refactor(manipulation): localize device connection configuration

dimos/control/coordinator.py

@@ -240,10 +240,16 @@ def _setup_hardware(self, component: HardwareComponent) -> None:
         else:
             adapter = self._create_adapter(component)
 
-        if not adapter.connect():
-            raise RuntimeError(f"Failed to connect to {component.adapter_type} adapter")
-
         try:
+            logger.info(
+                "Connecting hardware",
+                hardware_id=component.hardware_id,
+                adapter_type=component.adapter_type,
+                address=component.address,
+            )
+            if not adapter.connect():
+                raise RuntimeError(f"Failed to connect to {component.adapter_type} adapter")
+
             if component.auto_enable:
                 activate = getattr(adapter, "activate", None)
                 if callable(activate):
@@ -254,7 +260,10 @@ def _setup_hardware(self, component: HardwareComponent) -> None:
 
             self.add_hardware(adapter, component)
         except Exception:
-            adapter.disconnect()
+            try:
+                adapter.disconnect()
+            except Exception:
+                logger.exception("Hardware cleanup failed", hardware_id=component.hardware_id)
             raise
 
     def _create_adapter(self, component: HardwareComponent) -> ManipulatorAdapter:

dimos/control/test_control.py

@@ -333,6 +333,53 @@ class _EEFTwistCoordinator(ControlCoordinator):
 
 
 class TestControlCoordinatorLifecycle:
+    @pytest.mark.parametrize("failure", ["false", "raise", "activation"])
+    def test_failed_connection_attempt_disconnects_and_preserves_error(
+        self, make_coordinator, mocker, failure
+    ):
+        coordinator = make_coordinator()
+        adapter = mocker.MagicMock(spec=ManipulatorAdapter)
+        adapter.connect.return_value = failure != "false"
+        if failure == "raise":
+            adapter.connect.side_effect = RuntimeError("connection failed")
+        if failure == "activation":
+            adapter.activate.return_value = False
+        adapter.disconnect.side_effect = RuntimeError("cleanup failed")
+        mocker.patch.object(coordinator, "_create_adapter", return_value=adapter)
+        add = mocker.patch.object(coordinator, "add_hardware")
+        component = HardwareComponent(
+            hardware_id="arm", hardware_type=HardwareType.MANIPULATOR, adapter_type="xarm"
+        )
+
+        with pytest.raises(RuntimeError, match="connect|activate"):
+            coordinator._setup_hardware(component)
+
+        adapter.disconnect.assert_called_once_with()
+        add.assert_not_called()
+
+    def test_later_connection_failure_rolls_back_earlier_hardware(self, make_coordinator, mocker):
+        components = [
+            HardwareComponent(
+                hardware_id=name,
+                hardware_type=HardwareType.MANIPULATOR,
+                joints=make_joints(name, 6),
+            )
+            for name in ("left", "right")
+        ]
+        coordinator = make_coordinator(hardware=components)
+        left = mocker.MagicMock(spec=ManipulatorAdapter)
+        right = mocker.MagicMock(spec=ManipulatorAdapter)
+        left.connect.return_value = True
+        right.connect.return_value = False
+        mocker.patch.object(coordinator, "_create_adapter", side_effect=[left, right])
+
+        with pytest.raises(RuntimeError, match="Failed to connect"):
+            coordinator._setup_from_config()
+
+        left.disconnect.assert_called_once_with()
+        right.disconnect.assert_called_once_with()
+        assert coordinator._hardware == {}
+
     def test_start_subscribes_ee_twist_only_for_eef_twist_tasks(self, make_coordinator, mocker):
         mocker.patch("dimos.core.module.Module.start")
         mocker.patch("dimos.control.coordinator.TickLoop")

dimos/core/global_config.py

@@ -47,10 +47,6 @@ class GlobalConfig(BaseSettings):
     # Per-device AES-128 key for new Unitree firmware (G1 >=1.5.1, Go2 >=1.1.15, data2=3
     # handshake). Fetch: unitree-fetch-aes-key --email YOU --sn <serial>
     unitree_aes_128_key: str | None = None
-    xarm7_ip: str | None = None
-    xarm6_ip: str | None = None
-    can_port: str | None = None
-    device_path: str | None = None  # device path for real robot (e.g. /dev/ttyUSB0)
     simulation: str = ""
     replay: bool = False
     replay_db: str = "go2_short"

dimos/experimental/world_belief/xarm6_blueprint.py

@@ -35,6 +35,7 @@
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.robot.manipulators.common.blueprints import coordinator, trajectory_task
 from dimos.robot.manipulators.xarm.config import make_xarm6_model_config, xarm6_hardware
+from dimos.robot.manipulators.xarm.coordinator import XArm6Coordinator
 from dimos.visualization.rerun.bridge import RerunBridgeModule
 
 if TYPE_CHECKING:
@@ -128,6 +129,8 @@ def _rerun_blueprint() -> rrb.Blueprint:
     ),
     McpServer.blueprint(),
     coordinator(
+        cls=XArm6Coordinator,
+        instance_name="ControlCoordinator",
         hardware=[_hw],
         tasks=[trajectory_task(_hw)],
     ),

dimos/hardware/manipulators/galaxea_a1z/adapter.py

@@ -97,7 +97,7 @@ def _socketcan_channel_error(channel: str) -> str | None:
     except FileNotFoundError:
         return (
             f"SocketCAN interface {channel!r} does not exist. The HHS adapter must be "
-            "bound to the Linux gs_usb driver; pass its interface with --can-port."
+            "bound to the Linux gs_usb driver; pass its interface with --address."
         )
     except (OSError, ValueError) as exc:
         return f"cannot read SocketCAN interface {channel!r}: {exc}"
@@ -111,7 +111,7 @@ def _socketcan_channel_error(channel: str) -> str | None:
         return (
             f"SocketCAN interface {channel!r} belongs to kernel driver {driver!r}, not "
             f"the HHS adapter driver {_A1Z_SOCKETCAN_DRIVER!r}. Pass the HHS SocketCAN "
-            "interface with --can-port."
+            "interface with --address."
         )
     if not flags & 0x1:
         return (

dimos/hardware/manipulators/galaxea_a1z/test_adapter.py

@@ -621,7 +621,7 @@ def test_socketcan_connect_fails_closed_before_sdk_construction(
             "mttcan",
             "0x1\n",
             "SocketCAN interface 'can7' belongs to kernel driver 'mttcan', not the HHS "
-            "adapter driver 'gs_usb'. Pass the HHS SocketCAN interface with --can-port.",
+            "adapter driver 'gs_usb'. Pass the HHS SocketCAN interface with --address.",
         ),
         (
             "gs_usb",

dimos/imitation/README.md

@@ -11,15 +11,16 @@ teleop (Quest) ─▶ CollectionRecorder ─▶ session_<robot>_<ts>.db ─▶ d
 
 ## 1. Record a session
 
-Run a collection blueprint. Add `--simulation` to drive MuJoCo; omit it for real
-hardware (a RealSense + the arm).
+Run a collection blueprint. Add `--simulation` to drive MuJoCo. For real
+hardware (a RealSense + the arm), omit simulation and supply the arm's `--address`.
+Without an address, the arm is mocked; this does not mock the camera.
 
 ```bash
 # XArm7 in sim
 dimos --simulation run learning-collect-quest-xarm7
 
 # Piper on real hardware
-dimos run learning-collect-quest-piper
+dimos run learning-collect-quest-piper --address can0
 ```
 
 This brings up teleop, a RealSense (real only), the episode monitor, and the

dimos/robot/all_blueprints.py

@@ -177,6 +177,10 @@
 
 
 all_modules = {
+    "a1-z-coordinator": "dimos.robot.manipulators.a1z.coordinator.A1ZCoordinator",
+    "a1-z-teleop-coordinator": "dimos.robot.manipulators.a1z.coordinator.A1ZTeleopCoordinator",
+    "a1-z-twist-coordinator": "dimos.robot.manipulators.a1z.coordinator.A1ZTwistCoordinator",
+    "a750-coordinator": "dimos.robot.manipulators.a750.coordinator.A750Coordinator",
     "alfred-high-level": "dimos.robot.diy.alfred.effector_high_level.AlfredHighLevel",
     "alfred-mount-tf": "dimos.robot.diy.alfred.mount_tf.AlfredMountTf",
     "arm-command-module": "dimos.teleop.hosted.arm_command.ArmCommandModule",
@@ -210,6 +214,7 @@
     "drone-connection-module": "dimos.robot.drone.connection_module.DroneConnectionModule",
     "drone-tracking-module": "dimos.robot.drone.drone_tracking_module.DroneTrackingModule",
     "dual-open-yam-coordinator": "dimos.robot.manipulators.dual_openyam.blueprints.basic.DualOpenYamCoordinator",
+    "dual-x-arm-coordinator": "dimos.robot.manipulators.xarm.coordinator.DualXArmCoordinator",
     "emitter-module": "dimos.utils.demo_image_encoding.EmitterModule",
     "episode-monitor-module": "dimos.imitation.collection.episode_monitor.EpisodeMonitorModule",
     "eval-module": "dimos.evals.module.EvalModule",
@@ -264,6 +269,7 @@
     "mid360-pcap-recorder": "dimos.hardware.sensors.lidar.virtual_mid360.recorder.Mid360PcapRecorder",
     "mid360-realsense-recorder": "dimos.robot.assembly.mid360_realsense_30.Mid360RealsenseRecorder",
     "mid360-realsense-static-tf": "dimos.robot.assembly.mid360_realsense_30.Mid360RealsenseStaticTf",
+    "mixed-arm-coordinator": "dimos.robot.manipulators.common.mixed_coordinator.MixedArmCoordinator",
     "mls-planner-native": "dimos.navigation.nav_3d.mls_planner.mls_planner_native.MLSPlannerNative",
     "mock-b1-connection-module": "dimos.robot.unitree.b1.connection.MockB1ConnectionModule",
     "module-a": "dimos.robot.unitree.demo_error_on_name_conflicts.ModuleA",
@@ -279,6 +285,9 @@
     "observe-skill": "dimos.agents.skills.observe_skill.ObserveSkill",
     "odometry-hist": "dimos.mapping.odometry_hist.OdometryHist",
     "open-arm-teleop-coordinator": "dimos.robot.manipulators.openarm.blueprints.teleop.OpenArmTeleopCoordinator",
+    "open-yam-coordinator": "dimos.robot.manipulators.openyam.coordinator.OpenYamCoordinator",
+    "open-yam-teleop-coordinator": "dimos.robot.manipulators.openyam.coordinator.OpenYamTeleopCoordinator",
+    "open-yam-twist-coordinator": "dimos.robot.manipulators.openyam.coordinator.OpenYamTwistCoordinator",
     "osm-skill": "dimos.agents.skills.osm.OsmSkill",
     "path-following-coordinator": "dimos.control.path_following_coordinator.PathFollowingCoordinator",
     "patrolling-module": "dimos.navigation.patrolling.module.PatrollingModule",
@@ -287,6 +296,10 @@
     "person-tracker": "dimos.perception.detection.person_tracker.PersonTracker",
     "phone-teleop-module": "dimos.teleop.phone.phone_teleop_module.PhoneTeleopModule",
     "pick-and-place-module": "dimos.manipulation.pick_and_place_module.PickAndPlaceModule",
+    "piper-coordinator": "dimos.robot.manipulators.piper.coordinator.PiperCoordinator",
+    "piper-pose-coordinator": "dimos.robot.manipulators.piper.coordinator.PiperPoseCoordinator",
+    "piper-teleop-coordinator": "dimos.robot.manipulators.piper.coordinator.PiperTeleopCoordinator",
+    "piper-twist-coordinator": "dimos.robot.manipulators.piper.coordinator.PiperTwistCoordinator",
     "point-cloud-self-filter": "dimos.manipulation.planning.utils.point_cloud_self_filter.PointCloudSelfFilter",
     "point-lio": "dimos.hardware.sensors.lidar.pointlio.module.PointLio",
     "pointlio-recorder": "dimos.hardware.sensors.lidar.pointlio.recorder.PointlioRecorder",
@@ -308,6 +321,7 @@
     "security-module": "dimos.experimental.security_demo.security_module.SecurityModule",
     "semantic-search": "dimos.memory.module.SemanticSearch",
     "simple-phone-teleop": "dimos.teleop.phone.phone_extensions.SimplePhoneTeleop",
+    "single-arm-coordinator": "dimos.robot.manipulators.common.connection.SingleArmCoordinator",
     "spatial-memory": "dimos.perception.experimental.spatial_perception.SpatialMemory",
     "speak-skill": "dimos.agents.skills.speak_skill.SpeakSkill",
     "spot-high-level": "dimos.experimental.robot.bosdyn.spot.effectors.high_level.SpotHighLevel",
@@ -331,5 +345,12 @@
     "world-belief-module": "dimos.experimental.world_belief.worldbelief_module.WorldBeliefModule",
     "world-belief-recorder": "dimos.experimental.world_belief.worldbelief_recorder.WorldBeliefRecorder",
     "wrist-camera": "dimos.teleop.hosted.blueprints.cloudflare.WristCamera",
+    "x-arm6-coordinator": "dimos.robot.manipulators.xarm.coordinator.XArm6Coordinator",
+    "x-arm6-hardware-coordinator": "dimos.robot.manipulators.xarm.coordinator.XArm6HardwareCoordinator",
+    "x-arm6-teleop-coordinator": "dimos.robot.manipulators.xarm.coordinator.XArm6TeleopCoordinator",
+    "x-arm6-twist-coordinator": "dimos.robot.manipulators.xarm.coordinator.XArm6TwistCoordinator",
+    "x-arm7-coordinator": "dimos.robot.manipulators.xarm.coordinator.XArm7Coordinator",
+    "x-arm7-teleop-coordinator": "dimos.robot.manipulators.xarm.coordinator.XArm7TeleopCoordinator",
+    "x-arm7-twist-coordinator": "dimos.robot.manipulators.xarm.coordinator.XArm7TwistCoordinator",
     "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",
 }

dimos/robot/manipulators/a1z/blueprints/basic.py

@@ -16,13 +16,14 @@
 
 from __future__ import annotations
 
-from dimos.control.coordinator import ControlCoordinator, TaskConfig
+from dimos.control.coordinator import TaskConfig
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.robot.manipulators.a1z.config import (
     A1Z_G1Z_MODEL_PATH,
     a1z_hardware,
     make_a1z_model_config,
 )
+from dimos.robot.manipulators.a1z.coordinator import A1ZCoordinator
 from dimos.robot.manipulators.common.blueprints import coordinator, planner, trajectory_task
 
 _a1z_planner_hw = a1z_hardware("arm")
@@ -40,6 +41,8 @@ def _gripper_task() -> TaskConfig:
 a1z_planner_coordinator = autoconnect(
     planner(model=make_a1z_model_config()),
     coordinator(
+        cls=A1ZCoordinator,
+        instance_name="ControlCoordinator",
         hardware=[_a1z_planner_hw],
         tasks=[trajectory_task(_a1z_planner_hw), _gripper_task()],
     ),
@@ -50,7 +53,8 @@ def _gripper_task() -> TaskConfig:
     dynamics_urdf_path=A1Z_G1Z_MODEL_PATH,
 )
 
-coordinator_a1z = ControlCoordinator.blueprint(
+coordinator_a1z = A1ZCoordinator.blueprint(
+    instance_name="ControlCoordinator",
     hardware=[_coordinator_a1z_hw],
     tasks=[trajectory_task(_coordinator_a1z_hw), _gripper_task()],
 )

dimos/robot/manipulators/a1z/blueprints/teleop.py

@@ -17,29 +17,26 @@
 from __future__ import annotations
 
 from dimos.control.coordinator import TaskConfig
-from dimos.control.teleop_coordinator import TeleopControlCoordinator
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.manipulation.manipulation_module import ManipulationModule
 from dimos.robot.manipulators.a1z.config import (
     a1z_hardware,
     make_a1z_model_config,
 )
+from dimos.robot.manipulators.a1z.coordinator import A1ZTeleopCoordinator, A1ZTwistCoordinator
 from dimos.robot.manipulators.common.blueprints import (
     eef_twist_task,
     teleop_ik_task,
     trajectory_task,
 )
-from dimos.robot.manipulators.common.coordinators import (
-    ArmTwistCoordinator,
-)
 from dimos.teleop.keyboard.keyboard_teleop_module import KeyboardTeleopModule
 
 _a1z_keyboard_hw = a1z_hardware("arm")
 _a1z_model = make_a1z_model_config()
 
 keyboard_teleop_a1z = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ArmTwistCoordinator.blueprint(
+    A1ZTwistCoordinator.blueprint(
         instance_name="ControlCoordinator",
         hardware=[_a1z_keyboard_hw],
         tasks=[
@@ -68,7 +65,7 @@
 _a1z_quest_model = make_a1z_model_config()
 
 coordinator_teleop_a1z = autoconnect(
-    TeleopControlCoordinator.blueprint(
+    A1ZTeleopCoordinator.blueprint(
         instance_name="ControlCoordinator",
         hardware=[_a1z_quest_hw],
         tasks=[

dimos/robot/manipulators/a1z/blueprints/test_teleop.py

@@ -18,7 +18,6 @@
 
 from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.coordination.blueprints import Blueprint
-from dimos.core.global_config import global_config
 from dimos.robot.manipulators.a1z.blueprints.basic import a1z_planner_coordinator
 from dimos.robot.manipulators.a1z.blueprints.teleop import (
     coordinator_teleop_a1z,
@@ -77,11 +76,8 @@ def test_quest_left_controller_routes_to_a1z_teleop() -> None:
     }
 
 
-def test_a1z_hardware_uses_mock_adapter_in_simulation(monkeypatch: pytest.MonkeyPatch) -> None:
-    monkeypatch.setattr(global_config, "can_port", "a1zcan")
-    monkeypatch.setattr(global_config, "simulation", "mujoco")
-
-    hardware = a1z_hardware("arm")
+def test_a1z_hardware_uses_mock_adapter_in_simulation() -> None:
+    hardware = a1z_hardware("arm", address="a1zcan", simulation="mujoco")
 
     assert hardware.adapter_type == "mock"
     assert hardware.address is None
@@ -90,13 +86,8 @@ def test_a1z_hardware_uses_mock_adapter_in_simulation(monkeypatch: pytest.Monkey
     assert hardware.joints[-1] == "arm/gripper"
 
 
-def test_a1z_hardware_uses_real_adapter_when_can_port_is_selected(
-    monkeypatch: pytest.MonkeyPatch,
-) -> None:
-    monkeypatch.setattr(global_config, "can_port", "a1zcan")
-    monkeypatch.setattr(global_config, "simulation", "")
-
-    hardware = a1z_hardware("arm")
+def test_a1z_hardware_uses_real_adapter_when_address_is_selected() -> None:
+    hardware = a1z_hardware("arm", address="a1zcan")
 
     assert hardware.adapter_type == "galaxea_a1z"
     assert hardware.address == "a1zcan"