diff --git a/dougbot/core/behaviors.py b/dougbot/core/behaviors.py
index 133ea52..8035809 100644
--- a/dougbot/core/behaviors.py
+++ b/dougbot/core/behaviors.py
@@ -14,7 +14,7 @@ import random
 import time
 from typing import Optional
 
-from dougbot.core.task_queue import Task, Priority
+from dougbot.core.task_queue import PrimaryTask, SubTask, Priority, make_task
 from dougbot.utils.logging import get_logger
 
 log = get_logger("core.behaviors")
@@ -278,37 +278,27 @@ class GoalManager:
         active.sort(key=lambda g: g["priority"], reverse=True)
         return active[0]
 
-    def get_next_step(self, goal: dict, behaviors, memory) -> Task | None:
-        """Get the next task from a goal's step list."""
+    def get_next_step(self, goal: dict, behaviors, memory):
+        """Get the next step from a goal. Returns object with name/action/params/description/timeout."""
         if goal["current_step"] >= len(goal["steps"]):
-            return None  # All steps done
+            return None
 
         step = goal["steps"][goal["current_step"]]
         goal["current_step"] += 1
 
-        # Build the task from the step
         params = dict(step["params"])
         params.update(goal.get("extra_params", {}))
 
-        # For find_blocks, we need a callback to process the result
-        if step["action"] == "find_blocks":
-            return Task(
-                name=f"goal_{goal['name']}_find",
-                priority=Priority.NORMAL,
-                action=step["action"],
-                params=params,
-                description=step["description"],
-                timeout=15,
-            )
-
-        return Task(
-            name=f"goal_{goal['name']}_step{goal['current_step']}",
-            priority=Priority.NORMAL,
-            action=step["action"],
-            params=params,
-            description=step["description"],
-            timeout=20,
-        )
+        # Return a simple namespace with the fields the brain expects
+        class StepInfo:
+            pass
+        info = StepInfo()
+        info.name = f"goal_{goal['name']}_step{goal['current_step']}"
+        info.action = step["action"]
+        info.params = params
+        info.description = step["description"]
+        info.timeout = 20
+        return info
 
     def complete_goal(self, name: str):
         """Mark a goal as complete."""