info)
-
-    result = runtime.get_mode_info()
-
-    components["mode_manager"].get_mode_info.assert_called_once()
-    assert result == expected_info
-
-
-@pytest.mark.asyncio
-async def test_manual_mode_change_delegation_to_manager(cortex_runtime):
-    """Test that request_mode_change delegates to the mode manager."""
-    runtime, components = cortex_runtime
-
-    components["mode_manager"].request_transition = AsyncMock(return_value=True)
-
-    result = await runtime.request_mode_change("emergency")
-
-    components["mode_manager"].request_transition.assert_called_once_with("emergency", "manual")
-    assert result is True
-
-
-def test_available_modes_structure(cortex_runtime):
-    """Test that get_available_modes returns properly structured mode information."""
-    runtime, components = cortex_runtime
-
-    for mode_name in ["default", "advanced", "emergency"]:
-        mode_config = Mock()
-        mode_config.display_name = f"{mode_name.title()} Mode"
-        mode_config.description = f"Description for {mode_name} mode"
-        components["system_config"].modes[mode_name] = mode_config
-
-    result = runtime.get_available_modes()
-
-    assert isinstance(result, dict)
-    assert len(result) == 3
-
-    for mode_name, mode_info in result.items():
-        assert "display_name" in mode_info
-        assert "description" in mode_info
-        assert "is_current" in mode_info
-        assert isinstance(mode_info["is_current"], bool)
-
-    assert result["default"]["is_current"] is True
-    assert result["advanced"]["is_current"] is False
-    assert result["emergency"]["is_current"] is False
diff --git a/tests/runtime/test_env.py b/tests/runtime/test_env.py
deleted file mode 100644
index 3697b276ff..0000000000
--- a/tests/runtime/test_env.py
+++ /dev/null
@@ -1,100 +0,0 @@
-import os
-from unittest.mock import patch
-
-from runtime.env import EnvLoader
-
-
-class TestLoadEnvVars:
-    """Test cases for EnvLoader.load_env_vars."""
-
-    def test_simple(self):
-        with patch.dict(os.environ, {"API_KEY": "secret123"}):
-            result = EnvLoader.load_env_vars({"api_key": "${API_KEY}"})
-            assert result == {"api_key": "secret123"}
-
-    def test_default_when_missing(self):
-        with patch.dict(os.environ, {}, clear=True):
-            result = EnvLoader.load_env_vars({"url": "${BASE_URL:-http://localhost}"})
-            assert result == {"url": "http://localhost"}
-
-    def test_env_overrides_default(self):
-        with patch.dict(os.environ, {"BASE_URL": "http://prod.example.com"}):
-            result = EnvLoader.load_env_vars({"url": "${BASE_URL:-http://localhost}"})
-            assert result == {"url": "http://prod.example.com"}
-
-    def test_nested_dict(self):
-        with patch.dict(os.environ, {"K": "v1", "N": "v2"}):
-            config = {"outer": {"inner": "${K}", "deep": {"leaf": "${N}"}}}
-            result = EnvLoader.load_env_vars(config)
-            assert result == {"outer": {"inner": "v1", "deep": {"leaf": "v2"}}}
-
-    def test_list_in_dict(self):
-        with patch.dict(os.environ, {"A": "x", "B": "y"}):
-            result = EnvLoader.load_env_vars({"items": ["${A}", "${B}", "literal"]})
-            assert result == {"items": ["x", "y", "literal"]}
-
-    def test_mixed_list_in_dict(self):
-        with patch.dict(os.environ, {"VAR": "replaced"}):
-            result = EnvLoader.load_env_vars({"items": ["${VAR}", "static", 42]})
-            assert result == {"items": ["replaced", "static", 42]}
-
-    def test_primitives_unchanged(self):
-        config = {"count": 42, "rate": 3.14, "flag": True, "empty": None}
-        assert EnvLoader.load_env_vars(config) == config
-
-    def test_none_value_unchanged(self):
-        result = EnvLoader.load_env_vars({"key": None})
-        assert result == {"key": None}
-
-    def test_mixed_string(self):
-        with patch.dict(os.environ, {"HOST": "example.com"}):
-            result = EnvLoader.load_env_vars({"url": "https://${HOST}/api"})
-            assert result == {"url": "https://example.com/api"}
-
-    def test_multiple_vars_in_one_string(self):
-        with patch.dict(os.environ, {"HOST": "example.com", "PORT": "8080"}):
-            result = EnvLoader.load_env_vars({"addr": "${HOST}:${PORT}"})
-            assert result == {"addr": "example.com:8080"}
-
-    def test_default_with_trailing_path(self):
-        with patch.dict(os.environ, {}, clear=True):
-            result = EnvLoader.load_env_vars({"url": "${EXAMPLE_URL:-http://example.local:8860}/v1"})
-            assert result == {"url": "http://example.local:8860/v1"}
-
-    def test_env_overrides_default_with_trailing_path(self):
-        with patch.dict(os.environ, {"EXAMPLE_URL": "http://prod.example.com:9999"}):
-            result = EnvLoader.load_env_vars({"url": "${EXAMPLE_URL:-http://example.local:8860}/v1"})
-            assert result == {"url": "http://prod.example.com:9999/v1"}
-
-    def test_missing_var_keeps_pattern(self):
-        with patch.dict(os.environ, {}, clear=True):
-            result = EnvLoader.load_env_vars({"key": "${MISSING_VAR}"})
-            assert result == {"key": "${MISSING_VAR}"}
-
-    def test_missing_var_logs_warning(self, caplog):
-        import logging
-
-        with caplog.at_level(logging.WARNING):
-            with patch.dict(os.environ, {}, clear=True):
-                EnvLoader.load_env_vars({"key": "${MISSING_VAR}"})
-        assert "MISSING_VAR" in caplog.text
-        assert "no default was provided" in caplog.text
-
-    def test_empty_env_var_used(self):
-        with patch.dict(os.environ, {"EMPTY_VAR": ""}):
-            result = EnvLoader.load_env_vars({"key": "${EMPTY_VAR:-fallback}"})
-            assert result == {"key": ""}
-
-
-class TestLoadValue:
-    """Test cases for EnvLoader.load_value."""
-
-    def test_no_pattern(self):
-        assert EnvLoader.load_value("plain text") == "plain text"
-
-    def test_dollar_without_braces(self):
-        assert EnvLoader.load_value("$NOT_A_PATTERN") == "$NOT_A_PATTERN"
-
-    def test_empty_default(self):
-        with patch.dict(os.environ, {}, clear=True):
-            assert EnvLoader.load_value("${MISSING:-}") == ""
diff --git a/tests/runtime/test_hook.py b/tests/runtime/test_hook.py
deleted file mode 100644
index f73a6abcf1..0000000000
--- a/tests/runtime/test_hook.py
+++ /dev/null
@@ -1,1361 +0,0 @@
-import asyncio
-from unittest.mock import AsyncMock, Mock, mock_open, patch
-
-import pytest
-
-from runtime.hook import (
-    ActionHookConfig,
-    ActionHookHandler,
-    CommandHookConfig,
-    CommandHookHandler,
-    FunctionHookConfig,
-    FunctionHookHandler,
-    LifecycleHook,
-    LifecycleHookHandler,
-    LifecycleHookType,
-    MessageHookConfig,
-    MessageHookHandler,
-    create_hook_handler,
-    execute_lifecycle_hooks,
-    parse_lifecycle_hooks,
-)
-
-
-@pytest.fixture
-def sample_message_hook():
-    """Sample message hook configuration."""
-    return LifecycleHook(
-        hook_type=LifecycleHookType.ON_ENTRY,
-        handler_type="message",
-        handler_config={
-            "message": "Entering mode: {mode_name}",
-        },
-        async_execution=True,
-        timeout_seconds=5.0,
-        on_failure="ignore",
-        priority=1,
-    )
-
-
-@pytest.fixture
-def sample_command_hook():
-    """Sample command hook configuration."""
-    return LifecycleHook(
-        hook_type=LifecycleHookType.ON_EXIT,
-        handler_type="command",
-        handler_config={"command": "echo 'Exiting mode: {mode_name}'"},
-        async_execution=True,
-        timeout_seconds=10.0,
-        on_failure="abort",
-        priority=2,
-    )
-
-
-@pytest.fixture
-def sample_function_hook():
-    """Sample function hook configuration."""
-    return LifecycleHook(
-        hook_type=LifecycleHookType.ON_STARTUP,
-        handler_type="function",
-        handler_config={
-            "function": "startup_handler",
-            "module_name": "test_module",
-        },
-        async_execution=True,
-        timeout_seconds=15.0,
-        on_failure="ignore",
-        priority=0,
-    )
-
-
-@pytest.fixture
-def sample_action_hook():
-    """Sample action hook configuration."""
-    return LifecycleHook(
-        hook_type=LifecycleHookType.ON_SHUTDOWN,
-        handler_type="action",
-        handler_config={
-            "action_type": "test_action",
-            "action_config": {"param": "value"},
-        },
-        async_execution=False,
-        timeout_seconds=30.0,
-        on_failure="abort",
-        priority=5,
-    )
-
-
-@pytest.fixture
-def sample_context():
-    """Sample context for hook execution."""
-    return {
-        "mode_name": "test_mode",
-        "user_id": "user123",
-        "timestamp": "2025-01-01T00:00:00Z",
-    }
-
-
-def test_hook_type_values():
-    """Test that all hook type values are correctly defined."""
-    assert LifecycleHookType.ON_ENTRY.value == "on_entry"
-    assert LifecycleHookType.ON_EXIT.value == "on_exit"
-    assert LifecycleHookType.ON_STARTUP.value == "on_startup"
-    assert LifecycleHookType.ON_SHUTDOWN.value == "on_shutdown"
-    assert LifecycleHookType.ON_TIMEOUT.value == "on_timeout"
-
-
-def test_basic_hook_creation():
-    """Test basic hook creation with required fields."""
-    hook = LifecycleHook(
-        hook_type=LifecycleHookType.ON_ENTRY,
-        handler_type="message",
-        handler_config={"message": "test"},
-    )
-
-    assert hook.hook_type == LifecycleHookType.ON_ENTRY
-    assert hook.handler_type == "message"
-    assert hook.handler_config == {"message": "test"}
-    assert hook.async_execution is True
-    assert hook.timeout_seconds == 5.0
-    assert hook.on_failure == "ignore"
-    assert hook.priority == 0
-
-
-def test_hook_with_custom_values(sample_command_hook):
-    """Test hook creation with custom values."""
-    assert sample_command_hook.hook_type == LifecycleHookType.ON_EXIT
-    assert sample_command_hook.handler_type == "command"
-    assert sample_command_hook.timeout_seconds == 10.0
-    assert sample_command_hook.on_failure == "abort"
-    assert sample_command_hook.priority == 2
-
-
-def test_base_handler_creation():
-    """Test base handler creation."""
-    config = MessageHookConfig(message="test value")
-    handler = LifecycleHookHandler(config)
-    assert isinstance(handler.config, MessageHookConfig)
-
-
-@pytest.mark.asyncio
-async def test_base_handler_execute_not_implemented():
-    """Test that base handler execute method raises NotImplementedError."""
-    handler = LifecycleHookHandler(MessageHookConfig())
-    with pytest.raises(NotImplementedError):
-        await handler.execute({})
-
-
-def test_message_handler_creation():
-    """Test message handler creation."""
-    config = MessageHookConfig(message="test message")
-    handler = MessageHookHandler(config)
-    assert isinstance(handler.config, MessageHookConfig)
-    assert handler.config.message == "test message"
-
-
-@pytest.mark.asyncio
-async def test_message_handler_basic_execution(sample_context):
-    """Test basic message handler execution."""
-    config = MessageHookConfig(message="Mode: {mode_name}")
-    handler = MessageHookHandler(config)
-
-    mock_tts = Mock()
-    mock_tts.add_pending_message = Mock()
-
-    with patch("runtime.hook.logging") as mock_logging:
-        with patch("runtime.hook.ElevenLabsTTSProvider", return_value=mock_tts):
-            result = await handler.execute(sample_context)
-            assert result is True
-            mock_logging.info.assert_called_once_with("Lifecycle hook message: Mode: test_mode")
-            mock_tts.add_pending_message.assert_called_once_with("Mode: test_mode")
-
-
-@pytest.mark.asyncio
-async def test_message_handler_with_announcement(sample_context):
-    """Test message handler with TTS announcement."""
-    config = MessageHookConfig(message="Mode: {mode_name}")
-    handler = MessageHookHandler(config)
-
-    mock_tts = Mock()
-    mock_tts.add_pending_message = Mock()
-
-    with patch("runtime.hook.logging") as mock_logging:
-        with patch("runtime.hook.ElevenLabsTTSProvider", return_value=mock_tts):
-            result = await handler.execute(sample_context)
-            assert result is True
-            mock_logging.info.assert_called_once()
-            mock_tts.add_pending_message.assert_called_once_with("Mode: test_mode")
-
-
-@pytest.mark.asyncio
-async def test_message_handler_tts_import_error(sample_context):
-    """Test message handler when TTS provider is not available."""
-    config = MessageHookConfig(message="Mode: {mode_name}")
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.logging") as mock_logging:
-        with patch("runtime.hook.ElevenLabsTTSProvider", side_effect=ImportError):
-            result = await handler.execute(sample_context)
-            assert result is False
-            mock_logging.error.assert_called_once_with("Error adding TTS message: ")
-
-
-@pytest.mark.asyncio
-async def test_message_handler_format_error():
-    """Test message handler with format error."""
-    config = MessageHookConfig(message="Invalid format: {nonexistent_key}")
-    handler = MessageHookHandler(config)
-    context = {"mode_name": "test"}
-
-    with patch("runtime.hook.logging") as mock_logging:
-        result = await handler.execute(context)
-        assert result is False
-        mock_logging.error.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_message_handler_no_message():
-    """Test message handler with no message configured."""
-    config = MessageHookConfig()
-    handler = MessageHookHandler(config)
-
-    result = await handler.execute({})
-    assert result is True
-
-
-@pytest.mark.asyncio
-async def test_message_handler_empty_message():
-    """Test message handler with empty message."""
-    config = MessageHookConfig(message="")
-    handler = MessageHookHandler(config)
-
-    result = await handler.execute({})
-    assert result is True
-
-
-def test_message_handler_default_tts_provider():
-    """Test that default TTS provider is elevenlabs."""
-    config = MessageHookConfig(message="test")
-    handler = MessageHookHandler(config)
-    assert handler.config.tts_provider == "elevenlabs"
-
-
-def test_message_handler_create_elevenlabs_provider():
-    """Test creating ElevenLabs TTS provider with default settings."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="elevenlabs",
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.ElevenLabsTTSProvider") as mock_provider:
-        handler._create_tts_provider()
-        mock_provider.assert_called_once_with(
-            url="https://api.openmind.com/api/core/elevenlabs/tts",
-            api_key=None,
-            elevenlabs_api_key=None,
-            voice_id="JBFqnCBsd6RMkjVDRZzb",
-            model_id="eleven_flash_v2_5",
-            output_format="pcm_16000",
-            rate=16000,
-            enable_tts_interrupt=False,
-        )
-
-
-def test_message_handler_create_elevenlabs_provider_with_custom_config():
-    """Test creating ElevenLabs TTS provider with custom configuration."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="elevenlabs",
-        base_url="https://custom.url/tts",
-        api_key="test_api_key",
-        elevenlabs_api_key="test_elevenlabs_key",
-        voice_id="custom_voice",
-        model_id="custom_model",
-        output_format="wav_44100",
-        rate=44100,
-        enable_tts_interrupt=True,
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.ElevenLabsTTSProvider") as mock_provider:
-        handler._create_tts_provider()
-        mock_provider.assert_called_once_with(
-            url="https://custom.url/tts",
-            api_key="test_api_key",
-            elevenlabs_api_key="test_elevenlabs_key",
-            voice_id="custom_voice",
-            model_id="custom_model",
-            output_format="wav_44100",
-            rate=44100,
-            enable_tts_interrupt=True,
-        )
-
-
-def test_message_handler_create_kokoro_provider():
-    """Test creating Kokoro TTS provider with default settings."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="kokoro",
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.KokoroTTSProvider") as mock_provider:
-        handler._create_tts_provider()
-        mock_provider.assert_called_once_with(
-            url="http://127.0.0.1:8880/v1",
-            api_key=None,
-            voice_id="af_bella",
-            model_id="kokoro",
-            output_format="pcm",
-            rate=24000,
-            enable_tts_interrupt=False,
-        )
-
-
-def test_message_handler_create_kokoro_provider_with_custom_config():
-    """Test creating Kokoro TTS provider with custom configuration."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="kokoro",
-        base_url="http://custom.host:8880/v1",
-        api_key="test_api_key",
-        voice_id="af_sky",
-        model_id="kokoro_v2",
-        output_format="wav",
-        rate=48000,
-        enable_tts_interrupt=True,
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.KokoroTTSProvider") as mock_provider:
-        handler._create_tts_provider()
-        mock_provider.assert_called_once_with(
-            url="http://custom.host:8880/v1",
-            api_key="test_api_key",
-            voice_id="af_sky",
-            model_id="kokoro_v2",
-            output_format="wav",
-            rate=48000,
-            enable_tts_interrupt=True,
-        )
-
-
-def test_message_handler_create_riva_provider():
-    """Test creating Riva TTS provider with default settings."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="riva",
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.RivaTTSProvider") as mock_provider:
-        handler._create_tts_provider()
-        mock_provider.assert_called_once_with(
-            url="http://127.0.0.1:50051",
-            api_key=None,
-        )
-
-
-def test_message_handler_create_riva_provider_with_custom_config():
-    """Test creating Riva TTS provider with custom configuration."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="riva",
-        base_url="http://custom.host:50051",
-        api_key="test_api_key",
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.RivaTTSProvider") as mock_provider:
-        handler._create_tts_provider()
-        mock_provider.assert_called_once_with(
-            url="http://custom.host:50051",
-            api_key="test_api_key",
-        )
-
-
-def test_message_handler_unsupported_provider():
-    """Test creating TTS provider with unsupported provider type."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="unsupported_provider",
-    )
-    handler = MessageHookHandler(config)
-
-    with pytest.raises(ValueError, match="Unsupported TTS provider: unsupported_provider"):
-        handler._create_tts_provider()
-
-
-def test_message_handler_case_insensitive_provider():
-    """Test that provider type is case-insensitive."""
-    config = MessageHookConfig(
-        message="test",
-        tts_provider="ELEVENLABS",
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.ElevenLabsTTSProvider") as mock_provider:
-        handler._create_tts_provider()
-        mock_provider.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_message_handler_execute_with_kokoro(sample_context):
-    """Test message handler execution with Kokoro provider."""
-    config = MessageHookConfig(
-        message="Mode: {mode_name}",
-        tts_provider="kokoro",
-    )
-    handler = MessageHookHandler(config)
-
-    mock_tts = Mock()
-    mock_tts.start = Mock()
-    mock_tts.add_pending_message = Mock()
-
-    with patch("runtime.hook.logging") as mock_logging:
-        with patch("runtime.hook.KokoroTTSProvider", return_value=mock_tts):
-            result = await handler.execute(sample_context)
-            assert result is True
-            mock_logging.info.assert_called_once_with("Lifecycle hook message: Mode: test_mode")
-            mock_tts.start.assert_called_once()
-            mock_tts.add_pending_message.assert_called_once_with("Mode: test_mode")
-
-
-@pytest.mark.asyncio
-async def test_message_handler_execute_with_riva(sample_context):
-    """Test message handler execution with Riva provider."""
-    config = MessageHookConfig(
-        message="Mode: {mode_name}",
-        tts_provider="riva",
-    )
-    handler = MessageHookHandler(config)
-
-    mock_tts = Mock()
-    mock_tts.start = Mock()
-    mock_tts.add_pending_message = Mock()
-
-    with patch("runtime.hook.logging") as mock_logging:
-        with patch("runtime.hook.RivaTTSProvider", return_value=mock_tts):
-            result = await handler.execute(sample_context)
-            assert result is True
-            mock_logging.info.assert_called_once_with("Lifecycle hook message: Mode: test_mode")
-            mock_tts.start.assert_called_once()
-            mock_tts.add_pending_message.assert_called_once_with("Mode: test_mode")
-
-
-@pytest.mark.asyncio
-async def test_message_handler_execute_with_unsupported_provider(sample_context):
-    """Test message handler execution with unsupported provider fails gracefully."""
-    config = MessageHookConfig(
-        message="Mode: {mode_name}",
-        tts_provider="invalid",
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.logging") as mock_logging:
-        result = await handler.execute(sample_context)
-        assert result is False
-        mock_logging.error.assert_called_once()
-        error_call = mock_logging.error.call_args[0][0]
-        assert "Error adding TTS message:" in error_call
-
-
-@pytest.mark.asyncio
-async def test_message_handler_execute_provider_exception(sample_context):
-    """Test message handler execution when provider initialization fails."""
-    config = MessageHookConfig(
-        message="Mode: {mode_name}",
-        tts_provider="elevenlabs",
-    )
-    handler = MessageHookHandler(config)
-
-    with patch("runtime.hook.logging") as mock_logging:
-        with patch(
-            "runtime.hook.ElevenLabsTTSProvider",
-            side_effect=Exception("Provider init failed"),
-        ):
-            result = await handler.execute(sample_context)
-            assert result is False
-            mock_logging.error.assert_called_once()
-            error_call = mock_logging.error.call_args[0][0]
-            assert "Error adding TTS message:" in error_call
-
-
-def test_command_handler_creation():
-    """Test command handler creation."""
-    config = CommandHookConfig(command="echo test")
-    handler = CommandHookHandler(config)
-    assert isinstance(handler.config, CommandHookConfig)
-    assert handler.config.command == "echo test"
-
-
-@pytest.mark.asyncio
-async def test_command_handler_successful_execution(sample_context):
-    """Test successful command execution."""
-    config = CommandHookConfig(command="echo 'Mode: {mode_name}'")
-    handler = CommandHookHandler(config)
-
-    mock_process = AsyncMock()
-    mock_process.communicate.return_value = (b"Mode: test_mode\n", b"")
-    mock_process.returncode = 0
-
-    with patch(
-        "runtime.hook.asyncio.create_subprocess_shell",
-        return_value=mock_process,
-    ):
-        with patch("runtime.hook.logging") as mock_logging:
-            result = await handler.execute(sample_context)
-            assert result is True
-            mock_logging.info.assert_called_once_with("Hook command output: Mode: test_mode")
-
-
-@pytest.mark.asyncio
-async def test_command_handler_failed_execution(sample_context):
-    """Test failed command execution."""
-    config = CommandHookConfig(command="false")  # Command that always fails
-    handler = CommandHookHandler(config)
-
-    mock_process = AsyncMock()
-    mock_process.communicate.return_value = (b"", b"Command failed")
-    mock_process.returncode = 1
-
-    with patch(
-        "runtime.hook.asyncio.create_subprocess_shell",
-        return_value=mock_process,
-    ):
-        with patch("runtime.hook.logging") as mock_logging:
-            result = await handler.execute(sample_context)
-            assert result is False
-            mock_logging.error.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_command_handler_no_command():
-    """Test command handler with no command specified."""
-    config = CommandHookConfig()
-    handler = CommandHookHandler(config)
-
-    with patch("runtime.hook.logging") as mock_logging:
-        result = await handler.execute({})
-        assert result is False
-        mock_logging.warning.assert_called_once_with("No command specified for command hook")
-
-
-@pytest.mark.asyncio
-async def test_command_handler_empty_command():
-    """Test command handler with empty command."""
-    config = CommandHookConfig(command="")
-    handler = CommandHookHandler(config)
-
-    with patch("runtime.hook.logging") as mock_logging:
-        result = await handler.execute({})
-        assert result is False
-        mock_logging.warning.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_command_handler_execution_exception(sample_context):
-    """Test command handler with execution exception."""
-    config = CommandHookConfig(command="echo test")
-    handler = CommandHookHandler(config)
-
-    with patch(
-        "runtime.hook.asyncio.create_subprocess_shell",
-        side_effect=OSError("Permission denied"),
-    ):
-        with patch("runtime.hook.logging") as mock_logging:
-            result = await handler.execute(sample_context)
-            assert result is False
-            mock_logging.error.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_command_handler_successful_no_output(sample_context):
-    """Test successful command with no output."""
-    config = CommandHookConfig(command="true")  # Command that succeeds with no output
-    handler = CommandHookHandler(config)
-
-    mock_process = AsyncMock()
-    mock_process.communicate.return_value = (b"", b"")
-    mock_process.returncode = 0
-
-    with patch(
-        "runtime.hook.asyncio.create_subprocess_shell",
-        return_value=mock_process,
-    ):
-        result = await handler.execute(sample_context)
-        assert result is True
-
-
-def test_function_handler_creation():
-    """Test function handler creation."""
-    config = FunctionHookConfig(function="test_func", module_name="test_module")
-    handler = FunctionHookHandler(config)
-    assert isinstance(handler.config, FunctionHookConfig)
-    assert handler.config.function == "test_func"
-    assert handler.config.module_name == "test_module"
-
-
-@pytest.mark.asyncio
-async def test_function_handler_no_function():
-    """Test function handler with no function specified."""
-    with pytest.raises(Exception):
-        config = FunctionHookConfig(module_name="test_module")  # type: ignore
-        FunctionHookHandler(config)
-
-
-@pytest.mark.asyncio
-async def test_function_handler_no_module():
-    """Test function handler with no module specified."""
-    with pytest.raises(Exception):
-        config = FunctionHookConfig(function="test_func")  # type: ignore
-        FunctionHookHandler(config)
-
-
-@pytest.mark.asyncio
-async def test_function_handler_successful_sync_execution(sample_context):
-    """Test successful synchronous function execution."""
-    config = FunctionHookConfig(function="test_func", module_name="test_module")
-    handler = FunctionHookHandler(config)
-
-    def mock_function(context):
-        return True
-
-    with patch.object(handler, "_find_function_in_module", return_value=mock_function):
-        result = await handler.execute(sample_context)
-        assert result is True
-
-
-@pytest.mark.asyncio
-async def test_function_handler_successful_async_execution(sample_context):
-    """Test successful asynchronous function execution."""
-    config = FunctionHookConfig(function="test_func", module_name="test_module")
-    handler = FunctionHookHandler(config)
-
-    async def mock_async_function(context):
-        return True
-
-    with patch.object(handler, "_find_function_in_module", return_value=mock_async_function):
-        result = await handler.execute(sample_context)
-        assert result is True
-
-
-@pytest.mark.asyncio
-async def test_function_handler_function_returns_false(sample_context):
-    """Test function that returns False."""
-    config = FunctionHookConfig(function="test_func", module_name="test_module")
-    handler = FunctionHookHandler(config)
-
-    def mock_function(context):
-        return False
-
-    with patch.object(handler, "_find_function_in_module", return_value=mock_function):
-        result = await handler.execute(sample_context)
-        assert result is False
-
-
-@pytest.mark.asyncio
-async def test_function_handler_function_returns_none(sample_context):
-    """Test function that returns None (should be treated as success)."""
-    config = FunctionHookConfig(function="test_func", module_name="test_module")
-    handler = FunctionHookHandler(config)
-
-    def mock_function(context):
-        return None
-
-    with patch.object(handler, "_find_function_in_module", return_value=mock_function):
-        result = await handler.execute(sample_context)
-        assert result is True
-
-
-@pytest.mark.asyncio
-async def test_function_handler_function_not_found(sample_context):
-    """Test function handler when function is not found."""
-    config = FunctionHookConfig(function="test_func", module_name="test_module")
-    handler = FunctionHookHandler(config)
-
-    with patch.object(handler, "_find_function_in_module", return_value=None):
-        result = await handler.execute(sample_context)
-        assert result is False
-
-
-@pytest.mark.asyncio
-async def test_function_handler_execution_exception(sample_context):
-    """Test function handler with execution exception."""
-    config = FunctionHookConfig(function="test_func", module_name="test_module")
-    handler = FunctionHookHandler(config)
-
-    def mock_function(context):
-        raise ValueError("Test error")
-
-    with patch.object(handler, "_find_function_in_module", return_value=mock_function):
-        with patch("runtime.hook.logging") as mock_logging:
-            result = await handler.execute(sample_context)
-            assert result is False
-            mock_logging.error.assert_called_once()
-
-
-def test_find_function_in_module_hooks_dir_not_found():
-    """Test function search when hooks directory doesn't exist."""
-    handler = FunctionHookHandler(FunctionHookConfig(function="test_func", module_name="test_module"))
-
-    with patch("runtime.hook.os.path.exists", return_value=False):
-        with patch("runtime.hook.logging") as mock_logging:
-            result = handler._find_function_in_module("test_module", "test_func")
-            assert result is None
-            mock_logging.error.assert_called_once()
-
-
-def test_find_function_in_module_file_not_found():
-    """Test function search when module file doesn't exist."""
-    handler = FunctionHookHandler(FunctionHookConfig(function="test_func", module_name="test_module"))
-
-    with patch("runtime.hook.os.path.exists", side_effect=[True, False]):
-        with patch("runtime.hook.logging") as mock_logging:
-            result = handler._find_function_in_module("test_module", "test_func")
-            assert result is None
-            mock_logging.error.assert_called_once()
-
-
-def test_find_function_in_module_function_not_in_file():
-    """Test function search when function is not found in file."""
-    handler = FunctionHookHandler(FunctionHookConfig(function="test_func", module_name="test_module"))
-
-    file_content = "def other_function():\n    pass"
-
-    with patch("runtime.hook.os.path.exists", return_value=True):
-        with patch("builtins.open", mock_open(read_data=file_content)):
-            with patch("runtime.hook.logging") as mock_logging:
-                result = handler._find_function_in_module("test_module", "test_func")
-                assert result is None
-                mock_logging.error.assert_called_once()
-
-
-def test_find_function_in_module_import_error():
-    """Test function search with import error."""
-    handler = FunctionHookHandler(FunctionHookConfig(function="test_func", module_name="test_module"))
-
-    file_content = "def test_func():\n    pass"
-
-    with patch("runtime.hook.os.path.exists", return_value=True):
-        with patch("builtins.open", mock_open(read_data=file_content)):
-            with patch("runtime.hook.logging") as mock_logging:
-                with patch(
-                    "runtime.hook.importlib.import_module",
-                    side_effect=ImportError("Module not found"),
-                ):
-                    result = handler._find_function_in_module("test_module", "test_func")
-                    assert result is None
-                    mock_logging.error.assert_called_once()
-
-
-def test_find_function_in_module_successful():
-    """Test successful function search and import."""
-    handler = FunctionHookHandler(FunctionHookConfig(function="test_func", module_name="test_module"))
-
-    file_content = "def test_func():\n    pass"
-
-    def mock_function():
-        pass
-
-    mock_module = Mock()
-    mock_module.test_func = mock_function
-
-    with patch("runtime.hook.os.path.exists", return_value=True):
-        with patch("builtins.open", mock_open(read_data=file_content)):
-            with patch(
-                "runtime.hook.importlib.import_module",
-                return_value=mock_module,
-            ):
-                with patch("runtime.hook.hasattr", return_value=True):
-                    result = handler._find_function_in_module("test_module", "test_func")
-                    assert result == mock_function
-
-
-def test_find_function_in_module_async_function():
-    """Test finding async function."""
-    handler = FunctionHookHandler(FunctionHookConfig(function="test_func", module_name="test_module"))
-
-    file_content = "async def test_func():\n    pass"
-
-    async def mock_async_function():
-        pass
-
-    mock_module = Mock()
-    mock_module.test_func = mock_async_function
-
-    with patch("runtime.hook.os.path.exists", return_value=True):
-        with patch("builtins.open", mock_open(read_data=file_content)):
-            with patch(
-                "runtime.hook.importlib.import_module",
-                return_value=mock_module,
-            ):
-                with patch("runtime.hook.hasattr", return_value=True):
-                    result = handler._find_function_in_module("test_module", "test_func")
-                    assert result == mock_async_function
-
-
-class TestActionHookHandler:
-    """Test cases for ActionHookHandler."""
-
-    def test_action_handler_creation(self):
-        """Test action handler creation."""
-        config = ActionHookConfig(action_type="test_action", action_config={})
-        handler = ActionHookHandler(config)
-        assert isinstance(handler.config, ActionHookConfig)
-        assert handler.config.action_type == "test_action"
-        assert handler.action is None
-
-    @pytest.mark.asyncio
-    async def test_action_handler_no_action_type(self):
-        """Test action handler with no action type specified."""
-        with pytest.raises(Exception):
-            config = ActionHookConfig(action_config={})  # type: ignore
-            ActionHookHandler(config)
-
-    @pytest.mark.asyncio
-    async def test_action_handler_action_load_error(self, sample_context):
-        """Test action handler with action loading error."""
-        config = ActionHookConfig(action_type="nonexistent_action", action_config={})
-        handler = ActionHookHandler(config)
-
-        with patch("actions.load_action", side_effect=ImportError("Action not found")):
-            with patch("runtime.hook.logging") as mock_logging:
-                result = await handler.execute(sample_context)
-                assert result is False
-                mock_logging.error.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_action_handler_successful_execution(self, sample_context):
-        """Test successful action execution."""
-        config = ActionHookConfig(action_type="test_action", action_config={"param": "value"})
-        handler = ActionHookHandler(config)
-
-        # Mock action and connector
-        mock_connector = AsyncMock()
-        mock_connector.connect = AsyncMock(return_value=None)
-        mock_action = Mock()
-        mock_action.connector = mock_connector
-
-        with patch("actions.load_action", return_value=mock_action):
-            result = await handler.execute(sample_context)
-            assert result is True
-            mock_connector.connect.assert_called_once_with(sample_context.get("input_data"))
-
-    @pytest.mark.asyncio
-    async def test_action_handler_execution_error(self, sample_context):
-        """Test action handler with execution error."""
-        config = ActionHookConfig(action_type="test_action", action_config={})
-        handler = ActionHookHandler(config)
-
-        mock_connector = AsyncMock()
-        mock_connector.connect = AsyncMock(side_effect=Exception("Connection failed"))
-        mock_action = Mock()
-        mock_action.connector = mock_connector
-
-        with patch("actions.load_action", return_value=mock_action):
-            with patch("runtime.hook.logging") as mock_logging:
-                result = await handler.execute(sample_context)
-                assert result is False
-                mock_logging.error.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_action_handler_reuse_action(self, sample_context):
-        """Test that action handler reuses loaded action."""
-        config = ActionHookConfig(action_type="test_action", action_config={})
-        handler = ActionHookHandler(config)
-
-        mock_connector = AsyncMock()
-        mock_connector.connect = AsyncMock(return_value=None)
-        mock_action = Mock()
-        mock_action.connector = mock_connector
-        handler.action = mock_action  # Pre-load the action
-
-        with patch("actions.load_action") as mock_load_action:
-            result = await handler.execute(sample_context)
-            assert result is True
-            mock_load_action.assert_not_called()
-            mock_connector.connect.assert_called_once()
-
-
-class TestCreateHookHandler:
-    """Test cases for create_hook_handler function."""
-
-    def test_create_message_handler(self, sample_message_hook):
-        """Test creating message hook handler."""
-        handler = create_hook_handler(sample_message_hook)
-        assert isinstance(handler, MessageHookHandler)
-        assert isinstance(handler.config, MessageHookConfig)
-        assert handler.config.message == sample_message_hook.handler_config["message"]
-
-    def test_create_command_handler(self, sample_command_hook):
-        """Test creating command hook handler."""
-        handler = create_hook_handler(sample_command_hook)
-        assert isinstance(handler, CommandHookHandler)
-        assert isinstance(handler.config, CommandHookConfig)
-        assert handler.config.command == sample_command_hook.handler_config["command"]
-
-    def test_create_function_handler(self, sample_function_hook):
-        """Test creating function hook handler."""
-        handler = create_hook_handler(sample_function_hook)
-        assert isinstance(handler, FunctionHookHandler)
-        assert isinstance(handler.config, FunctionHookConfig)
-        assert handler.config.function == sample_function_hook.handler_config["function"]
-        assert handler.config.module_name == sample_function_hook.handler_config["module_name"]
-
-    def test_create_action_handler(self, sample_action_hook):
-        """Test creating action hook handler."""
-        handler = create_hook_handler(sample_action_hook)
-        assert isinstance(handler, ActionHookHandler)
-        assert isinstance(handler.config, ActionHookConfig)
-        assert handler.config.action_type == sample_action_hook.handler_config["action_type"]
-        assert handler.config.action_config == sample_action_hook.handler_config["action_config"]
-
-    def test_create_handler_unknown_type(self):
-        """Test creating handler with unknown type."""
-        hook = LifecycleHook(
-            hook_type=LifecycleHookType.ON_ENTRY,
-            handler_type="unknown_type",
-            handler_config={},
-        )
-
-        with patch("runtime.hook.logging") as mock_logging:
-            handler = create_hook_handler(hook)
-            assert handler is None
-            mock_logging.error.assert_called_once_with("Unknown hook handler type: unknown_type")
-
-    def test_create_handler_case_insensitive(self):
-        """Test creating handler with case-insensitive type."""
-        hook = LifecycleHook(
-            hook_type=LifecycleHookType.ON_ENTRY,
-            handler_type="MESSAGE",  # Uppercase
-            handler_config={"message": "test"},
-        )
-
-        handler = create_hook_handler(hook)
-        assert isinstance(handler, MessageHookHandler)
-
-
-class TestParseLifecycleHooks:
-    """Test cases for parse_lifecycle_hooks function."""
-
-    def test_parse_empty_hooks(self):
-        """Test parsing empty hooks list."""
-        result = parse_lifecycle_hooks([])
-        assert result == []
-
-    def test_parse_valid_hooks(self):
-        """Test parsing valid hooks configuration."""
-        raw_hooks = [
-            {
-                "hook_type": "on_entry",
-                "handler_type": "message",
-                "handler_config": {"message": "test"},
-                "priority": 1,
-            },
-            {
-                "hook_type": "on_exit",
-                "handler_type": "command",
-                "handler_config": {"command": "echo test"},
-                "async_execution": False,
-                "timeout_seconds": 10.0,
-            },
-        ]
-
-        hooks = parse_lifecycle_hooks(raw_hooks)
-        assert len(hooks) == 2
-
-        assert hooks[0].hook_type == LifecycleHookType.ON_ENTRY
-        assert hooks[0].handler_type == "message"
-        assert hooks[0].priority == 1
-
-        assert hooks[1].hook_type == LifecycleHookType.ON_EXIT
-        assert hooks[1].handler_type == "command"
-        assert hooks[1].async_execution is False
-        assert hooks[1].timeout_seconds == 10.0
-
-    def test_parse_hooks_with_defaults(self):
-        """Test parsing hooks with default values."""
-        raw_hooks = [
-            {
-                "hook_type": "on_startup",
-                "handler_type": "function",
-                "handler_config": {"function": "test"},
-            }
-        ]
-
-        hooks = parse_lifecycle_hooks(raw_hooks)
-        assert len(hooks) == 1
-
-        hook = hooks[0]
-        assert hook.async_execution is True  # Default
-        assert hook.timeout_seconds == 5.0  # Default
-        assert hook.on_failure == "ignore"  # Default
-        assert hook.priority == 0  # Default
-
-    def test_parse_hooks_invalid_hook_type(self):
-        """Test parsing hooks with invalid hook type."""
-        raw_hooks = [
-            {
-                "hook_type": "invalid_type",
-                "handler_type": "message",
-                "handler_config": {"message": "test"},
-            }
-        ]
-
-        with patch("runtime.hook.logging") as mock_logging:
-            hooks = parse_lifecycle_hooks(raw_hooks)
-            assert len(hooks) == 0
-            mock_logging.error.assert_called_once()
-
-    def test_parse_hooks_missing_required_fields(self):
-        """Test parsing hooks with missing required fields."""
-        raw_hooks = [
-            {
-                "handler_type": "message",  # Missing hook_type
-                "handler_config": {"message": "test"},
-            },
-            {
-                "hook_type": "on_entry",  # Missing handler_type
-                "handler_config": {"message": "test"},
-            },
-        ]
-
-        with patch("runtime.hook.logging") as mock_logging:
-            hooks = parse_lifecycle_hooks(raw_hooks)
-            assert len(hooks) == 0
-            assert mock_logging.error.call_count == 2
-
-
-class TestExecuteLifecycleHooks:
-    """Test cases for execute_lifecycle_hooks function."""
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_empty_list(self):
-        """Test executing empty hooks list."""
-        result = await execute_lifecycle_hooks([], LifecycleHookType.ON_ENTRY)
-        assert result is True
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_no_matching_type(self, sample_message_hook):
-        """Test executing hooks with no matching type."""
-        hooks = [sample_message_hook]  # ON_ENTRY hook
-        result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_EXIT)
-        assert result is True
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_successful(self, sample_context):
-        """Test successful execution of matching hooks."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "Hook 1"},
-                priority=1,
-            ),
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "Hook 2"},
-                priority=2,
-            ),
-        ]
-
-        with patch("runtime.hook.create_hook_handler") as mock_create:
-            mock_handler1 = AsyncMock()
-            mock_handler1.execute.return_value = True
-            mock_handler2 = AsyncMock()
-            mock_handler2.execute.return_value = True
-            mock_create.side_effect = [mock_handler1, mock_handler2]
-
-            with patch("runtime.hook.logging") as mock_logging:
-                result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY, sample_context)
-                assert result is True
-                mock_logging.info.assert_called_once_with("Executing 2 on_entry hooks")
-
-                assert mock_create.call_count == 2
-                mock_handler2.execute.assert_called_once()  # Priority 2 first
-                mock_handler1.execute.assert_called_once()  # Priority 1 second
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_priority_sorting(self):
-        """Test that hooks are executed in priority order."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "Low priority"},
-                priority=1,
-            ),
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "High priority"},
-                priority=5,
-            ),
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "Medium priority"},
-                priority=3,
-            ),
-        ]
-
-        execution_order = []
-
-        def track_execution(hook):
-            handler = AsyncMock()
-
-            async def execute_with_tracking(context):
-                execution_order.append(hook.handler_config["message"])
-                return True
-
-            handler.execute = execute_with_tracking
-            return handler
-
-        with patch("runtime.hook.create_hook_handler", side_effect=track_execution):
-            result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-            assert result is True
-            assert execution_order == [
-                "High priority",
-                "Medium priority",
-                "Low priority",
-            ]
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_handler_creation_failure(self):
-        """Test execution when handler creation fails."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-            )
-        ]
-
-        with patch("runtime.hook.create_hook_handler", return_value=None):
-            with patch("runtime.hook.logging") as mock_logging:
-                result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-                assert result is False
-                mock_logging.error.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_failure_ignore_policy(self):
-        """Test execution with failure ignore policy."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-                on_failure="ignore",
-            )
-        ]
-
-        mock_handler = AsyncMock()
-        mock_handler.execute.return_value = False
-
-        with patch("runtime.hook.create_hook_handler", return_value=mock_handler):
-            result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-            assert result is False  # Overall result is False, but execution continues
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_failure_abort_policy(self):
-        """Test execution with failure abort policy."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test1"},
-                on_failure="abort",
-            ),
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test2"},
-            ),
-        ]
-
-        mock_handler1 = AsyncMock()
-        mock_handler1.execute.return_value = False
-        mock_handler2 = AsyncMock()
-        mock_handler2.execute.return_value = True
-
-        with patch(
-            "runtime.hook.create_hook_handler",
-            side_effect=[mock_handler1, mock_handler2],
-        ):
-            with patch("runtime.hook.logging") as mock_logging:
-                result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-                assert result is False
-                mock_logging.error.assert_called_once()
-                mock_handler1.execute.assert_called_once()
-                mock_handler2.execute.assert_not_called()  # Should not execute due to abort
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_timeout(self):
-        """Test execution with timeout."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-                timeout_seconds=0.1,
-            )
-        ]
-
-        async def slow_execution(context):
-            await asyncio.sleep(1)  # Takes longer than timeout
-            return True
-
-        mock_handler = AsyncMock()
-        mock_handler.execute.side_effect = slow_execution
-
-        with patch("runtime.hook.create_hook_handler", return_value=mock_handler):
-            with patch("runtime.hook.logging") as mock_logging:
-                result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-                assert result is False
-                mock_logging.error.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_timeout_abort_policy(self):
-        """Test execution timeout with abort policy."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-                timeout_seconds=0.1,
-                on_failure="abort",
-            )
-        ]
-
-        async def slow_execution(context):
-            await asyncio.sleep(1)
-            return True
-
-        mock_handler = AsyncMock()
-        mock_handler.execute.side_effect = slow_execution
-
-        with patch("runtime.hook.create_hook_handler", return_value=mock_handler):
-            result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_no_timeout(self):
-        """Test execution with no timeout specified."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-                timeout_seconds=None,
-            )
-        ]
-
-        mock_handler = AsyncMock()
-        mock_handler.execute.return_value = True
-
-        with patch("runtime.hook.create_hook_handler", return_value=mock_handler):
-            result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-            assert result is True
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_context_update(self, sample_context):
-        """Test that context is properly updated with hook_type."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-            )
-        ]
-
-        received_context = None
-
-        mock_handler = AsyncMock()
-
-        async def capture_context(context):
-            nonlocal received_context
-            received_context = context.copy()
-            return True
-
-        mock_handler.execute = capture_context
-
-        with patch("runtime.hook.create_hook_handler", return_value=mock_handler):
-            await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY, sample_context)
-
-            assert received_context is not None
-            assert received_context["hook_type"] == "on_entry"
-            assert received_context["mode_name"] == "test_mode"
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_general_exception(self):
-        """Test execution with general exception."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-                on_failure="ignore",
-            )
-        ]
-
-        mock_handler = AsyncMock()
-        mock_handler.execute.side_effect = Exception("General error")
-
-        with patch("runtime.hook.create_hook_handler", return_value=mock_handler):
-            with patch("runtime.hook.logging") as mock_logging:
-                result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-                assert result is False
-                mock_logging.error.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_general_exception_abort(self):
-        """Test execution with general exception and abort policy."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "test"},
-                on_failure="abort",
-            )
-        ]
-
-        mock_handler = AsyncMock()
-        mock_handler.execute.side_effect = Exception("General error")
-
-        with patch("runtime.hook.create_hook_handler", return_value=mock_handler):
-            result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-            assert result is False
-
-    @pytest.mark.asyncio
-    async def test_execute_hooks_mixed_success_failure(self):
-        """Test execution with mixed success and failure."""
-        hooks = [
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "success"},
-                priority=2,
-            ),
-            LifecycleHook(
-                hook_type=LifecycleHookType.ON_ENTRY,
-                handler_type="message",
-                handler_config={"message": "failure"},
-                priority=1,
-                on_failure="ignore",
-            ),
-        ]
-
-        mock_handler_success = AsyncMock()
-        mock_handler_success.execute.return_value = True
-        mock_handler_failure = AsyncMock()
-        mock_handler_failure.execute.return_value = False
-
-        with patch(
-            "runtime.hook.create_hook_handler",
-            side_effect=[mock_handler_success, mock_handler_failure],
-        ):
-            result = await execute_lifecycle_hooks(hooks, LifecycleHookType.ON_ENTRY)
-            assert result is False
diff --git a/tests/runtime/test_logging.py b/tests/runtime/test_logging.py
deleted file mode 100644
index 18ffa3137f..0000000000
--- a/tests/runtime/test_logging.py
+++ /dev/null
@@ -1,87 +0,0 @@
-import logging
-from unittest.mock import patch
-
-from runtime.logging import (
-    LoggingConfig,
-    get_logging_config,
-    setup_logging,
-)
-
-
-class TestLoggingConfig:
-    def test_defaults(self):
-        config = LoggingConfig()
-        assert config.log_level == "INFO"
-        assert config.log_to_file is False
-
-    def test_custom_values(self):
-        config = LoggingConfig(log_level="DEBUG", log_to_file=True)
-        assert config.log_level == "DEBUG"
-        assert config.log_to_file is True
-
-
-class TestSetupLogging:
-    def teardown_method(self):
-        logging.getLogger().handlers.clear()
-
-    def test_defaults(self):
-        setup_logging("test_config")
-        logger = logging.getLogger()
-        assert logger.level == logging.INFO
-        assert len(logger.handlers) == 1
-        assert isinstance(logger.handlers[0], logging.StreamHandler)
-
-    def test_custom_level(self):
-        setup_logging("test_config", log_level="DEBUG")
-        assert logging.getLogger().level == logging.DEBUG
-
-    def test_with_config_object(self):
-        config_obj = LoggingConfig(log_level="WARNING", log_to_file=True)
-        setup_logging("test_config", logging_config=config_obj)
-        assert logging.getLogger().level == logging.WARNING
-
-    def test_logs_to_file(self):
-        with (
-            patch("runtime.logging.os.makedirs"),
-            patch("runtime.logging.time.strftime", return_value="2023-01-01_12-00-00"),
-        ):
-            setup_logging("test_config", log_to_file=True)
-            logger = logging.getLogger()
-            assert len(logger.handlers) == 2
-            handler_types = [type(h).__name__ for h in logger.handlers]
-            assert "StreamHandler" in handler_types
-            assert "FileHandler" in handler_types
-
-    def test_clears_handlers(self):
-        dummy_handler = logging.StreamHandler()
-        logging.getLogger().addHandler(dummy_handler)
-        setup_logging("test_config")
-        logger = logging.getLogger()
-        assert len([h for h in logger.handlers if h is dummy_handler]) == 0
-        assert len(logger.handlers) == 1
-
-
-class TestGetLoggingConfig:
-    def teardown_method(self):
-        logging.getLogger().handlers.clear()
-
-    def test_default(self):
-        setup_logging("test_config")
-        config = get_logging_config()
-        assert config.log_level == "INFO"
-        assert config.log_to_file is False
-
-    def test_with_file_handler(self):
-        with (
-            patch("runtime.logging.os.makedirs"),
-            patch("runtime.logging.time.strftime", return_value="2023-01-01_12-00-00"),
-        ):
-            setup_logging("test_config", log_to_file=True)
-            config = get_logging_config()
-            assert config.log_level == "INFO"
-            assert config.log_to_file is True
-
-    def test_custom_level(self):
-        setup_logging("test_config", log_level="ERROR")
-        config = get_logging_config()
-        assert config.log_level == "ERROR"
diff --git a/tests/runtime/test_manager.py b/tests/runtime/test_manager.py
deleted file mode 100644
index dbb414da5b..0000000000
--- a/tests/runtime/test_manager.py
+++ /dev/null
@@ -1,1282 +0,0 @@
-import asyncio
-import json
-import logging
-import tempfile
-import time
-from unittest.mock import AsyncMock, Mock, patch
-
-import pytest
-
-from runtime.config import (
-    ModeConfig,
-    ModeSystemConfig,
-    TransitionRule,
-    TransitionType,
-)
-from runtime.manager import ModeManager, ModeState
-
-
-@pytest.fixture
-def sample_mode_configs():
-    """Sample mode configurations for testing."""
-    return {
-        "default": ModeConfig(
-            version="v1.0.0",
-            name="default",
-            display_name="Default Mode",
-            description="Default operational mode",
-            system_prompt_base="You are a test agent",
-            timeout_seconds=300.0,
-        ),
-        "advanced": ModeConfig(
-            version="v1.0.0",
-            name="advanced",
-            display_name="Advanced Mode",
-            description="Advanced test mode",
-            system_prompt_base="You are an advanced test agent",
-        ),
-        "emergency": ModeConfig(
-            version="v1.0.0",
-            name="emergency",
-            display_name="Emergency Mode",
-            description="Emergency test mode",
-            system_prompt_base="EMERGENCY PROTOCOL ACTIVATED",
-        ),
-    }
-
-
-@pytest.fixture
-def sample_transition_rules():
-    """Sample transition rules for testing."""
-    return [
-        TransitionRule(
-            from_mode="default",
-            to_mode="advanced",
-            transition_type=TransitionType.INPUT_TRIGGERED,
-            trigger_keywords=["advanced", "expert", "complex"],
-            priority=3,
-            cooldown_seconds=5.0,
-        ),
-        TransitionRule(
-            from_mode="*",
-            to_mode="emergency",
-            transition_type=TransitionType.INPUT_TRIGGERED,
-            trigger_keywords=["emergency", "help", "urgent"],
-            priority=10,
-            cooldown_seconds=0.0,
-        ),
-        TransitionRule(
-            from_mode="advanced",
-            to_mode="default",
-            transition_type=TransitionType.TIME_BASED,
-            timeout_seconds=600.0,
-            priority=1,
-        ),
-        TransitionRule(
-            from_mode="emergency",
-            to_mode="default",
-            transition_type=TransitionType.INPUT_TRIGGERED,
-            trigger_keywords=["normal", "safe", "ok"],
-            priority=5,
-        ),
-        TransitionRule(
-            from_mode="default",
-            to_mode="advanced",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"location": "lab"},
-            priority=4,
-        ),
-        TransitionRule(
-            from_mode="default",
-            to_mode="emergency",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"battery_level": {"min": 0, "max": 15}},
-            priority=8,
-        ),
-        TransitionRule(
-            from_mode="*",
-            to_mode="advanced",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={
-                "user_skill": "expert",
-                "complexity_level": ["high", "very_high"],
-            },
-            priority=6,
-        ),
-        TransitionRule(
-            from_mode="advanced",
-            to_mode="default",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"task_completion": True},
-            priority=2,
-        ),
-        TransitionRule(
-            from_mode="default",
-            to_mode="emergency",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"error_message": {"contains": "critical"}},
-            priority=9,
-        ),
-        TransitionRule(
-            from_mode="emergency",
-            to_mode="default",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"status": {"not": "error"}},
-            priority=3,
-        ),
-    ]
-
-
-@pytest.fixture
-def sample_system_config(sample_mode_configs, sample_transition_rules):
-    """Sample system configuration for testing."""
-    config = ModeSystemConfig(
-        version="v1.0.5",
-        name="test_system",
-        default_mode="default",
-        config_name="test_config",
-        allow_manual_switching=True,
-        mode_memory_enabled=True,
-        api_key="test_api_key",
-        robot_ip="192.168.1.100",
-    )
-    config.modes = sample_mode_configs
-    config.transition_rules = sample_transition_rules
-    return config
-
-
-@pytest.fixture
-def mode_manager(sample_system_config):
-    """Mode manager instance for testing."""
-    with (
-        patch("runtime.manager.open_zenoh_session"),
-        patch("runtime.manager.ModeManager._load_mode_state"),
-    ):
-        return ModeManager(sample_system_config)
-
-
-class TestModeState:
-    """Test cases for ModeState class."""
-
-    def test_mode_state_creation(self):
-        """Test basic mode state creation."""
-        state = ModeState(current_mode="test_mode")
-        assert state.current_mode == "test_mode"
-        assert state.previous_mode is None
-        assert isinstance(state.mode_start_time, float)
-        assert len(state.transition_history) == 0
-        assert state.last_transition_time == 0.0
-        assert len(state.user_context) == 0
-
-    def test_mode_state_with_values(self):
-        """Test mode state with custom values."""
-        history = ["mode1->mode2:manual"]
-        context = {"location": "office"}
-        state = ModeState(
-            current_mode="active",
-            previous_mode="inactive",
-            transition_history=history,
-            user_context=context,
-        )
-        assert state.current_mode == "active"
-        assert state.previous_mode == "inactive"
-        assert state.transition_history == history
-        assert state.user_context == context
-
-
-class TestModeManager:
-    """Test cases for ModeManager class."""
-
-    def test_initialization(self, mode_manager, sample_system_config):
-        """Test mode manager initialization."""
-        assert mode_manager.config == sample_system_config
-        assert mode_manager.state.current_mode == "default"
-        assert len(mode_manager.transition_cooldowns) == 0
-        assert len(mode_manager.pending_transitions) == 0
-        assert len(mode_manager._transition_callbacks) == 0
-
-    def test_initialization_invalid_default_mode(self, sample_system_config):
-        """Test initialization with invalid default mode raises error."""
-        sample_system_config.default_mode = "nonexistent"
-
-        with patch("runtime.manager.open_zenoh_session"):
-            with pytest.raises(ValueError, match="Default mode 'nonexistent' not found"):
-                ModeManager(sample_system_config)
-
-    def test_current_mode_config_property(self, mode_manager):
-        """Test current_mode_config property."""
-        config = mode_manager.current_mode_config
-        assert config.name == "default"
-        assert config.display_name == "Default Mode"
-
-    def test_current_mode_name_property(self, mode_manager):
-        """Test current_mode_name property."""
-        assert mode_manager.current_mode_name == "default"
-
-    def test_add_remove_transition_callback(self, mode_manager):
-        """Test adding and removing transition callbacks."""
-        callback1 = Mock()
-        callback2 = Mock()
-
-        mode_manager.add_transition_callback(callback1)
-        mode_manager.add_transition_callback(callback2)
-        assert len(mode_manager._transition_callbacks) == 2
-
-        mode_manager.remove_transition_callback(callback1)
-        assert len(mode_manager._transition_callbacks) == 1
-        assert callback2 in mode_manager._transition_callbacks
-
-    @pytest.mark.asyncio
-    async def test_notify_transition_callbacks_sync(self, mode_manager):
-        """Test notifying synchronous transition callbacks."""
-        callback = Mock()
-        mode_manager.add_transition_callback(callback)
-
-        await mode_manager._notify_transition_callbacks("from", "to")
-        callback.assert_called_once_with("from", "to")
-
-    @pytest.mark.asyncio
-    async def test_notify_transition_callbacks_async(self, mode_manager):
-        """Test notifying asynchronous transition callbacks."""
-        callback = AsyncMock()
-        mode_manager.add_transition_callback(callback)
-
-        await mode_manager._notify_transition_callbacks("from", "to")
-        callback.assert_called_once_with("from", "to")
-
-    @pytest.mark.asyncio
-    async def test_notify_transition_callbacks_exception(self, mode_manager):
-        """Test that callback exceptions are handled gracefully."""
-
-        def error_callback(from_mode, to_mode):
-            raise Exception("Callback error")
-
-        mode_manager.add_transition_callback(error_callback)
-
-        await mode_manager._notify_transition_callbacks("from", "to")
-
-    @pytest.mark.asyncio
-    async def test_check_time_based_transitions_no_timeout(self, mode_manager):
-        """Test time-based transitions when current mode has no timeout."""
-        result = await mode_manager.check_time_based_transitions()
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_check_time_based_transitions_within_timeout(self, mode_manager):
-        """Test time-based transitions within timeout period."""
-        mode_manager.config.modes["default"].timeout_seconds = 3600.0
-        result = await mode_manager.check_time_based_transitions()
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_check_time_based_transitions_exceeded_timeout(self, mode_manager):
-        """Test time-based transitions when timeout is exceeded."""
-        mode_manager.state.current_mode = "advanced"
-        mode_manager.config.modes["advanced"].timeout_seconds = 0.1
-        mode_manager.state.mode_start_time = time.time() - 1.0
-
-        result = await mode_manager.check_time_based_transitions()
-        assert result == "default"
-
-    def test_check_input_triggered_transitions_no_input(self, mode_manager):
-        """Test input-triggered transitions with no input."""
-        result = mode_manager.check_input_triggered_transitions(None)
-        assert result is None
-
-        result = mode_manager.check_input_triggered_transitions("")
-        assert result is None
-
-    def test_check_input_triggered_transitions_matching_keyword(self, mode_manager):
-        """Test input-triggered transitions with matching keyword."""
-        result = mode_manager.check_input_triggered_transitions("I need advanced mode")
-        assert result == "advanced"
-
-    def test_check_input_triggered_transitions_emergency_priority(self, mode_manager):
-        """Test that emergency mode takes priority due to higher priority value."""
-        result = mode_manager.check_input_triggered_transitions("advanced emergency help")
-        assert result == "emergency"
-
-    def test_check_input_triggered_transitions_no_match(self, mode_manager):
-        """Test input-triggered transitions with no matching keywords."""
-        result = mode_manager.check_input_triggered_transitions("just some random text")
-        assert result is None
-
-    def test_check_input_triggered_transitions_wildcard_from_mode(self, mode_manager):
-        """Test input-triggered transitions with wildcard from_mode."""
-        mode_manager.state.current_mode = "advanced"
-
-        result = mode_manager.check_input_triggered_transitions("emergency help needed")
-        assert result == "emergency"
-
-    def test_can_transition_success(self, mode_manager, sample_transition_rules):
-        """Test successful transition validation."""
-        rule = sample_transition_rules[0]
-        result = mode_manager._can_transition(rule)
-        assert result is True
-
-    def test_can_transition_cooldown_active(self, mode_manager, sample_transition_rules):
-        """Test transition blocked by active cooldown."""
-        rule = sample_transition_rules[0]
-        transition_key = "default->advanced"
-        mode_manager.transition_cooldowns[transition_key] = time.time()
-
-        result = mode_manager._can_transition(rule)
-        assert result is False
-
-    def test_can_transition_cooldown_expired(self, mode_manager, sample_transition_rules):
-        """Test transition allowed after cooldown expires."""
-        rule = sample_transition_rules[0]
-        transition_key = "default->advanced"
-        mode_manager.transition_cooldowns[transition_key] = time.time() - 10.0
-
-        result = mode_manager._can_transition(rule)
-        assert result is True
-
-    def test_can_transition_invalid_target_mode(self, mode_manager):
-        """Test transition blocked by invalid target mode."""
-        rule = TransitionRule(
-            from_mode="default",
-            to_mode="nonexistent",
-            transition_type=TransitionType.MANUAL,
-        )
-
-        result = mode_manager._can_transition(rule)
-        assert result is False
-
-    @pytest.mark.asyncio
-    async def test_request_transition_manual_disabled(self, mode_manager):
-        """Test manual transition request when manual switching is disabled."""
-        mode_manager.config.allow_manual_switching = False
-
-        result = await mode_manager.request_transition("advanced", "manual")
-        assert result is False
-
-    @pytest.mark.asyncio
-    async def test_request_transition_invalid_target(self, mode_manager):
-        """Test manual transition request to invalid target mode."""
-        result = await mode_manager.request_transition("nonexistent")
-        assert result is False
-
-    @pytest.mark.asyncio
-    async def test_request_transition_same_mode(self, mode_manager):
-        """Test manual transition request to same mode."""
-        result = await mode_manager.request_transition("default")
-        assert result is True
-
-    @pytest.mark.asyncio
-    async def test_request_transition_success(self, mode_manager):
-        """Test successful manual transition request."""
-        with patch.object(mode_manager, "_execute_transition", return_value=True) as mock_execute:
-            result = await mode_manager.request_transition("advanced")
-            assert result is True
-            mock_execute.assert_called_once_with("advanced", "manual")
-
-    @pytest.mark.asyncio
-    async def test_execute_transition_success(self, mode_manager):
-        """Test successful transition execution."""
-        callback = AsyncMock()
-        mode_manager.add_transition_callback(callback)
-
-        with patch.object(mode_manager, "_save_mode_state") as mock_save:
-            result = await mode_manager._execute_transition("advanced", "test_reason")
-
-            assert result is True
-            assert mode_manager.state.current_mode == "advanced"
-            assert mode_manager.state.previous_mode == "default"
-            assert len(mode_manager.state.transition_history) == 1
-            assert "default->advanced:test_reason" in mode_manager.state.transition_history
-
-            callback.assert_called_once_with("default", "advanced")
-            mock_save.assert_called_once()
-
-    @pytest.mark.asyncio
-    async def test_execute_transition_history_limit(self, mode_manager):
-        """Test that transition history is limited to prevent excessive growth."""
-        mode_manager.state.transition_history = [f"transition_{i}" for i in range(60)]
-
-        with patch.object(mode_manager, "_save_mode_state"):
-            await mode_manager._execute_transition("advanced", "test")
-
-            assert len(mode_manager.state.transition_history) == 25
-
-    @pytest.mark.asyncio
-    async def test_execute_transition_exception(self, mode_manager):
-        """Test transition execution with exception in callback."""
-
-        def error_callback(from_mode, to_mode):
-            raise Exception("Callback error")
-
-        mode_manager.add_transition_callback(error_callback)
-
-        result = await mode_manager._execute_transition("advanced", "test")
-        assert result is True
-
-    def test_get_available_transitions(self, mode_manager):
-        """Test getting available transitions from current mode."""
-        transitions = mode_manager.get_available_transitions()
-        assert isinstance(transitions, list)
-        assert "advanced" in transitions
-        assert "emergency" in transitions
-
-    def test_get_available_transitions_from_advanced(self, mode_manager):
-        """Test getting available transitions from advanced mode."""
-        mode_manager.state.current_mode = "advanced"
-        transitions = mode_manager.get_available_transitions()
-
-        assert "emergency" in transitions
-        assert "default" in transitions
-
-    def test_get_mode_info(self, mode_manager):
-        """Test getting current mode information."""
-        info = mode_manager.get_mode_info()
-
-        assert info["current_mode"] == "default"
-        assert info["display_name"] == "Default Mode"
-        assert info["description"] == "Default operational mode"
-        assert isinstance(info["mode_duration"], float)
-        assert info["previous_mode"] is None
-        assert isinstance(info["available_transitions"], list)
-        assert isinstance(info["all_modes"], list)
-        assert len(info["all_modes"]) == 3
-        assert isinstance(info["transition_history"], list)
-        assert info["timeout_seconds"] == 300.0
-        assert isinstance(info["time_remaining"], float)
-
-    def test_get_mode_info_no_timeout(self, mode_manager):
-        """Test getting mode info when current mode has no timeout."""
-        mode_manager.state.current_mode = "advanced"
-        info = mode_manager.get_mode_info()
-
-        assert info["timeout_seconds"] is None
-        assert info["time_remaining"] is None
-
-    def test_update_user_context(self, mode_manager):
-        """Test updating user context."""
-        context = {"location": "office", "activity": "meeting"}
-        mode_manager.update_user_context(context)
-
-        assert mode_manager.state.user_context == context
-
-    def test_update_user_context_merge(self, mode_manager):
-        """Test that user context updates merge with existing context."""
-        mode_manager.state.user_context = {"existing": "value"}
-        mode_manager.update_user_context({"new": "data"})
-
-        expected = {"existing": "value", "new": "data"}
-        assert mode_manager.state.user_context == expected
-
-    def test_get_user_context(self, mode_manager):
-        """Test getting user context."""
-        original_context = {"test": "data"}
-        mode_manager.state.user_context = original_context
-
-        context = mode_manager.get_user_context()
-        assert context == original_context
-        assert context is not original_context
-
-    @pytest.mark.asyncio
-    async def test_process_tick_time_transition(self, mode_manager):
-        """Test process_tick with time-based transition."""
-        with patch.object(mode_manager, "check_time_based_transitions", return_value="advanced"):
-            result = await mode_manager.process_tick("some input")
-
-            assert result == ("advanced", "time_based")
-
-    @pytest.mark.asyncio
-    async def test_process_tick_input_transition(self, mode_manager):
-        """Test process_tick with input-triggered transition."""
-        with patch.object(mode_manager, "check_time_based_transitions", return_value=None):
-            with patch.object(
-                mode_manager,
-                "check_input_triggered_transitions",
-                return_value="emergency",
-            ):
-                result = await mode_manager.process_tick("emergency help")
-
-                assert result == ("emergency", "input_triggered")
-
-    @pytest.mark.asyncio
-    async def test_process_tick_no_transition(self, mode_manager):
-        """Test process_tick with no transitions triggered."""
-        with patch.object(mode_manager, "check_time_based_transitions", return_value=None):
-            with patch.object(mode_manager, "check_input_triggered_transitions", return_value=None):
-                result = await mode_manager.process_tick("normal input")
-
-                assert result is None
-
-    @pytest.mark.asyncio
-    async def test_process_tick_failed_transition(self, mode_manager):
-        """Test process_tick with failed transition execution."""
-        with patch.object(mode_manager, "check_time_based_transitions", return_value="advanced"):
-            result = await mode_manager.process_tick("some input")
-
-            assert result == ("advanced", "time_based")
-
-    def test_get_state_file_path(self, mode_manager):
-        """Test getting state file path."""
-        path = mode_manager._get_state_file_path()
-        assert path.endswith(".test_config.memory.json5")
-        assert "memory" in path
-
-    def test_save_mode_state_disabled(self, mode_manager):
-        """Test that state saving is skipped when memory is disabled."""
-        mode_manager.config.mode_memory_enabled = False
-
-        mode_manager._save_mode_state()
-
-    def test_save_mode_state_success(self, mode_manager):
-        """Test successful state saving."""
-        mode_manager.state.current_mode = "advanced"
-        mode_manager.state.previous_mode = "default"
-        mode_manager.state.transition_history = ["default->advanced:test"]
-
-        with tempfile.TemporaryDirectory() as temp_dir:
-            with patch.object(mode_manager, "_get_state_file_path") as mock_path:
-                state_file = f"{temp_dir}/test_state.json5"
-                mock_path.return_value = state_file
-
-                mode_manager._save_mode_state()
-
-                with open(state_file, "r") as f:
-                    saved_data = json.load(f)
-
-                assert saved_data["last_active_mode"] == "advanced"
-                assert saved_data["previous_mode"] == "default"
-                assert saved_data["transition_history"] == ["default->advanced:test"]
-                assert "timestamp" in saved_data
-
-    def test_load_mode_state_no_file(self, mode_manager, sample_system_config):
-        """Test loading state when no state file exists."""
-        with patch.object(mode_manager, "_get_state_file_path", return_value="/nonexistent/file.json5"):
-            mode_manager._load_mode_state()
-
-            assert mode_manager.state.current_mode == sample_system_config.default_mode
-
-    def test_load_mode_state_success(self, mode_manager):
-        """Test successful state loading."""
-        saved_state = {
-            "last_active_mode": "advanced",
-            "previous_mode": "default",
-            "timestamp": time.time(),
-            "transition_history": ["default->advanced:test"],
-        }
-
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".json5", delete=False) as f:
-            json.dump(saved_state, f)
-            temp_file = f.name
-
-        try:
-            with patch.object(mode_manager, "_get_state_file_path", return_value=temp_file):
-                mode_manager._load_mode_state()
-
-                assert mode_manager.state.current_mode == "advanced"
-                assert mode_manager.state.previous_mode == "default"
-                assert mode_manager.state.transition_history == ["default->advanced:test"]
-        finally:
-            import os
-
-            os.unlink(temp_file)
-
-    def test_load_mode_state_invalid_mode(self, mode_manager):
-        """Test loading state with invalid mode falls back to default."""
-        saved_state = {
-            "last_active_mode": "nonexistent_mode",
-            "previous_mode": "default",
-            "timestamp": time.time(),
-        }
-
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".json5", delete=False) as f:
-            json.dump(saved_state, f)
-            temp_file = f.name
-
-        try:
-            with patch.object(mode_manager, "_get_state_file_path", return_value=temp_file):
-                mode_manager._load_mode_state()
-
-                assert mode_manager.state.current_mode == "default"
-        finally:
-            import os
-
-            os.unlink(temp_file)
-
-    def test_load_mode_state_corrupted_file(self, mode_manager):
-        """Test loading state with corrupted file falls back to default."""
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".json5", delete=False) as f:
-            f.write("invalid json content")
-            temp_file = f.name
-
-        try:
-            with patch.object(mode_manager, "_get_state_file_path", return_value=temp_file):
-                mode_manager._load_mode_state()
-
-                assert mode_manager.state.current_mode == "default"
-        finally:
-            import os
-
-            os.unlink(temp_file)
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_no_matching_rules(self, mode_manager):
-        """Test context-aware transitions with no matching rules."""
-        mode_manager.state.user_context = {"location": "office"}
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_simple_equality(self, mode_manager):
-        """Test context-aware transitions with simple equality condition."""
-        mode_manager.state.user_context = {"location": "lab"}
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result == "advanced"
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_numeric_range(self, mode_manager):
-        """Test context-aware transitions with numeric range conditions."""
-        mode_manager.state.user_context = {"battery_level": 10}
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result == "emergency"
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_multiple_conditions(self, mode_manager):
-        """Test context-aware transitions with multiple conditions."""
-        mode_manager.state.user_context = {
-            "user_skill": "expert",
-            "complexity_level": "high",
-        }
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result == "advanced"
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_priority_ordering(self, mode_manager):
-        """Test that higher priority context-aware transitions are selected."""
-        mode_manager.state.user_context = {
-            "location": "lab",
-            "battery_level": 10,  # This should trigger emergency (priority 8) over advanced (priority 4)
-        }
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result == "emergency"
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_wildcard_from_mode(self, mode_manager):
-        """Test context-aware transitions with wildcard from_mode."""
-        mode_manager.state.current_mode = "emergency"
-        mode_manager.state.user_context = {
-            "user_skill": "expert",
-            "complexity_level": "very_high",
-        }
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result == "advanced"
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_cooldown_active(self, mode_manager):
-        """Test context-aware transitions blocked by cooldown."""
-        mode_manager.config.transition_rules[4].cooldown_seconds = 5.0
-        mode_manager.transition_cooldowns["default->advanced"] = time.time()
-
-        mode_manager.state.user_context = {"location": "lab"}
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result is None
-
-    def test_evaluate_context_conditions_empty_conditions(self, mode_manager):
-        """Test evaluating context conditions with empty conditions returns True."""
-        rule = TransitionRule(
-            from_mode="default",
-            to_mode="advanced",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={},
-        )
-
-        result = mode_manager._evaluate_context_conditions(rule)
-        assert result is True
-
-    def test_evaluate_context_conditions_missing_context_key(self, mode_manager):
-        """Test evaluating context conditions when required key is missing."""
-        rule = TransitionRule(
-            from_mode="default",
-            to_mode="advanced",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"location": "lab"},
-        )
-        mode_manager.state.user_context = {"other_key": "value"}
-
-        result = mode_manager._evaluate_context_conditions(rule)
-        assert result is False
-
-    def test_evaluate_context_conditions_simple_equality_match(self, mode_manager):
-        """Test evaluating context conditions with simple equality that matches."""
-        rule = TransitionRule(
-            from_mode="default",
-            to_mode="advanced",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"location": "lab"},
-        )
-        mode_manager.state.user_context = {"location": "lab"}
-
-        result = mode_manager._evaluate_context_conditions(rule)
-        assert result is True
-
-    def test_evaluate_context_conditions_simple_equality_no_match(self, mode_manager):
-        """Test evaluating context conditions with simple equality that doesn't match."""
-        rule = TransitionRule(
-            from_mode="default",
-            to_mode="advanced",
-            transition_type=TransitionType.CONTEXT_AWARE,
-            context_conditions={"location": "lab"},
-        )
-        mode_manager.state.user_context = {"location": "office"}
-
-        result = mode_manager._evaluate_context_conditions(rule)
-        assert result is False
-
-    def test_evaluate_single_condition_numeric_range_within(self, mode_manager):
-        """Test evaluating single condition with numeric range - value within range."""
-        user_context = {"battery_level": 10}
-
-        result = mode_manager._evaluate_single_condition("battery_level", {"min": 0, "max": 15}, user_context)
-        assert result is True
-
-    def test_evaluate_single_condition_numeric_range_below_min(self, mode_manager):
-        """Test evaluating single condition with numeric range - value below minimum."""
-        user_context = {"battery_level": -5}
-
-        result = mode_manager._evaluate_single_condition("battery_level", {"min": 0, "max": 15}, user_context)
-        assert result is False
-
-    def test_evaluate_single_condition_numeric_range_above_max(self, mode_manager):
-        """Test evaluating single condition with numeric range - value above maximum."""
-        user_context = {"battery_level": 20}
-
-        result = mode_manager._evaluate_single_condition("battery_level", {"min": 0, "max": 15}, user_context)
-        assert result is False
-
-    def test_evaluate_single_condition_numeric_range_only_min(self, mode_manager):
-        """Test evaluating single condition with only minimum value."""
-        user_context = {"score": 85}
-
-        result = mode_manager._evaluate_single_condition("score", {"min": 80}, user_context)
-        assert result is True
-
-    def test_evaluate_single_condition_numeric_range_only_max(self, mode_manager):
-        """Test evaluating single condition with only maximum value."""
-        user_context = {"temperature": 25}
-
-        result = mode_manager._evaluate_single_condition("temperature", {"max": 30}, user_context)
-        assert result is True
-
-    def test_evaluate_single_condition_numeric_range_non_numeric_value(self, mode_manager):
-        """Test evaluating numeric range condition with non-numeric value."""
-        user_context = {"battery_level": "low"}
-
-        result = mode_manager._evaluate_single_condition("battery_level", {"min": 0, "max": 15}, user_context)
-        assert result is False
-
-    def test_evaluate_single_condition_contains_match(self, mode_manager):
-        """Test evaluating contains condition with matching string."""
-        user_context = {"error_message": "CRITICAL ERROR: System failure"}
-
-        result = mode_manager._evaluate_single_condition("error_message", {"contains": "critical"}, user_context)
-        assert result is True
-
-    def test_evaluate_single_condition_contains_no_match(self, mode_manager):
-        """Test evaluating contains condition with non-matching string."""
-        user_context = {"error_message": "Minor warning: Low disk space"}
-
-        result = mode_manager._evaluate_single_condition("error_message", {"contains": "critical"}, user_context)
-        assert result is False
-
-    def test_evaluate_single_condition_contains_non_string_value(self, mode_manager):
-        """Test evaluating contains condition with non-string value."""
-        user_context = {"error_code": 404}
-
-        result = mode_manager._evaluate_single_condition("error_code", {"contains": "404"}, user_context)
-        assert result is False
-
-    def test_evaluate_single_condition_one_of_match(self, mode_manager):
-        """Test evaluating one_of condition with matching value."""
-        user_context = {"status": "running"}
-
-        result = mode_manager._evaluate_single_condition(
-            "status", {"one_of": ["running", "active", "ready"]}, user_context
-        )
-        assert result is True
-
-    def test_evaluate_single_condition_one_of_no_match(self, mode_manager):
-        """Test evaluating one_of condition with non-matching value."""
-        user_context = {"status": "error"}
-
-        result = mode_manager._evaluate_single_condition(
-            "status", {"one_of": ["running", "active", "ready"]}, user_context
-        )
-        assert result is False
-
-    def test_evaluate_single_condition_not_match(self, mode_manager):
-        """Test evaluating not condition with matching negation."""
-        user_context = {"status": "running"}
-
-        result = mode_manager._evaluate_single_condition("status", {"not": "error"}, user_context)
-        assert result is True
-
-    def test_evaluate_single_condition_not_no_match(self, mode_manager):
-        """Test evaluating not condition with non-matching negation."""
-        user_context = {"status": "error"}
-
-        result = mode_manager._evaluate_single_condition("status", {"not": "error"}, user_context)
-        assert result is False
-
-    def test_evaluate_single_condition_list_membership_match(self, mode_manager):
-        """Test evaluating list membership condition with matching value."""
-        user_context = {"priority": "high"}
-
-        result = mode_manager._evaluate_single_condition("priority", ["high", "critical", "urgent"], user_context)
-        assert result is True
-
-    def test_evaluate_single_condition_list_membership_no_match(self, mode_manager):
-        """Test evaluating list membership condition with non-matching value."""
-        user_context = {"priority": "low"}
-
-        result = mode_manager._evaluate_single_condition("priority", ["high", "critical", "urgent"], user_context)
-        assert result is False
-
-    def test_evaluate_single_condition_simple_equality(self, mode_manager):
-        """Test evaluating simple equality condition."""
-        user_context = {"mode": "auto"}
-
-        result = mode_manager._evaluate_single_condition("mode", "auto", user_context)
-        assert result is True
-
-    def test_evaluate_single_condition_missing_key(self, mode_manager):
-        """Test evaluating condition when key is missing from context."""
-        user_context = {"other_key": "value"}
-
-        result = mode_manager._evaluate_single_condition("missing_key", "expected_value", user_context)
-        assert result is False
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_complex_conditions(self, mode_manager):
-        """Test context-aware transitions with complex multi-condition rule."""
-        mode_manager.state.user_context = {
-            "user_skill": "expert",
-            "complexity_level": "high",
-            "location": "lab",
-        }
-
-        result = await mode_manager.check_context_aware_transitions()
-        # Should match the rule with user_skill and complexity_level (priority 6)
-        # over the simple location rule (priority 4)
-        assert result == "advanced"
-
-    @pytest.mark.asyncio
-    async def test_check_context_aware_transitions_partial_match(self, mode_manager):
-        """Test context-aware transitions where only some conditions match."""
-        mode_manager.state.user_context = {
-            "user_skill": "expert",
-            "complexity_level": "low",  # This doesn't match the list requirement
-        }
-
-        result = await mode_manager.check_context_aware_transitions()
-        assert result is None
-
-    @pytest.mark.asyncio
-    async def test_process_tick_context_aware_transition(self, mode_manager):
-        """Test process_tick with context-aware transition."""
-        mode_manager.state.user_context = {"location": "lab"}
-
-        with patch.object(mode_manager, "check_time_based_transitions", return_value=None):
-            result = await mode_manager.process_tick("some input")
-            assert result == ("advanced", "context_aware")
-
-    @pytest.mark.asyncio
-    async def test_process_tick_context_aware_priority_over_input(self, mode_manager):
-        """Test that time-based transitions take precedence over context-aware."""
-        mode_manager.state.user_context = {"location": "lab"}
-
-        with patch.object(mode_manager, "check_time_based_transitions", return_value="emergency"):
-            result = await mode_manager.process_tick("advanced mode")
-            assert result == ("emergency", "time_based")
-
-    @pytest.mark.asyncio
-    async def test_concurrent_transitions_race_condition(self, mode_manager):
-        """Test that concurrent transition requests are handled safely without race condition."""
-
-        transition_results = []
-        transition_count = 0
-
-        async def attempt_transition(target_mode, delay: float = 0):
-            nonlocal transition_count
-            if delay:
-                await asyncio.sleep(delay)
-            result = await mode_manager._execute_transition(target_mode, "concurrent_test")
-            transition_results.append((target_mode, result))
-            if result and mode_manager.state.current_mode == target_mode:
-                transition_count += 1
-
-        await asyncio.gather(
-            attempt_transition("advanced", 0),
-            attempt_transition("emergency", 0.001),
-            attempt_transition("advanced", 0.002),
-        )
-
-        assert len(transition_results) == 3
-        assert mode_manager._is_transitioning is False
-
-    @pytest.mark.asyncio
-    async def test_transition_lock_prevents_concurrent_flag_modification(self, mode_manager):
-        """Test that transition lock prevents concurrent modification of _is_transitioning flag."""
-        mode_manager._is_transitioning = False
-
-        async def slow_transition():
-            result = await mode_manager._execute_transition("advanced", "slow")
-            return result
-
-        result = await slow_transition()
-
-        assert mode_manager._is_transitioning is False
-        assert result is True
-
-    @pytest.mark.asyncio
-    async def test_transition_flag_reset_on_exception(self, mode_manager):
-        """Test that _is_transitioning flag is reset even when transition fails."""
-        mode_manager.config.modes["broken"] = Mock()
-        mode_manager.config.modes["broken"].execute_lifecycle_hooks = AsyncMock(side_effect=Exception("Hook failure"))
-
-        result = await mode_manager._execute_transition("broken", "test")
-
-        assert mode_manager._is_transitioning is False
-        assert result is False
-
-    def test_zenoh_init_failure_sets_correct_variable(self, sample_system_config):
-        """Test that Zenoh init failure sets _zenoh_mode_status_response_pub to None."""
-        with (
-            patch(
-                "runtime.manager.open_zenoh_session",
-                side_effect=Exception("Zenoh connection failed"),
-            ),
-            patch("runtime.manager.ModeManager._load_mode_state"),
-        ):
-            manager = ModeManager(sample_system_config)
-
-            assert hasattr(manager, "_zenoh_mode_status_response_pub")
-            assert manager._zenoh_mode_status_response_pub is None
-            assert manager.session is None
-
-    def test_zenoh_publisher_null_check_on_publish(self, sample_system_config):
-        """Test that publishing with null publisher doesn't raise error."""
-        with (
-            patch(
-                "runtime.manager.open_zenoh_session",
-                side_effect=Exception("Zenoh connection failed"),
-            ),
-            patch("runtime.manager.ModeManager._load_mode_state"),
-        ):
-            manager = ModeManager(sample_system_config)
-
-            assert manager._zenoh_mode_status_response_pub is None
-
-            if manager._zenoh_mode_status_response_pub is not None:
-                manager._zenoh_mode_status_response_pub.put(b"test")
-
-            assert True
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_no_transition(self, mode_manager):
-        """Test _check_and_apply_context_transition when no transition is triggered."""
-        mode_manager.state.user_context = {"location": "office"}
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value=None) as mock_check:
-            await mode_manager._check_and_apply_context_transition()
-
-            mock_check.assert_called_once()
-            assert mode_manager.state.current_mode == "default"
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_with_transition(self, mode_manager):
-        """Test _check_and_apply_context_transition successfully triggers transition."""
-        mode_manager.state.user_context = {"location": "lab"}
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value="advanced") as mock_check:
-            with patch.object(mode_manager, "_execute_transition", return_value=True) as mock_execute:
-                await mode_manager._check_and_apply_context_transition()
-
-                mock_check.assert_called_once()
-                mock_execute.assert_called_once_with("advanced", "context_aware")
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_exception_in_check(self, mode_manager):
-        """Test _check_and_apply_context_transition handles exceptions gracefully."""
-        mode_manager.state.user_context = {"location": "lab"}
-
-        with patch.object(
-            mode_manager,
-            "check_context_aware_transitions",
-            side_effect=Exception("Test error"),
-        ):
-            await mode_manager._check_and_apply_context_transition()
-
-            assert mode_manager.state.current_mode == "default"
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_exception_in_execute(self, mode_manager):
-        """Test _check_and_apply_context_transition handles transition execution errors."""
-        mode_manager.state.user_context = {"battery_level": 10}
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value="emergency"):
-            with patch.object(
-                mode_manager,
-                "_execute_transition",
-                side_effect=Exception("Transition failed"),
-            ):
-                await mode_manager._check_and_apply_context_transition()
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_high_priority(self, mode_manager):
-        """Test that _check_and_apply_context_transition uses highest priority transition."""
-        mode_manager.state.user_context = {
-            "location": "lab",
-            "battery_level": 10,
-        }
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value="emergency") as mock_check:
-            with patch.object(mode_manager, "_execute_transition", return_value=True) as mock_execute:
-                await mode_manager._check_and_apply_context_transition()
-
-                mock_check.assert_called_once()
-                mock_execute.assert_called_once_with("emergency", "context_aware")
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_wildcard_mode(self, mode_manager):
-        """Test _check_and_apply_context_transition with wildcard from_mode."""
-        mode_manager.state.current_mode = "emergency"
-        mode_manager.state.user_context = {
-            "user_skill": "expert",
-            "complexity_level": "high",
-        }
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value="advanced") as mock_check:
-            with patch.object(mode_manager, "_execute_transition", return_value=True) as mock_execute:
-                await mode_manager._check_and_apply_context_transition()
-
-                mock_check.assert_called_once()
-                mock_execute.assert_called_once_with("advanced", "context_aware")
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_cooldown_respected(self, mode_manager):
-        """Test that _check_and_apply_context_transition respects cooldown periods."""
-        mode_manager.state.user_context = {"location": "lab"}
-        mode_manager.config.transition_rules[4].cooldown_seconds = 5.0
-        mode_manager.transition_cooldowns["default->advanced"] = time.time()
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value=None) as mock_check:
-            await mode_manager._check_and_apply_context_transition()
-
-            mock_check.assert_called_once()
-            assert mode_manager.state.current_mode == "default"
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_multiple_conditions(self, mode_manager):
-        """Test _check_and_apply_context_transition with complex multi-condition rules."""
-        mode_manager.state.user_context = {
-            "user_skill": "expert",
-            "complexity_level": "very_high",
-            "location": "lab",
-        }
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value="advanced") as mock_check:
-            with patch.object(mode_manager, "_execute_transition", return_value=True) as mock_execute:
-                await mode_manager._check_and_apply_context_transition()
-
-                mock_check.assert_called_once()
-                mock_execute.assert_called_once_with("advanced", "context_aware")
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_logs_info_on_transition(self, mode_manager, caplog):
-        """Test that _check_and_apply_context_transition logs info when transition occurs."""
-        mode_manager.state.user_context = {"location": "lab"}
-
-        with patch.object(mode_manager, "check_context_aware_transitions", return_value="advanced"):
-            with patch.object(mode_manager, "_execute_transition", return_value=True):
-                with caplog.at_level(logging.INFO):
-                    await mode_manager._check_and_apply_context_transition()
-
-                    assert any(
-                        "Context-aware transition triggered by context update" in record.message
-                        for record in caplog.records
-                    )
-                    assert any("default -> advanced" in record.message for record in caplog.records)
-
-    @pytest.mark.asyncio
-    async def test_check_and_apply_context_transition_logs_error_on_exception(self, mode_manager, caplog):
-        """Test that _check_and_apply_context_transition logs errors on exceptions."""
-        with patch.object(
-            mode_manager,
-            "check_context_aware_transitions",
-            side_effect=Exception("Test error"),
-        ):
-            with caplog.at_level(logging.ERROR):
-                await mode_manager._check_and_apply_context_transition()
-
-                assert any("Error checking context-aware transitions" in record.message for record in caplog.records)
-                assert any("Test error" in record.message for record in caplog.records)
-
-    def test_zenoh_context_update_valid_context(self, mode_manager):
-        """Test _zenoh_context_update with valid context data."""
-        context_data = {"location": "lab", "battery_level": 50}
-
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        mock_loop = Mock()
-        mock_loop.is_running.return_value = True
-        mode_manager._main_event_loop = mock_loop
-
-        mode_manager._zenoh_context_update(mock_sample)
-
-        assert mode_manager.state.user_context["location"] == "lab"
-        assert mode_manager.state.user_context["battery_level"] == 50
-
-        mock_loop.call_soon_threadsafe.assert_called_once()
-
-    def test_zenoh_context_update_triggers_transition_check(self, mode_manager):
-        """Test that _zenoh_context_update triggers _check_and_apply_context_transition."""
-        context_data = {"location": "lab"}
-
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        mock_loop = Mock()
-        mock_loop.is_running.return_value = True
-        mode_manager._main_event_loop = mock_loop
-
-        mode_manager._zenoh_context_update(mock_sample)
-
-        assert mode_manager.state.user_context["location"] == "lab"
-        mock_loop.call_soon_threadsafe.assert_called_once()
-
-    def test_zenoh_context_update_invalid_json(self, mode_manager, caplog):
-        """Test _zenoh_context_update with invalid JSON data."""
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = "invalid json {{"
-
-        with caplog.at_level(logging.ERROR):
-            mode_manager._zenoh_context_update(mock_sample)
-
-            assert any("Error processing context update" in record.message for record in caplog.records)
-
-    def test_zenoh_context_update_non_dict_data(self, mode_manager, caplog):
-        """Test _zenoh_context_update with non-dictionary data."""
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(["not", "a", "dict"])
-
-        with caplog.at_level(logging.WARNING):
-            mode_manager._zenoh_context_update(mock_sample)
-
-            assert any("Invalid context data format" in record.message for record in caplog.records)
-
-    def test_zenoh_context_update_no_event_loop(self, mode_manager, caplog):
-        """Test _zenoh_context_update when event loop is not set."""
-        context_data = {"location": "office"}
-
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        mode_manager._main_event_loop = None
-
-        with caplog.at_level(logging.INFO):
-            mode_manager._zenoh_context_update(mock_sample)
-
-            assert mode_manager.state.user_context["location"] == "office"
-            assert any("Updated user context with" in record.message for record in caplog.records)
-
-    def test_zenoh_context_update_event_loop_not_running(self, mode_manager):
-        """Test _zenoh_context_update when event loop is not running."""
-        context_data = {"battery_level": 15}
-
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        loop = Mock()
-        loop.is_running.return_value = False
-        mode_manager._main_event_loop = loop
-
-        mode_manager._zenoh_context_update(mock_sample)
-
-        assert mode_manager.state.user_context["battery_level"] == 15
-
-        loop.call_soon_threadsafe.assert_not_called()
-
-    def test_zenoh_context_update_merges_with_existing_context(self, mode_manager):
-        """Test that _zenoh_context_update merges with existing context."""
-        mode_manager.state.user_context = {"existing_key": "existing_value"}
-
-        context_data = {"location": "lab", "new_key": "new_value"}
-
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        mock_loop = Mock()
-        mock_loop.is_running.return_value = True
-        mode_manager._main_event_loop = mock_loop
-
-        mode_manager._zenoh_context_update(mock_sample)
-
-        assert mode_manager.state.user_context["existing_key"] == "existing_value"
-        assert mode_manager.state.user_context["location"] == "lab"
-        assert mode_manager.state.user_context["new_key"] == "new_value"
-
-    @pytest.mark.asyncio
-    async def test_zenoh_context_update_end_to_end_transition(self, mode_manager):
-        """Test end-to-end: _zenoh_context_update triggers actual transition."""
-        context_data = {"location": "lab"}
-
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        loop = asyncio.get_event_loop()
-        mode_manager._main_event_loop = loop
-
-        transition_called = asyncio.Event()
-        mode_manager._execute_transition
-
-        async def mock_execute(target, reason):
-            transition_called.set()
-            return True
-
-        with patch.object(mode_manager, "_execute_transition", side_effect=mock_execute):
-            mode_manager._zenoh_context_update(mock_sample)
-
-            try:
-                await asyncio.wait_for(transition_called.wait(), timeout=1.0)
-                assert mode_manager.state.user_context["location"] == "lab"
-            except asyncio.TimeoutError:
-                pass
-
-    def test_zenoh_context_update_logs_debug_message(self, mode_manager, caplog):
-        """Test that _zenoh_context_update logs debug message on receive."""
-        context_data = {"test_key": "test_value"}
-
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        with caplog.at_level(logging.DEBUG):
-            mode_manager._zenoh_context_update(mock_sample)
-
-            assert any("Received context update" in record.message for record in caplog.records)
-
-    def test_zenoh_context_update_logs_info_on_update(self, mode_manager, caplog):
-        """Test that _zenoh_context_update logs info after updating context."""
-        context_data = {"status": "active"}
-
-        # Mock zenoh.Sample
-        mock_sample = Mock()
-        mock_sample.payload.to_string.return_value = json.dumps(context_data)
-
-        with caplog.at_level(logging.INFO):
-            mode_manager._zenoh_context_update(mock_sample)
-
-            assert any("Updated user context with" in record.message for record in caplog.records)
diff --git a/tests/runtime/test_robotics.py b/tests/runtime/test_robotics.py
deleted file mode 100644
index 89f26419df..0000000000
--- a/tests/runtime/test_robotics.py
+++ /dev/null
@@ -1,103 +0,0 @@
-"""Test suite for src.runtime.robotics module."""
-
-import sys
-from unittest.mock import MagicMock, patch
-
-from src.runtime.robotics import load_unitree
-
-
-class TestLoadUnitree:
-    @patch("src.runtime.robotics.logging")
-    def test_load_unitree_with_valid_adapter_success(self, mock_logging):
-        adapter = "eth0"
-        mock_channel_module = MagicMock()
-        mock_channel_init_func = MagicMock()
-        mock_channel_module.ChannelFactoryInitialize = mock_channel_init_func
-
-        with patch.dict(
-            sys.modules,
-            {
-                "unitree": MagicMock(),
-                "unitree.unitree_sdk2py": MagicMock(),
-                "unitree.unitree_sdk2py.core": MagicMock(),
-                "unitree.unitree_sdk2py.core.channel": mock_channel_module,
-            },
-        ):
-            load_unitree(adapter)
-
-        mock_logging.info.assert_any_call(f"Using {adapter} as the Unitree Network Ethernet Adapter")
-        mock_logging.info.assert_any_call("Booting Unitree and CycloneDDS")
-        mock_channel_init_func.assert_called_once_with(0, adapter)
-
-    @patch("src.runtime.robotics.logging")
-    def test_load_unitree_with_valid_adapter_failure(self, mock_logging):
-        adapter = "eth0"
-        error_msg = "Initialization failed"
-        mock_channel_module = MagicMock()
-        mock_channel_init_func = MagicMock(side_effect=RuntimeError(error_msg))
-        mock_channel_module.ChannelFactoryInitialize = mock_channel_init_func
-
-        with patch.dict(
-            sys.modules,
-            {
-                "unitree": MagicMock(),
-                "unitree.unitree_sdk2py": MagicMock(),
-                "unitree.unitree_sdk2py.core": MagicMock(),
-                "unitree.unitree_sdk2py.core.channel": mock_channel_module,
-            },
-        ):
-            load_unitree(adapter)
-
-        mock_logging.info.assert_any_call(f"Using {adapter} as the Unitree Network Ethernet Adapter")
-        mock_logging.info.assert_any_call("Booting Unitree and CycloneDDS")
-        mock_logging.error.assert_called_once_with(f"Failed to initialize Unitree Ethernet channel: {error_msg}")
-
-    @patch("src.runtime.robotics.logging")
-    def test_load_unitree_with_none(self, mock_logging):
-        load_unitree(None)
-        mock_logging.info.assert_called_once_with("No robot hardware ethernet port provided.")
-        mock_logging.error.assert_not_called()
-
-    @patch("src.runtime.robotics.logging")
-    def test_load_unitree_logs_boot_message_on_success(self, mock_logging):
-        adapter = "wlan0"
-        mock_channel_module = MagicMock()
-        mock_channel_init_func = MagicMock()
-        mock_channel_module.ChannelFactoryInitialize = mock_channel_init_func
-
-        with patch.dict(
-            sys.modules,
-            {
-                "unitree": MagicMock(),
-                "unitree.unitree_sdk2py": MagicMock(),
-                "unitree.unitree_sdk2py.core": MagicMock(),
-                "unitree.unitree_sdk2py.core.channel": mock_channel_module,
-            },
-        ):
-            load_unitree(adapter)
-
-        mock_logging.info.assert_any_call(f"Using {adapter} as the Unitree Network Ethernet Adapter")
-        mock_logging.info.assert_any_call("Booting Unitree and CycloneDDS")
-
-    @patch("src.runtime.robotics.logging")
-    def test_load_unitree_logs_boot_message_on_failure(self, mock_logging):
-        adapter = "eth0"
-        error_msg = "Simulated failure"
-        mock_channel_module = MagicMock()
-        mock_channel_init_func = MagicMock(side_effect=RuntimeError(error_msg))
-        mock_channel_module.ChannelFactoryInitialize = mock_channel_init_func
-
-        with patch.dict(
-            sys.modules,
-            {
-                "unitree": MagicMock(),
-                "unitree.unitree_sdk2py": MagicMock(),
-                "unitree.unitree_sdk2py.core": MagicMock(),
-                "unitree.unitree_sdk2py.core.channel": mock_channel_module,
-            },
-        ):
-            load_unitree(adapter)
-
-        mock_logging.info.assert_any_call(f"Using {adapter} as the Unitree Network Ethernet Adapter")
-        mock_logging.info.assert_any_call("Booting Unitree and CycloneDDS")
-        mock_logging.error.assert_called_once_with(f"Failed to initialize Unitree Ethernet channel: {error_msg}")
diff --git a/tests/runtime/test_version.py b/tests/runtime/test_version.py
deleted file mode 100644
index 42569045a0..0000000000
--- a/tests/runtime/test_version.py
+++ /dev/null
@@ -1,270 +0,0 @@
-import logging
-from unittest.mock import patch
-
-import pytest
-
-from runtime.version import (
-    get_runtime_version,
-    is_version_supported,
-    latest_runtime_version,
-    verify_runtime_version,
-)
-
-
-def test_get_runtime_version_returns_latest_version():
-    """Test that get_runtime_version returns the latest runtime version."""
-    version = get_runtime_version()
-    assert version == latest_runtime_version
-    assert isinstance(version, str)
-    assert version.startswith("v")
-
-
-def test_get_runtime_version_consistency():
-    """Test that multiple calls return the same version."""
-    version1 = get_runtime_version()
-    version2 = get_runtime_version()
-    assert version1 == version2
-
-
-def test_none_version_raises_error():
-    """Test that None version raises ValueError."""
-    with pytest.raises(ValueError, match="Version cannot be None"):
-        is_version_supported(None)
-
-
-def test_same_version_is_supported():
-    """Test that the same version as runtime is supported."""
-    runtime_version = get_runtime_version()
-    assert is_version_supported(runtime_version) is True
-
-
-def test_same_version_without_v_prefix_is_supported():
-    """Test that version without 'v' prefix is supported."""
-    runtime_version = get_runtime_version().lstrip("v")
-    assert is_version_supported(runtime_version) is True
-
-
-def test_same_version_with_v_prefix_is_supported():
-    """Test that version with 'v' prefix is supported."""
-    runtime_version = get_runtime_version()
-    if not runtime_version.startswith("v"):
-        runtime_version = "v" + runtime_version
-    assert is_version_supported(runtime_version) is True
-
-
-def test_same_major_minor_version_is_supported():
-    """Test that same major.minor version with different patch is supported."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        assert is_version_supported("v1.0.5") is True
-        assert is_version_supported("1.0.2") is True
-        assert is_version_supported("v1.0.999") is True
-
-
-def test_different_major_version_raises_error():
-    """Test that different major version raises ValueError."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        with pytest.raises(ValueError, match="Invalid version format"):
-            is_version_supported("v2.0.0")
-
-        with pytest.raises(ValueError, match="Invalid version format"):
-            is_version_supported("0.0.0")
-
-
-def test_major_version_mismatch_error_details():
-    """Test that we can verify the specific major version error handling."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        with patch("runtime.version.is_version_supported") as mock_is_version:
-            mock_is_version.side_effect = ValueError("Major version mismatch: expected 1, got 2")
-
-            with pytest.raises(ValueError, match="Major version mismatch"):
-                mock_is_version("v2.0.0")
-
-
-def test_different_minor_version_logs_warning_but_succeeds(caplog):
-    """Test that different minor version logs warning but returns True."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        with caplog.at_level(logging.WARNING):
-            result = is_version_supported("v1.1.0")
-            assert result is True
-            assert "Version mismatch" in caplog.text
-            assert "expected minor version 0, got 1" in caplog.text
-
-
-def test_version_with_missing_parts_is_padded():
-    """Test that versions with missing parts are padded with zeros."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        assert is_version_supported("v1.0") is True
-        assert is_version_supported("1") is True
-
-
-def test_invalid_version_format_raises_error():
-    """Test that invalid version formats raise ValueError."""
-    with pytest.raises(ValueError, match="Invalid version format"):
-        is_version_supported("invalid.version")
-
-    with pytest.raises(ValueError, match="Invalid version format"):
-        is_version_supported("v1.x.0")
-
-    with pytest.raises(ValueError, match="Invalid version format"):
-        is_version_supported("")
-
-    with pytest.raises(ValueError, match="Invalid version format"):
-        is_version_supported("v")
-
-
-def test_empty_string_raises_error():
-    """Test that empty string raises ValueError."""
-    with pytest.raises(ValueError, match="Invalid version format"):
-        is_version_supported("")
-
-
-def test_version_with_extra_dots_is_handled():
-    """Test that versions with extra parts are handled (may succeed or fail depending on format)."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        try:
-            result = is_version_supported("1.0.0.0.1")
-            assert isinstance(result, bool)
-        except ValueError:
-            pass
-
-
-def test_negative_version_numbers_behavior():
-    """Test behavior with negative version numbers."""
-    with pytest.raises(ValueError, match="Invalid version format"):
-        is_version_supported("-1.0.0")
-
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        with pytest.raises(ValueError, match="Invalid version format"):
-            is_version_supported("-1.0.0")
-
-
-def test_verify_compatible_version_succeeds(caplog):
-    """Test that compatible version verification succeeds."""
-    runtime_version = get_runtime_version()
-
-    with caplog.at_level(logging.INFO):
-        result = verify_runtime_version(runtime_version, "test_config")
-        assert result is True
-        assert "Loading test_config with version:" in caplog.text
-        assert "Runtime version:" in caplog.text
-        assert "test_config version is compatible with runtime" in caplog.text
-
-
-def test_verify_none_version_raises_error(caplog):
-    """Test that None version raises ValueError."""
-    with caplog.at_level(logging.ERROR):
-        with pytest.raises(ValueError, match="is incompatible with runtime version"):
-            verify_runtime_version(None, "test_config")
-        assert "Version compatibility check failed for test_config" in caplog.text
-
-
-def test_verify_invalid_version_raises_error(caplog):
-    """Test that invalid version raises ValueError."""
-    with caplog.at_level(logging.ERROR):
-        with pytest.raises(ValueError, match="is incompatible with runtime version"):
-            verify_runtime_version("invalid.version", "test_config")
-        assert "Version compatibility check failed for test_config" in caplog.text
-
-
-def test_verify_major_version_mismatch_raises_error(caplog):
-    """Test that major version mismatch raises ValueError."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        with caplog.at_level(logging.ERROR):
-            with pytest.raises(ValueError, match="is incompatible with runtime version"):
-                verify_runtime_version("v2.0.0", "test_config")
-            assert "Version compatibility check failed for test_config" in caplog.text
-
-
-def test_verify_minor_version_mismatch_logs_warning_but_succeeds(caplog):
-    """Test that minor version mismatch logs warning but succeeds."""
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        with caplog.at_level(logging.INFO):
-            result = verify_runtime_version("v1.1.0", "test_config")
-            assert result is True
-            assert "Loading test_config with version: v1.1.0" in caplog.text
-            assert "Runtime version: v1.0.0" in caplog.text
-            assert "test_config version is compatible with runtime" in caplog.text
-
-
-def test_verify_with_custom_config_name(caplog):
-    """Test that custom config name appears in logs."""
-    runtime_version = get_runtime_version()
-
-    with caplog.at_level(logging.INFO):
-        result = verify_runtime_version(runtime_version, "my_custom_config")
-        assert result is True
-        assert "Loading my_custom_config with version:" in caplog.text
-        assert "my_custom_config version is compatible with runtime" in caplog.text
-
-
-def test_verify_with_default_config_name(caplog):
-    """Test that default config name is used when not specified."""
-    runtime_version = get_runtime_version()
-
-    with caplog.at_level(logging.INFO):
-        result = verify_runtime_version(runtime_version)
-        assert result is True
-        assert "Loading configuration with version:" in caplog.text
-        assert "configuration version is compatible with runtime" in caplog.text
-
-
-@patch("runtime.version.is_version_supported")
-def test_verify_unexpected_error_handling(mock_is_version_supported, caplog):
-    """Test that unexpected errors are properly handled and logged."""
-    mock_is_version_supported.side_effect = RuntimeError("Unexpected error")
-
-    with caplog.at_level(logging.ERROR):
-        with pytest.raises(RuntimeError, match="Unexpected error"):
-            verify_runtime_version("v1.0.0", "test_config")
-        assert "Unexpected error during version verification for test_config" in caplog.text
-
-
-def test_verify_logs_contain_correct_versions(caplog):
-    """Test that logs contain the correct version information."""
-    test_version = "v1.0.0"
-
-    with patch("runtime.version.latest_runtime_version", "v1.0.0"):
-        with caplog.at_level(logging.INFO):
-            verify_runtime_version(test_version, "test_config")
-
-            log_messages = [record.message for record in caplog.records]
-
-            # Check that both versions are logged
-            assert any("Loading test_config with version: v1.0.0" in msg for msg in log_messages)
-            assert any("Runtime version: v1.0.0" in msg for msg in log_messages)
-
-
-def test_module_constants():
-    """Test that module constants are properly defined."""
-    assert isinstance(latest_runtime_version, str)
-    assert len(latest_runtime_version) > 0
-    assert latest_runtime_version.startswith("v")
-
-
-def test_version_format_consistency():
-    """Test that the version format follows semantic versioning."""
-    version = get_runtime_version().lstrip("v")
-    parts = version.split(".")
-    assert len(parts) == 3
-    for part in parts:
-        assert part.isdigit()
-        assert int(part) >= 0
-
-
-def test_end_to_end_version_check():
-    """Test end-to-end version verification workflow."""
-    runtime_version = get_runtime_version()
-
-    assert is_version_supported(runtime_version) is True
-    assert verify_runtime_version(runtime_version, "integration_test") is True
-
-
-def test_version_comparison_edge_cases():
-    """Test edge cases in version comparison."""
-    with patch("runtime.version.latest_runtime_version", "v1.2.3"):
-        assert is_version_supported("1.2.3") is True
-        assert is_version_supported("v1.2.3") is True
-        assert is_version_supported("1.2") is True
-
-        assert is_version_supported("1.2.0") is True
-        assert is_version_supported("1.2.999") is True
diff --git a/tests/test_cli.py b/tests/test_cli.py
deleted file mode 100644
index 8083ce049d..0000000000
--- a/tests/test_cli.py
+++ /dev/null
@@ -1,453 +0,0 @@
-import os
-from unittest.mock import MagicMock, mock_open, patch
-
-import pytest
-import typer
-
-from cli import (
-    _check_action_exists,
-    _check_api_key,
-    _check_background_exists,
-    _check_class_in_dir,
-    _check_input_exists,
-    _check_llm_exists,
-    _check_simulator_exists,
-    _print_config_summary,
-    _resolve_config_path,
-    _validate_components,
-    _validate_mode_components,
-    list_configs,
-    modes,
-    validate_config,
-)
-
-
-def test_resolve_existing_absolute_path(tmp_path):
-    """Test resolving an existing absolute path."""
-    config_file = tmp_path / "test.json5"
-    config_file.write_text("{}")
-    result = _resolve_config_path(str(config_file))
-    assert result == str(config_file.absolute())
-
-
-def test_resolve_existing_path_with_extension(tmp_path):
-    """Test resolving a path with .json5 extension."""
-    config_file = tmp_path / "test.json5"
-    config_file.write_text("{}")
-    result = _resolve_config_path(str(tmp_path / "test"))
-    assert result == str(config_file.absolute())
-
-
-def test_resolve_config_in_config_dir(tmp_path):
-    """Test resolving config from config directory."""
-    with patch("os.path.dirname", return_value=str(tmp_path)):
-        config_dir = tmp_path / ".." / "config"
-        config_dir.mkdir(parents=True, exist_ok=True)
-        config_file = config_dir / "test.json5"
-        config_file.write_text("{}")
-
-        result = _resolve_config_path("test")
-        assert result.endswith("test.json5")
-
-
-def test_resolve_nonexistent_config_raises_error():
-    """Test that nonexistent config raises FileNotFoundError."""
-    with pytest.raises(FileNotFoundError) as exc_info:
-        _resolve_config_path("nonexistent_config_that_does_not_exist")
-    assert "Configuration 'nonexistent_config_that_does_not_exist' not found" in str(exc_info.value)
-
-
-def test_class_exists_in_directory(tmp_path):
-    """Test finding a class in a directory."""
-    test_file = tmp_path / "test_module.py"
-    test_file.write_text("class TestClass:\n    pass\n")
-    assert _check_class_in_dir(str(tmp_path), "TestClass") is True
-
-
-def test_class_not_exists_in_directory(tmp_path):
-    """Test when class doesn't exist in directory."""
-    test_file = tmp_path / "test_module.py"
-    test_file.write_text("class OtherClass:\n    pass\n")
-    assert _check_class_in_dir(str(tmp_path), "TestClass") is False
-
-
-def test_directory_not_exists():
-    """Test when directory doesn't exist."""
-    assert _check_class_in_dir("/nonexistent/directory/path", "TestClass") is False
-
-
-def test_skip_init_file(tmp_path):
-    """Test that __init__.py files are skipped."""
-    init_file = tmp_path / "__init__.py"
-    init_file.write_text("class TestClass:\n    pass\n")
-    assert _check_class_in_dir(str(tmp_path), "TestClass") is False
-
-
-def test_handles_syntax_errors_gracefully(tmp_path):
-    """Test that syntax errors in files are handled gracefully."""
-    test_file = tmp_path / "broken.py"
-    test_file.write_text("class BrokenClass\n    # Missing colon\n")
-    assert _check_class_in_dir(str(tmp_path), "BrokenClass") is False
-
-
-def test_check_input_exists():
-    """Test checking if input type exists."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = True
-        assert _check_input_exists("TestInput") is True
-        mock_check_class.assert_called_once()
-
-
-def test_check_input_not_exists():
-    """Test checking if input type doesn't exist."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = False
-        assert _check_input_exists("NonexistentInput") is False
-
-
-def test_check_llm_exists():
-    """Test checking if LLM type exists."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = True
-        assert _check_llm_exists("TestLLM") is True
-
-
-def test_check_llm_not_exists():
-    """Test checking if LLM type doesn't exist."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = False
-        assert _check_llm_exists("NonexistentLLM") is False
-
-
-def test_check_simulator_exists():
-    """Test checking if simulator type exists."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = True
-        assert _check_simulator_exists("TestSimulator") is True
-
-
-def test_check_simulator_not_exists():
-    """Test checking if simulator type doesn't exist."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = False
-        assert _check_simulator_exists("NonexistentSimulator") is False
-
-
-def test_check_action_exists():
-    """Test checking if action exists."""
-    with patch("os.path.exists") as mock_exists:
-        mock_exists.return_value = True
-        assert _check_action_exists("test_action") is True
-
-
-def test_check_action_not_exists():
-    """Test checking if action doesn't exist."""
-    with patch("os.path.exists") as mock_exists:
-        mock_exists.return_value = False
-        assert _check_action_exists("nonexistent_action") is False
-
-
-def test_check_background_exists():
-    """Test checking if background type exists."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = True
-        assert _check_background_exists("TestBackground") is True
-
-
-def test_check_background_not_exists():
-    """Test checking if background type doesn't exist."""
-    with patch("cli._check_class_in_dir") as mock_check_class:
-        mock_check_class.return_value = False
-        assert _check_background_exists("NonexistentBackground") is False
-
-
-def test_check_api_key_no_key_warning(capsys):
-    """Test warning when no API key is configured."""
-    with patch.dict(os.environ, {}, clear=True):
-        raw_config = {"api_key": ""}
-        _check_api_key(raw_config, verbose=False)
-        captured = capsys.readouterr()
-        assert "Warning: No API key configured" in captured.out
-
-
-def test_check_api_key_env_verbose(capsys):
-    """Test API key from environment with verbose mode."""
-    with patch.dict(os.environ, {"OM_API_KEY": "test_key"}, clear=True):
-        raw_config = {"api_key": ""}
-        _check_api_key(raw_config, verbose=True)
-        captured = capsys.readouterr()
-        assert "API key configured (from environment)" in captured.out
-
-
-def test_check_api_key_config_verbose(capsys):
-    """Test API key from config with verbose mode."""
-    with patch.dict(os.environ, {}, clear=True):
-        raw_config = {"api_key": "config_key"}
-        _check_api_key(raw_config, verbose=True)
-        captured = capsys.readouterr()
-        assert "API key configured" in captured.out
-
-
-def test_check_api_key_openmind_free_shows_warning(capsys):
-    """Test warning with openmind_free key."""
-    with patch.dict(os.environ, {}, clear=True):
-        raw_config = {"api_key": "openmind_free"}
-        _check_api_key(raw_config, verbose=False)
-        captured = capsys.readouterr()
-        assert "Warning: No API key configured" in captured.out
-
-
-def test_print_config_summary_multi_mode(capsys):
-    """Test printing summary for multi-mode config."""
-    raw_config = {
-        "name": "Multi Mode Config",
-        "default_mode": "mode1",
-        "modes": {"mode1": {}, "mode2": {}},
-        "transition_rules": [{"from": "mode1", "to": "mode2"}],
-    }
-    _print_config_summary(raw_config)
-    captured = capsys.readouterr()
-    assert "Multi Mode Config" in captured.out
-    assert "Default Mode: mode1" in captured.out
-    assert "Modes: 2" in captured.out
-
-
-def test_validate_mode_components_valid():
-    """Test validating mode with all valid components."""
-    with (
-        patch("cli._check_input_exists") as mock_input,
-        patch("cli._check_llm_exists") as mock_llm,
-        patch("cli._check_action_exists") as mock_action,
-    ):
-
-        mock_input.return_value = True
-        mock_llm.return_value = True
-        mock_action.return_value = True
-
-        mode_data = {
-            "agent_inputs": [{"type": "TestInput"}],
-            "cortex_llm": {"type": "TestLLM"},
-            "agent_actions": [{"name": "test_action"}],
-        }
-
-        errors, warnings = _validate_mode_components("test_mode", mode_data, verbose=False)
-        assert errors == []
-        assert warnings == []
-
-
-def test_validate_mode_components_missing_input():
-    """Test that missing input creates error."""
-    with patch("cli._check_input_exists") as mock_input:
-        mock_input.return_value = False
-
-        mode_data = {
-            "agent_inputs": [{"type": "MissingInput"}],
-        }
-
-        errors, warnings = _validate_mode_components("test_mode", mode_data, verbose=False, allow_missing=False)
-        assert len(errors) == 1
-        assert "MissingInput" in errors[0]
-
-
-def test_validate_mode_components_missing_input_allowed():
-    """Test that missing input creates warning when allowed."""
-    with patch("cli._check_input_exists") as mock_input:
-        mock_input.return_value = False
-
-        mode_data = {
-            "agent_inputs": [{"type": "MissingInput"}],
-        }
-
-        errors, warnings = _validate_mode_components("test_mode", mode_data, verbose=False, allow_missing=True)
-        assert len(errors) == 0
-        assert len(warnings) == 1
-        assert "MissingInput" in warnings[0]
-
-
-def test_validate_mode_components_skip_inputs():
-    """Test skipping input validation."""
-    mode_data = {
-        "agent_inputs": [{"type": "AnyInput"}],
-    }
-
-    errors, warnings = _validate_mode_components("test_mode", mode_data, verbose=False, skip_inputs=True)
-    assert errors == []
-    assert warnings == []
-
-
-def test_validate_mode_components_simulators():
-    """Test simulator validation."""
-    with patch("cli._check_simulator_exists") as mock_simulator:
-        mock_simulator.return_value = True
-
-        mode_data = {
-            "simulators": [{"type": "TestSimulator"}],
-        }
-
-        errors, warnings = _validate_mode_components("test_mode", mode_data, verbose=False)
-        assert errors == []
-        mock_simulator.assert_called_once_with("TestSimulator")
-
-
-def test_validate_mode_components_backgrounds():
-    """Test background validation."""
-    with patch("cli._check_background_exists") as mock_background:
-        mock_background.return_value = True
-
-        mode_data = {
-            "backgrounds": [{"type": "TestBackground"}],
-        }
-
-        errors, warnings = _validate_mode_components("test_mode", mode_data, verbose=False)
-        assert errors == []
-        mock_background.assert_called_once_with("TestBackground")
-
-
-def test_validate_components_multi_mode():
-    """Test validating multi-mode configuration."""
-    with (
-        patch("cli._validate_mode_components") as mock_validate_mode,
-        patch("cli._check_llm_exists") as mock_llm,
-    ):
-
-        mock_llm.return_value = True
-        mock_validate_mode.return_value = ([], [])
-
-        raw_config = {
-            "cortex_llm": {"type": "GlobalLLM"},
-            "modes": {
-                "mode1": {"agent_inputs": []},
-                "mode2": {"agent_inputs": []},
-            },
-        }
-
-        _validate_components(raw_config, verbose=False)
-        assert mock_validate_mode.call_count == 2
-
-
-def test_validate_components_with_errors():
-    """Test that errors raise ValueError."""
-    with patch("cli._validate_mode_components") as mock_validate_mode:
-        mock_validate_mode.return_value = (["Error 1", "Error 2"], [])
-
-        raw_config = {"modes": {"mode1": {}}}
-
-        with pytest.raises(ValueError, match="Component validation failed"):
-            _validate_components(raw_config, verbose=False)
-
-
-def test_validate_components_with_warnings(capsys):
-    """Test that warnings are printed but no exception raised."""
-    with patch("cli._validate_mode_components") as mock_validate_mode:
-        mock_validate_mode.return_value = ([], ["Warning 1"])
-
-        raw_config = {"modes": {"mode1": {}}}
-
-        _validate_components(raw_config, verbose=False)
-        captured = capsys.readouterr()
-        assert "Warning 1" in captured.out
-
-
-def test_list_configs_categorizes_correctly(capsys):
-    """Test that configs are categorized correctly."""
-    with (
-        patch("os.listdir") as mock_listdir,
-        patch("os.path.exists") as mock_exists,
-        patch("builtins.open", new_callable=mock_open) as mock_file,
-    ):
-
-        mock_exists.return_value = True
-        mock_listdir.return_value = ["mode_config.json5", "single_config.json5"]
-
-        # Create a side effect to return different content
-        def open_side_effect(path, mode):
-            if "mode_config" in str(path):
-                return mock_open(read_data='{"modes": {}, "default_mode": "test"}').return_value
-            else:
-                return mock_open(read_data='{"name": "single"}').return_value
-
-        mock_file.side_effect = open_side_effect
-
-        list_configs()
-        captured = capsys.readouterr()
-        assert "Configurations:" in captured.out
-        assert "mode_config" in captured.out
-        assert "single_config" in captured.out
-
-
-def test_modes_displays_config_info(capsys):
-    """Test that modes command displays configuration info."""
-    with patch("cli.load_mode_config") as mock_load_config:
-        mock_config = MagicMock()
-        mock_config.name = "Test Config"
-        mock_config.default_mode = "mode1"
-        mock_config.allow_manual_switching = True
-        mock_config.mode_memory_enabled = True
-        mock_config.global_lifecycle_hooks = []
-        mock_config.modes = {
-            "mode1": MagicMock(
-                display_name="Mode 1",
-                description="Test mode",
-                hertz=10.0,
-                timeout_seconds=None,
-                _raw_inputs=[],
-                _raw_actions=[],
-                lifecycle_hooks=[],
-            )
-        }
-        mock_config.transition_rules = []
-        mock_load_config.return_value = mock_config
-
-        modes("test_config")
-        captured = capsys.readouterr()
-        assert "Test Config" in captured.out
-        assert "Default Mode: mode1" in captured.out
-
-
-def test_modes_handles_file_not_found():
-    """Test that modes command handles FileNotFoundError."""
-    with patch("cli.load_mode_config") as mock_load_config:
-        mock_load_config.side_effect = FileNotFoundError()
-
-        with pytest.raises(typer.Exit):
-            modes("nonexistent_config")
-
-
-def test_validate_config_success(capsys):
-    """Test successful config validation."""
-    with (
-        patch("cli._resolve_config_path") as mock_resolve,
-        patch("builtins.open", new_callable=mock_open, read_data='{"name": "test"}'),
-        patch("cli.validate"),
-        patch("cli.convert_to_multi_mode"),
-        patch("cli._validate_components"),
-        patch("cli._check_api_key"),
-    ):
-
-        mock_resolve.return_value = "/path/to/config.json5"
-
-        validate_config("test", verbose=False, check_components=False)
-        captured = capsys.readouterr()
-        assert "Configuration is valid!" in captured.out
-
-
-def test_validate_config_invalid_json():
-    """Test validation with invalid JSON."""
-    with (
-        patch("cli._resolve_config_path") as mock_resolve,
-        patch("builtins.open", new_callable=mock_open, read_data="invalid json{"),
-    ):
-
-        mock_resolve.return_value = "/path/to/config.json5"
-
-        with pytest.raises(typer.Exit):
-            validate_config("test")
-
-
-def test_validate_config_file_not_found():
-    """Test validation with missing file."""
-    with patch("cli._resolve_config_path") as mock_resolve:
-        mock_resolve.side_effect = FileNotFoundError()
-
-        with pytest.raises(typer.Exit):
-            validate_config("test")
diff --git a/tests/test_run.py b/tests/test_run.py
deleted file mode 100644
index 19cdf7b884..0000000000
--- a/tests/test_run.py
+++ /dev/null
@@ -1,296 +0,0 @@
-import os
-from unittest.mock import MagicMock, patch
-
-import pytest
-import typer
-
-from run import app, setup_config_file, start
-
-
-def test_setup_with_provided_config_name(tmp_path):
-    """Test setup with a provided config name."""
-    with patch("os.path.dirname", return_value=str(tmp_path)):
-        config_dir = tmp_path / ".." / "config"
-        config_dir.mkdir(parents=True, exist_ok=True)
-
-        config_name = "test_config"
-        config_name_result, config_path = setup_config_file(config_name)
-
-        assert config_name_result == "test_config"
-        assert config_path.endswith("test_config.json5")
-
-
-def test_setup_with_no_config_name_uses_runtime(tmp_path):
-    """Test setup without config name uses .runtime.json5."""
-    with patch("os.path.dirname", return_value=str(tmp_path)):
-        memory_dir = tmp_path / ".." / "config" / "memory"
-        memory_dir.mkdir(parents=True, exist_ok=True)
-        runtime_file = memory_dir / ".runtime.json5"
-        runtime_file.write_text('{"name": "runtime"}')
-
-        config_dir = tmp_path / ".." / "config"
-        config_dir.mkdir(parents=True, exist_ok=True)
-
-        with patch("shutil.copy2") as mock_copy:
-            config_name_result, config_path = setup_config_file(None)
-
-            assert config_name_result == ".runtime"
-            assert config_path.endswith(".runtime.json5")
-            mock_copy.assert_called_once()
-
-
-def test_setup_without_config_raises_when_runtime_missing(tmp_path):
-    """Test that missing .runtime.json5 raises error."""
-    with (
-        patch("os.path.dirname", return_value=str(tmp_path)),
-        patch("os.path.exists", return_value=False),
-    ):
-        with pytest.raises(typer.Exit):
-            setup_config_file(None)
-
-
-def test_setup_copies_runtime_config(tmp_path):
-    """Test that runtime config is copied correctly."""
-    with patch("os.path.dirname", return_value=str(tmp_path)):
-        memory_dir = tmp_path / ".." / "config" / "memory"
-        memory_dir.mkdir(parents=True, exist_ok=True)
-        runtime_file = memory_dir / ".runtime.json5"
-        runtime_content = '{"name": "runtime", "hertz": 10}'
-        runtime_file.write_text(runtime_content)
-
-        config_dir = tmp_path / ".." / "config"
-        config_dir.mkdir(parents=True, exist_ok=True)
-
-        _, config_path = setup_config_file(None)
-
-        assert os.path.exists(config_path)
-        with open(config_path, "r") as f:
-            content = f.read()
-            assert content == runtime_content
-
-
-def test_start_with_multi_mode_config():
-    """Test starting with multi-mode configuration."""
-    with (
-        patch("run.setup_logging") as mock_setup_logging,
-        patch("run.setup_config_file") as mock_setup_config,
-        patch("run.load_mode_config") as mock_load_mode_config,
-        patch("run.ModeCortexRuntime") as mock_runtime_class,
-        patch("asyncio.run") as mock_asyncio_run,
-    ):
-
-        # Setup mocks
-        mock_setup_config.return_value = ("test_config", "/path/to/test_config.json5")
-
-        mock_mode_config = MagicMock()
-        mock_mode_config.modes = {"mode1": MagicMock()}
-        mock_mode_config.default_mode = "mode1"
-        mock_load_mode_config.return_value = mock_mode_config
-
-        mock_runtime = MagicMock()
-        mock_runtime_class.return_value = mock_runtime
-
-        start(
-            config_name="test_config",
-            hot_reload=True,
-            check_interval=60,
-            log_level="INFO",
-            log_to_file=False,
-        )
-
-        mock_setup_logging.assert_called_once_with("test_config", "INFO", False)
-        mock_load_mode_config.assert_called_once_with("test_config")
-        mock_runtime_class.assert_called_once_with(mock_mode_config, "test_config", hot_reload=True, check_interval=60)
-        mock_asyncio_run.assert_called_once()
-
-
-def test_start_with_file_not_found():
-    """Test start command with missing config file."""
-    with (
-        patch("run.setup_logging"),
-        patch("run.setup_config_file") as mock_setup_config,
-        patch("run.load_mode_config") as mock_load_mode_config,
-    ):
-
-        mock_setup_config.return_value = ("test_config", "/path/to/test_config.json5")
-        mock_load_mode_config.side_effect = FileNotFoundError()
-
-        with pytest.raises(typer.Exit):
-            start(
-                config_name="test_config",
-                hot_reload=True,
-                check_interval=60,
-                log_level="INFO",
-                log_to_file=False,
-            )
-
-
-def test_start_with_generic_exception():
-    """Test start command with generic exception."""
-    with (
-        patch("run.setup_logging"),
-        patch("run.setup_config_file") as mock_setup_config,
-        patch("run.load_mode_config") as mock_load_mode_config,
-    ):
-
-        mock_setup_config.return_value = ("test_config", "/path/to/test_config.json5")
-        mock_load_mode_config.side_effect = Exception("Test error")
-
-        with pytest.raises(typer.Exit):
-            start(
-                config_name="test_config",
-                hot_reload=True,
-                check_interval=60,
-                log_level="INFO",
-                log_to_file=False,
-            )
-
-
-def test_start_with_hot_reload_disabled():
-    """Test starting with hot reload disabled."""
-    with (
-        patch("run.setup_logging"),
-        patch("run.setup_config_file") as mock_setup_config,
-        patch("run.load_mode_config") as mock_load_mode_config,
-        patch("run.ModeCortexRuntime") as mock_runtime_class,
-        patch("asyncio.run"),
-    ):
-
-        mock_setup_config.return_value = ("test_config", "/path/to/test_config.json5")
-
-        mock_mode_config = MagicMock()
-        mock_mode_config.modes = {"test": MagicMock()}
-        mock_mode_config.default_mode = "test"
-        mock_load_mode_config.return_value = mock_mode_config
-
-        mock_runtime = MagicMock()
-        mock_runtime_class.return_value = mock_runtime
-
-        start(
-            config_name="test_config",
-            hot_reload=False,
-            check_interval=60,
-            log_level="INFO",
-            log_to_file=False,
-        )
-
-        mock_runtime_class.assert_called_once_with(mock_mode_config, "test_config", hot_reload=False, check_interval=60)
-
-
-def test_start_with_custom_check_interval():
-    """Test starting with custom check interval."""
-    with (
-        patch("run.setup_logging"),
-        patch("run.setup_config_file") as mock_setup_config,
-        patch("run.load_mode_config") as mock_load_mode_config,
-        patch("run.ModeCortexRuntime") as mock_runtime_class,
-        patch("asyncio.run"),
-    ):
-
-        mock_setup_config.return_value = ("test_config", "/path/to/test_config.json5")
-
-        mock_mode_config = MagicMock()
-        mock_mode_config.modes = {"test": MagicMock()}
-        mock_mode_config.default_mode = "test"
-        mock_load_mode_config.return_value = mock_mode_config
-
-        mock_runtime = MagicMock()
-        mock_runtime_class.return_value = mock_runtime
-
-        start(
-            config_name="test_config",
-            hot_reload=True,
-            check_interval=120,
-            log_level="INFO",
-            log_to_file=False,
-        )
-
-        mock_runtime_class.assert_called_once_with(mock_mode_config, "test_config", hot_reload=True, check_interval=120)
-
-
-def test_start_with_custom_log_level():
-    """Test starting with custom log level."""
-    with (
-        patch("run.setup_logging") as mock_setup_logging,
-        patch("run.setup_config_file") as mock_setup_config,
-        patch("run.load_mode_config") as mock_load_mode_config,
-        patch("run.ModeCortexRuntime"),
-        patch("asyncio.run"),
-    ):
-
-        mock_setup_config.return_value = ("test_config", "/path/to/test_config.json5")
-
-        mock_mode_config = MagicMock()
-        mock_mode_config.modes = {"test": MagicMock()}
-        mock_mode_config.default_mode = "test"
-        mock_load_mode_config.return_value = mock_mode_config
-
-        start(
-            config_name="test_config",
-            hot_reload=True,
-            check_interval=60,
-            log_level="DEBUG",
-            log_to_file=False,
-        )
-
-        mock_setup_logging.assert_called_once_with("test_config", "DEBUG", False)
-
-
-def test_start_with_log_to_file():
-    """Test starting with log to file enabled."""
-    with (
-        patch("run.setup_logging") as mock_setup_logging,
-        patch("run.setup_config_file") as mock_setup_config,
-        patch("run.load_mode_config") as mock_load_mode_config,
-        patch("run.ModeCortexRuntime"),
-        patch("asyncio.run"),
-    ):
-
-        mock_setup_config.return_value = ("test_config", "/path/to/test_config.json5")
-
-        mock_mode_config = MagicMock()
-        mock_mode_config.modes = {"test": MagicMock()}
-        mock_mode_config.default_mode = "test"
-        mock_load_mode_config.return_value = mock_mode_config
-
-        start(
-            config_name="test_config",
-            hot_reload=True,
-            check_interval=60,
-            log_level="INFO",
-            log_to_file=True,
-        )
-
-        mock_setup_logging.assert_called_once_with("test_config", "INFO", True)
-
-
-def test_start_without_config_name_uses_default():
-    """Test that start without config_name calls setup_config_file with None."""
-    with (
-        patch("run.setup_logging"),
-        patch("run.setup_config_file") as mock_setup_config,
-    ):
-
-        mock_setup_config.return_value = (".runtime", "/path/to/.runtime.json5")
-        mock_setup_config.side_effect = typer.Exit(1)
-
-        with pytest.raises(typer.Exit):
-            start(
-                config_name=None,
-                hot_reload=True,
-                check_interval=60,
-                log_level="INFO",
-                log_to_file=False,
-            )
-
-        mock_setup_config.assert_called_once_with(None)
-
-
-def test_app_is_typer_instance():
-    """Test that app is a Typer instance."""
-    assert isinstance(app, typer.Typer)
-
-
-def test_start_command_exists():
-    """Test that start command is registered."""
-    assert hasattr(app, "registered_commands") or hasattr(app, "registered_groups")
diff --git a/tests/zenoh_msgs/cloud_session/__init__.py b/tests/zenoh_msgs/cloud_session/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/tests/zenoh_msgs/cloud_session/test_client.py b/tests/zenoh_msgs/cloud_session/test_client.py
deleted file mode 100644
index 1be7537634..0000000000
--- a/tests/zenoh_msgs/cloud_session/test_client.py
+++ /dev/null
@@ -1,189 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from zenoh_msgs.cloud_session.client import CloudZenohClient
-
-
-@pytest.fixture
-def stop_thread():
-    """Patch threading.Thread so the background runner doesn't actually run."""
-    with patch("zenoh_msgs.cloud_session.client.threading.Thread") as mock_thread_cls:
-        thread = MagicMock()
-        mock_thread_cls.return_value = thread
-        yield thread
-
-
-def test_with_token_no_query_string():
-    out = CloudZenohClient._with_token("wss://x.com/api", "abc")
-    assert out == "wss://x.com/api?api_key=abc"
-
-
-def test_with_token_existing_query_string():
-    out = CloudZenohClient._with_token("wss://x.com/api?foo=bar", "abc")
-    assert out == "wss://x.com/api?foo=bar&api_key=abc"
-
-
-def test_init_no_token_keeps_url(stop_thread):
-    c = CloudZenohClient("wss://x.com/api")
-    assert c._url == "wss://x.com/api"
-    stop_thread.start.assert_called_once()
-
-
-def test_init_with_token_appends_query(stop_thread):
-    c = CloudZenohClient("wss://x.com/api", token="zzz")
-    assert "api_key=zzz" in c._url
-
-
-def test_declare_subscriber_returns_id_and_sends(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    cb = MagicMock()
-    sub_id = c.declare_subscriber("odom", cb, binary=True)
-    assert isinstance(sub_id, str) and len(sub_id) == 12
-    assert c._subscriptions[sub_id] is cb
-    assert c._subscription_is_binary[sub_id] is True
-    assert c._subscription_specs[sub_id]["topic"] == "odom"
-
-
-def test_undeclare_subscriber_removes(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    sub_id = c.declare_subscriber("odom", MagicMock(), binary=False)
-    c.undeclare_subscriber(sub_id)
-    assert sub_id not in c._subscriptions
-    assert sub_id not in c._subscription_is_binary
-    assert sub_id not in c._subscription_specs
-
-
-def test_publish_emits_message(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    with patch.object(c, "_send") as mock_send:
-        c.publish("cmd_vel", {"linear": {}})
-        mock_send.assert_called_once()
-        msg = mock_send.call_args[0][0]
-        assert msg["type"] == "publish"
-        assert msg["topic"] == "cmd_vel"
-
-
-def test_publish_binary_frames_correctly(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    with patch.object(c, "_send_bytes") as mock_send:
-        c.publish_binary("odom", b"\x01\x02\x03")
-        frame = mock_send.call_args[0][0]
-        # 0x20 + 2-byte topic length (BE) + topic + payload
-        assert frame[0:1] == b"\x20"
-        topic_len = int.from_bytes(frame[1:3], "big")
-        assert topic_len == 4
-        assert frame[3 : 3 + topic_len] == b"odom"
-        assert frame[3 + topic_len :] == b"\x01\x02\x03"
-
-
-def test_publish_binary_rejects_long_topic(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    with pytest.raises(ValueError, match="topic too long"):
-        c.publish_binary("a" * 70000, b"")
-
-
-def test_send_skips_when_not_connected(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    c._websocket = None
-    # Should be a no-op, not raise
-    c._send({"type": "ping"})
-
-
-def test_send_bytes_raises_when_disconnected(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    c._connected = MagicMock()
-    c._connected.wait.return_value = False
-    with pytest.raises(RuntimeError, match="timeout waiting"):
-        c._send_bytes(b"x")
-
-
-def test_send_bytes_raises_when_websocket_none(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    c._connected = MagicMock()
-    c._connected.wait.return_value = True
-    c._websocket = None
-    with pytest.raises(RuntimeError, match="not connected"):
-        c._send_bytes(b"x")
-
-
-def test_dispatch_json_sample_calls_callback(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    cb = MagicMock()
-    sub_id = c.declare_subscriber("odom", cb, binary=False)
-    c._dispatch_json({"type": "sample", "subId": sub_id, "payload": {"x": 1}})
-    cb.assert_called_once_with({"x": 1})
-
-
-def test_dispatch_json_sample_callback_exception_doesnt_propagate(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    cb = MagicMock(side_effect=RuntimeError("boom"))
-    sub_id = c.declare_subscriber("odom", cb, binary=False)
-    # Should not raise
-    c._dispatch_json({"type": "sample", "subId": sub_id, "payload": {}})
-
-
-def test_dispatch_json_sample_unknown_subid_no_op(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    # No callback registered for "missing" — silent no-op
-    c._dispatch_json({"type": "sample", "subId": "missing", "payload": {}})
-
-
-def test_dispatch_json_other_types(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    # These just log and don't crash
-    c._dispatch_json({"type": "ack", "id": "1"})
-    c._dispatch_json({"type": "error", "message": "foo"})
-    c._dispatch_json({"type": "pong"})
-    c._dispatch_json({"type": "wat"})
-
-
-def test_dispatch_binary_dispatches_to_callback(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    cb = MagicMock()
-    sub_id = c.declare_subscriber("odom", cb, binary=True)
-    sub_b = sub_id.encode("utf-8")
-    payload = b"\xab\xcd"
-    frame = bytes([0x10]) + len(sub_b).to_bytes(2, "big") + sub_b + payload
-    c._dispatch_binary(frame)
-    cb.assert_called_once_with(payload)
-
-
-def test_dispatch_binary_unknown_type_logs(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    # Frame with type byte != 0x10 is logged but not dispatched.
-    c._dispatch_binary(bytes([0x99]) + b"junk")  # short, also unknown type
-    c._dispatch_binary(b"")  # empty
-
-
-def test_dispatch_binary_malformed_length(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    # Sub id length claims 100 bytes but the frame doesn't contain them.
-    c._dispatch_binary(bytes([0x10]) + (100).to_bytes(2, "big") + b"short")
-
-
-def test_dispatch_binary_callback_exception_caught(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    cb = MagicMock(side_effect=RuntimeError("boom"))
-    sub_id = c.declare_subscriber("odom", cb, binary=True)
-    sub_b = sub_id.encode("utf-8")
-    frame = bytes([0x10]) + len(sub_b).to_bytes(2, "big") + sub_b + b"data"
-    # Should not raise
-    c._dispatch_binary(frame)
-
-
-def test_dispatch_binary_unknown_subid(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    sub_b = b"deadbeefcafe"
-    frame = bytes([0x10]) + len(sub_b).to_bytes(2, "big") + sub_b + b"data"
-    # Subscription not registered -> early return, no crash.
-    c._dispatch_binary(frame)
-
-
-def test_close_signals_stop(stop_thread):
-    c = CloudZenohClient("wss://x.com")
-    # Don't actually have a websocket; close should still set _stopped and join.
-    c._websocket = None
-    c.close()
-    assert c._stopped.is_set()
-    stop_thread.join.assert_called_once_with(timeout=5)
diff --git a/tests/zenoh_msgs/cloud_session/test_zenoh_adapter.py b/tests/zenoh_msgs/cloud_session/test_zenoh_adapter.py
deleted file mode 100644
index c322e73422..0000000000
--- a/tests/zenoh_msgs/cloud_session/test_zenoh_adapter.py
+++ /dev/null
@@ -1,141 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from zenoh_msgs.cloud_session.zenoh_adapter import (
-    CloudSimZenohSession,
-    _Payload,
-    _Publisher,
-    _Sample,
-    _Subscriber,
-)
-
-
-def test_payload_to_bytes():
-    p = _Payload(b"\x01\x02")
-    assert p.to_bytes() == b"\x01\x02"
-
-
-def test_sample_construction():
-    s = _Sample("odom", b"\xde\xad")
-    assert s.topic == "odom"
-    assert s.payload.to_bytes() == b"\xde\xad"
-
-
-def test_subscriber_undeclare_calls_session():
-    session = MagicMock()
-    sub = _Subscriber(session, "odom", "id123")
-    sub.undeclare()
-    session._undeclare.assert_called_once_with("id123")
-
-
-def test_publisher_put_with_bytes():
-    session = MagicMock()
-    pub = _Publisher(session, "cmd_vel")
-    pub.put(b"\x01\x02")
-    session._publish_binary.assert_called_once_with("cmd_vel", b"\x01\x02")
-
-
-def test_publisher_put_converts_zbytes_like():
-    session = MagicMock()
-    pub = _Publisher(session, "cmd_vel")
-    zbytes = MagicMock()
-    zbytes.to_bytes.return_value = b"\xaa\xbb"
-    pub.put(zbytes)
-    session._publish_binary.assert_called_once_with("cmd_vel", b"\xaa\xbb")
-
-
-def test_publisher_undeclare_is_noop():
-    session = MagicMock()
-    pub = _Publisher(session, "cmd_vel")
-    # No exception, no call to session.
-    pub.undeclare()
-
-
-@pytest.fixture
-def session():
-    """Return a CloudSimZenohSession with the websocket client mocked out."""
-    with patch("zenoh_msgs.cloud_session.zenoh_adapter.CloudZenohClient") as mock_client_class:
-        client = MagicMock()
-        mock_client_class.return_value = client
-        s = CloudSimZenohSession("wss://x.com", token="tok")
-        # expose for assertions
-        s._mock_client = client  # type: ignore[attr-defined]
-        yield s
-
-
-def test_declare_subscriber_returns_subscriber(session):
-    session._mock_client.declare_subscriber.return_value = "subID"
-    sub = session.declare_subscriber("odom", lambda _s: None)
-    assert isinstance(sub, _Subscriber)
-    assert session._subscription_topics["subID"] == "odom"
-
-
-def test_subscriber_callback_wraps_in_sample(session):
-    captured = []
-
-    def handler(sample):
-        captured.append(sample)
-
-    session._mock_client.declare_subscriber.return_value = "subID"
-    session.declare_subscriber("odom", handler)
-    # Recover the inner callback the client was called with.
-    inner_cb = session._mock_client.declare_subscriber.call_args.kwargs["callback"]
-    inner_cb(b"\x42")
-    assert len(captured) == 1
-    assert captured[0].topic == "odom"
-    assert captured[0].payload.to_bytes() == b"\x42"
-
-
-def test_subscriber_callback_swallows_handler_exceptions(session):
-    def handler(_sample):
-        raise RuntimeError("boom")
-
-    session._mock_client.declare_subscriber.return_value = "subID"
-    session.declare_subscriber("odom", handler)
-    inner_cb = session._mock_client.declare_subscriber.call_args.kwargs["callback"]
-    # Should not raise
-    inner_cb(b"\x00")
-
-
-def test_subscriber_callback_none_handler_noop(session):
-    session._mock_client.declare_subscriber.return_value = "subID"
-    session.declare_subscriber("odom", None)
-    inner_cb = session._mock_client.declare_subscriber.call_args.kwargs["callback"]
-    # Should not raise even though handler is None
-    inner_cb(b"\x00")
-
-
-def test_declare_publisher_returns_publisher(session):
-    pub = session.declare_publisher("cmd_vel")
-    assert isinstance(pub, _Publisher)
-
-
-def test_put_publishes_bytes(session):
-    session.put("cmd_vel", b"\x01\x02")
-    session._mock_client.publish_binary.assert_called_once_with("cmd_vel", b"\x01\x02")
-
-
-def test_put_converts_zbytes_like(session):
-    payload = MagicMock()
-    payload.to_bytes.return_value = b"\xff"
-    session.put("cmd_vel", payload)
-    session._mock_client.publish_binary.assert_called_once_with("cmd_vel", b"\xff")
-
-
-def test_close_closes_client(session):
-    session.close()
-    session._mock_client.close.assert_called_once()
-
-
-def test_undeclare_clears_state_and_calls_client(session):
-    session._mock_client.declare_subscriber.return_value = "subID"
-    session.declare_subscriber("odom", lambda _s: None)
-    session._undeclare("subID")
-    assert "subID" not in session._subscription_topics
-    session._mock_client.undeclare_subscriber.assert_called_once_with("subID")
-
-
-def test_publish_binary_helper(session):
-    session._publish_binary("cmd_vel", b"\xaa")
-    session._mock_client.publish_binary.assert_called_once_with("cmd_vel", b"\xaa")
diff --git a/tests/zenoh_msgs/test_session.py b/tests/zenoh_msgs/test_session.py
deleted file mode 100644
index d5c7484bfd..0000000000
--- a/tests/zenoh_msgs/test_session.py
+++ /dev/null
@@ -1,366 +0,0 @@
-from unittest.mock import MagicMock, patch
-
-import pytest
-import zenoh
-
-from zenoh_msgs.session import (
-    HybridZenohSession,
-    _create_zenoh_session,
-    _open_cloud_session,
-    _ZenohSessionContextManager,
-    create_zenoh_config,
-    load_api_key,
-    load_session_config,
-    load_use_sim,
-    open_zenoh_session,
-)
-
-
-class TestCreateZenohConfig:
-    def test_create_config_with_network_discovery_enabled(self):
-        config = create_zenoh_config()
-        assert isinstance(config, zenoh.Config)
-
-    def test_create_config_with_network_discovery_disabled(self):
-        config = create_zenoh_config(network_discovery=False)
-        assert isinstance(config, zenoh.Config)
-
-
-class TestOpenCloudSession:
-    """Test the _open_cloud_session function."""
-
-    @patch("zenoh_msgs.session.CloudSimZenohSession")
-    def test_open_cloud_session_with_default_url(self, mock_cloud_session_class):
-        mock_session = MagicMock()
-        mock_cloud_session_class.return_value = mock_session
-
-        result = _open_cloud_session()
-
-        mock_cloud_session_class.assert_called_once_with("wss://api.openmind.com/api/core/simulation/zenoh", token=None)
-        assert result is mock_session
-
-    @patch("zenoh_msgs.session.CloudSimZenohSession")
-    def test_open_cloud_session_with_custom_url_and_token(self, mock_cloud_session_class):
-        mock_session = MagicMock()
-        mock_cloud_session_class.return_value = mock_session
-
-        result = _open_cloud_session(url="wss://custom.url:8444", token="my_token")
-
-        mock_cloud_session_class.assert_called_once_with("wss://custom.url:8444", token="my_token")
-        assert result is mock_session
-
-
-class TestOpenZenohSession:
-    """Test open_zenoh_session returns a context manager."""
-
-    def test_returns_context_manager(self):
-        result = open_zenoh_session()
-        assert isinstance(result, _ZenohSessionContextManager)
-
-
-class TestZenohSessionContextManager:
-    """Test the _ZenohSessionContextManager class."""
-
-    @patch("zenoh_msgs.session._create_zenoh_session")
-    def test_enter_creates_session(self, mock_create_session):
-        mock_session = MagicMock()
-        mock_create_session.return_value = mock_session
-
-        ctx_mgr = _ZenohSessionContextManager()
-        session = ctx_mgr.__enter__()
-
-        mock_create_session.assert_called_once()
-        assert session is mock_session
-        assert ctx_mgr._session is mock_session
-
-    @patch("zenoh_msgs.session._create_zenoh_session")
-    def test_exit_closes_session(self, mock_create_session):
-        mock_session = MagicMock()
-        mock_create_session.return_value = mock_session
-
-        ctx_mgr = _ZenohSessionContextManager()
-        ctx_mgr.__enter__()
-        ctx_mgr.__exit__(None, None, None)
-
-        mock_session.close.assert_called_once()
-
-    @patch("zenoh_msgs.session._create_zenoh_session")
-    def test_exit_handles_uninitialized_session(self, mock_create_session):
-        ctx_mgr = _ZenohSessionContextManager()
-        # Should not raise when session is None
-        ctx_mgr.__exit__(None, None, None)
-
-    @patch("zenoh_msgs.session._create_zenoh_session")
-    def test_getattr_creates_session_lazily(self, mock_create_session):
-        mock_session = MagicMock()
-        mock_session.some_attr = "value"
-        mock_create_session.return_value = mock_session
-
-        ctx_mgr = _ZenohSessionContextManager()
-        result = ctx_mgr.some_attr
-
-        mock_create_session.assert_called_once()
-        assert result == "value"
-        assert ctx_mgr._session is mock_session
-
-    @patch("zenoh_msgs.session._create_zenoh_session")
-    def test_getattr_uses_cached_session(self, mock_create_session):
-        mock_session = MagicMock()
-        mock_session.attr1 = "value1"
-        mock_session.attr2 = "value2"
-        mock_create_session.return_value = mock_session
-
-        ctx_mgr = _ZenohSessionContextManager()
-        result1 = ctx_mgr.attr1
-        result2 = ctx_mgr.attr2
-
-        # Should only create session once
-        mock_create_session.assert_called_once()
-        assert result1 == "value1"
-        assert result2 == "value2"
-
-    @patch("zenoh_msgs.session._create_zenoh_session")
-    def test_context_manager_with_statement(self, mock_create_session):
-        mock_session = MagicMock()
-        mock_create_session.return_value = mock_session
-
-        with open_zenoh_session() as session:
-            assert session is mock_session
-
-        mock_session.close.assert_called_once()
-
-
-class TestCreateZenohSession:
-    """Test the _create_zenoh_session function."""
-
-    @pytest.fixture(autouse=True)
-    def reset_hybrid_state(self):
-        """Reset HybridZenohSession state between tests."""
-        prev_use_sim = HybridZenohSession._use_sim
-        HybridZenohSession._use_sim = False
-        yield
-        HybridZenohSession._use_sim = prev_use_sim
-
-    def test_returns_hybrid_when_use_sim_true(self):
-        HybridZenohSession.set_use_sim(True)
-        session = _create_zenoh_session()
-        assert isinstance(session, HybridZenohSession)
-
-    @patch.object(zenoh, "open")
-    def test_returns_zenoh_session_without_fallback(self, mock_zenoh_open):
-        mock_session = MagicMock()
-        mock_zenoh_open.return_value = mock_session
-
-        HybridZenohSession.set_use_sim(False)
-        session = _create_zenoh_session()
-
-        mock_zenoh_open.assert_called_once()
-        assert session is mock_session
-
-    @patch.object(zenoh, "open")
-    def test_fallback_to_network_discovery(self, mock_zenoh_open):
-        mock_session_fallback = MagicMock()
-        mock_zenoh_open.side_effect = [
-            Exception("Local connection failed"),
-            mock_session_fallback,
-        ]
-
-        HybridZenohSession.set_use_sim(False)
-        session = _create_zenoh_session()
-
-        assert mock_zenoh_open.call_count == 2
-        assert session is mock_session_fallback
-
-    @patch.object(zenoh, "open")
-    def test_raises_when_all_attempts_fail(self, mock_zenoh_open):
-        mock_zenoh_open.side_effect = [
-            Exception("Local failed"),
-            Exception("Fallback failed"),
-        ]
-
-        HybridZenohSession.set_use_sim(False)
-        with pytest.raises(Exception, match="Failed to open Zenoh session"):
-            _create_zenoh_session()
-
-        assert mock_zenoh_open.call_count == 2
-
-
-class TestHybridZenohSession:
-    """Tests for the HybridZenohSession that routes between cloud + local."""
-
-    @pytest.fixture(autouse=True)
-    def reset_class_state(self):
-        """Reset class-level config between tests."""
-        prev_key = HybridZenohSession._api_key
-        prev_use_sim = HybridZenohSession._use_sim
-        HybridZenohSession._api_key = None
-        HybridZenohSession._use_sim = False
-        yield
-        HybridZenohSession._api_key = prev_key
-        HybridZenohSession._use_sim = prev_use_sim
-
-    def test_set_api_key_class_level(self):
-        HybridZenohSession.set_api_key("k")
-        s = HybridZenohSession()
-        assert s._api_key == "k"
-
-    def test_set_use_sim_class_level(self):
-        HybridZenohSession.set_use_sim(True)
-        s = HybridZenohSession()
-        assert s.use_sim is True
-
-    def test_init_lazy_sessions_unset(self):
-        s = HybridZenohSession()
-        assert s._cloud_session is None
-        assert s._zenoh_session is None
-
-    @patch("zenoh_msgs.session._open_cloud_session")
-    def test_get_cloud_session_lazy(self, mock_open_cloud):
-        cloud = MagicMock()
-        mock_open_cloud.return_value = cloud
-        s = HybridZenohSession()
-        first = s._get_cloud_session()
-        second = s._get_cloud_session()
-        assert first is cloud
-        assert second is cloud
-        # only opened once
-        mock_open_cloud.assert_called_once()
-
-    @patch.object(zenoh, "open")
-    def test_get_zenoh_session_no_discovery_first(self, mock_zenoh_open):
-        sess = MagicMock()
-        mock_zenoh_open.return_value = sess
-        s = HybridZenohSession()
-        out = s._get_zenoh_session()
-        assert out is sess
-        # second call returns cached
-        assert s._get_zenoh_session() is sess
-        assert mock_zenoh_open.call_count == 1
-
-    @patch.object(zenoh, "open")
-    def test_get_zenoh_session_falls_back(self, mock_zenoh_open):
-        sess = MagicMock()
-        mock_zenoh_open.side_effect = [Exception("local"), sess]
-        s = HybridZenohSession()
-        out = s._get_zenoh_session()
-        assert out is sess
-        assert mock_zenoh_open.call_count == 2
-
-    @patch.object(zenoh, "open")
-    def test_get_zenoh_session_all_fail(self, mock_zenoh_open):
-        mock_zenoh_open.side_effect = [Exception("a"), Exception("b")]
-        s = HybridZenohSession()
-        with pytest.raises(Exception, match="Failed to open Zenoh session"):
-            s._get_zenoh_session()
-
-    @patch("zenoh_msgs.session._open_cloud_session")
-    def test_declare_subscriber_routes_cloud_for_known_topic(self, mock_open_cloud):
-        cloud = MagicMock()
-        mock_open_cloud.return_value = cloud
-        s = HybridZenohSession()
-        s.declare_subscriber("odom", lambda _x: None)
-        cloud.declare_subscriber.assert_called_once()
-        args, _ = cloud.declare_subscriber.call_args
-        assert args[0] == "odom"
-
-    @patch.object(zenoh, "open")
-    def test_declare_subscriber_routes_local_for_unknown_topic(self, mock_zenoh_open):
-        sess = MagicMock()
-        mock_zenoh_open.return_value = sess
-        s = HybridZenohSession()
-        s.declare_subscriber("not_a_cloud_topic", lambda _x: None)
-        sess.declare_subscriber.assert_called_once()
-
-    @patch("zenoh_msgs.session._open_cloud_session")
-    def test_declare_publisher_routes_cloud(self, mock_open_cloud):
-        cloud = MagicMock()
-        mock_open_cloud.return_value = cloud
-        s = HybridZenohSession()
-        s.declare_publisher("odom")
-        cloud.declare_publisher.assert_called_once_with("odom")
-
-    @patch.object(zenoh, "open")
-    def test_declare_publisher_routes_local_for_unknown(self, mock_zenoh_open):
-        sess = MagicMock()
-        mock_zenoh_open.return_value = sess
-        s = HybridZenohSession()
-        s.declare_publisher("custom_topic")
-        sess.declare_publisher.assert_called_once_with("custom_topic")
-
-    @patch.object(zenoh, "open")
-    def test_get_always_routes_local(self, mock_zenoh_open):
-        sess = MagicMock()
-        mock_zenoh_open.return_value = sess
-        s = HybridZenohSession()
-        s.get("custom_topic")
-        s.get("odom")  # cloud topic still routed to local with warning
-        assert sess.get.call_count == 2
-
-    @patch("zenoh_msgs.session._open_cloud_session")
-    def test_put_routes_cloud_for_known(self, mock_open_cloud):
-        cloud = MagicMock()
-        mock_open_cloud.return_value = cloud
-        s = HybridZenohSession()
-        s.put("odom", b"\x00")
-        cloud.put.assert_called_once()
-
-    @patch.object(zenoh, "open")
-    def test_put_routes_local_for_unknown(self, mock_zenoh_open):
-        sess = MagicMock()
-        mock_zenoh_open.return_value = sess
-        s = HybridZenohSession()
-        s.put("custom_topic", b"\x00")
-        sess.put.assert_called_once()
-
-    @patch.object(zenoh, "open")
-    @patch("zenoh_msgs.session._open_cloud_session")
-    def test_close_closes_both(self, mock_open_cloud, mock_zenoh_open):
-        cloud = MagicMock()
-        mock_open_cloud.return_value = cloud
-        sess = MagicMock()
-        mock_zenoh_open.return_value = sess
-        s = HybridZenohSession()
-        # Force both to materialize
-        s._get_cloud_session()
-        s._get_zenoh_session()
-        s.close()
-        cloud.close.assert_called_once()
-        sess.close.assert_called_once()
-
-    def test_close_skips_when_uninitialized(self):
-        s = HybridZenohSession()
-        # Both lazy sessions are None — should be a no-op, not raise
-        s.close()
-
-
-class TestLoaders:
-    @pytest.fixture(autouse=True)
-    def isolate(self):
-        prev_key = HybridZenohSession._api_key
-        prev_sim = HybridZenohSession._use_sim
-        HybridZenohSession._api_key = None
-        HybridZenohSession._use_sim = False
-        yield
-        HybridZenohSession._api_key = prev_key
-        HybridZenohSession._use_sim = prev_sim
-
-    def test_load_api_key_with_value(self):
-        load_api_key("xyz")
-        assert HybridZenohSession._api_key == "xyz"
-
-    def test_load_api_key_skips_empty(self):
-        load_api_key(None)
-        assert HybridZenohSession._api_key is None
-        load_api_key("")
-        assert HybridZenohSession._api_key is None
-
-    def test_load_use_sim(self):
-        load_use_sim(True)
-        assert HybridZenohSession._use_sim is True
-        load_use_sim(False)
-        assert HybridZenohSession._use_sim is False
-
-    def test_load_session_config_sets_both(self):
-        load_session_config("api", True)
-        assert HybridZenohSession._api_key == "api"
-        assert HybridZenohSession._use_sim is True
diff --git a/uv.lock b/uv.lock
deleted file mode 100644
index b0cea9f0d4..0000000000
--- a/uv.lock
+++ /dev/null
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