diff --git a/.github/workflows/code-cleanup.yml b/.github/workflows/code-cleanup.yml
index d9526207a6..48f6ea281e 100644
--- a/.github/workflows/code-cleanup.yml
+++ b/.github/workflows/code-cleanup.yml
@@ -19,6 +19,7 @@ jobs:
 
     - uses: actions/checkout@v3
     - uses: actions/setup-python@v3
+    - uses: astral-sh/setup-uv@v4
     - name: Run pre-commit
       id: pre-commit-first
       uses: pre-commit/action@v3.0.1
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 40b1877835..96f888be3c 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -63,6 +63,13 @@ repos:
 
   - repo: local
     hooks:
+      - id: uv-lock-check
+        name: Check uv.lock is up-to-date
+        entry: uv lock --check
+        language: system
+        files: ^pyproject\.toml$
+        pass_filenames: false
+
       - id: lfs_check
         name: LFS data
         always_run: true
diff --git a/dimos/hardware/manipulators/base/components/motion.py b/dimos/hardware/manipulators/base/components/motion.py
index a1e31ddca2..90c653d049 100644
--- a/dimos/hardware/manipulators/base/components/motion.py
+++ b/dimos/hardware/manipulators/base/components/motion.py
@@ -17,7 +17,7 @@
 import logging
 from queue import Queue
 import time
-from typing import Any, Optional
+from typing import Any
 
 from ..driver import Command
 from ..sdk_interface import BaseManipulatorSDK
@@ -186,7 +186,7 @@ def move_joint_velocity(
 
                 # Check velocity limits
                 if self.capabilities.max_joint_velocity:
-                    valid, error = validate_velocity_limits(
+                    valid, _error = validate_velocity_limits(
                         velocities, self.capabilities.max_joint_velocity, self.velocity_scale
                     )
                     if not valid:
diff --git a/dimos/hardware/manipulators/base/components/servo.py b/dimos/hardware/manipulators/base/components/servo.py
index b7ba6a58fd..b278ab6d4a 100644
--- a/dimos/hardware/manipulators/base/components/servo.py
+++ b/dimos/hardware/manipulators/base/components/servo.py
@@ -16,7 +16,7 @@
 
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
 from ..sdk_interface import BaseManipulatorSDK
 from ..spec import ManipulatorCapabilities
diff --git a/dimos/hardware/manipulators/base/components/status.py b/dimos/hardware/manipulators/base/components/status.py
index cfcdd0553d..d041befcb7 100644
--- a/dimos/hardware/manipulators/base/components/status.py
+++ b/dimos/hardware/manipulators/base/components/status.py
@@ -15,12 +15,12 @@
 """Standard status monitoring component for manipulator drivers."""
 
 from collections import deque
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
-from ..sdk_interface import BaseManipulatorSDK, ManipulatorInfo
+from ..sdk_interface import BaseManipulatorSDK
 from ..spec import ManipulatorCapabilities
 from ..utils import SharedState
 from . import component_api
diff --git a/dimos/hardware/manipulators/base/driver.py b/dimos/hardware/manipulators/base/driver.py
index cc5aae1f06..8c6d7dbee2 100644
--- a/dimos/hardware/manipulators/base/driver.py
+++ b/dimos/hardware/manipulators/base/driver.py
@@ -14,19 +14,18 @@
 
 """Base manipulator driver with threading and component management."""
 
-from abc import ABC
 from dataclasses import dataclass
 import logging
 from queue import Empty, Queue
 from threading import Event, Thread
 import time
-from typing import Any, Optional
+from typing import Any
 
 from dimos.core import In, Module, Out, rpc
 from dimos.msgs.geometry_msgs import WrenchStamped
 from dimos.msgs.sensor_msgs import JointCommand, JointState, RobotState
 
-from .sdk_interface import BaseManipulatorSDK, ManipulatorInfo
+from .sdk_interface import BaseManipulatorSDK
 from .spec import ManipulatorCapabilities
 from .utils import SharedState
 
diff --git a/dimos/hardware/manipulators/base/spec.py b/dimos/hardware/manipulators/base/spec.py
index 14e03512ac..9c4dc762f3 100644
--- a/dimos/hardware/manipulators/base/spec.py
+++ b/dimos/hardware/manipulators/base/spec.py
@@ -13,11 +13,10 @@
 # limitations under the License.
 
 from dataclasses import dataclass
-from typing import Any, Optional, Protocol
+from typing import Any, Protocol
 
 from dimos.core import In, Out
-from dimos.msgs.geometry_msgs import PoseStamped, Twist, WrenchStamped
-from dimos.msgs.nav_msgs import Path
+from dimos.msgs.geometry_msgs import WrenchStamped
 from dimos.msgs.sensor_msgs import JointCommand, JointState
 
 
diff --git a/dimos/hardware/manipulators/base/utils/converters.py b/dimos/hardware/manipulators/base/utils/converters.py
index c94181a60d..916acb7e8c 100644
--- a/dimos/hardware/manipulators/base/utils/converters.py
+++ b/dimos/hardware/manipulators/base/utils/converters.py
@@ -15,10 +15,9 @@
 """Unit conversion utilities for manipulator drivers."""
 
 import math
-from typing import Union
 
 
-def degrees_to_radians(degrees: Union[float, list[float]]) -> Union[float, list[float]]:
+def degrees_to_radians(degrees: float | list[float]) -> float | list[float]:
     """Convert degrees to radians.
 
     Args:
@@ -32,7 +31,7 @@ def degrees_to_radians(degrees: Union[float, list[float]]) -> Union[float, list[
     return math.radians(degrees)
 
 
-def radians_to_degrees(radians: Union[float, list[float]]) -> Union[float, list[float]]:
+def radians_to_degrees(radians: float | list[float]) -> float | list[float]:
     """Convert radians to degrees.
 
     Args:
@@ -46,7 +45,7 @@ def radians_to_degrees(radians: Union[float, list[float]]) -> Union[float, list[
     return math.degrees(radians)
 
 
-def mm_to_meters(mm: Union[float, list[float]]) -> Union[float, list[float]]:
+def mm_to_meters(mm: float | list[float]) -> float | list[float]:
     """Convert millimeters to meters.
 
     Args:
@@ -60,7 +59,7 @@ def mm_to_meters(mm: Union[float, list[float]]) -> Union[float, list[float]]:
     return mm / 1000.0
 
 
-def meters_to_mm(meters: Union[float, list[float]]) -> Union[float, list[float]]:
+def meters_to_mm(meters: float | list[float]) -> float | list[float]:
     """Convert meters to millimeters.
 
     Args:
@@ -74,7 +73,7 @@ def meters_to_mm(meters: Union[float, list[float]]) -> Union[float, list[float]]
     return meters * 1000.0
 
 
-def rpm_to_rad_per_sec(rpm: Union[float, list[float]]) -> Union[float, list[float]]:
+def rpm_to_rad_per_sec(rpm: float | list[float]) -> float | list[float]:
     """Convert RPM to rad/s.
 
     Args:
@@ -89,7 +88,7 @@ def rpm_to_rad_per_sec(rpm: Union[float, list[float]]) -> Union[float, list[floa
     return rpm * factor
 
 
-def rad_per_sec_to_rpm(rad_per_sec: Union[float, list[float]]) -> Union[float, list[float]]:
+def rad_per_sec_to_rpm(rad_per_sec: float | list[float]) -> float | list[float]:
     """Convert rad/s to RPM.
 
     Args:
diff --git a/dimos/hardware/manipulators/base/utils/shared_state.py b/dimos/hardware/manipulators/base/utils/shared_state.py
index 1b65834ddf..195462c238 100644
--- a/dimos/hardware/manipulators/base/utils/shared_state.py
+++ b/dimos/hardware/manipulators/base/utils/shared_state.py
@@ -17,7 +17,7 @@
 from dataclasses import dataclass, field
 from threading import Lock
 import time
-from typing import Any, Optional
+from typing import Any
 
 
 @dataclass
diff --git a/dimos/hardware/manipulators/base/utils/validators.py b/dimos/hardware/manipulators/base/utils/validators.py
index fabbb7f34a..1382f8b65b 100644
--- a/dimos/hardware/manipulators/base/utils/validators.py
+++ b/dimos/hardware/manipulators/base/utils/validators.py
@@ -14,7 +14,7 @@
 
 """Validation utilities for manipulator drivers."""
 
-from typing import Any, Optional, cast
+from typing import cast
 
 
 def validate_joint_limits(
diff --git a/dimos/hardware/manipulators/piper/components/state_queries.py b/dimos/hardware/manipulators/piper/components/state_queries.py
index 784b062324..c758e66c4f 100644
--- a/dimos/hardware/manipulators/piper/components/state_queries.py
+++ b/dimos/hardware/manipulators/piper/components/state_queries.py
@@ -25,7 +25,7 @@
 """
 
 import threading
-from typing import Any, Optional
+from typing import Any
 
 from dimos.core import rpc
 from dimos.msgs.sensor_msgs import JointState, RobotState
diff --git a/dimos/hardware/manipulators/piper/piper_driver.py b/dimos/hardware/manipulators/piper/piper_driver.py
index 262730bb07..1c3ebed880 100644
--- a/dimos/hardware/manipulators/piper/piper_driver.py
+++ b/dimos/hardware/manipulators/piper/piper_driver.py
@@ -16,7 +16,7 @@
 
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
 from dimos.hardware.manipulators.base import (
     BaseManipulatorDriver,
diff --git a/dimos/hardware/manipulators/piper/piper_wrapper.py b/dimos/hardware/manipulators/piper/piper_wrapper.py
index 755dd7dae9..48b1ee100f 100644
--- a/dimos/hardware/manipulators/piper/piper_wrapper.py
+++ b/dimos/hardware/manipulators/piper/piper_wrapper.py
@@ -16,7 +16,7 @@
 
 import logging
 import time
-from typing import Any, Optional
+from typing import Any
 
 from ..base.sdk_interface import BaseManipulatorSDK, ManipulatorInfo
 
diff --git a/dimos/hardware/manipulators/xarm/components/state_queries.py b/dimos/hardware/manipulators/xarm/components/state_queries.py
index d5a7ed80c2..91f8e540aa 100644
--- a/dimos/hardware/manipulators/xarm/components/state_queries.py
+++ b/dimos/hardware/manipulators/xarm/components/state_queries.py
@@ -23,7 +23,7 @@
 """
 
 import threading
-from typing import TYPE_CHECKING, Any, Optional
+from typing import TYPE_CHECKING, Any
 
 from dimos.core import rpc
 from dimos.msgs.sensor_msgs import JointState, RobotState
diff --git a/dimos/hardware/manipulators/xarm/spec.py b/dimos/hardware/manipulators/xarm/spec.py
index 8b64607532..aa9f780ce3 100644
--- a/dimos/hardware/manipulators/xarm/spec.py
+++ b/dimos/hardware/manipulators/xarm/spec.py
@@ -16,9 +16,8 @@
 from typing import Protocol
 
 from dimos.core import In, Out
-from dimos.msgs.geometry_msgs import PoseStamped, Twist, WrenchStamped
-from dimos.msgs.nav_msgs import Path
-from dimos.msgs.sensor_msgs import JointCommand, JointState, RobotState as RobotStateMsg
+from dimos.msgs.geometry_msgs import WrenchStamped
+from dimos.msgs.sensor_msgs import JointCommand, JointState
 
 
 @dataclass
diff --git a/dimos/hardware/manipulators/xarm/xarm_wrapper.py b/dimos/hardware/manipulators/xarm/xarm_wrapper.py
index d89e5b0174..de4a83716c 100644
--- a/dimos/hardware/manipulators/xarm/xarm_wrapper.py
+++ b/dimos/hardware/manipulators/xarm/xarm_wrapper.py
@@ -16,7 +16,7 @@
 
 import logging
 import math
-from typing import Any, Optional
+from typing import Any
 
 from ..base.sdk_interface import BaseManipulatorSDK, ManipulatorInfo
 
diff --git a/dimos/hardware/sensors/camera/module.py b/dimos/hardware/sensors/camera/module.py
index 145c21bcf9..a14e4c449d 100644
--- a/dimos/hardware/sensors/camera/module.py
+++ b/dimos/hardware/sensors/camera/module.py
@@ -16,7 +16,6 @@
 from dataclasses import dataclass, field
 import queue
 import time
-from typing import Any, Generic, Literal, Optional, Protocol, TypeVar
 
 from dimos_lcm.sensor_msgs import CameraInfo
 import reactivex as rx
@@ -28,7 +27,7 @@
 from dimos.agents import Output, Reducer, Stream, skill  # type: ignore[attr-defined]
 from dimos.core import Module, ModuleConfig, Out, rpc
 from dimos.hardware.sensors.camera.spec import CameraHardware
-from dimos.hardware.sensors.camera.webcam import Webcam, WebcamConfig
+from dimos.hardware.sensors.camera.webcam import Webcam
 from dimos.msgs.geometry_msgs import Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import Image
 from dimos.msgs.sensor_msgs.Image import Image, sharpness_barrier
diff --git a/dimos/manipulation/control/servo_control/cartesian_motion_controller.py b/dimos/manipulation/control/servo_control/cartesian_motion_controller.py
index 407cbd8a6c..e8c2bd793a 100644
--- a/dimos/manipulation/control/servo_control/cartesian_motion_controller.py
+++ b/dimos/manipulation/control/servo_control/cartesian_motion_controller.py
@@ -30,7 +30,7 @@
 import math
 import threading
 import time
-from typing import Any, Optional
+from typing import Any
 
 from dimos.core import In, Module, Out, rpc
 from dimos.core.module import ModuleConfig
diff --git a/dimos/manipulation/control/servo_control/example_cartesian_control.py b/dimos/manipulation/control/servo_control/example_cartesian_control.py
index 249ec8aa78..9a0987ce60 100644
--- a/dimos/manipulation/control/servo_control/example_cartesian_control.py
+++ b/dimos/manipulation/control/servo_control/example_cartesian_control.py
@@ -31,7 +31,6 @@
 """
 
 import signal
-import sys
 import time
 
 from dimos import core
diff --git a/dimos/manipulation/control/trajectory_controller/example_trajectory_control.py b/dimos/manipulation/control/trajectory_controller/example_trajectory_control.py
index 20c1322922..b272875c5f 100644
--- a/dimos/manipulation/control/trajectory_controller/example_trajectory_control.py
+++ b/dimos/manipulation/control/trajectory_controller/example_trajectory_control.py
@@ -29,14 +29,13 @@
 """
 
 import signal
-import sys
 import time
 
 from dimos import core
 from dimos.hardware.manipulators.xarm import XArmDriver
 from dimos.manipulation.control import JointTrajectoryController
 from dimos.msgs.sensor_msgs import JointCommand, JointState, RobotState
-from dimos.msgs.trajectory_msgs import JointTrajectory, TrajectoryPoint, TrajectoryState
+from dimos.msgs.trajectory_msgs import JointTrajectory, TrajectoryState
 
 # Global flag for graceful shutdown
 shutdown_requested = False
diff --git a/dimos/manipulation/control/trajectory_controller/joint_trajectory_controller.py b/dimos/manipulation/control/trajectory_controller/joint_trajectory_controller.py
index 09478ae559..d5585cf4d6 100644
--- a/dimos/manipulation/control/trajectory_controller/joint_trajectory_controller.py
+++ b/dimos/manipulation/control/trajectory_controller/joint_trajectory_controller.py
@@ -330,7 +330,7 @@ def _execution_loop(self) -> None:
                             )
                         else:
                             # Sample trajectory
-                            q_ref, qd_ref = self._trajectory.sample(t)
+                            q_ref, _qd_ref = self._trajectory.sample(t)
 
                             # Create and publish command (outside lock would be better but simpler here)
                             cmd = JointCommand(positions=q_ref, timestamp=time.time())
diff --git a/dimos/protocol/skill/coordinator.py b/dimos/protocol/skill/coordinator.py
index aa1877a328..40affc2e5a 100644
--- a/dimos/protocol/skill/coordinator.py
+++ b/dimos/protocol/skill/coordinator.py
@@ -17,7 +17,6 @@
 from dataclasses import dataclass
 from enum import Enum
 import json
-import threading
 import time
 from typing import Any, Literal
 
@@ -28,7 +27,7 @@
 from rich.text import Text
 
 from dimos.core import rpc
-from dimos.core.module import Module, ModuleConfig, get_loop
+from dimos.core.module import Module, ModuleConfig
 from dimos.protocol.skill.comms import LCMSkillComms, SkillCommsSpec
 from dimos.protocol.skill.skill import SkillConfig, SkillContainer  # type: ignore[attr-defined]
 from dimos.protocol.skill.type import MsgType, Output, Reducer, Return, SkillMsg, Stream
diff --git a/dimos/simulation/mujoco/input_controller.py b/dimos/simulation/mujoco/input_controller.py
index 1db97b9c32..497205ce55 100644
--- a/dimos/simulation/mujoco/input_controller.py
+++ b/dimos/simulation/mujoco/input_controller.py
@@ -18,8 +18,6 @@
 
 from numpy.typing import NDArray
 
-from dimos.hardware.end_effectors.end_effector import EndEffector
-
 
 class InputController(Protocol):
     """A protocol for input devices to control the robot."""
diff --git a/uv.lock b/uv.lock
index 0bf380ba7d..11a5612bfb 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1520,6 +1520,7 @@ dependencies = [
     { name = "unitree-webrtc-connect" },
     { name = "uvicorn" },
     { name = "wasmtime" },
+    { name = "xarm-python-sdk" },
     { name = "yapf" },
 ]
 
@@ -1741,6 +1742,7 @@ requires-dist = [
     { name = "unitree-webrtc-connect", git = "https://github.com/leshy/unitree_webrtc_connect.git?rev=2cbb6ce657383c788f4a48d9d87ecf4b9b7dba1d" },
     { name = "uvicorn", specifier = ">=0.34.0" },
     { name = "wasmtime" },
+    { name = "xarm-python-sdk", specifier = ">=1.17.0" },
     { name = "xformers", marker = "extra == 'cuda'", specifier = ">=0.0.20" },
     { name = "yapf", specifier = "==0.40.2" },
 ]
@@ -9423,6 +9425,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a4/f5/10b68b7b1544245097b2a1b8238f66f2fc6dcaeb24ba5d917f52bd2eed4f/wsproto-1.3.2-py3-none-any.whl", hash = "sha256:61eea322cdf56e8cc904bd3ad7573359a242ba65688716b0710a5eb12beab584", size = 24405, upload-time = "2025-11-20T18:18:00.454Z" },
 ]
 
+[[package]]
+name = "xarm-python-sdk"
+version = "1.17.3"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/27/dd/073cf64fa9e74cfb97c9ded97750ed4652ada1b4921cd0e7d895ff242f7c/xarm_python_sdk-1.17.3.tar.gz", hash = "sha256:e61b988bc3be684c15f8e686958c00e619e14725130ee94148074b8ef5bd9ec3", size = 215842, upload-time = "2025-12-02T03:09:49.342Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/40/0a/85b3df0fa6ddd4f1a9d23cd63948aa145797631c9e20d165ada8e13a058c/xarm_python_sdk-1.17.3-py3-none-any.whl", hash = "sha256:3dee2f9819d54f0ba476ea51ff63f2d1eb248e0658da1b1dcab8c519008955bb", size = 186790, upload-time = "2025-12-02T03:09:47.606Z" },
+]
+
 [[package]]
 name = "xformers"
 version = "0.0.33.post2"