From 2b5abb5fe5a89156296cbfbbb944fdd3351ffc15 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Tue, 24 Feb 2026 16:06:13 -0800
Subject: [PATCH 01/18] Feat: modified buttons to publish absolute trigger
 values

---
 dimos/teleop/quest/quest_types.py | 39 ++++++++++++++++++++++++++-----
 1 file changed, 33 insertions(+), 6 deletions(-)

diff --git a/dimos/teleop/quest/quest_types.py b/dimos/teleop/quest/quest_types.py
index 9e5616101d..1882f23531 100644
--- a/dimos/teleop/quest/quest_types.py
+++ b/dimos/teleop/quest/quest_types.py
@@ -94,16 +94,18 @@ def from_joy(cls, joy: Joy, is_left: bool = True) -> "QuestControllerState":
 class Buttons(UInt32):
     """Packed button states for both controllers in a single UInt32.
 
-    All values are collapsed to bools for lightweight transport. Analog values
-    (trigger, grip) are thresholded at 0.5. If you need the original float
-    values, access them from QuestControllerState and publish them in a subclass.
+    Digital buttons are collapsed to bools. Analog trigger values are packed
+    as uint8 in the upper 16 bits for proportional gripper control.
 
     Bit layout:
-        Left  (bits 0-6): trigger, grip, touchpad, thumbstick, primary, secondary, menu
-        Right (bits 8-14): trigger, grip, touchpad, thumbstick, primary, secondary, menu
+        Left  (bits 0-6):   trigger, grip, touchpad, thumbstick, primary, secondary, menu
+        Right (bits 8-14):  trigger, grip, touchpad, thumbstick, primary, secondary, menu
+        Bit 7, 15:          reserved
+        Bits 16-23:         left trigger analog (uint8, 0=0.0 … 255=1.0)
+        Bits 24-31:         right trigger analog (uint8, 0=0.0 … 255=1.0)
     """
 
-    # Bit positions
+    # Bit positions for digital buttons
     BITS = {
         "left_trigger": 0,
         "left_grip": 1,
@@ -121,6 +123,31 @@ class Buttons(UInt32):
         "right_menu": 14,
     }
 
+    # Analog trigger packing constants
+    _LEFT_TRIGGER_SHIFT: int = 16
+    _RIGHT_TRIGGER_SHIFT: int = 24
+    _ANALOG_MASK: int = 0xFF
+
+    @property
+    def left_trigger_analog(self) -> float:
+        """Left trigger analog value [0.0, 1.0], decoded from bits 16-23."""
+        return ((self.data & 0xFFFFFFFF) >> self._LEFT_TRIGGER_SHIFT & self._ANALOG_MASK) / 255.0
+
+    @property
+    def right_trigger_analog(self) -> float:
+        """Right trigger analog value [0.0, 1.0], decoded from bits 24-31."""
+        return ((self.data & 0xFFFFFFFF) >> self._RIGHT_TRIGGER_SHIFT & self._ANALOG_MASK) / 255.0
+
+    def pack_analog_triggers(self, left: float, right: float) -> None:
+        """Pack analog trigger values [0.0, 1.0] into bits 16-23 and 24-31."""
+        left_u8 = round(max(0.0, min(1.0, left)) * 255)
+        right_u8 = round(max(0.0, min(1.0, right)) * 255)
+        unsigned = (self.data & 0x0000FFFF) | (left_u8 << self._LEFT_TRIGGER_SHIFT) | (right_u8 << self._RIGHT_TRIGGER_SHIFT)
+        # LCM encodes UInt32 as signed int32 — convert to avoid overflow
+        if unsigned >= 0x80000000:
+            unsigned -= 0x100000000
+        self.data = unsigned
+
     def __getattr__(self, name: str) -> bool:
         if name in Buttons.BITS:
             return bool(self.data & (1 << Buttons.BITS[name]))

From 7a82f0ff9b42a62c705e0ed2f63db5ce41844e9b Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Tue, 24 Feb 2026 16:14:59 -0800
Subject: [PATCH 02/18] Fix: control loop start must be in start

---
 dimos/teleop/quest/quest_teleop_module.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/dimos/teleop/quest/quest_teleop_module.py b/dimos/teleop/quest/quest_teleop_module.py
index ea77bb5fc0..3e71e3573c 100644
--- a/dimos/teleop/quest/quest_teleop_module.py
+++ b/dimos/teleop/quest/quest_teleop_module.py
@@ -144,6 +144,7 @@ def start(self) -> None:
             logger.info(f"Subscribed to: {', '.join(connected)}")
 
         self._start_server()
+        self._start_control_loop()
         logger.info("Quest Teleoperation Module started")
 
     @rpc

From 4e39bbe3ee6231cf55ff8e0f0f3a6bc67130db72 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Tue, 24 Feb 2026 16:15:35 -0800
Subject: [PATCH 03/18] feat: packing analog triggers iwith buttons in UInt32

---
 dimos/teleop/quest/quest_extensions.py | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/dimos/teleop/quest/quest_extensions.py b/dimos/teleop/quest/quest_extensions.py
index b4e38de546..4f15d7108b 100644
--- a/dimos/teleop/quest/quest_extensions.py
+++ b/dimos/teleop/quest/quest_extensions.py
@@ -28,6 +28,7 @@
 
 from dimos.msgs.geometry_msgs import PoseStamped, TwistStamped
 from dimos.teleop.quest.quest_teleop_module import Hand, QuestTeleopConfig, QuestTeleopModule
+from dimos.teleop.quest.quest_types import Buttons, QuestControllerState
 from dimos.teleop.utils.teleop_visualization import (
     visualize_buttons,
     visualize_pose,
@@ -130,6 +131,25 @@ def _publish_msg(self, hand: Hand, output_msg: PoseStamped) -> None:
             )
         super()._publish_msg(hand, output_msg)
 
+    def _publish_button_state(
+        self,
+        left: QuestControllerState | None,
+        right: QuestControllerState | None,
+    ) -> None:
+        """Publish Buttons with analog triggers packed into bits 16-31.
+
+        Builds the standard digital Buttons, then packs raw analog trigger
+        floats from QuestControllerState into bits 16-23 (left) and 24-31
+        (right) so the downstream TeleopIKTask can drive proportional gripper
+        control via on_buttons().
+        """
+        buttons = Buttons.from_controllers(left, right)
+        buttons.pack_analog_triggers(
+            left=left.trigger if left is not None else 0.0,
+            right=right.trigger if right is not None else 0.0,
+        )
+        self.buttons.publish(buttons)
+
 
 class VisualizingTeleopModule(ArmTeleopModule):
     """Quest teleop with Rerun visualization.

From 279e024b464bb20a7360898c0fdcb3d52f6d9dbc Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Tue, 24 Feb 2026 16:16:13 -0800
Subject: [PATCH 04/18] for xarm7

---
 dimos/robot/all_blueprints.py    |  4 ++--
 dimos/teleop/quest/blueprints.py | 12 ++++++------
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index ed90982801..c9f9e8a1c7 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -20,7 +20,7 @@
     "arm-teleop-dual": "dimos.teleop.quest.blueprints:arm_teleop_dual",
     "arm-teleop-piper": "dimos.teleop.quest.blueprints:arm_teleop_piper",
     "arm-teleop-visualizing": "dimos.teleop.quest.blueprints:arm_teleop_visualizing",
-    "arm-teleop-xarm6": "dimos.teleop.quest.blueprints:arm_teleop_xarm6",
+    "arm-teleop-xarm7": "dimos.teleop.quest.blueprints:arm_teleop_xarm7",
     "coordinator-basic": "dimos.control.blueprints:coordinator_basic",
     "coordinator-cartesian-ik-mock": "dimos.control.blueprints:coordinator_cartesian_ik_mock",
     "coordinator-cartesian-ik-piper": "dimos.control.blueprints:coordinator_cartesian_ik_piper",
@@ -34,7 +34,7 @@
     "coordinator-piper-xarm": "dimos.control.blueprints:coordinator_piper_xarm",
     "coordinator-teleop-dual": "dimos.control.blueprints:coordinator_teleop_dual",
     "coordinator-teleop-piper": "dimos.control.blueprints:coordinator_teleop_piper",
-    "coordinator-teleop-xarm6": "dimos.control.blueprints:coordinator_teleop_xarm6",
+    "coordinator-teleop-xarm7": "dimos.control.blueprints:coordinator_teleop_xarm7",
     "coordinator-velocity-xarm6": "dimos.control.blueprints:coordinator_velocity_xarm6",
     "coordinator-xarm6": "dimos.control.blueprints:coordinator_xarm6",
     "coordinator-xarm7": "dimos.control.blueprints:coordinator_xarm7",
diff --git a/dimos/teleop/quest/blueprints.py b/dimos/teleop/quest/blueprints.py
index c46bf657ff..5672a2bea0 100644
--- a/dimos/teleop/quest/blueprints.py
+++ b/dimos/teleop/quest/blueprints.py
@@ -18,7 +18,7 @@
 from dimos.control.blueprints import (
     coordinator_teleop_dual,
     coordinator_teleop_piper,
-    coordinator_teleop_xarm6,
+    coordinator_teleop_xarm7,
 )
 from dimos.core.blueprints import autoconnect
 from dimos.core.transport import LCMTransport
@@ -57,12 +57,12 @@
 # Teleop wired to Coordinator (TeleopIK)
 # -----------------------------------------------------------------------------
 
-# Single XArm6 teleop: right controller -> xarm6
-# Usage: dimos run arm-teleop-xarm6
+# Single XArm7 teleop: right controller -> xarm7
+# Usage: dimos run arm-teleop-xarm7
 
-arm_teleop_xarm6 = autoconnect(
+arm_teleop_xarm7 = autoconnect(
     arm_teleop_module(task_names={"right": "teleop_xarm"}),
-    coordinator_teleop_xarm6,
+    coordinator_teleop_xarm7,
 ).transports(
     {
         ("right_controller_output", PoseStamped): LCMTransport(
@@ -110,5 +110,5 @@
     "arm_teleop_dual",
     "arm_teleop_piper",
     "arm_teleop_visualizing",
-    "arm_teleop_xarm6",
+    "arm_teleop_xarm7",
 ]

From 7b823e2a77aa019af8e0657a43b2c013376b1ef7 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Tue, 24 Feb 2026 16:17:36 -0800
Subject: [PATCH 05/18] Feat: added gripper as hardware_component

---
 dimos/control/__init__.py                   |  3 +-
 dimos/control/blueprints.py                 | 46 ++++++++++++++---
 dimos/control/components.py                 | 17 +++++++
 dimos/control/coordinator.py                | 54 ++++++++++++++++++--
 dimos/control/hardware_interface.py         | 55 +++++++++++++++++++++
 dimos/hardware/manipulators/xarm/adapter.py |  7 ++-
 6 files changed, 168 insertions(+), 14 deletions(-)

diff --git a/dimos/control/__init__.py b/dimos/control/__init__.py
index 23ac02836b..9831abe0cc 100644
--- a/dimos/control/__init__.py
+++ b/dimos/control/__init__.py
@@ -60,6 +60,7 @@
             "HardwareType",
             "JointName",
             "JointState",
+            "make_gripper_joint",
             "make_joints",
         ],
         "coordinator": [
@@ -68,7 +69,7 @@
             "TaskConfig",
             "control_coordinator",
         ],
-        "hardware_interface": ["ConnectedHardware"],
+        "hardware_interface": ["ConnectedGripper", "ConnectedHardware"],
         "task": [
             "ControlMode",
             "ControlTask",
diff --git a/dimos/control/blueprints.py b/dimos/control/blueprints.py
index 5c33928e79..0f567bfaf6 100644
--- a/dimos/control/blueprints.py
+++ b/dimos/control/blueprints.py
@@ -33,6 +33,7 @@
 from dimos.control.components import (
     HardwareComponent,
     HardwareType,
+    make_gripper_joint,
     make_joints,
     make_twist_base_joints,
 )
@@ -45,6 +46,7 @@
 
 _PIPER_MODEL_PATH = LfsPath("piper_description/mujoco_model/piper_no_gripper_description.xml")
 _XARM6_MODEL_PATH = LfsPath("xarm_description/urdf/xarm6/xarm6.urdf")
+_XARM7_MODEL_PATH = LfsPath("xarm_description/urdf/xarm7/xarm7.urdf")
 
 
 # =============================================================================
@@ -473,8 +475,8 @@
 # Teleop IK Blueprints (VR teleoperation with internal Pinocchio IK)
 # =============================================================================
 
-# Single XArm6 with TeleopIK
-coordinator_teleop_xarm6 = control_coordinator(
+# Single XArm7 with TeleopIK
+coordinator_teleop_xarm7 = control_coordinator(
     tick_rate=100.0,
     publish_joint_state=True,
     joint_state_frame_id="coordinator",
@@ -482,21 +484,28 @@
         HardwareComponent(
             hardware_id="arm",
             hardware_type=HardwareType.MANIPULATOR,
-            joints=make_joints("arm", 6),
+            joints=make_joints("arm", 7),
             adapter_type="xarm",
-            address="192.168.1.210",
+            address="192.168.2.235",
             auto_enable=True,
         ),
+        HardwareComponent(
+            hardware_id=make_gripper_joint("arm"),
+            hardware_type=HardwareType.GRIPPER,
+            joints=[make_gripper_joint("arm")],
+            parent_hardware_id="arm",
+        ),
     ],
     tasks=[
         TaskConfig(
             name="teleop_xarm",
             type="teleop_ik",
-            joint_names=[f"arm_joint{i + 1}" for i in range(6)],
+            joint_names=[f"arm_joint{i + 1}" for i in range(7)],
             priority=10,
-            model_path=_XARM6_MODEL_PATH,
-            ee_joint_id=6,
+            model_path=_XARM7_MODEL_PATH,
+            ee_joint_id=7,
             hand="right",
+            gripper_joint=make_gripper_joint("arm"),
         ),
     ],
 ).transports(
@@ -523,6 +532,12 @@
             address="can0",
             auto_enable=True,
         ),
+        HardwareComponent(
+            hardware_id=make_gripper_joint("arm"),
+            hardware_type=HardwareType.GRIPPER,
+            joints=[make_gripper_joint("arm")],
+            parent_hardware_id="arm",
+        ),
     ],
     tasks=[
         TaskConfig(
@@ -533,6 +548,7 @@
             model_path=_PIPER_MODEL_PATH,
             ee_joint_id=6,
             hand="left",
+            gripper_joint=make_gripper_joint("arm"),
         ),
     ],
 ).transports(
@@ -559,6 +575,12 @@
             address="192.168.1.210",
             auto_enable=True,
         ),
+        HardwareComponent(
+            hardware_id=make_gripper_joint("xarm_arm"),
+            hardware_type=HardwareType.GRIPPER,
+            joints=[make_gripper_joint("xarm_arm")],
+            parent_hardware_id="xarm_arm",
+        ),
         HardwareComponent(
             hardware_id="piper_arm",
             hardware_type=HardwareType.MANIPULATOR,
@@ -567,6 +589,12 @@
             address="can0",
             auto_enable=True,
         ),
+        HardwareComponent(
+            hardware_id=make_gripper_joint("piper_arm"),
+            hardware_type=HardwareType.GRIPPER,
+            joints=[make_gripper_joint("piper_arm")],
+            parent_hardware_id="piper_arm",
+        ),
     ],
     tasks=[
         TaskConfig(
@@ -577,6 +605,7 @@
             model_path=_XARM6_MODEL_PATH,
             ee_joint_id=6,
             hand="left",
+            gripper_joint=make_gripper_joint("xarm_arm"),
         ),
         TaskConfig(
             name="teleop_piper",
@@ -586,6 +615,7 @@
             model_path=_PIPER_MODEL_PATH,
             ee_joint_id=6,
             hand="right",
+            gripper_joint=make_gripper_joint("piper_arm"),
         ),
     ],
 ).transports(
@@ -714,7 +744,7 @@
     # Teleop IK
     "coordinator_teleop_dual",
     "coordinator_teleop_piper",
-    "coordinator_teleop_xarm6",
+    "coordinator_teleop_xarm7",
     "coordinator_velocity_xarm6",
     "coordinator_xarm6",
     "coordinator_xarm7",
diff --git a/dimos/control/components.py b/dimos/control/components.py
index 8157a288d2..cc327eb623 100644
--- a/dimos/control/components.py
+++ b/dimos/control/components.py
@@ -48,6 +48,9 @@ class HardwareComponent:
         adapter_type: Adapter type ("mock", "xarm", "piper")
         address: Connection address - IP for TCP, port for CAN
         auto_enable: Whether to auto-enable servos
+        parent_hardware_id: For GRIPPER type only — the hardware_id of the
+            manipulator whose adapter provides the gripper interface.
+            The gripper shares the parent's already-connected adapter.
     """
 
     hardware_id: HardwareId
@@ -56,6 +59,19 @@ class HardwareComponent:
     adapter_type: str = "mock"
     address: str | None = None
     auto_enable: bool = True
+    parent_hardware_id: HardwareId | None = None
+
+
+def make_gripper_joint(hardware_id: HardwareId) -> str:
+    """Create the gripper joint name for a hardware device.
+
+    Args:
+        hardware_id: The hardware identifier (e.g., "arm")
+
+    Returns:
+        Joint name like "arm_gripper"
+    """
+    return f"{hardware_id}_gripper"
 
 
 def make_joints(hardware_id: HardwareId, dof: int) -> list[JointName]:
@@ -112,6 +128,7 @@ def make_twist_base_joints(
     "JointName",
     "JointState",
     "TaskName",
+    "make_gripper_joint",
     "make_joints",
     "make_twist_base_joints",
 ]
diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index c9182e6aa8..9f477a9c62 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -85,6 +85,10 @@ class TaskConfig:
         priority: Task priority (higher wins arbitration)
         model_path: Path to URDF/MJCF for IK solver (cartesian_ik/teleop_ik only)
         ee_joint_id: End-effector joint ID in model (cartesian_ik/teleop_ik only)
+        hand: "left" or "right" controller hand (teleop_ik only)
+        gripper_joint: Joint name for gripper virtual joint (teleop_ik only)
+        gripper_open_pos: Gripper position at trigger 0.0 (teleop_ik only)
+        gripper_closed_pos: Gripper position at trigger 1.0 (teleop_ik only)
     """
 
     name: str
@@ -95,6 +99,10 @@ class TaskConfig:
     model_path: str | Path | None = None
     ee_joint_id: int = 6
     hand: str = ""  # teleop_ik only: "left" or "right" controller
+    # Teleop IK gripper specific
+    gripper_joint: str | None = None
+    gripper_open_pos: float = 0.85
+    gripper_closed_pos: float = 0.0
 
 
 @dataclass
@@ -223,6 +231,10 @@ def _setup_from_config(self) -> None:
 
     def _setup_hardware(self, component: HardwareComponent) -> None:
         """Connect and add a single hardware adapter."""
+        if component.hardware_type == HardwareType.GRIPPER:
+            self._setup_gripper_hardware(component)
+            return
+
         adapter: ManipulatorAdapter | TwistBaseAdapter
         if component.hardware_type == HardwareType.BASE:
             adapter = self._create_twist_base_adapter(component)
@@ -241,6 +253,29 @@ def _setup_hardware(self, component: HardwareComponent) -> None:
             adapter.disconnect()
             raise
 
+    def _setup_gripper_hardware(self, component: HardwareComponent) -> None:
+        """Register a gripper by borrowing the parent arm's adapter.
+
+        The gripper shares the parent manipulator's already-connected adapter.
+        No new connection is made; disconnect() on ConnectedGripper is a no-op.
+        """
+        if not component.parent_hardware_id:
+            raise ValueError(
+                f"Gripper component '{component.hardware_id}' requires parent_hardware_id"
+            )
+
+        with self._hardware_lock:
+            parent = self._hardware.get(component.parent_hardware_id)
+
+        if parent is None:
+            raise ValueError(
+                f"Parent hardware '{component.parent_hardware_id}' not found "
+                f"for gripper '{component.hardware_id}'. "
+                f"Add the parent arm before the gripper."
+            )
+
+        self.add_hardware(parent.adapter, component)
+
     def _create_adapter(self, component: HardwareComponent) -> ManipulatorAdapter:
         """Create a manipulator adapter from component config."""
         from dimos.hardware.manipulators.registry import adapter_registry
@@ -328,6 +363,9 @@ def _create_task_from_config(self, cfg: TaskConfig) -> ControlTask:
                     ee_joint_id=cfg.ee_joint_id,
                     priority=cfg.priority,
                     hand=cfg.hand,
+                    gripper_joint=cfg.gripper_joint,
+                    gripper_open_pos=cfg.gripper_open_pos,
+                    gripper_closed_pos=cfg.gripper_closed_pos,
                 ),
             )
 
@@ -345,8 +383,11 @@ def add_hardware(
         component: HardwareComponent,
     ) -> bool:
         """Register a hardware adapter with the coordinator."""
+        is_gripper = component.hardware_type == HardwareType.GRIPPER
         is_base = component.hardware_type == HardwareType.BASE
-        if is_base != isinstance(adapter, TwistBaseAdapter):
+
+        # Grippers reuse their parent arm's ManipulatorAdapter — skip the base/adapter check
+        if not is_gripper and (is_base != isinstance(adapter, TwistBaseAdapter)):
             raise TypeError(
                 f"Hardware type / adapter mismatch for '{component.hardware_id}': "
                 f"hardware_type={component.hardware_type.value} but got "
@@ -358,8 +399,15 @@ def add_hardware(
                 logger.warning(f"Hardware {component.hardware_id} already registered")
                 return False
 
-            if isinstance(adapter, TwistBaseAdapter):
-                connected: ConnectedHardware = ConnectedTwistBase(
+            if is_gripper:
+                from dimos.control.hardware_interface import ConnectedGripper
+
+                connected: ConnectedHardware = ConnectedGripper(
+                    adapter=adapter,  # type: ignore[arg-type]
+                    component=component,
+                )
+            elif isinstance(adapter, TwistBaseAdapter):
+                connected = ConnectedTwistBase(
                     adapter=adapter,
                     component=component,
                 )
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 4e5d1d634c..75f3198ee2 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -287,7 +287,62 @@ def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
         return self._twist_adapter.write_velocities(ordered)
 
 
+class ConnectedGripper(ConnectedHardware):
+    """Runtime wrapper for a gripper attached to a manipulator.
+
+    Shares the parent manipulator's adapter but routes read/write
+    through gripper-specific adapter methods (read_gripper_position /
+    write_gripper_position).  Lifecycle (connect / disconnect) is owned
+    by the parent ConnectedHardware — disconnect() is a no-op here.
+
+    Registered as a separate HardwareComponent with hardware_type=GRIPPER
+    so the tick loop treats it uniformly alongside arm joints.
+    """
+
+    def __init__(
+        self,
+        adapter: ManipulatorAdapter,
+        component: HardwareComponent,
+    ) -> None:
+        super().__init__(adapter, component)
+        # Gripper starts at 0 — no need to read current position on init
+        self._last_commanded = {name: 0.0 for name in self._joint_names}
+        self._initialized = True
+
+    def disconnect(self) -> None:
+        """No-op: lifecycle is owned by the parent ConnectedHardware."""
+
+    def read_state(self) -> dict[JointName, JointState]:
+        """Read gripper position via adapter.read_gripper_position()."""
+        from dimos.control.components import JointState
+
+        pos = self._adapter.read_gripper_position()
+        joint_name = self._joint_names[0]
+        return {
+            joint_name: JointState(
+                position=pos if pos is not None else 0.0,
+                velocity=0.0,
+                effort=0.0,
+            )
+        }
+
+    def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
+        """Write gripper position via adapter.write_gripper_position().
+
+        Mode is ignored — gripper is always position-controlled.
+        """
+        joint_name = self._joint_names[0]
+        if joint_name not in commands:
+            return True  # nothing commanded this tick, hold current
+        return self._adapter.write_gripper_position(commands[joint_name])
+
+    def _initialize_last_commanded(self) -> None:
+        """No-op: already initialized in __init__."""
+        self._initialized = True
+
+
 __all__ = [
+    "ConnectedGripper",
     "ConnectedHardware",
     "ConnectedTwistBase",
 ]
diff --git a/dimos/hardware/manipulators/xarm/adapter.py b/dimos/hardware/manipulators/xarm/adapter.py
index dd9f764031..80cc8edb38 100644
--- a/dimos/hardware/manipulators/xarm/adapter.py
+++ b/dimos/hardware/manipulators/xarm/adapter.py
@@ -62,6 +62,7 @@ def __init__(self, address: str, dof: int = 6, **_: object) -> None:
         self._dof = dof
         self._arm: XArmAPI | None = None
         self._control_mode: ControlMode = ControlMode.POSITION
+        self._gripper_enabled: bool = False
 
     # =========================================================================
     # Connection
@@ -351,9 +352,11 @@ def write_gripper_position(self, position: float) -> bool:
         if not self._arm:
             return False
 
-        self._arm.set_gripper_enable(True)
+        if not self._gripper_enabled:
+            self._arm.set_gripper_enable(True)
+            self._gripper_enabled = True
         pos_mm = position * M_TO_MM
-        code: int = self._arm.set_gripper_position(pos_mm, wait=True)
+        code: int = self._arm.set_gripper_position(pos_mm, wait=False)
         return code == 0
 
     # =========================================================================

From 3024b5508599e49c6c873de743df7723278d36d0 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Tue, 24 Feb 2026 16:18:23 -0800
Subject: [PATCH 06/18] Feat: gripper trigger decode

---
 dimos/control/tasks/teleop_task.py | 70 ++++++++++++++++++++++++++++--
 1 file changed, 67 insertions(+), 3 deletions(-)

diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index d1a90eb6d0..3574f660a1 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -69,6 +69,12 @@ class TeleopIKTaskConfig:
         timeout: If no command received for this many seconds, go inactive (0 = never)
         max_joint_delta_deg: Maximum allowed joint change per tick (safety limit)
         hand: "left" or "right" — which controller's primary button to listen to
+        gripper_joint: Optional joint name for the gripper (e.g. "arm_gripper").
+            When set, on_gripper_trigger() maps a 0-1 analog trigger to gripper
+            position and includes it in JointCommandOutput each tick alongside
+            the arm joints. Requires a ConnectedGripper registered under this name.
+        gripper_open_pos: Gripper position (meters) at trigger value 0.0 (no press).
+        gripper_closed_pos: Gripper position (meters) at trigger value 1.0 (full press).
     """
 
     joint_names: list[str]
@@ -76,8 +82,11 @@ class TeleopIKTaskConfig:
     ee_joint_id: int
     priority: int = 10
     timeout: float = 0.5
-    max_joint_delta_deg: float = 5.0  # ~500°/s at 100Hz
+    max_joint_delta_deg: float = 20.0  # loosened; tighten once IK null-space regularization is added
     hand: str = ""
+    gripper_joint: str | None = None
+    gripper_open_pos: float = 0.85
+    gripper_closed_pos: float = 0.0
 
 
 class TeleopIKTask(BaseControlTask):
@@ -148,6 +157,10 @@ def __init__(self, name: str, config: TeleopIKTaskConfig) -> None:
         self._initial_ee_pose: pinocchio.SE3 | None = None
         self._prev_primary: bool = False
 
+        # Gripper state — only active when config.gripper_joint is set.
+        # Starts at open position so the gripper doesn't unexpectedly close on engage.
+        self._gripper_target: float = config.gripper_open_pos
+
         logger.info(
             f"TeleopIKTask {name} initialized with model: {config.model_path}, "
             f"ee_joint_id={config.ee_joint_id}, joints={config.joint_names}"
@@ -160,8 +173,11 @@ def name(self) -> str:
 
     def claim(self) -> ResourceClaim:
         """Declare resource requirements."""
+        joints = self._joint_names
+        if self._config.gripper_joint:
+            joints = joints | frozenset([self._config.gripper_joint])
         return ResourceClaim(
-            joints=self._joint_names,
+            joints=joints,
             priority=self._config.priority,
             mode=ControlMode.SERVO_POSITION,
         )
@@ -245,9 +261,18 @@ def compute(self, state: CoordinatorState) -> JointCommandOutput | None:
             )
             return None
 
+        joint_names = list(self._joint_names_list)
         positions = q_solution.flatten().tolist()
+
+        # Append gripper joint if configured — routed to ConnectedGripper by tick loop
+        if self._config.gripper_joint:
+            with self._lock:
+                gripper_pos = self._gripper_target
+            joint_names.append(self._config.gripper_joint)
+            positions.append(gripper_pos)
+
         return JointCommandOutput(
-            joint_names=self._joint_names_list,
+            joint_names=joint_names,
             positions=positions,
             mode=ControlMode.SERVO_POSITION,
         )
@@ -302,6 +327,19 @@ def on_buttons(self, msg: Buttons) -> bool:
                 self._target_pose = None
                 self._initial_ee_pose = None
         self._prev_primary = primary
+
+        # Gripper: decode analog trigger from bits 16-31 of Buttons and update target
+        if self._config.gripper_joint:
+            if hand == "left":
+                self.on_gripper_trigger(msg.left_trigger_analog, 0.0)
+            elif hand == "right":
+                self.on_gripper_trigger(msg.right_trigger_analog, 0.0)
+            else:
+                logger.warning(
+                    f"TeleopIKTask {self._name}: gripper_joint is set but hand is not "
+                    f"'left' or 'right' — cannot determine which trigger to use"
+                )
+
         return True
 
     def on_cartesian_command(self, pose: Pose | PoseStamped, t_now: float) -> bool:
@@ -313,6 +351,32 @@ def on_cartesian_command(self, pose: Pose | PoseStamped, t_now: float) -> bool:
 
         return True
 
+    def on_gripper_trigger(self, value: float, _t_now: float) -> bool:
+        """Map analog trigger (0-1) to gripper position.
+
+        Called each tick by the coordinator when a trigger stream is wired in.
+        Linearly interpolates: 0.0 → gripper_open_pos, 1.0 → gripper_closed_pos.
+
+        Args:
+            value: Trigger value in [0.0, 1.0] (0 = no press, 1 = full press)
+            t_now: Current time (unused — gripper holds position indefinitely)
+
+        Returns:
+            True if gripper_joint is configured, False otherwise
+        """
+        if not self._config.gripper_joint:
+            return False
+
+        clamped = max(0.0, min(1.0, value))
+        pos = self._config.gripper_open_pos + (
+            self._config.gripper_closed_pos - self._config.gripper_open_pos
+        ) * clamped
+
+        with self._lock:
+            self._gripper_target = pos
+
+        return True
+
     def start(self) -> None:
         """Activate the task (start accepting and outputting commands)."""
         with self._lock:

From 5617a628d3121404f3ff64b9a6508a3a3df6bad1 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Tue, 24 Feb 2026 16:19:52 -0800
Subject: [PATCH 07/18] Fix: pre-commit fixes

---
 dimos/control/tasks/teleop_task.py | 11 +++++++----
 dimos/teleop/quest/quest_types.py  |  6 +++++-
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index 3574f660a1..9e5d352530 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -82,7 +82,9 @@ class TeleopIKTaskConfig:
     ee_joint_id: int
     priority: int = 10
     timeout: float = 0.5
-    max_joint_delta_deg: float = 20.0  # loosened; tighten once IK null-space regularization is added
+    max_joint_delta_deg: float = (
+        20.0  # loosened; tighten once IK null-space regularization is added
+    )
     hand: str = ""
     gripper_joint: str | None = None
     gripper_open_pos: float = 0.85
@@ -368,9 +370,10 @@ def on_gripper_trigger(self, value: float, _t_now: float) -> bool:
             return False
 
         clamped = max(0.0, min(1.0, value))
-        pos = self._config.gripper_open_pos + (
-            self._config.gripper_closed_pos - self._config.gripper_open_pos
-        ) * clamped
+        pos = (
+            self._config.gripper_open_pos
+            + (self._config.gripper_closed_pos - self._config.gripper_open_pos) * clamped
+        )
 
         with self._lock:
             self._gripper_target = pos
diff --git a/dimos/teleop/quest/quest_types.py b/dimos/teleop/quest/quest_types.py
index 1882f23531..67fc27587c 100644
--- a/dimos/teleop/quest/quest_types.py
+++ b/dimos/teleop/quest/quest_types.py
@@ -142,7 +142,11 @@ def pack_analog_triggers(self, left: float, right: float) -> None:
         """Pack analog trigger values [0.0, 1.0] into bits 16-23 and 24-31."""
         left_u8 = round(max(0.0, min(1.0, left)) * 255)
         right_u8 = round(max(0.0, min(1.0, right)) * 255)
-        unsigned = (self.data & 0x0000FFFF) | (left_u8 << self._LEFT_TRIGGER_SHIFT) | (right_u8 << self._RIGHT_TRIGGER_SHIFT)
+        unsigned = (
+            (self.data & 0x0000FFFF)
+            | (left_u8 << self._LEFT_TRIGGER_SHIFT)
+            | (right_u8 << self._RIGHT_TRIGGER_SHIFT)
+        )
         # LCM encodes UInt32 as signed int32 — convert to avoid overflow
         if unsigned >= 0x80000000:
             unsigned -= 0x100000000

From 32349c92e80cb922b0a6392b09956225baa00d6c Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Wed, 25 Feb 2026 15:14:41 -0800
Subject: [PATCH 08/18] comments update

---
 dimos/control/components.py  | 4 +---
 dimos/control/coordinator.py | 6 +++---
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/dimos/control/components.py b/dimos/control/components.py
index cc327eb623..dd2e6a8d98 100644
--- a/dimos/control/components.py
+++ b/dimos/control/components.py
@@ -48,9 +48,7 @@ class HardwareComponent:
         adapter_type: Adapter type ("mock", "xarm", "piper")
         address: Connection address - IP for TCP, port for CAN
         auto_enable: Whether to auto-enable servos
-        parent_hardware_id: For GRIPPER type only — the hardware_id of the
-            manipulator whose adapter provides the gripper interface.
-            The gripper shares the parent's already-connected adapter.
+        parent_hardware_id: For GRIPPER type only — gripper shares the parent's already-connected adapter.
     """
 
     hardware_id: HardwareId
diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index 9f477a9c62..c39ffeba7a 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -86,9 +86,9 @@ class TaskConfig:
         model_path: Path to URDF/MJCF for IK solver (cartesian_ik/teleop_ik only)
         ee_joint_id: End-effector joint ID in model (cartesian_ik/teleop_ik only)
         hand: "left" or "right" controller hand (teleop_ik only)
-        gripper_joint: Joint name for gripper virtual joint (teleop_ik only)
-        gripper_open_pos: Gripper position at trigger 0.0 (teleop_ik only)
-        gripper_closed_pos: Gripper position at trigger 1.0 (teleop_ik only)
+        gripper_joint: Joint name for gripper virtual joint
+        gripper_open_pos: Gripper position at trigger 0.0
+        gripper_closed_pos: Gripper position at trigger 1.0
     """
 
     name: str

From 269be7d9837805b3d424b967f6caa06aa910fcf0 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Wed, 25 Feb 2026 17:02:42 -0800
Subject: [PATCH 09/18] fix: bit conversion amth + comments

---
 dimos/control/blueprints.py            | 16 ++---------
 dimos/control/coordinator.py           |  9 ++----
 dimos/control/hardware_interface.py    |  5 ----
 dimos/control/tasks/teleop_task.py     | 22 ++-------------
 dimos/teleop/quest/quest_extensions.py |  8 +-----
 dimos/teleop/quest/quest_types.py      | 38 ++++++++++++--------------
 6 files changed, 26 insertions(+), 72 deletions(-)

diff --git a/dimos/control/blueprints.py b/dimos/control/blueprints.py
index 0f567bfaf6..125a379860 100644
--- a/dimos/control/blueprints.py
+++ b/dimos/control/blueprints.py
@@ -506,6 +506,8 @@
             ee_joint_id=7,
             hand="right",
             gripper_joint=make_gripper_joint("arm"),
+            gripper_open_pos=0.85,  # xArm gripper range
+            gripper_closed_pos=0.0,
         ),
     ],
 ).transports(
@@ -575,12 +577,6 @@
             address="192.168.1.210",
             auto_enable=True,
         ),
-        HardwareComponent(
-            hardware_id=make_gripper_joint("xarm_arm"),
-            hardware_type=HardwareType.GRIPPER,
-            joints=[make_gripper_joint("xarm_arm")],
-            parent_hardware_id="xarm_arm",
-        ),
         HardwareComponent(
             hardware_id="piper_arm",
             hardware_type=HardwareType.MANIPULATOR,
@@ -589,12 +585,6 @@
             address="can0",
             auto_enable=True,
         ),
-        HardwareComponent(
-            hardware_id=make_gripper_joint("piper_arm"),
-            hardware_type=HardwareType.GRIPPER,
-            joints=[make_gripper_joint("piper_arm")],
-            parent_hardware_id="piper_arm",
-        ),
     ],
     tasks=[
         TaskConfig(
@@ -605,7 +595,6 @@
             model_path=_XARM6_MODEL_PATH,
             ee_joint_id=6,
             hand="left",
-            gripper_joint=make_gripper_joint("xarm_arm"),
         ),
         TaskConfig(
             name="teleop_piper",
@@ -615,7 +604,6 @@
             model_path=_PIPER_MODEL_PATH,
             ee_joint_id=6,
             hand="right",
-            gripper_joint=make_gripper_joint("piper_arm"),
         ),
     ],
 ).transports(
diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index c39ffeba7a..f330f296ea 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -254,11 +254,7 @@ def _setup_hardware(self, component: HardwareComponent) -> None:
             raise
 
     def _setup_gripper_hardware(self, component: HardwareComponent) -> None:
-        """Register a gripper by borrowing the parent arm's adapter.
-
-        The gripper shares the parent manipulator's already-connected adapter.
-        No new connection is made; disconnect() on ConnectedGripper is a no-op.
-        """
+        """Register a gripper by borrowing the parent arm's adapter"""
         if not component.parent_hardware_id:
             raise ValueError(
                 f"Gripper component '{component.hardware_id}' requires parent_hardware_id"
@@ -269,8 +265,7 @@ def _setup_gripper_hardware(self, component: HardwareComponent) -> None:
 
         if parent is None:
             raise ValueError(
-                f"Parent hardware '{component.parent_hardware_id}' not found "
-                f"for gripper '{component.hardware_id}'. "
+                f"Parent hardware '{component.parent_hardware_id}' not found for gripper '{component.hardware_id}'"
                 f"Add the parent arm before the gripper."
             )
 
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 75f3198ee2..a3ccbcc5da 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -305,7 +305,6 @@ def __init__(
         component: HardwareComponent,
     ) -> None:
         super().__init__(adapter, component)
-        # Gripper starts at 0 — no need to read current position on init
         self._last_commanded = {name: 0.0 for name in self._joint_names}
         self._initialized = True
 
@@ -336,10 +335,6 @@ def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
             return True  # nothing commanded this tick, hold current
         return self._adapter.write_gripper_position(commands[joint_name])
 
-    def _initialize_last_commanded(self) -> None:
-        """No-op: already initialized in __init__."""
-        self._initialized = True
-
 
 __all__ = [
     "ConnectedGripper",
diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index 9e5d352530..b30e6043d2 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -70,9 +70,6 @@ class TeleopIKTaskConfig:
         max_joint_delta_deg: Maximum allowed joint change per tick (safety limit)
         hand: "left" or "right" — which controller's primary button to listen to
         gripper_joint: Optional joint name for the gripper (e.g. "arm_gripper").
-            When set, on_gripper_trigger() maps a 0-1 analog trigger to gripper
-            position and includes it in JointCommandOutput each tick alongside
-            the arm joints. Requires a ConnectedGripper registered under this name.
         gripper_open_pos: Gripper position (meters) at trigger value 0.0 (no press).
         gripper_closed_pos: Gripper position (meters) at trigger value 1.0 (full press).
     """
@@ -82,12 +79,10 @@ class TeleopIKTaskConfig:
     ee_joint_id: int
     priority: int = 10
     timeout: float = 0.5
-    max_joint_delta_deg: float = (
-        20.0  # loosened; tighten once IK null-space regularization is added
-    )
+    max_joint_delta_deg: float = 20.0
     hand: str = ""
     gripper_joint: str | None = None
-    gripper_open_pos: float = 0.85
+    gripper_open_pos: float = 0.0
     gripper_closed_pos: float = 0.0
 
 
@@ -354,18 +349,7 @@ def on_cartesian_command(self, pose: Pose | PoseStamped, t_now: float) -> bool:
         return True
 
     def on_gripper_trigger(self, value: float, _t_now: float) -> bool:
-        """Map analog trigger (0-1) to gripper position.
-
-        Called each tick by the coordinator when a trigger stream is wired in.
-        Linearly interpolates: 0.0 → gripper_open_pos, 1.0 → gripper_closed_pos.
-
-        Args:
-            value: Trigger value in [0.0, 1.0] (0 = no press, 1 = full press)
-            t_now: Current time (unused — gripper holds position indefinitely)
-
-        Returns:
-            True if gripper_joint is configured, False otherwise
-        """
+        """Map analog trigger (0-1) to gripper position"""
         if not self._config.gripper_joint:
             return False
 
diff --git a/dimos/teleop/quest/quest_extensions.py b/dimos/teleop/quest/quest_extensions.py
index 4f15d7108b..ce6fdba38e 100644
--- a/dimos/teleop/quest/quest_extensions.py
+++ b/dimos/teleop/quest/quest_extensions.py
@@ -136,13 +136,7 @@ def _publish_button_state(
         left: QuestControllerState | None,
         right: QuestControllerState | None,
     ) -> None:
-        """Publish Buttons with analog triggers packed into bits 16-31.
-
-        Builds the standard digital Buttons, then packs raw analog trigger
-        floats from QuestControllerState into bits 16-23 (left) and 24-31
-        (right) so the downstream TeleopIKTask can drive proportional gripper
-        control via on_buttons().
-        """
+        """Publish Buttons with analog triggers packed into bits 16-31"""
         buttons = Buttons.from_controllers(left, right)
         buttons.pack_analog_triggers(
             left=left.trigger if left is not None else 0.0,
diff --git a/dimos/teleop/quest/quest_types.py b/dimos/teleop/quest/quest_types.py
index 67fc27587c..7fd991a76c 100644
--- a/dimos/teleop/quest/quest_types.py
+++ b/dimos/teleop/quest/quest_types.py
@@ -95,14 +95,15 @@ class Buttons(UInt32):
     """Packed button states for both controllers in a single UInt32.
 
     Digital buttons are collapsed to bools. Analog trigger values are packed
-    as uint8 in the upper 16 bits for proportional gripper control.
+    as 7-bit integers in the upper 16 bits for proportional gripper control.
 
     Bit layout:
         Left  (bits 0-6):   trigger, grip, touchpad, thumbstick, primary, secondary, menu
         Right (bits 8-14):  trigger, grip, touchpad, thumbstick, primary, secondary, menu
         Bit 7, 15:          reserved
-        Bits 16-23:         left trigger analog (uint8, 0=0.0 … 255=1.0)
-        Bits 24-31:         right trigger analog (uint8, 0=0.0 … 255=1.0)
+        Bits 16-22:         left trigger analog (7-bit, 0=0.0 … 127=1.0)
+        Bits 23-29:         right trigger analog (7-bit, 0=0.0 … 127=1.0)
+        Bits 30-31:         unused (kept clear so LCM signed int32 never overflows)
     """
 
     # Bit positions for digital buttons
@@ -125,32 +126,29 @@ class Buttons(UInt32):
 
     # Analog trigger packing constants
     _LEFT_TRIGGER_SHIFT: int = 16
-    _RIGHT_TRIGGER_SHIFT: int = 24
-    _ANALOG_MASK: int = 0xFF
+    _RIGHT_TRIGGER_SHIFT: int = 23
+    _ANALOG_MASK: int = 0x7F
+    _ANALOG_MAX: int = 127
 
     @property
     def left_trigger_analog(self) -> float:
-        """Left trigger analog value [0.0, 1.0], decoded from bits 16-23."""
-        return ((self.data & 0xFFFFFFFF) >> self._LEFT_TRIGGER_SHIFT & self._ANALOG_MASK) / 255.0
+        """Left trigger analog value [0.0, 1.0], decoded from bits 16-22."""
+        return ((self.data >> self._LEFT_TRIGGER_SHIFT) & self._ANALOG_MASK) / self._ANALOG_MAX
 
     @property
     def right_trigger_analog(self) -> float:
-        """Right trigger analog value [0.0, 1.0], decoded from bits 24-31."""
-        return ((self.data & 0xFFFFFFFF) >> self._RIGHT_TRIGGER_SHIFT & self._ANALOG_MASK) / 255.0
+        """Right trigger analog value [0.0, 1.0], decoded from bits 23-29."""
+        return ((self.data >> self._RIGHT_TRIGGER_SHIFT) & self._ANALOG_MASK) / self._ANALOG_MAX
 
     def pack_analog_triggers(self, left: float, right: float) -> None:
-        """Pack analog trigger values [0.0, 1.0] into bits 16-23 and 24-31."""
-        left_u8 = round(max(0.0, min(1.0, left)) * 255)
-        right_u8 = round(max(0.0, min(1.0, right)) * 255)
-        unsigned = (
-            (self.data & 0x0000FFFF)
-            | (left_u8 << self._LEFT_TRIGGER_SHIFT)
-            | (right_u8 << self._RIGHT_TRIGGER_SHIFT)
+        """Pack analog trigger values [0.0, 1.0] into bits 16-22 and 23-29."""
+        left_u7 = round(max(0.0, min(1.0, left)) * self._ANALOG_MAX)
+        right_u7 = round(max(0.0, min(1.0, right)) * self._ANALOG_MAX)
+        self.data = (
+            (self.data & 0x0000FFFF)  # clear bits 16-31
+            | (left_u7 << self._LEFT_TRIGGER_SHIFT)
+            | (right_u7 << self._RIGHT_TRIGGER_SHIFT)
         )
-        # LCM encodes UInt32 as signed int32 — convert to avoid overflow
-        if unsigned >= 0x80000000:
-            unsigned -= 0x100000000
-        self.data = unsigned
 
     def __getattr__(self, name: str) -> bool:
         if name in Buttons.BITS:

From 3788d41a31dd7f9c4850847d8597af0b32b677d0 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Thu, 26 Feb 2026 11:05:18 -0800
Subject: [PATCH 10/18] fix: comments and errors

---
 dimos/control/blueprints.py            | 7 -------
 dimos/control/hardware_interface.py    | 5 -----
 dimos/control/tasks/teleop_task.py     | 2 --
 dimos/teleop/quest/quest_extensions.py | 2 +-
 4 files changed, 1 insertion(+), 15 deletions(-)

diff --git a/dimos/control/blueprints.py b/dimos/control/blueprints.py
index 125a379860..98cadc2d20 100644
--- a/dimos/control/blueprints.py
+++ b/dimos/control/blueprints.py
@@ -534,12 +534,6 @@
             address="can0",
             auto_enable=True,
         ),
-        HardwareComponent(
-            hardware_id=make_gripper_joint("arm"),
-            hardware_type=HardwareType.GRIPPER,
-            joints=[make_gripper_joint("arm")],
-            parent_hardware_id="arm",
-        ),
     ],
     tasks=[
         TaskConfig(
@@ -550,7 +544,6 @@
             model_path=_PIPER_MODEL_PATH,
             ee_joint_id=6,
             hand="left",
-            gripper_joint=make_gripper_joint("arm"),
         ),
     ],
 ).transports(
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index a3ccbcc5da..75bcbfec39 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -290,11 +290,6 @@ def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
 class ConnectedGripper(ConnectedHardware):
     """Runtime wrapper for a gripper attached to a manipulator.
 
-    Shares the parent manipulator's adapter but routes read/write
-    through gripper-specific adapter methods (read_gripper_position /
-    write_gripper_position).  Lifecycle (connect / disconnect) is owned
-    by the parent ConnectedHardware — disconnect() is a no-op here.
-
     Registered as a separate HardwareComponent with hardware_type=GRIPPER
     so the tick loop treats it uniformly alongside arm joints.
     """
diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index b30e6043d2..028ed649bc 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -154,8 +154,6 @@ def __init__(self, name: str, config: TeleopIKTaskConfig) -> None:
         self._initial_ee_pose: pinocchio.SE3 | None = None
         self._prev_primary: bool = False
 
-        # Gripper state — only active when config.gripper_joint is set.
-        # Starts at open position so the gripper doesn't unexpectedly close on engage.
         self._gripper_target: float = config.gripper_open_pos
 
         logger.info(
diff --git a/dimos/teleop/quest/quest_extensions.py b/dimos/teleop/quest/quest_extensions.py
index ce6fdba38e..ce152639c4 100644
--- a/dimos/teleop/quest/quest_extensions.py
+++ b/dimos/teleop/quest/quest_extensions.py
@@ -136,7 +136,7 @@ def _publish_button_state(
         left: QuestControllerState | None,
         right: QuestControllerState | None,
     ) -> None:
-        """Publish Buttons with analog triggers packed into bits 16-31"""
+        """Publish Buttons with analog triggers packed into bits 16-29."""
         buttons = Buttons.from_controllers(left, right)
         buttons.pack_analog_triggers(
             left=left.trigger if left is not None else 0.0,

From b3a0e9831472f7df1afee0ef076f77f94aa63263 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Thu, 26 Feb 2026 12:06:27 -0800
Subject: [PATCH 11/18] fix comments + pre-commit errors

---
 dimos/control/blueprints.py         | 1 +
 dimos/control/coordinator.py        | 8 ++++----
 dimos/control/hardware_interface.py | 7 ++++---
 3 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/dimos/control/blueprints.py b/dimos/control/blueprints.py
index 98cadc2d20..c80095e066 100644
--- a/dimos/control/blueprints.py
+++ b/dimos/control/blueprints.py
@@ -725,6 +725,7 @@
     # Teleop IK
     "coordinator_teleop_dual",
     "coordinator_teleop_piper",
+    "coordinator_teleop_xarm6",
     "coordinator_teleop_xarm7",
     "coordinator_velocity_xarm6",
     "coordinator_xarm6",
diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index f330f296ea..ba13fbd1af 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -101,7 +101,7 @@ class TaskConfig:
     hand: str = ""  # teleop_ik only: "left" or "right" controller
     # Teleop IK gripper specific
     gripper_joint: str | None = None
-    gripper_open_pos: float = 0.85
+    gripper_open_pos: float = 0.0
     gripper_closed_pos: float = 0.0
 
 
@@ -254,7 +254,7 @@ def _setup_hardware(self, component: HardwareComponent) -> None:
             raise
 
     def _setup_gripper_hardware(self, component: HardwareComponent) -> None:
-        """Register a gripper by borrowing the parent arm's adapter"""
+        """Register a gripper by borrowing the parent arm's adapter."""
         if not component.parent_hardware_id:
             raise ValueError(
                 f"Gripper component '{component.hardware_id}' requires parent_hardware_id"
@@ -265,8 +265,8 @@ def _setup_gripper_hardware(self, component: HardwareComponent) -> None:
 
         if parent is None:
             raise ValueError(
-                f"Parent hardware '{component.parent_hardware_id}' not found for gripper '{component.hardware_id}'"
-                f"Add the parent arm before the gripper."
+                f"Parent hardware '{component.parent_hardware_id}' not found for gripper "
+                f"'{component.hardware_id}'. Add the parent arm before the gripper."
             )
 
         self.add_hardware(parent.adapter, component)
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 75bcbfec39..20e2de34ce 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -324,11 +324,12 @@ def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
         """Write gripper position via adapter.write_gripper_position().
 
         Mode is ignored — gripper is always position-controlled.
+        Re-sends last commanded position when no new command arrives (hold-last-value).
         """
         joint_name = self._joint_names[0]
-        if joint_name not in commands:
-            return True  # nothing commanded this tick, hold current
-        return self._adapter.write_gripper_position(commands[joint_name])
+        if joint_name in commands:
+            self._last_commanded[joint_name] = commands[joint_name]
+        return self._adapter.write_gripper_position(self._last_commanded[joint_name])
 
 
 __all__ = [

From 210371b3804394f8ad3ee99a0623adce283a5415 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Thu, 26 Feb 2026 12:54:38 -0800
Subject: [PATCH 12/18] fix: blueprint + mypy tests

---
 dimos/control/coordinator.py       | 4 ++--
 dimos/control/tasks/teleop_task.py | 2 +-
 dimos/robot/all_blueprints.py      | 1 +
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index ba13fbd1af..05a8fbc42f 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -394,11 +394,11 @@ def add_hardware(
                 logger.warning(f"Hardware {component.hardware_id} already registered")
                 return False
 
-            if is_gripper:
+            if is_gripper and isinstance(adapter, ManipulatorAdapter):
                 from dimos.control.hardware_interface import ConnectedGripper
 
                 connected: ConnectedHardware = ConnectedGripper(
-                    adapter=adapter,  # type: ignore[arg-type]
+                    adapter=adapter,
                     component=component,
                 )
             elif isinstance(adapter, TwistBaseAdapter):
diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index 028ed649bc..e2ea8b5138 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -79,7 +79,7 @@ class TeleopIKTaskConfig:
     ee_joint_id: int
     priority: int = 10
     timeout: float = 0.5
-    max_joint_delta_deg: float = 20.0
+    max_joint_delta_deg: float = 5.0  # ~500°/s at 100Hz
     hand: str = ""
     gripper_joint: str | None = None
     gripper_open_pos: float = 0.0
diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index c9f9e8a1c7..14aa2bbc64 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -34,6 +34,7 @@
     "coordinator-piper-xarm": "dimos.control.blueprints:coordinator_piper_xarm",
     "coordinator-teleop-dual": "dimos.control.blueprints:coordinator_teleop_dual",
     "coordinator-teleop-piper": "dimos.control.blueprints:coordinator_teleop_piper",
+    "coordinator-teleop-xarm6": "dimos.control.blueprints:coordinator_teleop_xarm6",
     "coordinator-teleop-xarm7": "dimos.control.blueprints:coordinator_teleop_xarm7",
     "coordinator-velocity-xarm6": "dimos.control.blueprints:coordinator_velocity_xarm6",
     "coordinator-xarm6": "dimos.control.blueprints:coordinator_xarm6",

From 7837c7fce9335b559930e686537e19b67af30e2b Mon Sep 17 00:00:00 2001
From: ruthwikdasyam <63036454+ruthwikdasyam@users.noreply.github.com>
Date: Thu, 26 Feb 2026 21:14:51 +0000
Subject: [PATCH 13/18] CI code cleanup

---
 dimos/control/coordinator.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index 05a8fbc42f..79f601c3e5 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -48,6 +48,7 @@
 from dimos.hardware.drive_trains.spec import (
     TwistBaseAdapter,
 )
+from dimos.hardware.manipulators.spec import ManipulatorAdapter
 from dimos.msgs.geometry_msgs import (
     PoseStamped,  # noqa: TC001 - needed at runtime for In[PoseStamped]
     Twist,  # noqa: TC001 - needed at runtime for In[Twist]
@@ -64,7 +65,6 @@
     from collections.abc import Callable
     from pathlib import Path
 
-    from dimos.hardware.manipulators.spec import ManipulatorAdapter
 
 logger = setup_logger()
 

From 2de1e46db00552cd6950929235ad16657f3ad12c Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 16:02:11 -0800
Subject: [PATCH 14/18] Fix: no gripper as component, adding with joints

---
 dimos/control/__init__.py           |   4 +-
 dimos/control/blueprints.py         |  11 +--
 dimos/control/components.py         |  20 +++---
 dimos/control/coordinator.py        |  44 +++---------
 dimos/control/hardware_interface.py | 107 ++++++++++++----------------
 dimos/control/tasks/teleop_task.py  |   2 +-
 6 files changed, 72 insertions(+), 116 deletions(-)

diff --git a/dimos/control/__init__.py b/dimos/control/__init__.py
index 9831abe0cc..639f0ba38a 100644
--- a/dimos/control/__init__.py
+++ b/dimos/control/__init__.py
@@ -60,7 +60,7 @@
             "HardwareType",
             "JointName",
             "JointState",
-            "make_gripper_joint",
+            "make_gripper_joints",
             "make_joints",
         ],
         "coordinator": [
@@ -69,7 +69,7 @@
             "TaskConfig",
             "control_coordinator",
         ],
-        "hardware_interface": ["ConnectedGripper", "ConnectedHardware"],
+        "hardware_interface": ["ConnectedHardware"],
         "task": [
             "ControlMode",
             "ControlTask",
diff --git a/dimos/control/blueprints.py b/dimos/control/blueprints.py
index c80095e066..0384c69160 100644
--- a/dimos/control/blueprints.py
+++ b/dimos/control/blueprints.py
@@ -33,7 +33,7 @@
 from dimos.control.components import (
     HardwareComponent,
     HardwareType,
-    make_gripper_joint,
+    make_gripper_joints,
     make_joints,
     make_twist_base_joints,
 )
@@ -488,12 +488,7 @@
             adapter_type="xarm",
             address="192.168.2.235",
             auto_enable=True,
-        ),
-        HardwareComponent(
-            hardware_id=make_gripper_joint("arm"),
-            hardware_type=HardwareType.GRIPPER,
-            joints=[make_gripper_joint("arm")],
-            parent_hardware_id="arm",
+            gripper_joints=make_gripper_joints("arm"),
         ),
     ],
     tasks=[
@@ -505,7 +500,7 @@
             model_path=_XARM7_MODEL_PATH,
             ee_joint_id=7,
             hand="right",
-            gripper_joint=make_gripper_joint("arm"),
+            gripper_joint=make_gripper_joints("arm")[0],
             gripper_open_pos=0.85,  # xArm gripper range
             gripper_closed_pos=0.0,
         ),
diff --git a/dimos/control/components.py b/dimos/control/components.py
index dd2e6a8d98..d7c87cfc74 100644
--- a/dimos/control/components.py
+++ b/dimos/control/components.py
@@ -25,7 +25,6 @@
 class HardwareType(Enum):
     MANIPULATOR = "manipulator"
     BASE = "base"
-    GRIPPER = "gripper"
 
 
 @dataclass(frozen=True)
@@ -43,12 +42,12 @@ class HardwareComponent:
 
     Attributes:
         hardware_id: Unique identifier, also used as joint name prefix
-        hardware_type: Type of hardware (MANIPULATOR, BASE, GRIPPER)
+        hardware_type: Type of hardware (MANIPULATOR, BASE)
         joints: List of joint names (e.g., ["arm_joint1", "arm_joint2", ...])
         adapter_type: Adapter type ("mock", "xarm", "piper")
         address: Connection address - IP for TCP, port for CAN
         auto_enable: Whether to auto-enable servos
-        parent_hardware_id: For GRIPPER type only — gripper shares the parent's already-connected adapter.
+        gripper_joints: Joints that use adapter gripper methods. Auto-appended to joints.
     """
 
     hardware_id: HardwareId
@@ -57,19 +56,22 @@ class HardwareComponent:
     adapter_type: str = "mock"
     address: str | None = None
     auto_enable: bool = True
-    parent_hardware_id: HardwareId | None = None
+    gripper_joints: list[JointName] = field(default_factory=list)
 
+    def __post_init__(self) -> None:
+        self.joints.extend(self.gripper_joints)
 
-def make_gripper_joint(hardware_id: HardwareId) -> str:
-    """Create the gripper joint name for a hardware device.
+
+def make_gripper_joints(hardware_id: HardwareId) -> list[JointName]:
+    """Create gripper joint names for a hardware device.
 
     Args:
         hardware_id: The hardware identifier (e.g., "arm")
 
     Returns:
-        Joint name like "arm_gripper"
+        List of joint names like ["arm_gripper"]
     """
-    return f"{hardware_id}_gripper"
+    return [f"{hardware_id}_gripper"]
 
 
 def make_joints(hardware_id: HardwareId, dof: int) -> list[JointName]:
@@ -126,7 +128,7 @@ def make_twist_base_joints(
     "JointName",
     "JointState",
     "TaskName",
-    "make_gripper_joint",
+    "make_gripper_joints",
     "make_joints",
     "make_twist_base_joints",
 ]
diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index 79f601c3e5..feb1deaae0 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -48,7 +48,6 @@
 from dimos.hardware.drive_trains.spec import (
     TwistBaseAdapter,
 )
-from dimos.hardware.manipulators.spec import ManipulatorAdapter
 from dimos.msgs.geometry_msgs import (
     PoseStamped,  # noqa: TC001 - needed at runtime for In[PoseStamped]
     Twist,  # noqa: TC001 - needed at runtime for In[Twist]
@@ -65,6 +64,8 @@
     from collections.abc import Callable
     from pathlib import Path
 
+    from dimos.hardware.manipulators.spec import ManipulatorAdapter
+
 
 logger = setup_logger()
 
@@ -231,10 +232,6 @@ def _setup_from_config(self) -> None:
 
     def _setup_hardware(self, component: HardwareComponent) -> None:
         """Connect and add a single hardware adapter."""
-        if component.hardware_type == HardwareType.GRIPPER:
-            self._setup_gripper_hardware(component)
-            return
-
         adapter: ManipulatorAdapter | TwistBaseAdapter
         if component.hardware_type == HardwareType.BASE:
             adapter = self._create_twist_base_adapter(component)
@@ -253,31 +250,15 @@ def _setup_hardware(self, component: HardwareComponent) -> None:
             adapter.disconnect()
             raise
 
-    def _setup_gripper_hardware(self, component: HardwareComponent) -> None:
-        """Register a gripper by borrowing the parent arm's adapter."""
-        if not component.parent_hardware_id:
-            raise ValueError(
-                f"Gripper component '{component.hardware_id}' requires parent_hardware_id"
-            )
-
-        with self._hardware_lock:
-            parent = self._hardware.get(component.parent_hardware_id)
-
-        if parent is None:
-            raise ValueError(
-                f"Parent hardware '{component.parent_hardware_id}' not found for gripper "
-                f"'{component.hardware_id}'. Add the parent arm before the gripper."
-            )
-
-        self.add_hardware(parent.adapter, component)
-
     def _create_adapter(self, component: HardwareComponent) -> ManipulatorAdapter:
         """Create a manipulator adapter from component config."""
         from dimos.hardware.manipulators.registry import adapter_registry
 
+        # Adapter DOF is arm joints only — gripper joints use separate adapter methods.
+        arm_dof = len(component.joints) - len(component.gripper_joints)
         return adapter_registry.create(
             component.adapter_type,
-            dof=len(component.joints),
+            dof=arm_dof,
             address=component.address,
         )
 
@@ -378,11 +359,9 @@ def add_hardware(
         component: HardwareComponent,
     ) -> bool:
         """Register a hardware adapter with the coordinator."""
-        is_gripper = component.hardware_type == HardwareType.GRIPPER
         is_base = component.hardware_type == HardwareType.BASE
 
-        # Grippers reuse their parent arm's ManipulatorAdapter — skip the base/adapter check
-        if not is_gripper and (is_base != isinstance(adapter, TwistBaseAdapter)):
+        if is_base != isinstance(adapter, TwistBaseAdapter):
             raise TypeError(
                 f"Hardware type / adapter mismatch for '{component.hardware_id}': "
                 f"hardware_type={component.hardware_type.value} but got "
@@ -394,15 +373,8 @@ def add_hardware(
                 logger.warning(f"Hardware {component.hardware_id} already registered")
                 return False
 
-            if is_gripper and isinstance(adapter, ManipulatorAdapter):
-                from dimos.control.hardware_interface import ConnectedGripper
-
-                connected: ConnectedHardware = ConnectedGripper(
-                    adapter=adapter,
-                    component=component,
-                )
-            elif isinstance(adapter, TwistBaseAdapter):
-                connected = ConnectedTwistBase(
+            if isinstance(adapter, TwistBaseAdapter):
+                connected: ConnectedHardware = ConnectedTwistBase(
                     adapter=adapter,
                     component=component,
                 )
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 20e2de34ce..6f93d73d38 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -67,6 +67,13 @@ def __init__(
         self._component = component
         self._joint_names = component.joints
 
+        # Gripper joints use adapter.read/write_gripper_position() instead of
+        # the array-based read/write_joint_positions().
+        self._gripper_joints: frozenset[str] = frozenset(component.gripper_joints)
+        self._arm_joint_names: list[JointName] = [
+            j for j in component.joints if j not in self._gripper_joints
+        ]
+
         # Track last commanded values for hold-last behavior
         self._last_commanded: dict[str, float] = {}
         self._initialized = False
@@ -114,15 +121,27 @@ def read_state(self) -> dict[JointName, JointState]:
         velocities = self._adapter.read_joint_velocities()
         efforts = self._adapter.read_joint_efforts()
 
-        return {
+        result: dict[JointName, JointState] = {
             name: JointState(
                 position=positions[i],
                 velocity=velocities[i],
                 effort=efforts[i],
             )
-            for i, name in enumerate(self._joint_names)
+            for i, name in enumerate(self._arm_joint_names)
         }
 
+        # Append gripper joint(s) via adapter gripper method
+        if self._gripper_joints:
+            gripper_pos = self._adapter.read_gripper_position()
+            for gj in self._gripper_joints:
+                result[gj] = JointState(
+                    position=gripper_pos if gripper_pos is not None else 0.0,
+                    velocity=0.0,
+                    effort=0.0,
+                )
+
+        return result
+
     def write_command(self, commands: dict[str, float], mode: ControlMode) -> bool:
         """Write commands - allows partial joint sets, holds last for missing.
 
@@ -153,8 +172,8 @@ def write_command(self, commands: dict[str, float], mode: ControlMode) -> bool:
                 )
                 self._warned_unknown_joints.add(joint_name)
 
-        # Build ordered list for adapter
-        ordered = self._build_ordered_command()
+        # Build ordered list for arm joints only
+        arm_ordered = [self._last_commanded[name] for name in self._arm_joint_names]
 
         # Switch control mode if needed
         if mode != self._current_mode:
@@ -163,25 +182,43 @@ def write_command(self, commands: dict[str, float], mode: ControlMode) -> bool:
                 return False
             self._current_mode = mode
 
-        # Send to adapter
+        # Send arm joints to adapter
+        arm_ok: bool
         match mode:
             case ControlMode.POSITION | ControlMode.SERVO_POSITION:
-                return self._adapter.write_joint_positions(ordered)
+                arm_ok = self._adapter.write_joint_positions(arm_ordered)
             case ControlMode.VELOCITY:
-                return self._adapter.write_joint_velocities(ordered)
+                arm_ok = self._adapter.write_joint_velocities(arm_ordered)
             case ControlMode.TORQUE:
                 logger.warning(f"Hardware {self.hardware_id} does not support torque mode")
-                return False
+                arm_ok = False
             case _:
-                return False
+                arm_ok = False
+
+        # Send gripper joints via adapter gripper method
+        gripper_ok = True
+        for gj in self._gripper_joints:
+            if gj in self._last_commanded:
+                gripper_ok = (
+                    self._adapter.write_gripper_position(self._last_commanded[gj]) and gripper_ok
+                )
+
+        return arm_ok and gripper_ok
 
     def _initialize_last_commanded(self) -> None:
         """Initialize last_commanded with current hardware positions."""
         for _ in range(10):
             try:
                 current = self._adapter.read_joint_positions()
-                for i, name in enumerate(self._joint_names):
+                for i, name in enumerate(self._arm_joint_names):
                     self._last_commanded[name] = current[i]
+
+                # Initialize gripper joint(s) from adapter
+                if self._gripper_joints:
+                    gripper_pos = self._adapter.read_gripper_position()
+                    for gj in self._gripper_joints:
+                        self._last_commanded[gj] = gripper_pos if gripper_pos is not None else 0.0
+
                 self._initialized = True
                 return
             except Exception:
@@ -191,10 +228,6 @@ def _initialize_last_commanded(self) -> None:
             f"Hardware {self.hardware_id} failed to read initial positions after retries"
         )
 
-    def _build_ordered_command(self) -> list[float]:
-        """Build ordered command list from last_commanded dict."""
-        return [self._last_commanded[name] for name in self._joint_names]
-
 
 class ConnectedTwistBase(ConnectedHardware):
     """Runtime wrapper for a twist base connected to the coordinator.
@@ -287,53 +320,7 @@ def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
         return self._twist_adapter.write_velocities(ordered)
 
 
-class ConnectedGripper(ConnectedHardware):
-    """Runtime wrapper for a gripper attached to a manipulator.
-
-    Registered as a separate HardwareComponent with hardware_type=GRIPPER
-    so the tick loop treats it uniformly alongside arm joints.
-    """
-
-    def __init__(
-        self,
-        adapter: ManipulatorAdapter,
-        component: HardwareComponent,
-    ) -> None:
-        super().__init__(adapter, component)
-        self._last_commanded = {name: 0.0 for name in self._joint_names}
-        self._initialized = True
-
-    def disconnect(self) -> None:
-        """No-op: lifecycle is owned by the parent ConnectedHardware."""
-
-    def read_state(self) -> dict[JointName, JointState]:
-        """Read gripper position via adapter.read_gripper_position()."""
-        from dimos.control.components import JointState
-
-        pos = self._adapter.read_gripper_position()
-        joint_name = self._joint_names[0]
-        return {
-            joint_name: JointState(
-                position=pos if pos is not None else 0.0,
-                velocity=0.0,
-                effort=0.0,
-            )
-        }
-
-    def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
-        """Write gripper position via adapter.write_gripper_position().
-
-        Mode is ignored — gripper is always position-controlled.
-        Re-sends last commanded position when no new command arrives (hold-last-value).
-        """
-        joint_name = self._joint_names[0]
-        if joint_name in commands:
-            self._last_commanded[joint_name] = commands[joint_name]
-        return self._adapter.write_gripper_position(self._last_commanded[joint_name])
-
-
 __all__ = [
-    "ConnectedGripper",
     "ConnectedHardware",
     "ConnectedTwistBase",
 ]
diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index e2ea8b5138..0ded183921 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -259,7 +259,7 @@ def compute(self, state: CoordinatorState) -> JointCommandOutput | None:
         joint_names = list(self._joint_names_list)
         positions = q_solution.flatten().tolist()
 
-        # Append gripper joint if configured — routed to ConnectedGripper by tick loop
+        # Append gripper joint if configured — routed to ConnectedHardware by tick loop
         if self._config.gripper_joint:
             with self._lock:
                 gripper_pos = self._gripper_target

From 191ec86dfa06adb7cb87f95375bc8c5bc61f5c5b Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 16:30:18 -0800
Subject: [PATCH 15/18] feat: add literal for hand str

---
 dimos/control/coordinator.py       |  8 +++----
 dimos/control/tasks/teleop_task.py | 35 ++++++++----------------------
 2 files changed, 12 insertions(+), 31 deletions(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index feb1deaae0..c8bfd620e4 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -30,7 +30,7 @@
 from dataclasses import dataclass, field
 import threading
 import time
-from typing import TYPE_CHECKING, Any
+from typing import TYPE_CHECKING, Any, Literal
 
 from dimos.control.components import (
     TWIST_SUFFIX_MAP,
@@ -99,7 +99,7 @@ class TaskConfig:
     # Cartesian IK / Teleop IK specific
     model_path: str | Path | None = None
     ee_joint_id: int = 6
-    hand: str = ""  # teleop_ik only: "left" or "right" controller
+    hand: Literal["left", "right"] | None = None  # teleop_ik only
     # Teleop IK gripper specific
     gripper_joint: str | None = None
     gripper_open_pos: float = 0.0
@@ -254,11 +254,9 @@ def _create_adapter(self, component: HardwareComponent) -> ManipulatorAdapter:
         """Create a manipulator adapter from component config."""
         from dimos.hardware.manipulators.registry import adapter_registry
 
-        # Adapter DOF is arm joints only — gripper joints use separate adapter methods.
-        arm_dof = len(component.joints) - len(component.gripper_joints)
         return adapter_registry.create(
             component.adapter_type,
-            dof=arm_dof,
+            dof=len(component.joints),
             address=component.address,
         )
 
diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index 0ded183921..184cc686e2 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -27,7 +27,7 @@
 
 from dataclasses import dataclass
 import threading
-from typing import TYPE_CHECKING, Any
+from typing import TYPE_CHECKING, Any, Literal
 
 import numpy as np
 import pinocchio  # type: ignore[import-untyped]
@@ -80,7 +80,7 @@ class TeleopIKTaskConfig:
     priority: int = 10
     timeout: float = 0.5
     max_joint_delta_deg: float = 5.0  # ~500°/s at 100Hz
-    hand: str = ""
+    hand: Literal["left", "right"] | None = None
     gripper_joint: str | None = None
     gripper_open_pos: float = 0.0
     gripper_closed_pos: float = 0.0
@@ -127,6 +127,8 @@ def __init__(self, name: str, config: TeleopIKTaskConfig) -> None:
             raise ValueError(f"TeleopIKTask '{name}' requires at least one joint")
         if not config.model_path:
             raise ValueError(f"TeleopIKTask '{name}' requires model_path for IK solver")
+        if config.hand not in ("left", "right"):
+            raise ValueError(f"TeleopIKTask '{name}' requires hand='left' or 'right'")
 
         self._name = name
         self._config = config
@@ -297,43 +299,24 @@ def on_preempted(self, by_task: str, joints: frozenset[str]) -> None:
     # =========================================================================
 
     def on_buttons(self, msg: Buttons) -> bool:
-        """Press-and-hold engage: hold primary button to track, release to stop.
-
-        Checks only the button matching self._config.hand (left_primary or right_primary).
-        If hand is not set, listens to both.
-        """
-        hand = self._config.hand
-        if hand == "left":
-            primary = msg.left_primary
-        elif hand == "right":
-            primary = msg.right_primary
-        else:
-            primary = msg.left_primary or msg.right_primary
+        """Press-and-hold engage: hold primary button to track, release to stop."""
+        is_left = self._config.hand == "left"
+        primary = msg.left_primary if is_left else msg.right_primary
 
         if primary and not self._prev_primary:
-            # Rising edge: reset initial pose so compute() recaptures
             logger.info(f"TeleopIKTask {self._name}: engage")
             with self._lock:
                 self._initial_ee_pose = None
         elif not primary and self._prev_primary:
-            # Falling edge: stop tracking
             logger.info(f"TeleopIKTask {self._name}: disengage")
             with self._lock:
                 self._target_pose = None
                 self._initial_ee_pose = None
         self._prev_primary = primary
 
-        # Gripper: decode analog trigger from bits 16-31 of Buttons and update target
         if self._config.gripper_joint:
-            if hand == "left":
-                self.on_gripper_trigger(msg.left_trigger_analog, 0.0)
-            elif hand == "right":
-                self.on_gripper_trigger(msg.right_trigger_analog, 0.0)
-            else:
-                logger.warning(
-                    f"TeleopIKTask {self._name}: gripper_joint is set but hand is not "
-                    f"'left' or 'right' — cannot determine which trigger to use"
-                )
+            trigger = msg.left_trigger_analog if is_left else msg.right_trigger_analog
+            self.on_gripper_trigger(trigger, 0.0)
 
         return True
 

From 4f7bb440d2b2a51817557f3661e4c7ee1cd8f16b Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 16:32:01 -0800
Subject: [PATCH 16/18] fix: arm and gripper joint params

---
 dimos/control/components.py         |  8 +++++---
 dimos/control/hardware_interface.py | 15 +++++++--------
 2 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/dimos/control/components.py b/dimos/control/components.py
index d7c87cfc74..a32b395b83 100644
--- a/dimos/control/components.py
+++ b/dimos/control/components.py
@@ -47,7 +47,7 @@ class HardwareComponent:
         adapter_type: Adapter type ("mock", "xarm", "piper")
         address: Connection address - IP for TCP, port for CAN
         auto_enable: Whether to auto-enable servos
-        gripper_joints: Joints that use adapter gripper methods. Auto-appended to joints.
+        gripper_joints: Joints that use adapter gripper methods (separate from joints).
     """
 
     hardware_id: HardwareId
@@ -58,8 +58,10 @@ class HardwareComponent:
     auto_enable: bool = True
     gripper_joints: list[JointName] = field(default_factory=list)
 
-    def __post_init__(self) -> None:
-        self.joints.extend(self.gripper_joints)
+    @property
+    def all_joints(self) -> list[JointName]:
+        """All joints: arm joints + gripper joints."""
+        return self.joints + self.gripper_joints
 
 
 def make_gripper_joints(hardware_id: HardwareId) -> list[JointName]:
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 6f93d73d38..b4f84a2507 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -65,14 +65,9 @@ def __init__(
 
         self._adapter = adapter
         self._component = component
-        self._joint_names = component.joints
-
-        # Gripper joints use adapter.read/write_gripper_position() instead of
-        # the array-based read/write_joint_positions().
-        self._gripper_joints: frozenset[str] = frozenset(component.gripper_joints)
-        self._arm_joint_names: list[JointName] = [
-            j for j in component.joints if j not in self._gripper_joints
-        ]
+        self._arm_joint_names: list[JointName] = list(component.joints)
+        self._gripper_joints: list[JointName] = list(component.gripper_joints)
+        self._joint_names: list[JointName] = component.all_joints
 
         # Track last commanded values for hold-last behavior
         self._last_commanded: dict[str, float] = {}
@@ -228,6 +223,10 @@ def _initialize_last_commanded(self) -> None:
             f"Hardware {self.hardware_id} failed to read initial positions after retries"
         )
 
+    def _build_ordered_command(self) -> list[float]:
+        """Build ordered command list from last_commanded dict."""
+        return [self._last_commanded[name] for name in self._joint_names]
+
 
 class ConnectedTwistBase(ConnectedHardware):
     """Runtime wrapper for a twist base connected to the coordinator.

From fb45d3bc14ed11fb3f3540bfcae085a5f6f1b507 Mon Sep 17 00:00:00 2001
From: ruthwikdasyam <63036454+ruthwikdasyam@users.noreply.github.com>
Date: Sat, 28 Feb 2026 08:18:31 +0000
Subject: [PATCH 17/18] CI code cleanup

---
 dimos/control/coordinator.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index a2d1c32c4f..21d4c9d06c 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -65,7 +65,6 @@
     from collections.abc import Callable
 
 
-
 logger = setup_logger()
 
 

From 82cabb5cc629fb5ac9953451bc621de592f2cbf0 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 28 Feb 2026 10:43:58 -0800
Subject: [PATCH 18/18] Misc: docstrings

---
 dimos/control/tasks/teleop_task.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/dimos/control/tasks/teleop_task.py b/dimos/control/tasks/teleop_task.py
index 184cc686e2..ce63dc4006 100644
--- a/dimos/control/tasks/teleop_task.py
+++ b/dimos/control/tasks/teleop_task.py
@@ -70,8 +70,8 @@ class TeleopIKTaskConfig:
         max_joint_delta_deg: Maximum allowed joint change per tick (safety limit)
         hand: "left" or "right" — which controller's primary button to listen to
         gripper_joint: Optional joint name for the gripper (e.g. "arm_gripper").
-        gripper_open_pos: Gripper position (meters) at trigger value 0.0 (no press).
-        gripper_closed_pos: Gripper position (meters) at trigger value 1.0 (full press).
+        gripper_open_pos: Gripper position (adapter units) at trigger value 0.0 (no press).
+        gripper_closed_pos: Gripper position (adapter units) at trigger value 1.0 (full press).
     """
 
     joint_names: list[str]
@@ -107,6 +107,7 @@ class TeleopIKTask(BaseControlTask):
         ...         ee_joint_id=6,
         ...         priority=10,
         ...         timeout=0.5,
+        ...         hand="right",
         ...     ),
         ... )
         >>> coordinator.add_task(task)
@@ -316,7 +317,7 @@ def on_buttons(self, msg: Buttons) -> bool:
 
         if self._config.gripper_joint:
             trigger = msg.left_trigger_analog if is_left else msg.right_trigger_analog
-            self.on_gripper_trigger(trigger, 0.0)
+            self.on_gripper_trigger(trigger)
 
         return True
 
@@ -329,7 +330,7 @@ def on_cartesian_command(self, pose: Pose | PoseStamped, t_now: float) -> bool:
 
         return True
 
-    def on_gripper_trigger(self, value: float, _t_now: float) -> bool:
+    def on_gripper_trigger(self, value: float, _t_now: float = 0.0) -> bool:
         """Map analog trigger (0-1) to gripper position"""
         if not self._config.gripper_joint:
             return False