chore: remove __all__

dimos/project/test_get_logger.py → 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:

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`."
+        )

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",
-]

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",
-]

dimos/control/blueprints/dual.py

@@ -92,10 +92,3 @@
         ),
     ],
 )
-
-
-__all__ = [
-    "coordinator_dual_mock",
-    "coordinator_dual_xarm",
-    "coordinator_piper_xarm",
-]

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",
-]

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",
-]

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",
-]

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",
-]

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",
-]

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

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

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"]

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

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

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,

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

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"]

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",
-]

dimos/core/tests/stress_test_blueprint.py

@@ -25,5 +25,3 @@
     StressTestModule.blueprint(),
     McpServer.blueprint(),
 )
-
-__all__ = ["demo_mcp_stress_test"]

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"]

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"]

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"]

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",
-]

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"]

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"]

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"]

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"]

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"]