diff --git a/dimos/project/test_get_logger.py b/dimos/codebase_checks/test_get_logger.py
similarity index 98%
rename from dimos/project/test_get_logger.py
rename to dimos/codebase_checks/test_get_logger.py
index a6ef3b4deb..26db11ab8f 100644
--- a/dimos/project/test_get_logger.py
+++ b/dimos/codebase_checks/test_get_logger.py
@@ -116,7 +116,7 @@ def test_no_get_logger():
             "",
             "If the usage is legitimate (e.g. standalone script, logging "
             "infrastructure, or third-party logger suppression), add it to the "
-            "WHITELIST in dimos/project/test_get_logger.py.",
+            "WHITELIST in dimos/codebase_checks/test_get_logger.py.",
             "",
         ]
         for path, lineno, text in violations:
diff --git a/dimos/codebase_checks/test_no_all.py b/dimos/codebase_checks/test_no_all.py
new file mode 100644
index 0000000000..e77f79f096
--- /dev/null
+++ b/dimos/codebase_checks/test_no_all.py
@@ -0,0 +1,56 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import ast
+from pathlib import Path
+
+from dimos.constants import DIMOS_PROJECT_ROOT
+
+
+def _is_all(target: ast.expr) -> bool:
+    return isinstance(target, ast.Name) and target.id == "__all__"
+
+
+def _defines_all(node: ast.AST) -> bool:
+    if isinstance(node, ast.Assign):
+        return any(_is_all(t) for t in node.targets)
+    if isinstance(node, (ast.AnnAssign, ast.AugAssign)):
+        return _is_all(node.target)
+    return False
+
+
+def find_all_definitions() -> list[tuple[Path, int]]:
+    """Return (file, line_number) for every `__all__` binding under dimos/."""
+    dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
+    hits: list[tuple[Path, int]] = []
+    for path in sorted(dimos_dir.rglob("*.py")):
+        tree = ast.parse(path.read_text(encoding="utf-8"))
+        for node in ast.walk(tree):
+            if _defines_all(node):
+                hits.append((path, node.lineno))
+    return hits
+
+
+def test_no_all():
+    """Fail if any file defines `__all__`."""
+    dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
+    hits = find_all_definitions()
+    if hits:
+        listing = "\n".join(f"  - {p.relative_to(dimos_dir)}:{lineno}" for p, lineno in hits)
+        raise AssertionError(
+            f"Found __all__ definition(s) in dimos/:\n{listing}\n\n"
+            "__all__ is not allowed. We don't use `from x import *`, so __all__ "
+            "lists serve no purpose and are tedious to maintain. Remove them. For "
+            "an import that exists purely to be re-exported, use `# noqa: F401`."
+        )
diff --git a/dimos/project/test_no_init_files.py b/dimos/codebase_checks/test_no_init_files.py
similarity index 100%
rename from dimos/project/test_no_init_files.py
rename to dimos/codebase_checks/test_no_init_files.py
diff --git a/dimos/project/test_no_sections.py b/dimos/codebase_checks/test_no_sections.py
similarity index 100%
rename from dimos/project/test_no_sections.py
rename to dimos/codebase_checks/test_no_sections.py
diff --git a/dimos/control/blueprints/_hardware.py b/dimos/control/blueprints/_hardware.py
index 5bb079c654..f652265b35 100644
--- a/dimos/control/blueprints/_hardware.py
+++ b/dimos/control/blueprints/_hardware.py
@@ -207,21 +207,3 @@ def mock_twist_base(hw_id: str = "base") -> HardwareComponent:
         joints=make_twist_base_joints(hw_id),
         adapter_type="mock_twist_base",
     )
-
-
-__all__ = [
-    "A750_FK_MODEL",
-    "PIPER_FK_MODEL",
-    "PIPER_SIM_PATH",
-    "XARM6_FK_MODEL",
-    "XARM6_SIM_PATH",
-    "XARM7_FK_MODEL",
-    "XARM7_SIM_PATH",
-    "a750",
-    "manipulator",
-    "mock_arm",
-    "mock_twist_base",
-    "piper",
-    "xarm6",
-    "xarm7",
-]
diff --git a/dimos/control/blueprints/basic.py b/dimos/control/blueprints/basic.py
index 165f707a85..214d01275e 100644
--- a/dimos/control/blueprints/basic.py
+++ b/dimos/control/blueprints/basic.py
@@ -126,12 +126,3 @@ def _mujoco_if_sim(sim_path: str, dof: int) -> tuple[Blueprint, ...]:
     ),
     *_mujoco_if_sim(str(PIPER_SIM_PATH), len(_piper_hw.joints)),
 )
-
-
-__all__ = [
-    "coordinator_basic",
-    "coordinator_mock",
-    "coordinator_piper",
-    "coordinator_xarm6",
-    "coordinator_xarm7",
-]
diff --git a/dimos/control/blueprints/dual.py b/dimos/control/blueprints/dual.py
index 5b6cabae26..07450bbefb 100644
--- a/dimos/control/blueprints/dual.py
+++ b/dimos/control/blueprints/dual.py
@@ -92,10 +92,3 @@
         ),
     ],
 )
-
-
-__all__ = [
-    "coordinator_dual_mock",
-    "coordinator_dual_xarm",
-    "coordinator_piper_xarm",
-]
diff --git a/dimos/control/blueprints/mobile.py b/dimos/control/blueprints/mobile.py
index 66b2273e16..64a9090899 100644
--- a/dimos/control/blueprints/mobile.py
+++ b/dimos/control/blueprints/mobile.py
@@ -214,12 +214,3 @@ def _flowbase_twist_base(
         ),
     ],
 ).remappings([(ControlCoordinator, "twist_command", "cmd_vel")])
-
-
-__all__ = [
-    "coordinator_flowbase",
-    "coordinator_flowbase_keyboard_teleop",
-    "coordinator_flowbase_nav",
-    "coordinator_mobile_manip_mock",
-    "coordinator_mock_twist_base",
-]
diff --git a/dimos/control/blueprints/teleop.py b/dimos/control/blueprints/teleop.py
index 83c5b77fcf..993cc15267 100644
--- a/dimos/control/blueprints/teleop.py
+++ b/dimos/control/blueprints/teleop.py
@@ -262,16 +262,3 @@ def _mujoco_if_sim(sim_path: str, dof: int) -> tuple[Blueprint, ...]:
         ),
     ],
 )
-
-
-__all__ = [
-    "coordinator_cartesian_ik_mock",
-    "coordinator_cartesian_ik_piper",
-    "coordinator_combined_xarm6",
-    "coordinator_servo_xarm6",
-    "coordinator_teleop_dual",
-    "coordinator_teleop_piper",
-    "coordinator_teleop_xarm6",
-    "coordinator_teleop_xarm7",
-    "coordinator_velocity_xarm6",
-]
diff --git a/dimos/control/components.py b/dimos/control/components.py
index 3a93f6891b..1daab0b039 100644
--- a/dimos/control/components.py
+++ b/dimos/control/components.py
@@ -201,19 +201,3 @@ def make_humanoid_joints(hardware_id: HardwareId) -> list[JointName]:
         List of 29 joint names like ["g1/left_hip_pitch", ..., "g1/right_wrist_yaw"]
     """
     return [f"{hardware_id}/{j}" for j in _HUMANOID_29DOF_JOINTS]
-
-
-__all__ = [
-    "TWIST_SUFFIX_MAP",
-    "HardwareComponent",
-    "HardwareId",
-    "HardwareType",
-    "JointName",
-    "JointState",
-    "TaskName",
-    "make_gripper_joints",
-    "make_humanoid_joints",
-    "make_joints",
-    "make_twist_base_joints",
-    "split_joint_name",
-]
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 5e5bb2a3da..51172ea599 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -445,10 +445,3 @@ def _try_initialize_last_commanded(self) -> bool:
             self._last_commanded[name] = states[i].q
         self._initialized = True
         return True
-
-
-__all__ = [
-    "ConnectedHardware",
-    "ConnectedTwistBase",
-    "ConnectedWholeBody",
-]
diff --git a/dimos/control/task.py b/dimos/control/task.py
index 0b32fae4ef..6e22e48246 100644
--- a/dimos/control/task.py
+++ b/dimos/control/task.py
@@ -31,7 +31,7 @@
 from typing import TYPE_CHECKING, Protocol, runtime_checkable
 
 from dimos.control.components import JointName
-from dimos.hardware.manipulators.spec import ControlMode
+from dimos.hardware.manipulators.spec import ControlMode as ControlMode
 from dimos.hardware.whole_body.spec import IMUState
 
 if TYPE_CHECKING:
@@ -326,17 +326,3 @@ def set_target_by_name(self, positions: dict[str, float], t_now: float) -> bool:
     def set_velocities_by_name(self, velocities: dict[str, float], t_now: float) -> bool:
         """No-op default."""
         return False
-
-
-__all__ = [
-    # Protocol + Base
-    "BaseControlTask",
-    # Types
-    "ControlMode",
-    "ControlTask",
-    "CoordinatorState",
-    "JointCommandOutput",
-    "JointName",
-    "JointStateSnapshot",
-    "ResourceClaim",
-]
diff --git a/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py b/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py
index d43e10333d..fcf58b833a 100644
--- a/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py
+++ b/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py
@@ -324,12 +324,6 @@ def forward_kinematics(self, joint_positions: NDArray[np.floating[Any]]) -> pino
         return self._ik.forward_kinematics(joint_positions)
 
 
-__all__ = [
-    "CartesianIKTask",
-    "CartesianIKTaskConfig",
-]
-
-
 class CartesianIKTaskParams(BaseConfig):
     model_path: str | Path
     ee_joint_id: int = 6
diff --git a/dimos/control/tasks/g1_groot_wbc_task/g1_groot_wbc_task.py b/dimos/control/tasks/g1_groot_wbc_task/g1_groot_wbc_task.py
index 58a2eb2f91..98972195db 100644
--- a/dimos/control/tasks/g1_groot_wbc_task/g1_groot_wbc_task.py
+++ b/dimos/control/tasks/g1_groot_wbc_task/g1_groot_wbc_task.py
@@ -734,18 +734,6 @@ def _projected_gravity(quaternion: tuple[float, ...]) -> NDArray[np.float32]:
         return np.array([gx, gy, gz], dtype=np.float32)
 
 
-__all__ = [
-    "ARM_DEFAULT_POSE",
-    "G1_GROOT_KD",
-    "G1_GROOT_KP",
-    "G1GrootWBCTask",
-    "G1GrootWBCTaskConfig",
-    "g1_arms",
-    "g1_joints",
-    "g1_legs_waist",
-]
-
-
 class G1GrootWBCTaskParams(BaseConfig):
     model_path: str | Path
     hardware_id: str
diff --git a/dimos/control/tasks/registry.py b/dimos/control/tasks/registry.py
index aab4d98731..44c3e80814 100644
--- a/dimos/control/tasks/registry.py
+++ b/dimos/control/tasks/registry.py
@@ -131,5 +131,3 @@ def _resolve_factory(self, key: str) -> TaskFactory:
 
 
 control_task_registry = ControlTaskRegistry()
-
-__all__ = ["ControlTaskRegistry", "TaskFactory", "control_task_registry"]
diff --git a/dimos/control/tasks/servo_task/servo_task.py b/dimos/control/tasks/servo_task/servo_task.py
index d61f58468d..ab30aff778 100644
--- a/dimos/control/tasks/servo_task/servo_task.py
+++ b/dimos/control/tasks/servo_task/servo_task.py
@@ -253,12 +253,6 @@ def is_streaming(self) -> bool:
             return self._active and self._target is not None
 
 
-__all__ = [
-    "JointServoTask",
-    "JointServoTaskConfig",
-]
-
-
 class JointServoTaskParams(BaseConfig):
     timeout: float | None = None
     default_positions: list[float] | None = None
diff --git a/dimos/control/tasks/teleop_task/teleop_task.py b/dimos/control/tasks/teleop_task/teleop_task.py
index 32301b1f31..bcc7c62d98 100644
--- a/dimos/control/tasks/teleop_task/teleop_task.py
+++ b/dimos/control/tasks/teleop_task/teleop_task.py
@@ -354,12 +354,6 @@ def stop(self) -> None:
         logger.info(f"TeleopIKTask {self._name} stopped")
 
 
-__all__ = [
-    "TeleopIKTask",
-    "TeleopIKTaskConfig",
-]
-
-
 class TeleopIKTaskParams(BaseConfig):
     model_path: str | Path
     ee_joint_id: int = 6
diff --git a/dimos/control/tasks/trajectory_task/trajectory_task.py b/dimos/control/tasks/trajectory_task/trajectory_task.py
index b23ef6db3f..a3eb23dec3 100644
--- a/dimos/control/tasks/trajectory_task/trajectory_task.py
+++ b/dimos/control/tasks/trajectory_task/trajectory_task.py
@@ -250,13 +250,6 @@ def get_progress(self, t_now: float) -> float:
         return min(1.0, t_elapsed / self._trajectory.duration)
 
 
-__all__ = [
-    "JointTrajectoryTask",
-    "JointTrajectoryTaskConfig",
-    "TrajectoryState",
-]
-
-
 def create_task(cfg: Any, hardware: Any) -> JointTrajectoryTask:
     return JointTrajectoryTask(
         cfg.name,
diff --git a/dimos/control/tasks/velocity_task/velocity_task.py b/dimos/control/tasks/velocity_task/velocity_task.py
index 94ff9fadd7..9d522d44bc 100644
--- a/dimos/control/tasks/velocity_task/velocity_task.py
+++ b/dimos/control/tasks/velocity_task/velocity_task.py
@@ -267,12 +267,6 @@ def is_streaming(self) -> bool:
             return self._active and self._velocities is not None and not self._timed_out
 
 
-__all__ = [
-    "JointVelocityTask",
-    "JointVelocityTaskConfig",
-]
-
-
 class JointVelocityTaskParams(BaseConfig):
     timeout: float = 0.2
     zero_on_timeout: bool = True
diff --git a/dimos/control/tick_loop.py b/dimos/control/tick_loop.py
index d38b7e76d2..975dfa9333 100644
--- a/dimos/control/tick_loop.py
+++ b/dimos/control/tick_loop.py
@@ -414,6 +414,3 @@ def _publish_joint_state(self, snapshot: JointStateSnapshot) -> None:
         )
         if self._publish_callback:
             self._publish_callback(msg)
-
-
-__all__ = ["TickLoop"]
diff --git a/dimos/core/native_module.py b/dimos/core/native_module.py
index 3736aea6d9..6e34a2ffd5 100644
--- a/dimos/core/native_module.py
+++ b/dimos/core/native_module.py
@@ -468,10 +468,3 @@ def _collect_topics(self) -> dict[str, str]:
             if topic is not None:
                 topics[name] = str(topic)
         return topics
-
-
-__all__ = [
-    "LogFormat",
-    "NativeModule",
-    "NativeModuleConfig",
-]
diff --git a/dimos/core/tests/stress_test_blueprint.py b/dimos/core/tests/stress_test_blueprint.py
index b8192680c6..884b85ad09 100644
--- a/dimos/core/tests/stress_test_blueprint.py
+++ b/dimos/core/tests/stress_test_blueprint.py
@@ -25,5 +25,3 @@
     StressTestModule.blueprint(),
     McpServer.blueprint(),
 )
-
-__all__ = ["demo_mcp_stress_test"]
diff --git a/dimos/hardware/drive_trains/flowbase/adapter.py b/dimos/hardware/drive_trains/flowbase/adapter.py
index 29a9fdee71..6ee8cb7854 100644
--- a/dimos/hardware/drive_trains/flowbase/adapter.py
+++ b/dimos/hardware/drive_trains/flowbase/adapter.py
@@ -180,6 +180,3 @@ def _send_velocity(self, vx: float, vy: float, wz: float) -> bool:
 def register(registry: TwistBaseAdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("flowbase", FlowBaseAdapter)
-
-
-__all__ = ["FlowBaseAdapter"]
diff --git a/dimos/hardware/drive_trains/mock/adapter.py b/dimos/hardware/drive_trains/mock/adapter.py
index d6131305e6..976e3caa57 100644
--- a/dimos/hardware/drive_trains/mock/adapter.py
+++ b/dimos/hardware/drive_trains/mock/adapter.py
@@ -108,6 +108,3 @@ def set_velocities_directly(self, velocities: list[float]) -> None:
 def register(registry: TwistBaseAdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("mock_twist_base", MockTwistBaseAdapter)
-
-
-__all__ = ["MockTwistBaseAdapter"]
diff --git a/dimos/hardware/drive_trains/registry.py b/dimos/hardware/drive_trains/registry.py
index a4c49b183c..a2b827a14c 100644
--- a/dimos/hardware/drive_trains/registry.py
+++ b/dimos/hardware/drive_trains/registry.py
@@ -99,5 +99,3 @@ def discover(self) -> None:
 
 twist_base_adapter_registry = TwistBaseAdapterRegistry()
 twist_base_adapter_registry.discover()
-
-__all__ = ["TwistBaseAdapterRegistry", "twist_base_adapter_registry"]
diff --git a/dimos/hardware/drive_trains/spec.py b/dimos/hardware/drive_trains/spec.py
index 1380ef1fa9..51365a1a7f 100644
--- a/dimos/hardware/drive_trains/spec.py
+++ b/dimos/hardware/drive_trains/spec.py
@@ -78,8 +78,3 @@ def write_enable(self, enable: bool) -> bool:
     def read_enabled(self) -> bool:
         """Check if platform is enabled."""
         ...
-
-
-__all__ = [
-    "TwistBaseAdapter",
-]
diff --git a/dimos/hardware/drive_trains/transport/adapter.py b/dimos/hardware/drive_trains/transport/adapter.py
index 5447b2eb93..cefae07a7e 100644
--- a/dimos/hardware/drive_trains/transport/adapter.py
+++ b/dimos/hardware/drive_trains/transport/adapter.py
@@ -152,6 +152,3 @@ def register(registry: TwistBaseAdapterRegistry) -> None:
 
     registry.register("transport_lcm", partial(TransportTwistAdapter, transport_cls=LCMTransport))
     registry.register("transport_ros", partial(TransportTwistAdapter, transport_cls=ROSTransport))
-
-
-__all__ = ["TransportTwistAdapter"]
diff --git a/dimos/hardware/drive_trains/unitree_go2/adapter.py b/dimos/hardware/drive_trains/unitree_go2/adapter.py
index 6b8ce2167d..1d9726192c 100644
--- a/dimos/hardware/drive_trains/unitree_go2/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_go2/adapter.py
@@ -686,6 +686,3 @@ def _send_velocity(self, vx: float, vy: float, wz: float) -> bool:
 
 def register(registry: TwistBaseAdapterRegistry) -> None:
     registry.register("unitree_go2", UnitreeGo2TwistAdapter)
-
-
-__all__ = ["UnitreeGo2TwistAdapter"]
diff --git a/dimos/hardware/manipulators/a750/adapter.py b/dimos/hardware/manipulators/a750/adapter.py
index 1a04f8230c..82fc211fca 100644
--- a/dimos/hardware/manipulators/a750/adapter.py
+++ b/dimos/hardware/manipulators/a750/adapter.py
@@ -295,6 +295,3 @@ def _trace(self, method: str, **kwargs: object) -> None:
 def register(registry: AdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("a750", A750Adapter)
-
-
-__all__ = ["A750Adapter"]
diff --git a/dimos/hardware/manipulators/mock/adapter.py b/dimos/hardware/manipulators/mock/adapter.py
index 95778f1b49..4d36849ef8 100644
--- a/dimos/hardware/manipulators/mock/adapter.py
+++ b/dimos/hardware/manipulators/mock/adapter.py
@@ -227,6 +227,3 @@ def set_efforts(self, efforts: list[float]) -> None:
 def register(registry: AdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("mock", MockAdapter)
-
-
-__all__ = ["MockAdapter"]
diff --git a/dimos/hardware/manipulators/openarm/adapter.py b/dimos/hardware/manipulators/openarm/adapter.py
index 4a00556486..70a2413ddc 100644
--- a/dimos/hardware/manipulators/openarm/adapter.py
+++ b/dimos/hardware/manipulators/openarm/adapter.py
@@ -436,6 +436,3 @@ def read_force_torque(self) -> list[float] | None:
 # ── Registry hook (required for auto-discovery) ───────────────────
 def register(registry: AdapterRegistry) -> None:
     registry.register("openarm", OpenArmAdapter)
-
-
-__all__ = ["OpenArmAdapter", "register"]
diff --git a/dimos/hardware/manipulators/openarm/driver.py b/dimos/hardware/manipulators/openarm/driver.py
index 0783bd76ed..f7c9243cfa 100644
--- a/dimos/hardware/manipulators/openarm/driver.py
+++ b/dimos/hardware/manipulators/openarm/driver.py
@@ -327,21 +327,3 @@ def _rx_loop(self) -> None:
                 continue
             with self._state_lock:
                 self._states[motor.effective_recv_id] = state
-
-
-__all__ = [
-    "CTRL_MODE_MIT",
-    "KD_MAX",
-    "KD_MIN",
-    "KP_MAX",
-    "KP_MIN",
-    "DamiaoMotor",
-    "MotorState",
-    "MotorType",
-    "OpenArmBus",
-    "float_to_uint",
-    "pack_mit_frame",
-    "pack_write_param_frame",
-    "parse_state_frame",
-    "uint_to_float",
-]
diff --git a/dimos/hardware/manipulators/piper/adapter.py b/dimos/hardware/manipulators/piper/adapter.py
index f1f1cdcd77..83d9c927aa 100644
--- a/dimos/hardware/manipulators/piper/adapter.py
+++ b/dimos/hardware/manipulators/piper/adapter.py
@@ -495,6 +495,3 @@ def read_force_torque(self) -> list[float] | None:
 def register(registry: AdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("piper", PiperAdapter)
-
-
-__all__ = ["PiperAdapter"]
diff --git a/dimos/hardware/manipulators/registry.py b/dimos/hardware/manipulators/registry.py
index a8c87c149c..d30a6e7129 100644
--- a/dimos/hardware/manipulators/registry.py
+++ b/dimos/hardware/manipulators/registry.py
@@ -101,5 +101,3 @@ def discover(self) -> None:
 
 adapter_registry = AdapterRegistry()
 adapter_registry.discover()
-
-__all__ = ["AdapterRegistry", "adapter_registry"]
diff --git a/dimos/hardware/manipulators/sim/adapter.py b/dimos/hardware/manipulators/sim/adapter.py
index 0640461ff8..1cf117d071 100644
--- a/dimos/hardware/manipulators/sim/adapter.py
+++ b/dimos/hardware/manipulators/sim/adapter.py
@@ -247,6 +247,3 @@ def read_force_torque(self) -> list[float] | None:
 def register(registry: AdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("sim_mujoco", ShmMujocoAdapter)
-
-
-__all__ = ["ShmMujocoAdapter"]
diff --git a/dimos/hardware/manipulators/spec.py b/dimos/hardware/manipulators/spec.py
index 3955416653..7cce1f5b7b 100644
--- a/dimos/hardware/manipulators/spec.py
+++ b/dimos/hardware/manipulators/spec.py
@@ -233,13 +233,3 @@ def write_gripper_position(self, position: float) -> bool:
     def read_force_torque(self) -> list[float] | None:
         """Read F/T sensor [fx, fy, fz, tx, ty, tz]. None if no sensor."""
         ...
-
-
-__all__ = [
-    "ControlMode",
-    "DriverStatus",
-    "JointLimits",
-    "ManipulatorAdapter",
-    "ManipulatorInfo",
-    "default_base_transform",
-]
diff --git a/dimos/hardware/manipulators/xarm/adapter.py b/dimos/hardware/manipulators/xarm/adapter.py
index bfc96d398f..ec3b09b565 100644
--- a/dimos/hardware/manipulators/xarm/adapter.py
+++ b/dimos/hardware/manipulators/xarm/adapter.py
@@ -404,6 +404,3 @@ def read_force_torque(self) -> list[float] | None:
 def register(registry: AdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("xarm", XArmAdapter)
-
-
-__all__ = ["XArmAdapter"]
diff --git a/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera_test_script.py b/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera_test_script.py
index 56f0591b28..7bef41e5e1 100755
--- a/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera_test_script.py
+++ b/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera_test_script.py
@@ -22,7 +22,7 @@
 from dimos.core.transport import LCMTransport
 from dimos.hardware.sensors.camera.gstreamer.gstreamer_camera import GstreamerCameraModule
 from dimos.msgs.sensor_msgs.Image import Image
-from dimos.protocol.pubsub.impl import lcmpubsub as _lcm
+from dimos.protocol.service.lcmservice import autoconf
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -59,7 +59,7 @@ def main() -> None:
         logging.getLogger().setLevel(logging.DEBUG)
 
     # Initialize LCM
-    _lcm.autoconf()
+    autoconf()
 
     # Start dimos
     dimos = ModuleCoordinator()
diff --git a/dimos/hardware/sensors/camera/zed/compat.py b/dimos/hardware/sensors/camera/zed/compat.py
index 349c4484a6..f7e78fc5d6 100644
--- a/dimos/hardware/sensors/camera/zed/compat.py
+++ b/dimos/hardware/sensors/camera/zed/compat.py
@@ -28,7 +28,10 @@
     HAS_ZED_SDK = False
 
 if HAS_ZED_SDK:
-    from dimos.hardware.sensors.camera.zed.camera import ZEDCamera, ZEDModule
+    from dimos.hardware.sensors.camera.zed.camera import (
+        ZEDCamera as ZEDCamera,
+        ZEDModule as ZEDModule,
+    )
 else:
     # Provide stub classes when SDK is not available
     _ZED_ERR = (
@@ -51,10 +54,3 @@ def __init__(self, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
 # Set up camera calibration provider (always available)
 CALIBRATION_DIR = Path(__file__).parent
 CameraInfo = CalibrationProvider(CALIBRATION_DIR)
-
-__all__ = [
-    "HAS_ZED_SDK",
-    "CameraInfo",
-    "ZEDCamera",
-    "ZEDModule",
-]
diff --git a/dimos/hardware/whole_body/registry.py b/dimos/hardware/whole_body/registry.py
index 5e6291b946..ec841fe182 100644
--- a/dimos/hardware/whole_body/registry.py
+++ b/dimos/hardware/whole_body/registry.py
@@ -102,5 +102,3 @@ def _discover_in(self, pkg_path: str, dir_path: str, *, max_depth: int) -> None:
 
 whole_body_adapter_registry = WholeBodyAdapterRegistry()
 whole_body_adapter_registry.discover()
-
-__all__ = ["WholeBodyAdapterRegistry", "whole_body_adapter_registry"]
diff --git a/dimos/hardware/whole_body/spec.py b/dimos/hardware/whole_body/spec.py
index 6cb88751f0..f725d51403 100644
--- a/dimos/hardware/whole_body/spec.py
+++ b/dimos/hardware/whole_body/spec.py
@@ -85,14 +85,3 @@ def has_motor_states(self) -> bool: ...
     def read_imu(self) -> IMUState: ...
 
     def write_motor_commands(self, commands: list[MotorCommand]) -> bool: ...
-
-
-__all__ = [
-    "POS_STOP",
-    "VEL_STOP",
-    "IMUState",
-    "MotorCommand",
-    "MotorState",
-    "WholeBodyAdapter",
-    "WholeBodyConfig",
-]
diff --git a/dimos/hardware/whole_body/transport/adapter.py b/dimos/hardware/whole_body/transport/adapter.py
index 8950803bb3..66ed57523a 100644
--- a/dimos/hardware/whole_body/transport/adapter.py
+++ b/dimos/hardware/whole_body/transport/adapter.py
@@ -194,6 +194,3 @@ def register(registry: WholeBodyAdapterRegistry) -> None:
         "transport_ros",
         partial(TransportWholeBodyAdapter, transport_cls=ROSTransport),
     )
-
-
-__all__ = ["TransportWholeBodyAdapter"]
diff --git a/dimos/manipulation/blueprints.py b/dimos/manipulation/blueprints.py
index e49a11417a..5207135638 100644
--- a/dimos/manipulation/blueprints.py
+++ b/dimos/manipulation/blueprints.py
@@ -414,15 +414,3 @@ def _make_xarm7_model_config(
     McpServer.blueprint(),
     McpClient.blueprint(system_prompt=_MANIPULATION_AGENT_SYSTEM_PROMPT),
 )
-
-
-__all__ = [
-    "dual_xarm6_planner",
-    "xarm6_planner_only",
-    "xarm7_planner_coordinator",
-    "xarm7_planner_coordinator_agent",
-    "xarm_perception",
-    "xarm_perception_agent",
-    "xarm_perception_sim",
-    "xarm_perception_sim_agent",
-]
diff --git a/dimos/manipulation/planning/kinematics/config.py b/dimos/manipulation/planning/kinematics/config.py
index 3f31f0cacf..97835a6484 100644
--- a/dimos/manipulation/planning/kinematics/config.py
+++ b/dimos/manipulation/planning/kinematics/config.py
@@ -68,12 +68,3 @@ def kinematics_config_from_name(name: str) -> ManipulationKinematicsConfig:
     raise ValueError(
         f"Unknown kinematics solver: {name}. Available: ['jacobian', 'drake_optimization', 'pink']"
     )
-
-
-__all__ = [
-    "DrakeOptimizationKinematicsConfig",
-    "JacobianKinematicsConfig",
-    "ManipulationKinematicsConfig",
-    "PinkKinematicsConfig",
-    "kinematics_config_from_name",
-]
diff --git a/dimos/manipulation/planning/kinematics/pink_ik.py b/dimos/manipulation/planning/kinematics/pink_ik.py
index f8eb52e700..1245e5aea4 100644
--- a/dimos/manipulation/planning/kinematics/pink_ik.py
+++ b/dimos/manipulation/planning/kinematics/pink_ik.py
@@ -486,6 +486,3 @@ def _collision_failure(result: IKResult) -> IKResult:
         iterations=result.iterations,
         message="Pink IK solution rejected by collision check",
     )
-
-
-__all__ = ["PinkIK", "PinkIKConfig", "PinkIKDependencyError"]
diff --git a/dimos/manipulation/planning/kinematics/pinocchio_ik.py b/dimos/manipulation/planning/kinematics/pinocchio_ik.py
index f97dea7038..79eb831eef 100644
--- a/dimos/manipulation/planning/kinematics/pinocchio_ik.py
+++ b/dimos/manipulation/planning/kinematics/pinocchio_ik.py
@@ -253,12 +253,3 @@ def get_worst_joint_delta(
     joint_deltas = np.abs(q_new - q_current)
     worst_idx = int(np.argmax(joint_deltas))
     return worst_idx, float(np.degrees(joint_deltas[worst_idx]))
-
-
-__all__ = [
-    "PinocchioIK",
-    "PinocchioIKConfig",
-    "check_joint_delta",
-    "get_worst_joint_delta",
-    "pose_to_se3",
-]
diff --git a/dimos/manipulation/visualization/viser/runtime.py b/dimos/manipulation/visualization/viser/runtime.py
index 6e1a662343..fb4cc20ff9 100644
--- a/dimos/manipulation/visualization/viser/runtime.py
+++ b/dimos/manipulation/visualization/viser/runtime.py
@@ -22,14 +22,12 @@
 VISER_URDF_INSTALL_HINT = VISER_INSTALL_HINT
 
 try:
-    from viser import ViserServer
+    from viser import ViserServer as ViserServer
 except ModuleNotFoundError as e:
     if e.name != "viser":
         raise
     raise ModuleNotFoundError(VISER_INSTALL_HINT) from e
 
-__all__ = ["VISER_INSTALL_HINT", "VISER_URDF_INSTALL_HINT", "ViserRuntime", "ViserServer"]
-
 
 class ViserRuntime:
     """Owns the Viser server lifecycle."""
diff --git a/dimos/mapping/ray_tracing/voxel_map.py b/dimos/mapping/ray_tracing/voxel_map.py
index e362c6697c..fae8ee61a4 100644
--- a/dimos/mapping/ray_tracing/voxel_map.py
+++ b/dimos/mapping/ray_tracing/voxel_map.py
@@ -17,11 +17,9 @@
 from __future__ import annotations
 
 try:
-    from dimos_voxel_ray_tracing import VoxelRayMapper
+    from dimos_voxel_ray_tracing import VoxelRayMapper  # noqa: F401  (re-exported)
 except ImportError as e:
     raise ImportError(
         "dimos_voxel_ray_tracing is not built. Run: "
         "uv run maturin develop --uv -m dimos/mapping/ray_tracing/rust/Cargo.toml"
     ) from e
-
-__all__ = ["VoxelRayMapper"]
diff --git a/dimos/models/vl/create.py b/dimos/models/vl/create.py
index 362a95b000..b60f437bee 100644
--- a/dimos/models/vl/create.py
+++ b/dimos/models/vl/create.py
@@ -15,8 +15,6 @@
 from dimos.models.vl.base import VlModel
 from dimos.models.vl.types import VlModelName
 
-__all__ = ["VlModelName", "create"]
-
 
 def create(name: VlModelName) -> VlModel:
     # This uses inline imports to only import what's needed.
diff --git a/dimos/msgs/geometry_msgs/Twist.py b/dimos/msgs/geometry_msgs/Twist.py
index be5d9a34a0..066afce454 100644
--- a/dimos/msgs/geometry_msgs/Twist.py
+++ b/dimos/msgs/geometry_msgs/Twist.py
@@ -116,6 +116,3 @@ def __bool__(self) -> bool:
             False if twist is zero, True otherwise
         """
         return not self.is_zero()
-
-
-__all__ = ["Quaternion", "Twist"]
diff --git a/dimos/msgs/sensor_msgs/Image.py b/dimos/msgs/sensor_msgs/Image.py
index 5eaca03886..3cc7bec103 100644
--- a/dimos/msgs/sensor_msgs/Image.py
+++ b/dimos/msgs/sensor_msgs/Image.py
@@ -619,14 +619,6 @@ def lcm_jpeg_decode(cls, data: bytes, **kwargs: Any) -> Image:
         )
 
 
-__all__ = [
-    "Image",
-    "ImageFormat",
-    "sharpness_barrier",
-    "sharpness_window",
-]
-
-
 def sharpness_window(target_frequency: float, source: Observable[Image]) -> Observable[Image]:
     """Emit the sharpest Image seen within each sliding time window."""
     from reactivex.scheduler import ThreadPoolScheduler
diff --git a/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py b/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
index 80a1bb7cec..3b901b874b 100644
--- a/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
+++ b/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
@@ -14,6 +14,4 @@
 
 # Backwards compatibility stub for unpickling old data.
 # AbstractImage and ImageFormat were moved to Image.
-from dimos.msgs.sensor_msgs.Image import Image as AbstractImage, ImageFormat
-
-__all__ = ["AbstractImage", "ImageFormat"]
+from dimos.msgs.sensor_msgs.Image import Image as AbstractImage, ImageFormat  # noqa: F401
diff --git a/dimos/navigation/base.py b/dimos/navigation/base.py
index 1530308711..dc9cbbe9c2 100644
--- a/dimos/navigation/base.py
+++ b/dimos/navigation/base.py
@@ -68,6 +68,3 @@ def cancel_goal(self) -> bool:
             True if goal was cancelled, False if no goal was active
         """
         pass
-
-
-__all__ = ["NavigationInterface", "NavigationState"]
diff --git a/dimos/navigation/nav_3d/evaluator/blueprints.py b/dimos/navigation/nav_3d/evaluator/blueprints.py
index 97200c98fc..7806fbbc7c 100644
--- a/dimos/navigation/nav_3d/evaluator/blueprints.py
+++ b/dimos/navigation/nav_3d/evaluator/blueprints.py
@@ -115,6 +115,3 @@ def _render_node_edges(msg: LineSegments3D) -> Archetype:
         }
     ),
 )
-
-
-__all__ = ["path_planner_eval"]
diff --git a/dimos/navigation/nav_3d/mls_planner/mls_planner.py b/dimos/navigation/nav_3d/mls_planner/mls_planner.py
index 90e3d3b549..4aa8755f33 100644
--- a/dimos/navigation/nav_3d/mls_planner/mls_planner.py
+++ b/dimos/navigation/nav_3d/mls_planner/mls_planner.py
@@ -17,11 +17,9 @@
 from __future__ import annotations
 
 try:
-    from dimos_mls_planner import MLSPlanner
+    from dimos_mls_planner import MLSPlanner  # noqa: F401  (re-exported)
 except ImportError as e:
     raise ImportError(
         "dimos_mls_planner is not built. Run: "
         "uv run maturin develop --uv -m dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml"
     ) from e
-
-__all__ = ["MLSPlanner"]
diff --git a/dimos/perception/common/utils.py b/dimos/perception/common/utils.py
index 20ffc2a254..bbbd43bcda 100644
--- a/dimos/perception/common/utils.py
+++ b/dimos/perception/common/utils.py
@@ -36,46 +36,6 @@
 
 logger = setup_logger()
 
-__all__ = [
-    "BoundingBox2D",
-    "CameraInfo",
-    "Detection2D",
-    "Detection3D",
-    "Header",
-    "Image",
-    "ObjectData",
-    "Pose",
-    "Quaternion",
-    "Union",
-    "Vector",
-    "Vector3",
-    "bbox2d_to_corners",
-    "colorize_depth",
-    "combine_object_data",
-    "cp",
-    "cv2",
-    "detection_results_to_object_data",
-    "draw_bounding_box",
-    "draw_object_detection_visualization",
-    "draw_segmentation_mask",
-    "extract_pose_from_detection3d",
-    "find_clicked_detection",
-    "load_camera_info",
-    "load_camera_info_opencv",
-    "logger",
-    "np",
-    "point_in_bbox",
-    "project_2d_points_to_3d",
-    "project_2d_points_to_3d_cpu",
-    "project_2d_points_to_3d_cuda",
-    "project_3d_points_to_2d",
-    "project_3d_points_to_2d_cpu",
-    "project_3d_points_to_2d_cuda",
-    "rectify_image",
-    "setup_logger",
-    "torch",
-    "yaml",
-]
 
 # Optional CuPy support
 try:  # pragma: no cover - optional dependency
diff --git a/dimos/perception/detection/objectDB.py b/dimos/perception/detection/objectDB.py
index b9d96ab5ef..4ac57551a5 100644
--- a/dimos/perception/detection/objectDB.py
+++ b/dimos/perception/detection/objectDB.py
@@ -324,6 +324,3 @@ def __len__(self) -> int:
     def __repr__(self) -> str:
         with self._lock:
             return f"ObjectDB(permanent={len(self._objects)}, pending={len(self._pending_objects)})"
-
-
-__all__ = ["ObjectDB"]
diff --git a/dimos/perception/detection/type/detection3d/object.py b/dimos/perception/detection/type/detection3d/object.py
index 1aafdd8df8..f832eedaf4 100644
--- a/dimos/perception/detection/type/detection3d/object.py
+++ b/dimos/perception/detection/type/detection3d/object.py
@@ -391,6 +391,3 @@ def to_detection3d_array(objects: list[Object]) -> Detection3DArray:
         array.detections.append(obj.to_detection3d_msg())
 
     return array
-
-
-__all__ = ["Object", "aggregate_pointclouds", "to_detection3d_array"]
diff --git a/dimos/perception/experimental/temporal_memory/clip_filter.py b/dimos/perception/experimental/temporal_memory/clip_filter.py
index 6ef7859e17..cb89c31c55 100644
--- a/dimos/perception/experimental/temporal_memory/clip_filter.py
+++ b/dimos/perception/experimental/temporal_memory/clip_filter.py
@@ -159,13 +159,3 @@ def adaptive_keyframes(
             keyframe_indices.update(candidates[::step][:needed])
 
     return [frames[i] for i in sorted(keyframe_indices)]
-
-
-__all__ = [
-    "CLIP_AVAILABLE",
-    "adaptive_keyframes",
-    "select_diverse_frames_simple",
-]
-
-if CLIP_AVAILABLE:
-    __all__.append("CLIPFrameFilter")
diff --git a/dimos/protocol/pubsub/impl/ddspubsub.py b/dimos/protocol/pubsub/impl/ddspubsub.py
index 1e6dc36296..f6cf4e024e 100644
--- a/dimos/protocol/pubsub/impl/ddspubsub.py
+++ b/dimos/protocol/pubsub/impl/ddspubsub.py
@@ -21,7 +21,7 @@
 
 from cyclonedds.core import Listener
 from cyclonedds.pub import DataWriter as DDSDataWriter
-from cyclonedds.qos import Policy, Qos
+from cyclonedds.qos import Qos
 from cyclonedds.sub import DataReader as DDSDataReader
 from cyclonedds.topic import Topic as DDSTopic
 
@@ -150,12 +150,3 @@ def stop(self) -> None:
         with self._writer_lock:
             self._writers.clear()
         super().stop()
-
-
-__all__ = [
-    "DDS",
-    "MessageCallback",
-    "Policy",
-    "Qos",
-    "Topic",
-]
diff --git a/dimos/protocol/pubsub/impl/lcmpubsub.py b/dimos/protocol/pubsub/impl/lcmpubsub.py
index a8cfc8c7ab..53d23dfb2a 100644
--- a/dimos/protocol/pubsub/impl/lcmpubsub.py
+++ b/dimos/protocol/pubsub/impl/lcmpubsub.py
@@ -27,7 +27,7 @@
 )
 from dimos.protocol.pubsub.patterns import Glob
 from dimos.protocol.pubsub.spec import AllPubSub
-from dimos.protocol.service.lcmservice import LCMService, autoconf
+from dimos.protocol.service.lcmservice import LCMService
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -146,14 +146,3 @@ class PickleLCM(
     PickleEncoderMixin,  # type: ignore[type-arg]
     LCMPubSubBase,
 ): ...
-
-
-__all__ = [
-    "LCM",
-    "Glob",
-    "LCMEncoderMixin",
-    "LCMPubSubBase",
-    "PickleLCM",
-    "Topic",
-    "autoconf",
-]
diff --git a/dimos/protocol/service/ddsservice.py b/dimos/protocol/service/ddsservice.py
index 71df162707..0354989671 100644
--- a/dimos/protocol/service/ddsservice.py
+++ b/dimos/protocol/service/ddsservice.py
@@ -67,9 +67,3 @@ def participant(self) -> DomainParticipant:
         if domain_id not in _participants:
             raise RuntimeError(f"DomainParticipant not initialized for domain {domain_id}")
         return _participants[domain_id]
-
-
-__all__ = [
-    "DDSConfig",
-    "DDSService",
-]
diff --git a/dimos/robot/cli/topic.py b/dimos/robot/cli/topic.py
index e4dce1f139..334c30fa79 100644
--- a/dimos/robot/cli/topic.py
+++ b/dimos/robot/cli/topic.py
@@ -120,7 +120,7 @@ def topic_send(topic: str, message_expr: str) -> None:
     for module_name in modules_to_import:
         try:
             module = importlib.import_module(module_name)
-            for name in getattr(module, "__all__", dir(module)):
+            for name in dir(module):
                 if not name.startswith("_"):
                     obj = getattr(module, name, None)
                     if obj is not None:
diff --git a/dimos/robot/diy/alfred/effector_high_level.py b/dimos/robot/diy/alfred/effector_high_level.py
index e25a106688..cf8c0586db 100644
--- a/dimos/robot/diy/alfred/effector_high_level.py
+++ b/dimos/robot/diy/alfred/effector_high_level.py
@@ -157,6 +157,3 @@ async def _send_velocity(self, vx: float, vy: float, wz: float) -> bool:
         except Exception as e:
             logger.error(f"Error sending Alfred velocity: {e}")
             return False
-
-
-__all__ = ["AlfredHighLevel", "AlfredHighLevelConfig"]
diff --git a/dimos/robot/drone/blueprints/agentic/drone_agentic.py b/dimos/robot/drone/blueprints/agentic/drone_agentic.py
index 364d05c6fd..5fbce4ef72 100644
--- a/dimos/robot/drone/blueprints/agentic/drone_agentic.py
+++ b/dimos/robot/drone/blueprints/agentic/drone_agentic.py
@@ -54,8 +54,3 @@
         (DroneTrackingModule, "cmd_vel", "movecmd_twist"),
     ]
 )
-
-__all__ = [
-    "DRONE_SYSTEM_PROMPT",
-    "drone_agentic",
-]
diff --git a/dimos/robot/drone/blueprints/basic/drone_basic.py b/dimos/robot/drone/blueprints/basic/drone_basic.py
index aaf82f6355..4fbee93840 100644
--- a/dimos/robot/drone/blueprints/basic/drone_basic.py
+++ b/dimos/robot/drone/blueprints/basic/drone_basic.py
@@ -81,7 +81,3 @@ def _drone_rerun_blueprint() -> Any:
     ),
     DroneCameraModule.blueprint(camera_intrinsics=[1000.0, 1000.0, 960.0, 540.0]),
 )
-
-__all__ = [
-    "drone_basic",
-]
diff --git a/dimos/robot/manipulators/a750/blueprints.py b/dimos/robot/manipulators/a750/blueprints.py
index d4fcc930a1..408f2a4a83 100644
--- a/dimos/robot/manipulators/a750/blueprints.py
+++ b/dimos/robot/manipulators/a750/blueprints.py
@@ -117,5 +117,3 @@ def _a750_model_config() -> RobotModelConfig:
         visualization={"backend": "meshcat"},
     ),
 )
-
-__all__ = ["keyboard_teleop_a750"]
diff --git a/dimos/robot/manipulators/openarm/blueprints.py b/dimos/robot/manipulators/openarm/blueprints.py
index e7470a739f..84a8a0489a 100644
--- a/dimos/robot/manipulators/openarm/blueprints.py
+++ b/dimos/robot/manipulators/openarm/blueprints.py
@@ -287,15 +287,3 @@ def _openarm_single_model_config() -> RobotModelConfig:
         visualization={"backend": "meshcat"},
     ),
 )
-
-
-__all__ = [
-    "coordinator_openarm_bimanual",
-    "coordinator_openarm_left",
-    "coordinator_openarm_mock",
-    "coordinator_openarm_right",
-    "keyboard_teleop_openarm",
-    "keyboard_teleop_openarm_mock",
-    "openarm_mock_planner_coordinator",
-    "openarm_planner_coordinator",
-]
diff --git a/dimos/robot/manipulators/piper/blueprints.py b/dimos/robot/manipulators/piper/blueprints.py
index 44225248d0..2ae06e98d5 100644
--- a/dimos/robot/manipulators/piper/blueprints.py
+++ b/dimos/robot/manipulators/piper/blueprints.py
@@ -106,5 +106,3 @@ def _piper_model_config() -> RobotModelConfig:
         visualization={"backend": "meshcat"},
     ),
 )
-
-__all__ = ["keyboard_teleop_piper"]
diff --git a/dimos/robot/manipulators/xarm/blueprints.py b/dimos/robot/manipulators/xarm/blueprints.py
index 7d48571f67..97b3db042b 100644
--- a/dimos/robot/manipulators/xarm/blueprints.py
+++ b/dimos/robot/manipulators/xarm/blueprints.py
@@ -159,5 +159,3 @@ def _xarm_model_config(dof: int, *, add_gripper: bool = False) -> RobotModelConf
         visualization={"backend": "meshcat"},
     ),
 )
-
-__all__ = ["keyboard_teleop_xarm6", "keyboard_teleop_xarm7"]
diff --git a/dimos/robot/model_parser.py b/dimos/robot/model_parser.py
index 1b760d065d..7040d98fc3 100644
--- a/dimos/robot/model_parser.py
+++ b/dimos/robot/model_parser.py
@@ -237,6 +237,3 @@ def _float_or_none(value: str | None) -> float | None:
         return float(value)
     except ValueError:
         return None
-
-
-__all__ = ["JointDescription", "ModelDescription", "parse_model"]
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py b/dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py
index 557554e061..1bc068044a 100644
--- a/dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py
+++ b/dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py
@@ -30,5 +30,3 @@
     SpeakSkill.blueprint(),
     UnitreeG1SkillContainer.blueprint(),
 )
-
-__all__ = ["_agentic_skills"]
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic.py b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic.py
index cd2044d293..ba02bd6998 100644
--- a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic.py
+++ b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic.py
@@ -23,5 +23,3 @@
     unitree_g1,
     _agentic_skills,
 )
-
-__all__ = ["unitree_g1_agentic"]
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic_sim.py b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic_sim.py
index 3c0894382b..9cbe4ea3e3 100644
--- a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic_sim.py
+++ b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic_sim.py
@@ -23,5 +23,3 @@
     unitree_g1_sim,
     _agentic_skills,
 )
-
-__all__ = ["unitree_g1_agentic_sim"]
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_full.py b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_full.py
index a70b8f0bb3..6c425d08fa 100644
--- a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_full.py
+++ b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_full.py
@@ -25,5 +25,3 @@
     _agentic_skills,
     KeyboardTeleop.blueprint(),
 )
-
-__all__ = ["unitree_g1_full"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py
index 7a40ad71a4..0875c942d6 100644
--- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py
@@ -25,5 +25,3 @@
     unitree_g1_primitive_no_nav,
     G1Connection.blueprint(),
 )
-
-__all__ = ["unitree_g1_basic"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
index 628e8a8867..2e24f27c79 100644
--- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
@@ -27,5 +27,3 @@
     G1SimConnection.blueprint(),
     ReplanningAStarPlanner.blueprint(),
 )
-
-__all__ = ["unitree_g1_basic_sim"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_coordinator.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_coordinator.py
index 33bfbac2cd..2f5d671bc9 100644
--- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_coordinator.py
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_coordinator.py
@@ -73,6 +73,3 @@
         }
     )
 )
-
-
-__all__ = ["unitree_g1_coordinator"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_groot_wbc.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_groot_wbc.py
index af91cbd200..3428ac91a1 100644
--- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_groot_wbc.py
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_groot_wbc.py
@@ -261,5 +261,3 @@ def _viewer() -> Any:
 unitree_g1_groot_wbc = autoconnect(_backend, _coordinator, _viewer()).global_config(
     robot_model="unitree_g1"
 )
-
-__all__ = ["unitree_g1_groot_wbc"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py
index c30797e1ee..1e05a110e3 100644
--- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py
@@ -23,5 +23,3 @@
     unitree_g1_basic,
     KeyboardTeleop.blueprint(),  # Pygame-based joystick control
 )
-
-__all__ = ["unitree_g1_joystick"]
diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py
index 1fe25fb40d..70a2cfe177 100644
--- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py
+++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py
@@ -80,6 +80,3 @@
     )
     .global_config(n_workers=12, robot_model="unitree_g1")
 )
-
-
-__all__ = ["unitree_g1_nav_onboard"]
diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py
index e1c3bd7ba4..a323b8c88c 100644
--- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py
+++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py
@@ -52,5 +52,3 @@
     MovementManager.blueprint(),
     unitree_g1_vis,
 ).global_config(n_workers=10, robot_model="unitree_g1")
-
-__all__ = ["unitree_g1_nav_simple"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/_perception_and_memory.py b/dimos/robot/unitree/g1/blueprints/perceptive/_perception_and_memory.py
index 77d2e827ef..67224f3fd1 100644
--- a/dimos/robot/unitree/g1/blueprints/perceptive/_perception_and_memory.py
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/_perception_and_memory.py
@@ -23,5 +23,3 @@
     SpatialMemory.blueprint(),
     ObjectTracking.blueprint(frame_id="camera_link"),
 )
-
-__all__ = ["_perception_and_memory"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1.py
index 7325b06601..e59b3794e0 100644
--- a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1.py
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1.py
@@ -25,5 +25,3 @@
     unitree_g1_basic,
     _perception_and_memory,
 ).global_config(n_workers=8)
-
-__all__ = ["unitree_g1"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_detection.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_detection.py
index a744662165..230d6ce32a 100644
--- a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_detection.py
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_detection.py
@@ -102,5 +102,3 @@ def _person_only(det: Any) -> bool:
         }
     )
 )
-
-__all__ = ["unitree_g1_detection"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py
index 33075703db..37727eaf9b 100644
--- a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py
@@ -33,5 +33,3 @@
     ),
     vis_module(viewer_backend=global_config.viewer),
 )
-
-__all__ = ["unitree_g1_shm"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_sim.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_sim.py
index a55bd40af8..f1ae5c5023 100644
--- a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_sim.py
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_sim.py
@@ -25,5 +25,3 @@
     unitree_g1_basic_sim,
     _perception_and_memory,
 ).global_config(n_workers=8)
-
-__all__ = ["unitree_g1_sim"]
diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py
index 356d9d557b..3a7aa46f18 100644
--- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py
+++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py
@@ -154,5 +154,3 @@ def _create_webcam() -> Webcam:
         }
     )
 )
-
-__all__ = ["unitree_g1_primitive_no_nav"]
diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py
index 64dec5e4bb..d70a46a6c8 100644
--- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py
+++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py
@@ -57,5 +57,3 @@ def _g1_path_colors(path: Path) -> Any:
         vis_throttle=0.5,
     ),
 )
-
-__all__ = ["unitree_g1_vis"]
diff --git a/dimos/robot/unitree/g1/effectors/high_level/commands.py b/dimos/robot/unitree/g1/effectors/high_level/commands.py
index 09b84cfe4e..764b0b458d 100644
--- a/dimos/robot/unitree/g1/effectors/high_level/commands.py
+++ b/dimos/robot/unitree/g1/effectors/high_level/commands.py
@@ -94,19 +94,3 @@ def execute_g1_command(
         if logger is not None:
             logger.error(f"Failed to execute {command_name}: {exc}")
         return "Failed to execute the command."
-
-
-__all__ = [
-    "ARM_API_ID",
-    "ARM_COMMANDS",
-    "ARM_COMMANDS_DOC",
-    "ARM_TOPIC",
-    "G1_ARM_CONTROLS",
-    "G1_MODE_CONTROLS",
-    "MODE_API_ID",
-    "MODE_COMMANDS",
-    "MODE_COMMANDS_DOC",
-    "MODE_TOPIC",
-    "PublishRequest",
-    "execute_g1_command",
-]
diff --git a/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py b/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py
index 462b48d959..df62f9c0b4 100644
--- a/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py
+++ b/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py
@@ -391,6 +391,3 @@ def _get_fsm_id(self) -> int | None:
         except Exception as e:
             logger.error(f"Error getting FSM ID: {e}")
             return None
-
-
-__all__ = ["FsmState", "G1HighLevelDdsSdk", "G1HighLevelDdsSdkConfig"]
diff --git a/dimos/robot/unitree/g1/effectors/high_level/high_level_spec.py b/dimos/robot/unitree/g1/effectors/high_level/high_level_spec.py
index e150e3e322..01dde2ab24 100644
--- a/dimos/robot/unitree/g1/effectors/high_level/high_level_spec.py
+++ b/dimos/robot/unitree/g1/effectors/high_level/high_level_spec.py
@@ -35,6 +35,3 @@ def publish_request(self, topic: str, data: dict[str, Any]) -> dict[str, Any]: .
     def stand_up(self) -> bool: ...
 
     def lie_down(self) -> bool: ...
-
-
-__all__ = ["HighLevelG1Spec"]
diff --git a/dimos/robot/unitree/g1/effectors/high_level/webrtc.py b/dimos/robot/unitree/g1/effectors/high_level/webrtc.py
index f027a088c9..7b9743f4d0 100644
--- a/dimos/robot/unitree/g1/effectors/high_level/webrtc.py
+++ b/dimos/robot/unitree/g1/effectors/high_level/webrtc.py
@@ -160,6 +160,3 @@ def execute_mode_command(self, command_name: str) -> str:
 
         {MODE_COMMANDS_DOC}
         """
-
-
-__all__ = ["G1HighLevelWebRtc", "G1HighLevelWebRtcConfig"]
diff --git a/dimos/robot/unitree/g1/mujoco_sim.py b/dimos/robot/unitree/g1/mujoco_sim.py
index f1c9e92310..0611c68a37 100644
--- a/dimos/robot/unitree/g1/mujoco_sim.py
+++ b/dimos/robot/unitree/g1/mujoco_sim.py
@@ -147,6 +147,3 @@ def publish_request(self, topic: str, data: dict[str, Any]) -> dict[Any, Any]:
         logger.info(f"Publishing request to topic: {topic} with data: {data}")
         assert self.connection is not None
         return self.connection.publish_request(topic, data)
-
-
-__all__ = ["G1SimConnection"]
diff --git a/dimos/robot/unitree/g1/wholebody_connection.py b/dimos/robot/unitree/g1/wholebody_connection.py
index 9577554b5f..d1adeea993 100644
--- a/dimos/robot/unitree/g1/wholebody_connection.py
+++ b/dimos/robot/unitree/g1/wholebody_connection.py
@@ -423,11 +423,3 @@ def _release_sport_mode(self) -> None:
             time.sleep(1)
 
         logger.info("Sport mode released - low-level control active")
-
-
-__all__ = [
-    "G1_JOINT_NAMES",
-    "G1LowStateSnapshot",
-    "G1WholeBodyConnection",
-    "G1WholeBodyConnectionConfig",
-]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py b/dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py
index 93312225bc..aa34547664 100644
--- a/dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py
+++ b/dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py
@@ -28,5 +28,3 @@
     WebInput.blueprint(),
     SpeakSkill.blueprint(),
 )
-
-__all__ = ["_common_agentic"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py
index b9716842fa..a81ae79e65 100644
--- a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py
@@ -25,5 +25,3 @@
     McpClient.blueprint(),
     _common_agentic,
 )
-
-__all__ = ["unitree_go2_agentic"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_huggingface.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_huggingface.py
index d7f7f26dfa..8e4a373504 100644
--- a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_huggingface.py
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_huggingface.py
@@ -25,5 +25,3 @@
     McpClient.blueprint(model="huggingface:Qwen/Qwen2.5-1.5B-Instruct"),
     _common_agentic,
 )
-
-__all__ = ["unitree_go2_agentic_huggingface"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_ollama.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_ollama.py
index 20576ffe14..d123a792fd 100644
--- a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_ollama.py
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_ollama.py
@@ -28,5 +28,3 @@
 ).requirements(
     ollama_installed,
 )
-
-__all__ = ["unitree_go2_agentic_ollama"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py
index 61efcbfd56..117e22f181 100644
--- a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py
@@ -52,5 +52,3 @@ def _go2_rerun_blueprint() -> Any:
         rerun_config={**rerun_config, "blueprint": _go2_rerun_blueprint},
     ),
 )
-
-__all__ = ["unitree_go2_security"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_temporal_memory.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_temporal_memory.py
index ba3be30c9d..cb9830bf26 100644
--- a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_temporal_memory.py
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_temporal_memory.py
@@ -27,5 +27,3 @@
     unitree_go2_agentic,
     TemporalMemory.blueprint(config=TemporalMemoryConfig(new_memory=global_config.new_memory)),
 )
-
-__all__ = ["unitree_go2_temporal_memory"]
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
index 79bf570b01..8515f6b973 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
@@ -140,8 +140,3 @@ def _go2_rerun_blueprint() -> Any:
     #
     #    .configurators(ClockSyncConfigurator())
 )
-
-__all__ = [
-    "rerun_config",
-    "unitree_go2_basic",
-]
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_coordinator.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_coordinator.py
index 59487f1be8..d2a4c0454a 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_coordinator.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_coordinator.py
@@ -70,5 +70,3 @@
     )
     .global_config(obstacle_avoidance=False)
 )
-
-__all__ = ["unitree_go2_coordinator"]
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py
index bda362eeca..829130da76 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py
@@ -33,5 +33,3 @@
     .global_config(n_workers=4, robot_model="unitree_go2")
     .configurators(ClockSyncConfigurator())
 )
-
-__all__ = ["unitree_go2_fleet"]
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_keyboard_teleop.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_keyboard_teleop.py
index 0ca417e726..2d605eedb5 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_keyboard_teleop.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_keyboard_teleop.py
@@ -56,5 +56,3 @@
     .remappings([(ControlCoordinator, "twist_command", "cmd_vel")])
     .global_config(obstacle_avoidance=True)
 )
-
-__all__ = ["unitree_go2_keyboard_teleop"]
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py
index 2f658dd711..9997668e69 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py
@@ -36,5 +36,3 @@
     unitree_go2_coordinator,
     KeyboardTeleop.blueprint(publish_only_when_active=True),
 )
-
-__all__ = ["unitree_go2_webrtc_keyboard_teleop"]
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_rage_keyboard_teleop.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_rage_keyboard_teleop.py
index c2fd9a3b87..415c216972 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_rage_keyboard_teleop.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_rage_keyboard_teleop.py
@@ -37,5 +37,3 @@
     GO2Connection.blueprint(mode="rage"),
     KeyboardTeleop.blueprint(linear_speed=1.25, angular_speed=1.2),
 ).global_config(obstacle_avoidance=True)
-
-__all__ = ["unitree_go2_webrtc_rage_keyboard_teleop"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_detection.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_detection.py
index 632308dbfb..2d021657a2 100644
--- a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_detection.py
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_detection.py
@@ -55,5 +55,3 @@
         }
     )
 )
-
-__all__ = ["unitree_go2_detection"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_ros.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_ros.py
index b63b8f5f6c..ba35872bd9 100644
--- a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_ros.py
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_ros.py
@@ -27,5 +27,3 @@
         ("color_image", Image): ROSTransport("color_image", Image),
     }
 )
-
-__all__ = ["unitree_go2_ros"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_spatial.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_spatial.py
index a37dce12a8..32e1504306 100644
--- a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_spatial.py
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_spatial.py
@@ -23,5 +23,3 @@
     SpatialMemory.blueprint(),
     PerceiveLoopSkill.blueprint(),
 ).global_config(n_workers=8)
-
-__all__ = ["unitree_go2_spatial"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_vlm_stream_test.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_vlm_stream_test.py
index 4ae42cdf47..296d96309d 100644
--- a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_vlm_stream_test.py
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_vlm_stream_test.py
@@ -23,5 +23,3 @@
     VLMAgent.blueprint(),
     VlmStreamTester.blueprint(),
 )
-
-__all__ = ["unitree_go2_vlm_stream_test"]
diff --git a/dimos/simulation/adapters/whole_body/g1.py b/dimos/simulation/adapters/whole_body/g1.py
index 185ac0e801..43c8a98fb7 100644
--- a/dimos/simulation/adapters/whole_body/g1.py
+++ b/dimos/simulation/adapters/whole_body/g1.py
@@ -192,6 +192,3 @@ def write_motor_commands(self, commands: list[MotorCommand]) -> bool:
 def register(registry: WholeBodyAdapterRegistry) -> None:
     """Register with the whole-body adapter registry."""
     registry.register("sim_mujoco_g1", SimMujocoG1WholeBodyAdapter)
-
-
-__all__ = ["SimMujocoG1WholeBodyAdapter"]
diff --git a/dimos/simulation/engines/mujoco_engine.py b/dimos/simulation/engines/mujoco_engine.py
index 664209e86e..d9889027f4 100644
--- a/dimos/simulation/engines/mujoco_engine.py
+++ b/dimos/simulation/engines/mujoco_engine.py
@@ -525,11 +525,3 @@ def get_camera_fovy(self, camera_name: str) -> float | None:
         if cam_id < 0:
             return None
         return float(self._model.cam_fovy[cam_id])
-
-
-__all__ = [
-    "CameraConfig",
-    "CameraFrame",
-    "MujocoEngine",
-    "StepHook",
-]
diff --git a/dimos/simulation/engines/mujoco_shm.py b/dimos/simulation/engines/mujoco_shm.py
index f424147d65..7cb24e39a7 100644
--- a/dimos/simulation/engines/mujoco_shm.py
+++ b/dimos/simulation/engines/mujoco_shm.py
@@ -488,12 +488,3 @@ def _set_command_mode(self, mode: int) -> None:
     def _increment_seq(self, index: int) -> None:
         seq_arr = np.ndarray((_NUM_SEQ_COUNTERS,), dtype=np.int64, buffer=self.shm.seq.buf)
         seq_arr[index] += 1
-
-
-__all__ = [
-    "MAX_JOINTS",
-    "ManipShmReader",
-    "ManipShmSet",
-    "ManipShmWriter",
-    "shm_key_from_path",
-]
diff --git a/dimos/simulation/engines/mujoco_sim_module.py b/dimos/simulation/engines/mujoco_sim_module.py
index f474f368b7..ffc2effa39 100644
--- a/dimos/simulation/engines/mujoco_sim_module.py
+++ b/dimos/simulation/engines/mujoco_sim_module.py
@@ -766,6 +766,3 @@ def _generate_pointcloud(self) -> None:
             self.pointcloud.publish(pcd)
         except Exception as exc:
             logger.error("Pointcloud generation error", error=str(exc))
-
-
-__all__ = ["MujocoSimModule", "MujocoSimModuleConfig"]
diff --git a/dimos/simulation/engines/robot_sim_binding.py b/dimos/simulation/engines/robot_sim_binding.py
index 5c34e0ac9c..5efec95922 100644
--- a/dimos/simulation/engines/robot_sim_binding.py
+++ b/dimos/simulation/engines/robot_sim_binding.py
@@ -308,11 +308,3 @@ def _candidate_names(name: str, model_prefix: str | None) -> tuple[str, ...]:
 
 def _name(model: mujoco.MjModel, obj_type: int, obj_id: int) -> str:
     return mujoco.mj_id2name(model, obj_type, obj_id) or f"<unnamed:{obj_id}>"
-
-
-__all__ = [
-    "RobotSimBinding",
-    "RobotSimSpec",
-    "mjcf_joint_names_from_hardware",
-    "resolve_robot_sim_binding",
-]
diff --git a/dimos/teleop/phone/blueprints.py b/dimos/teleop/phone/blueprints.py
index d29c5f77fd..3af64082a3 100644
--- a/dimos/teleop/phone/blueprints.py
+++ b/dimos/teleop/phone/blueprints.py
@@ -34,6 +34,3 @@
     SimplePhoneTeleop.blueprint(),
     unitree_go2_fleet,
 )
-
-
-__all__ = ["teleop_phone", "teleop_phone_go2", "teleop_phone_go2_fleet"]
diff --git a/dimos/teleop/quest/blueprints.py b/dimos/teleop/quest/blueprints.py
index 1e90251a65..24c4bfc2e1 100644
--- a/dimos/teleop/quest/blueprints.py
+++ b/dimos/teleop/quest/blueprints.py
@@ -117,14 +117,3 @@
     )
     .global_config(robot_model="unitree_go2")
 )
-
-
-__all__ = [
-    "teleop_quest_dual",
-    "teleop_quest_go2",
-    "teleop_quest_piper",
-    "teleop_quest_rerun",
-    "teleop_quest_xarm6",
-    "teleop_quest_xarm7",
-    "teleop_quest_xarm7_video",
-]
diff --git a/dimos/teleop/quest/quest_types.py b/dimos/teleop/quest/quest_types.py
index 7e7cfc7620..dbbcc9496c 100644
--- a/dimos/teleop/quest/quest_types.py
+++ b/dimos/teleop/quest/quest_types.py
@@ -193,6 +193,3 @@ def from_controllers(
             buttons.right_menu = right.menu
 
         return buttons
-
-
-__all__ = ["Buttons", "QuestControllerState", "ThumbstickState"]
diff --git a/dimos/teleop/quest_hosted/blueprints.py b/dimos/teleop/quest_hosted/blueprints.py
index 50efc7afcd..199ae0c3ba 100644
--- a/dimos/teleop/quest_hosted/blueprints.py
+++ b/dimos/teleop/quest_hosted/blueprints.py
@@ -67,11 +67,3 @@ class HostedTeleopRecorder(TeleopRecorder):
     """
 
     config: HostedTeleopRecorderConfig
-
-
-__all__ = [
-    "HostedTeleopRecorder",
-    "HostedTeleopRecorderConfig",
-    "teleop_hosted_go2",
-    "teleop_hosted_xarm7",
-]
diff --git a/dimos/teleop/quest_hosted/sdp.py b/dimos/teleop/quest_hosted/sdp.py
index 5396a89d77..0b8dc6179b 100644
--- a/dimos/teleop/quest_hosted/sdp.py
+++ b/dimos/teleop/quest_hosted/sdp.py
@@ -45,6 +45,3 @@ def propagate_bundle_candidates(sdp: str) -> str:
         else:
             out.append(s)
     return "".join(out)
-
-
-__all__ = ["propagate_bundle_candidates"]
diff --git a/dimos/teleop/quest_hosted/video_track.py b/dimos/teleop/quest_hosted/video_track.py
index 2a17c3c39a..6191a5ee0a 100644
--- a/dimos/teleop/quest_hosted/video_track.py
+++ b/dimos/teleop/quest_hosted/video_track.py
@@ -108,6 +108,3 @@ async def recv(self) -> av.VideoFrame:
         frame.pts = pts
         frame.time_base = VIDEO_TIME_BASE
         return frame
-
-
-__all__ = ["CameraVideoTrack"]
diff --git a/dimos/teleop/utils/recorder.py b/dimos/teleop/utils/recorder.py
index 0b8c65666e..6a178fba0b 100644
--- a/dimos/teleop/utils/recorder.py
+++ b/dimos/teleop/utils/recorder.py
@@ -88,6 +88,3 @@ def stop(self) -> None:
                 generate_report(db_path)
             except Exception:
                 logger.exception("generate_report failed for %s", db_path)
-
-
-__all__ = ["TeleopRecorder", "TeleopRecorderConfig"]
diff --git a/dimos/teleop/utils/report.py b/dimos/teleop/utils/report.py
index 0bdfa8129b..ad25322d99 100644
--- a/dimos/teleop/utils/report.py
+++ b/dimos/teleop/utils/report.py
@@ -277,6 +277,3 @@ def main() -> None:
 
 if __name__ == "__main__":
     main()
-
-
-__all__ = ["generate_report"]
diff --git a/dimos/teleop/utils/stream_stats.py b/dimos/teleop/utils/stream_stats.py
index c10b1bb403..503bde2924 100644
--- a/dimos/teleop/utils/stream_stats.py
+++ b/dimos/teleop/utils/stream_stats.py
@@ -95,6 +95,3 @@ def snapshot(self) -> dict[str, float | None] | None:
             "jitter_ms": jit["p50"] if jit else None,
             "rate_hz": (len(samples) - 1) / span if span > 0 else None,
         }
-
-
-__all__ = ["LiveStreamStats", "pcts"]
diff --git a/dimos/teleop/utils/teleop_transforms.py b/dimos/teleop/utils/teleop_transforms.py
index e27dc9a349..384e07979d 100644
--- a/dimos/teleop/utils/teleop_transforms.py
+++ b/dimos/teleop/utils/teleop_transforms.py
@@ -74,6 +74,3 @@ def webxr_to_robot(
         ts=pose_stamped.ts,
         frame_id=pose_stamped.frame_id,
     )
-
-
-__all__ = ["VR_TO_ROBOT_FRAME", "webxr_to_robot"]
diff --git a/dimos/teleop/utils/video_stats.py b/dimos/teleop/utils/video_stats.py
index a0e7e838f2..32cfdd92a2 100644
--- a/dimos/teleop/utils/video_stats.py
+++ b/dimos/teleop/utils/video_stats.py
@@ -201,6 +201,3 @@ def __eq__(self, other: object) -> bool:
             and self.frames_dropped == other.frames_dropped
             and self.freezes == other.freezes
         )
-
-
-__all__ = ["VideoStats"]
diff --git a/dimos/types/ros_polyfill.py b/dimos/types/ros_polyfill.py
index ca900d65b7..2a7cf75bf9 100644
--- a/dimos/types/ros_polyfill.py
+++ b/dimos/types/ros_polyfill.py
@@ -13,9 +13,9 @@
 # limitations under the License.
 
 try:
-    from geometry_msgs.msg import Vector3
+    from geometry_msgs.msg import Vector3 as Vector3
 except ImportError:
-    from dimos.msgs.geometry_msgs.Vector3 import Vector3
+    from dimos.msgs.geometry_msgs.Vector3 import Vector3 as Vector3
 
 try:
     from geometry_msgs.msg import (
@@ -35,14 +35,3 @@
     )
     from dimos_lcm.nav_msgs import OccupancyGrid, Odometry
     from dimos_lcm.std_msgs import Header
-
-__all__ = [
-    "Header",
-    "OccupancyGrid",
-    "Odometry",
-    "Point",
-    "Pose",
-    "Quaternion",
-    "Twist",
-    "Vector3",
-]
diff --git a/docs/capabilities/manipulation/adding_a_custom_arm.md b/docs/capabilities/manipulation/adding_a_custom_arm.md
index 3d33f8877a..f5ca1c536f 100644
--- a/docs/capabilities/manipulation/adding_a_custom_arm.md
+++ b/docs/capabilities/manipulation/adding_a_custom_arm.md
@@ -348,9 +348,6 @@ class YourArmAdapter:
 def register(registry: AdapterRegistry) -> None:
     """Register this adapter with the registry."""
     registry.register("yourarm", YourArmAdapter)
-
-
-__all__ = ["YourArmAdapter"]
 ```
 
 ### Key implementation notes
@@ -372,23 +369,6 @@ __all__ = ["YourArmAdapter"]
 
 ## Step 2: Create Package Files
 
-### \_\_init\_\_.py
-
-```python skip
-"""YourArm manipulator hardware adapter.
-
-Usage:
-    >>> from dimos.hardware.manipulators.yourarm import YourArmAdapter
-    >>> adapter = YourArmAdapter(address="192.168.1.100", dof=6)
-    >>> adapter.connect()
-    >>> positions = adapter.read_joint_positions()
-"""
-
-from dimos.hardware.manipulators.yourarm.adapter import YourArmAdapter
-
-__all__ = ["YourArmAdapter"]
-```
-
 ### How auto-discovery works
 
 The `AdapterRegistry` in `dimos/hardware/manipulators/registry.py` automatically discovers your adapter at import time:
diff --git a/pyproject.toml b/pyproject.toml
index 38a3da0e04..b5af8dc760 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -476,6 +476,8 @@ ignore = [
 "dimos/models/Detic/*" = ["ALL"]
 # Naming needs to match the actual libraries.
 "stubs/*.pyi" = ["N801", "N802", "N803", "N815", "N816", "N818"]
+# Polyfill module: re-exports ROS message types (with a dimos_lcm fallback).
+"dimos/types/ros_polyfill.py" = ["F401"]
 
 [tool.ruff.lint.isort]
 known-first-party = ["dimos"]