Configuration.cs

public class Configuration : FubuRegistry
{
    public Configuration()
    {
        //...

        Routes.HomeIs<DashboardHandler>(x => x.Query())
            .ConstrainMethodPrefixToHttpGet("Query")
            .ConstrainMethodPrefixToHttpPost("Command")
            .UrlPolicy(FullNameUrlPolicy.Create().
                        IgnoreNamespace<LoginHandler>().
                        IgnoreClassName("Handler").
                        IgnoreMethodName("Query", "Command"));

        // ...
    }
}

FullNameUrlPolicy.cs

public class FullNameUrlPolicy : IUrlPolicy
{
    private readonly List<string> _ignoreNamespace = new List<string>();
    private readonly List<string> _ignoreClass = new List<string>();
    private readonly List<string> _ignoreMethod = new List<string>();

    public static FullNameUrlPolicy Create()
    {
        return new FullNameUrlPolicy();
    }

    public bool Matches(ActionCall call, IConfigurationObserver log)
    {
        return true;
    }

    public FullNameUrlPolicy IgnoreNamespace<T>()
    {
        _ignoreNamespace.Add(typeof(T).Namespace);
        return this;
    }

    public FullNameUrlPolicy IgnoreClassName(params string[] names)
    {
        _ignoreClass.AddRange(names);
        return this;
    }

    public FullNameUrlPolicy IgnoreMethodName(params string[] names)
    {
        _ignoreMethod.AddRange(names);
        return this;
    }

    public IRouteDefinition Build(ActionCall call)
    {
        var route = call.ToRouteDefinition();
        AppendNamespace(route, call, _ignoreNamespace);
        AppendClass(route, call, _ignoreClass);
        AppendMethod(route, call, _ignoreMethod);
        return route;
    }

    private static void AppendNamespace(IRouteDefinition route, ActionCall call, IEnumerable<string> ignore)
    {
        route.Append(RemovePattern(call.HandlerType.Namespace, ignore).Replace('.', '/').ToLower());
    }

    private static void AppendClass(IRouteDefinition route, ActionCall call, IEnumerable<string> ignore)
    {
        route.Append(RemovePattern(call.HandlerType.Name, ignore).ToLower());
    }

    private static void AppendMethod(IRouteDefinition route, ActionCall call, IEnumerable<string> ignore)
    {
        var methodName = RemovePattern(call.Method.Name, ignore);
        if (MethodToUrlBuilder.Matches(call.Method.Name) && call.HasInput)
        {
            MethodToUrlBuilder.Alter(route, methodName, new TypeDescriptorCache().GetPropertiesFor(call.InputType()).Keys, x => { });
            route.ApplyInputType(call.InputType());
        }
        else if (!string.IsNullOrEmpty(methodName)) route.Append(methodName);
    }

    private static string RemovePattern(string source, IEnumerable<string> pattern)
    {
        return pattern.Aggregate(source, (a, i) => a.Replace(i, string.Empty));
    }
}