From 06c3aa57a87d711a6a5aac0a4d0a992c07e0ee31 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 16:51:32 -0800
Subject: [PATCH 01/14] added twist base protocol spec

---
 dimos/hardware/drive_trains/__init__.py | 15 ++++
 dimos/hardware/drive_trains/spec.py     | 95 +++++++++++++++++++++++++
 2 files changed, 110 insertions(+)
 create mode 100644 dimos/hardware/drive_trains/__init__.py
 create mode 100644 dimos/hardware/drive_trains/spec.py

diff --git a/dimos/hardware/drive_trains/__init__.py b/dimos/hardware/drive_trains/__init__.py
new file mode 100644
index 000000000..c6e843fee
--- /dev/null
+++ b/dimos/hardware/drive_trains/__init__.py
@@ -0,0 +1,15 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Drive train hardware adapters for velocity-commanded platforms."""
diff --git a/dimos/hardware/drive_trains/spec.py b/dimos/hardware/drive_trains/spec.py
new file mode 100644
index 000000000..0b288edfd
--- /dev/null
+++ b/dimos/hardware/drive_trains/spec.py
@@ -0,0 +1,95 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""TwistBase adapter protocol for velocity-commanded platforms.
+
+Lightweight protocol for mobile bases, quadrupeds, drones, RC cars,
+and any other platform that accepts Twist (velocity) commands.
+
+Virtual joint ordering is defined by the HardwareComponent.joints list.
+For a holonomic base: [vx, vy, wz] maps to joints ["base_vx", "base_vy", "base_wz"].
+"""
+
+from typing import Protocol, runtime_checkable
+
+
+@runtime_checkable
+class TwistBaseAdapter(Protocol):
+    """Protocol for velocity-commanded platform IO.
+
+    Implement this per vendor SDK. All methods use SI units:
+    - Linear velocity: m/s
+    - Angular velocity: rad/s
+    - Position: meters
+    - Angle: radians
+    """
+
+    # --- Connection ---
+
+    def connect(self) -> bool:
+        """Connect to hardware. Returns True on success."""
+        ...
+
+    def disconnect(self) -> None:
+        """Disconnect from hardware."""
+        ...
+
+    def is_connected(self) -> bool:
+        """Check if connected."""
+        ...
+
+    # --- Info ---
+
+    def get_dof(self) -> int:
+        """Get number of velocity DOFs (e.g., 3 for holonomic, 2 for differential)."""
+        ...
+
+    # --- State Reading ---
+
+    def read_velocities(self) -> list[float]:
+        """Read current velocities in virtual joint order (m/s or rad/s)."""
+        ...
+
+    def read_odometry(self) -> list[float] | None:
+        """Read position estimate in virtual joint order.
+
+        For a holonomic base this would be [x, y, theta].
+        Returns None if the platform doesn't provide odometry.
+        """
+        ...
+
+    # --- Control ---
+
+    def write_velocities(self, velocities: list[float]) -> bool:
+        """Command velocities in virtual joint order. Returns success."""
+        ...
+
+    def write_stop(self) -> bool:
+        """Stop all motion immediately (zero velocities)."""
+        ...
+
+    # --- Enable/Disable ---
+
+    def write_enable(self, enable: bool) -> bool:
+        """Enable or disable the platform. Returns success."""
+        ...
+
+    def read_enabled(self) -> bool:
+        """Check if platform is enabled."""
+        ...
+
+
+__all__ = [
+    "TwistBaseAdapter",
+]

From 69463a39df470f6e583489b7b0ce2bf60bdc6c71 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 16:52:03 -0800
Subject: [PATCH 02/14] created mock twist base adapter

---
 dimos/hardware/drive_trains/mock/__init__.py |  30 ++++
 dimos/hardware/drive_trains/mock/adapter.py  | 137 +++++++++++++++++++
 dimos/hardware/drive_trains/registry.py      |  98 +++++++++++++
 3 files changed, 265 insertions(+)
 create mode 100644 dimos/hardware/drive_trains/mock/__init__.py
 create mode 100644 dimos/hardware/drive_trains/mock/adapter.py
 create mode 100644 dimos/hardware/drive_trains/registry.py

diff --git a/dimos/hardware/drive_trains/mock/__init__.py b/dimos/hardware/drive_trains/mock/__init__.py
new file mode 100644
index 000000000..9b6f63004
--- /dev/null
+++ b/dimos/hardware/drive_trains/mock/__init__.py
@@ -0,0 +1,30 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Mock twist base adapter for testing without hardware.
+
+Usage:
+    >>> from dimos.hardware.drive_trains.mock import MockTwistBaseAdapter
+    >>> adapter = MockTwistBaseAdapter(dof=3)
+    >>> adapter.connect()
+    True
+    >>> adapter.write_velocities([0.5, 0.0, 0.1])
+    True
+    >>> adapter.read_velocities()
+    [0.5, 0.0, 0.1]
+"""
+
+from dimos.hardware.drive_trains.mock.adapter import MockTwistBaseAdapter
+
+__all__ = ["MockTwistBaseAdapter"]
diff --git a/dimos/hardware/drive_trains/mock/adapter.py b/dimos/hardware/drive_trains/mock/adapter.py
new file mode 100644
index 000000000..2091ec59d
--- /dev/null
+++ b/dimos/hardware/drive_trains/mock/adapter.py
@@ -0,0 +1,137 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Mock twist base adapter for testing - no hardware required.
+
+Usage:
+    >>> from dimos.hardware.drive_trains.mock import MockTwistBaseAdapter
+    >>> adapter = MockTwistBaseAdapter(dof=3)
+    >>> adapter.connect()
+    True
+    >>> adapter.write_velocities([0.5, 0.0, 0.1])
+    True
+"""
+
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
+
+
+class MockTwistBaseAdapter:
+    """Fake twist base adapter for unit tests.
+
+    Implements TwistBaseAdapter protocol with in-memory state.
+    Useful for:
+    - Unit testing coordinator logic without hardware
+    - Integration testing with predictable behavior
+    - Development without a physical base
+    """
+
+    def __init__(self, dof: int = 3, **_: object) -> None:
+        self._dof = dof
+        self._velocities = [0.0] * dof
+        self._odometry: list[float] | None = [0.0] * dof
+        self._enabled = False
+        self._connected = False
+
+    # =========================================================================
+    # Connection
+    # =========================================================================
+
+    def connect(self) -> bool:
+        """Simulate connection."""
+        self._connected = True
+        return True
+
+    def disconnect(self) -> None:
+        """Simulate disconnection."""
+        self._connected = False
+
+    def is_connected(self) -> bool:
+        """Check mock connection status."""
+        return self._connected
+
+    # =========================================================================
+    # Info
+    # =========================================================================
+
+    def get_dof(self) -> int:
+        """Return DOF."""
+        return self._dof
+
+    # =========================================================================
+    # State Reading
+    # =========================================================================
+
+    def read_velocities(self) -> list[float]:
+        """Return mock velocities."""
+        return self._velocities.copy()
+
+    def read_odometry(self) -> list[float] | None:
+        """Return mock odometry."""
+        if self._odometry is None:
+            return None
+        return self._odometry.copy()
+
+    # =========================================================================
+    # Control
+    # =========================================================================
+
+    def write_velocities(self, velocities: list[float]) -> bool:
+        """Set mock velocities."""
+        if len(velocities) != self._dof:
+            return False
+        self._velocities = list(velocities)
+        return True
+
+    def write_stop(self) -> bool:
+        """Stop mock motion."""
+        self._velocities = [0.0] * self._dof
+        return True
+
+    # =========================================================================
+    # Enable/Disable
+    # =========================================================================
+
+    def write_enable(self, enable: bool) -> bool:
+        """Enable/disable mock platform."""
+        self._enabled = enable
+        return True
+
+    def read_enabled(self) -> bool:
+        """Check mock enable state."""
+        return self._enabled
+
+    # =========================================================================
+    # Test Helpers (not part of Protocol)
+    # =========================================================================
+
+    def set_odometry(self, odometry: list[float] | None) -> None:
+        """Set odometry directly for testing."""
+        self._odometry = list(odometry) if odometry is not None else None
+
+    def set_velocities_directly(self, velocities: list[float]) -> None:
+        """Set velocities directly for testing (bypasses DOF check)."""
+        self._velocities = list(velocities)
+
+
+def register(registry: TwistBaseAdapterRegistry) -> None:
+    """Register this adapter with the registry."""
+    registry.register("mock_twist_base", MockTwistBaseAdapter)
+
+
+__all__ = ["MockTwistBaseAdapter"]
diff --git a/dimos/hardware/drive_trains/registry.py b/dimos/hardware/drive_trains/registry.py
new file mode 100644
index 000000000..299845740
--- /dev/null
+++ b/dimos/hardware/drive_trains/registry.py
@@ -0,0 +1,98 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""TwistBase adapter registry with auto-discovery.
+
+Automatically discovers and registers twist base adapters from subpackages.
+Each adapter provides a `register()` function in its adapter.py module.
+
+Usage:
+    from dimos.hardware.drive_trains.registry import twist_base_adapter_registry
+
+    # Create an adapter by name
+    adapter = twist_base_adapter_registry.create("mock_twist_base", dof=3)
+    adapter = twist_base_adapter_registry.create("flowbase", dof=3, address="172.6.2.20:11323")
+
+    # List available adapters
+    print(twist_base_adapter_registry.available())  # ["flowbase", "mock_twist_base"]
+"""
+
+from __future__ import annotations
+
+import importlib
+import logging
+import pkgutil
+from typing import TYPE_CHECKING, Any
+
+if TYPE_CHECKING:
+    from dimos.hardware.drive_trains.spec import TwistBaseAdapter
+
+logger = logging.getLogger(__name__)
+
+
+class TwistBaseAdapterRegistry:
+    """Registry for twist base adapters with auto-discovery."""
+
+    def __init__(self) -> None:
+        self._adapters: dict[str, type[TwistBaseAdapter]] = {}
+
+    def register(self, name: str, cls: type[TwistBaseAdapter]) -> None:
+        """Register an adapter class."""
+        self._adapters[name.lower()] = cls
+
+    def create(self, name: str, **kwargs: Any) -> TwistBaseAdapter:
+        """Create an adapter instance by name.
+
+        Args:
+            name: Adapter name (e.g., "mock_twist_base", "flowbase")
+            **kwargs: Arguments passed to adapter constructor
+
+        Returns:
+            Configured adapter instance
+
+        Raises:
+            KeyError: If adapter name is not found
+        """
+        key = name.lower()
+        if key not in self._adapters:
+            raise KeyError(f"Unknown twist base adapter: {name}. Available: {self.available()}")
+
+        return self._adapters[key](**kwargs)
+
+    def available(self) -> list[str]:
+        """List available adapter names."""
+        return sorted(self._adapters.keys())
+
+    def discover(self) -> None:
+        """Discover and register adapters from subpackages.
+
+        Can be called multiple times to pick up newly added adapters.
+        """
+        import dimos.hardware.drive_trains as pkg
+
+        for _, name, ispkg in pkgutil.iter_modules(pkg.__path__):
+            if not ispkg:
+                continue
+            try:
+                module = importlib.import_module(f"dimos.hardware.drive_trains.{name}.adapter")
+                if hasattr(module, "register"):
+                    module.register(self)
+            except ImportError as e:
+                logger.debug(f"Skipping twist base adapter {name}: {e}")
+
+
+twist_base_adapter_registry = TwistBaseAdapterRegistry()
+twist_base_adapter_registry.discover()
+
+__all__ = ["TwistBaseAdapterRegistry", "twist_base_adapter_registry"]

From bb0b87bf5b1e00d5fa83e02a1b754db41115daa0 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 16:57:23 -0800
Subject: [PATCH 03/14] added twistbase ConnectedHardware type

---
 dimos/control/components.py         | 35 +++++++++++
 dimos/control/hardware_interface.py | 97 +++++++++++++++++++++++++++--
 2 files changed, 128 insertions(+), 4 deletions(-)

diff --git a/dimos/control/components.py b/dimos/control/components.py
index e3022468e..8157a288d 100644
--- a/dimos/control/components.py
+++ b/dimos/control/components.py
@@ -71,7 +71,41 @@ def make_joints(hardware_id: HardwareId, dof: int) -> list[JointName]:
     return [f"{hardware_id}_joint{i + 1}" for i in range(dof)]
 
 
+# Maps virtual joint suffix → (Twist group, Twist field)
+TWIST_SUFFIX_MAP: dict[str, tuple[str, str]] = {
+    "vx": ("linear", "x"),
+    "vy": ("linear", "y"),
+    "vz": ("linear", "z"),
+    "wx": ("angular", "x"),
+    "wy": ("angular", "y"),
+    "wz": ("angular", "z"),
+}
+
+_DEFAULT_TWIST_SUFFIXES = ["vx", "vy", "wz"]
+
+
+def make_twist_base_joints(
+    hardware_id: HardwareId,
+    suffixes: list[str] | None = None,
+) -> list[JointName]:
+    """Create virtual joint names for a twist base.
+
+    Args:
+        hardware_id: The hardware identifier (e.g., "base")
+        suffixes: Velocity DOF suffixes. Defaults to ["vx", "vy", "wz"] (holonomic).
+
+    Returns:
+        List of joint names like ["base_vx", "base_vy", "base_wz"]
+    """
+    suffixes = suffixes or _DEFAULT_TWIST_SUFFIXES
+    for s in suffixes:
+        if s not in TWIST_SUFFIX_MAP:
+            raise ValueError(f"Unknown twist suffix '{s}'. Valid: {list(TWIST_SUFFIX_MAP)}")
+    return [f"{hardware_id}_{s}" for s in suffixes]
+
+
 __all__ = [
+    "TWIST_SUFFIX_MAP",
     "HardwareComponent",
     "HardwareId",
     "HardwareType",
@@ -79,4 +113,5 @@ def make_joints(hardware_id: HardwareId, dof: int) -> list[JointName]:
     "JointState",
     "TaskName",
     "make_joints",
+    "make_twist_base_joints",
 ]
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 9f6eb9985..925a29fde 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -14,10 +14,12 @@
 
 """Connected hardware for the ControlCoordinator.
 
-Wraps ManipulatorAdapter with coordinator-specific features:
-- Namespaced joint names (e.g., "left_joint1")
-- Unified read/write interface
-- Hold-last-value for partial commands
+Provides two wrapper types:
+- ConnectedHardware: Wraps ManipulatorAdapter for joint-controlled arms
+- ConnectedTwistBase: Wraps TwistBaseAdapter for velocity-commanded platforms
+
+Both share the same duck-type interface (read_state, write_command, etc.)
+so the tick loop treats them uniformly.
 """
 
 from __future__ import annotations
@@ -30,6 +32,7 @@
 
 if TYPE_CHECKING:
     from dimos.control.components import HardwareComponent, HardwareId, JointName, JointState
+    from dimos.hardware.drive_trains.spec import TwistBaseAdapter
 
 logger = logging.getLogger(__name__)
 
@@ -193,6 +196,92 @@ def _build_ordered_command(self) -> list[float]:
         return [self._last_commanded[name] for name in self._joint_names]
 
 
+class ConnectedTwistBase(ConnectedHardware):
+    """Runtime wrapper for a twist base connected to the coordinator.
+
+    Inherits from ConnectedHardware and overrides behavior for
+    velocity-commanded platforms (holonomic bases, drones, quadrupeds, etc.).
+
+    Key differences from ConnectedHardware:
+    - Positions come from odometry (or zeros if unavailable)
+    - Efforts are always zero
+    - write_command always sends velocities regardless of mode
+    - No retry loop for initialization (twist bases start at zero velocity)
+    """
+
+    def __init__(
+        self,
+        adapter: TwistBaseAdapter,
+        component: HardwareComponent,
+    ) -> None:
+        from dimos.hardware.drive_trains.spec import TwistBaseAdapter as TwistBaseAdapterProto
+
+        if not isinstance(adapter, TwistBaseAdapterProto):
+            raise TypeError("adapter must implement TwistBaseAdapter")
+
+        self._adapter = adapter
+        self._component = component
+        self._joint_names = component.joints
+
+        # Twist bases start at zero velocity — no need to read from hardware
+        self._last_commanded: dict[str, float] = {name: 0.0 for name in self._joint_names}
+        self._initialized = True
+        self._warned_unknown_joints: set[str] = set()
+        self._current_mode: ControlMode | None = None
+
+    @property
+    def adapter(self) -> TwistBaseAdapter:  # type: ignore[override]
+        """The underlying twist base adapter."""
+        return self._adapter
+
+    def read_state(self) -> dict[JointName, JointState]:
+        """Read state as {joint_name: JointState}.
+
+        Positions come from odometry (zeros if unavailable).
+        Velocities from adapter. Efforts are always zero.
+        """
+        from dimos.control.components import JointState
+
+        velocities = self._adapter.read_velocities()
+        odometry = self._adapter.read_odometry()
+        positions = odometry if odometry is not None else [0.0] * self.dof
+
+        return {
+            name: JointState(
+                position=positions[i],
+                velocity=velocities[i],
+                effort=0.0,
+            )
+            for i, name in enumerate(self._joint_names)
+        }
+
+    def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
+        """Write velocity commands — always sends velocities regardless of mode.
+
+        Args:
+            commands: {joint_name: velocity} - can be partial
+            _mode: Control mode (ignored — twist bases always use velocity)
+
+        Returns:
+            True if command was sent successfully
+        """
+        # Update last commanded for joints we received
+        for joint_name, value in commands.items():
+            if joint_name in self._last_commanded:
+                self._last_commanded[joint_name] = value
+            elif joint_name not in self._warned_unknown_joints:
+                logger.warning(
+                    f"TwistBase {self.hardware_id} received command for unknown joint "
+                    f"{joint_name}. Valid joints: {self._joint_names}"
+                )
+                self._warned_unknown_joints.add(joint_name)
+
+        # Build ordered velocity list and send
+        ordered = self._build_ordered_command()
+        return self._adapter.write_velocities(ordered)
+
+
 __all__ = [
     "ConnectedHardware",
+    "ConnectedTwistBase",
 ]

From a623745667e201524b41401f9b1f70003750ccbb Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 16:58:00 -0800
Subject: [PATCH 04/14] updated coordinator to support twist messages

---
 dimos/control/coordinator.py | 93 ++++++++++++++++++++++++++++++++----
 1 file changed, 84 insertions(+), 9 deletions(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index 5685a9f9c..02a48e1e7 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -32,17 +32,25 @@
 import time
 from typing import TYPE_CHECKING, Any
 
-from dimos.control.components import HardwareComponent, HardwareId, JointName, TaskName
-from dimos.control.hardware_interface import ConnectedHardware
+from dimos.control.components import (
+    TWIST_SUFFIX_MAP,
+    HardwareComponent,
+    HardwareId,
+    HardwareType,
+    JointName,
+    TaskName,
+)
+from dimos.control.hardware_interface import ConnectedHardware, ConnectedTwistBase
 from dimos.control.task import ControlTask
 from dimos.control.tick_loop import TickLoop
 from dimos.core import In, Module, Out, rpc
 from dimos.core.module import ModuleConfig
 from dimos.msgs.geometry_msgs import (
     PoseStamped,  # noqa: TC001 - needed at runtime for In[PoseStamped]
+    Twist,  # noqa: TC001 - needed at runtime for In[Twist]
 )
 from dimos.msgs.sensor_msgs import (
-    JointState,  # noqa: TC001 - needed at runtime for Out[JointState]
+    JointState,
 )
 from dimos.teleop.quest.quest_types import Buttons  # noqa: TC001 - needed for teleop buttons
 from dimos.utils.logging_config import setup_logger
@@ -51,6 +59,7 @@
     from collections.abc import Callable
     from pathlib import Path
 
+    from dimos.hardware.drive_trains.spec import TwistBaseAdapter
     from dimos.hardware.manipulators.spec import ManipulatorAdapter
 
 logger = setup_logger()
@@ -148,6 +157,9 @@ class ControlCoordinator(Module[ControlCoordinatorConfig]):
     # Uses frame_id as task name for routing
     cartesian_command: In[PoseStamped]
 
+    # Input: Streaming twist commands for velocity-commanded platforms
+    twist_command: In[Twist]
+
     # Input: Teleop buttons for engage/disengage signaling
     buttons: In[Buttons]
 
@@ -174,6 +186,7 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
         # Subscription handles for streaming commands
         self._joint_command_unsub: Callable[[], None] | None = None
         self._cartesian_command_unsub: Callable[[], None] | None = None
+        self._twist_command_unsub: Callable[[], None] | None = None
         self._buttons_unsub: Callable[[], None] | None = None
 
         logger.info(f"ControlCoordinator initialized at {self.config.tick_rate}Hz")
@@ -206,7 +219,10 @@ def _setup_from_config(self) -> None:
 
     def _setup_hardware(self, component: HardwareComponent) -> None:
         """Connect and add a single hardware adapter."""
-        adapter = self._create_adapter(component)
+        if component.hardware_type == HardwareType.BASE:
+            adapter = self._create_twist_base_adapter(component)
+        else:
+            adapter = self._create_adapter(component)
 
         if not adapter.connect():
             raise RuntimeError(f"Failed to connect to {component.adapter_type} adapter")
@@ -230,6 +246,16 @@ def _create_adapter(self, component: HardwareComponent) -> ManipulatorAdapter:
             address=component.address,
         )
 
+    def _create_twist_base_adapter(self, component: HardwareComponent) -> TwistBaseAdapter:
+        """Create a twist base adapter from component config."""
+        from dimos.hardware.drive_trains.registry import twist_base_adapter_registry
+
+        return twist_base_adapter_registry.create(
+            component.adapter_type,
+            dof=len(component.joints),
+            address=component.address,
+        )
+
     def _create_task_from_config(self, cfg: TaskConfig) -> ControlTask:
         """Create a control task from config."""
         task_type = cfg.type.lower()
@@ -310,7 +336,7 @@ def _create_task_from_config(self, cfg: TaskConfig) -> ControlTask:
     @rpc
     def add_hardware(
         self,
-        adapter: ManipulatorAdapter,
+        adapter: ManipulatorAdapter | TwistBaseAdapter,
         component: HardwareComponent,
     ) -> bool:
         """Register a hardware adapter with the coordinator."""
@@ -319,10 +345,11 @@ def add_hardware(
                 logger.warning(f"Hardware {component.hardware_id} already registered")
                 return False
 
-            connected = ConnectedHardware(
-                adapter=adapter,
-                component=component,
-            )
+            if component.hardware_type == HardwareType.BASE:
+                connected = ConnectedTwistBase(adapter=adapter, component=component)
+            else:
+                connected = ConnectedHardware(adapter=adapter, component=component)
+
             self._hardware[component.hardware_id] = connected
 
             for joint_name in connected.joint_names:
@@ -490,6 +517,34 @@ def _on_cartesian_command(self, msg: PoseStamped) -> None:
 
             task.on_cartesian_command(msg, t_now)
 
+    def _on_twist_command(self, msg: Twist) -> None:
+        """Convert Twist → virtual joint velocities and route via _on_joint_command.
+
+        Maps Twist fields to virtual joints using suffix convention:
+        base_vx ← linear.x, base_vy ← linear.y, base_wz ← angular.z, etc.
+        """
+        names: list[str] = []
+        velocities: list[float] = []
+
+        with self._hardware_lock:
+            for hw in self._hardware.values():
+                if hw.component.hardware_type != HardwareType.BASE:
+                    continue
+                for joint_name in hw.joint_names:
+                    # Extract suffix (e.g., "base_vx" → "vx")
+                    suffix = joint_name.rsplit("_", 1)[-1]
+                    mapping = TWIST_SUFFIX_MAP.get(suffix)
+                    if mapping is None:
+                        continue
+                    group, axis = mapping
+                    value = getattr(getattr(msg, group), axis)
+                    names.append(joint_name)
+                    velocities.append(value)
+
+        if names:
+            joint_state = JointState(name=names, velocity=velocities)
+            self._on_joint_command(joint_state)
+
     def _on_buttons(self, msg: Buttons) -> None:
         """Forward button state to all tasks."""
         with self._task_lock:
@@ -536,6 +591,9 @@ def set_gripper_position(self, hardware_id: str, position: float) -> bool:
             if hw is None:
                 logger.warning(f"Hardware '{hardware_id}' not found for gripper command")
                 return False
+            if isinstance(hw, ConnectedTwistBase):
+                logger.warning(f"Hardware '{hardware_id}' is a twist base, no gripper support")
+                return False
             return hw.adapter.write_gripper_position(position)
 
     @rpc
@@ -549,6 +607,8 @@ def get_gripper_position(self, hardware_id: str) -> float | None:
             hw = self._hardware.get(hardware_id)
             if hw is None:
                 return None
+            if isinstance(hw, ConnectedTwistBase):
+                return None
             return hw.adapter.read_gripper_position()
 
     # =========================================================================
@@ -610,6 +670,18 @@ def start(self) -> None:
                     "Use task_invoke RPC or set transport via blueprint."
                 )
 
+        # Subscribe to twist commands if any twist base hardware configured
+        has_twist_base = any(c.hardware_type == HardwareType.BASE for c in self.config.hardware)
+        if has_twist_base:
+            try:
+                self._twist_command_unsub = self.twist_command.subscribe(self._on_twist_command)
+                logger.info("Subscribed to twist_command for twist base control")
+            except Exception:
+                logger.warning(
+                    "Twist base configured but could not subscribe to twist_command. "
+                    "Use task_invoke RPC or set transport via blueprint."
+                )
+
         # Subscribe to buttons if any teleop_ik tasks configured (engage/disengage)
         has_teleop_ik = any(t.type == "teleop_ik" for t in self.config.tasks)
         if has_teleop_ik:
@@ -630,6 +702,9 @@ def stop(self) -> None:
         if self._cartesian_command_unsub:
             self._cartesian_command_unsub()
             self._cartesian_command_unsub = None
+        if self._twist_command_unsub:
+            self._twist_command_unsub()
+            self._twist_command_unsub = None
         if self._buttons_unsub:
             self._buttons_unsub()
             self._buttons_unsub = None

From bb9626368be0c351a2410088c21adefcc7bf98cb Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 16:58:19 -0800
Subject: [PATCH 05/14] added flowbase adapter

---
 .../drive_trains/flowbase/__init__.py         |  15 ++
 .../hardware/drive_trains/flowbase/adapter.py | 202 ++++++++++++++++++
 2 files changed, 217 insertions(+)
 create mode 100644 dimos/hardware/drive_trains/flowbase/__init__.py
 create mode 100644 dimos/hardware/drive_trains/flowbase/adapter.py

diff --git a/dimos/hardware/drive_trains/flowbase/__init__.py b/dimos/hardware/drive_trains/flowbase/__init__.py
new file mode 100644
index 000000000..25f95e399
--- /dev/null
+++ b/dimos/hardware/drive_trains/flowbase/__init__.py
@@ -0,0 +1,15 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""FlowBase twist base adapter for holonomic base control via Portal RPC."""
diff --git a/dimos/hardware/drive_trains/flowbase/adapter.py b/dimos/hardware/drive_trains/flowbase/adapter.py
new file mode 100644
index 000000000..b8801d88a
--- /dev/null
+++ b/dimos/hardware/drive_trains/flowbase/adapter.py
@@ -0,0 +1,202 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""FlowBase adapter — wraps Portal RPC client for holonomic base control.
+
+Frame convention: FlowBase uses inverted Y-axis compared to standard convention.
+We negate vy and wz when sending to the hardware.
+
+  Standard (ROS):     FlowBase:
+      +Y                -Y
+      ↑                  ↑
+   ───┼──→ +X         ───┼──→ +X
+      |                  |
+"""
+
+from __future__ import annotations
+
+import logging
+import threading
+from typing import TYPE_CHECKING
+
+import numpy as np
+
+if TYPE_CHECKING:
+    from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
+
+logger = logging.getLogger(__name__)
+
+
+class FlowBaseAdapter:
+    """TwistBaseAdapter implementation for FlowBase holonomic platform.
+
+    Communicates with FlowBase controller via Portal RPC over TCP.
+    Expects 3 DOF: [vx, vy, wz] (holonomic base).
+
+    Args:
+        dof: Number of velocity DOFs (must be 3 for FlowBase)
+        address: Portal RPC address as "host:port" (default: "172.6.2.20:11323")
+    """
+
+    def __init__(self, dof: int = 3, address: str | None = None, **_: object) -> None:
+        if dof != 3:
+            raise ValueError(f"FlowBase only supports 3 DOF (holonomic), got {dof}")
+
+        self._address = address or "172.6.2.20:11323"
+        self._client = None
+        self._connected = False
+        self._enabled = False
+        self._lock = threading.Lock()
+
+        # Last commanded velocities (in standard frame, before negation)
+        self._last_velocities = [0.0, 0.0, 0.0]
+
+    # =========================================================================
+    # Connection
+    # =========================================================================
+
+    def connect(self) -> bool:
+        """Connect to FlowBase controller via Portal RPC."""
+        try:
+            import portal
+
+            self._client = portal.Client(self._address)
+            self._connected = True
+            logger.info(f"Connected to FlowBase at {self._address}")
+            return True
+        except Exception as e:
+            logger.error(f"Failed to connect to FlowBase at {self._address}: {e}")
+            self._connected = False
+            return False
+
+    def disconnect(self) -> None:
+        """Disconnect and send zero velocity."""
+        if self._connected and self._client:
+            try:
+                self._send_velocity(0.0, 0.0, 0.0)
+            except Exception:
+                pass
+            try:
+                self._client.close()
+            except Exception:
+                pass
+        self._connected = False
+        self._client = None
+
+    def is_connected(self) -> bool:
+        """Check if connected to FlowBase."""
+        return self._connected
+
+    # =========================================================================
+    # Info
+    # =========================================================================
+
+    def get_dof(self) -> int:
+        """FlowBase is always 3 DOF (vx, vy, wz)."""
+        return 3
+
+    # =========================================================================
+    # State Reading
+    # =========================================================================
+
+    def read_velocities(self) -> list[float]:
+        """Return last commanded velocities (FlowBase doesn't report actual)."""
+        return self._last_velocities.copy()
+
+    def read_odometry(self) -> list[float] | None:
+        """Read odometry from FlowBase as [x, y, theta]."""
+        if not self._connected or not self._client:
+            return None
+
+        try:
+            with self._lock:
+                odom = self._client.get_odometry({}).result()
+
+            if odom is None:
+                return None
+
+            translation = odom["translation"]  # [x, y]
+            rotation = odom["rotation"]  # theta in radians
+            return [float(translation[0]), float(translation[1]), float(rotation)]
+        except Exception as e:
+            logger.error(f"Error reading FlowBase odometry: {e}")
+            return None
+
+    # =========================================================================
+    # Control
+    # =========================================================================
+
+    def write_velocities(self, velocities: list[float]) -> bool:
+        """Send velocity command to FlowBase.
+
+        Args:
+            velocities: [vx, vy, wz] in standard frame (m/s, rad/s)
+        """
+        if len(velocities) != 3:
+            return False
+
+        if not self._connected or not self._client:
+            return False
+
+        vx, vy, wz = velocities
+        self._last_velocities = list(velocities)
+
+        # Negate vy and wz for FlowBase's inverted Y-axis frame
+        return self._send_velocity(vx, -vy, -wz)
+
+    def write_stop(self) -> bool:
+        """Stop all motion."""
+        self._last_velocities = [0.0, 0.0, 0.0]
+        if not self._connected or not self._client:
+            return False
+        return self._send_velocity(0.0, 0.0, 0.0)
+
+    # =========================================================================
+    # Enable/Disable
+    # =========================================================================
+
+    def write_enable(self, enable: bool) -> bool:
+        """Enable/disable the platform (FlowBase is always enabled when connected)."""
+        self._enabled = enable
+        return True
+
+    def read_enabled(self) -> bool:
+        """Check if platform is enabled."""
+        return self._enabled
+
+    # =========================================================================
+    # Internal
+    # =========================================================================
+
+    def _send_velocity(self, vx: float, vy: float, wz: float) -> bool:
+        """Send raw velocity to FlowBase via Portal RPC."""
+        try:
+            command = {
+                "target_velocity": np.array([vx, vy, wz]),
+                "frame": "local",
+            }
+            with self._lock:
+                self._client.set_target_velocity(command).result()
+            return True
+        except Exception as e:
+            logger.error(f"Error sending FlowBase velocity: {e}")
+            return False
+
+
+def register(registry: TwistBaseAdapterRegistry) -> None:
+    """Register this adapter with the registry."""
+    registry.register("flowbase", FlowBaseAdapter)
+
+
+__all__ = ["FlowBaseAdapter"]

From 9a0dda8c607c8d231f55c777e36cb071bca8f6dc Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 17:03:24 -0800
Subject: [PATCH 06/14] added blueprint and test script for testing

---
 dimos/control/blueprints.py                   | 93 ++++++++++++++++++-
 .../examples/twist_base_keyboard_teleop.py    | 78 ++++++++++++++++
 dimos/robot/all_blueprints.py                 |  2 +
 3 files changed, 171 insertions(+), 2 deletions(-)
 create mode 100644 dimos/control/examples/twist_base_keyboard_teleop.py

diff --git a/dimos/control/blueprints.py b/dimos/control/blueprints.py
index 8762ebd95..e869878d8 100644
--- a/dimos/control/blueprints.py
+++ b/dimos/control/blueprints.py
@@ -30,10 +30,15 @@
 
 from __future__ import annotations
 
-from dimos.control.components import HardwareComponent, HardwareType, make_joints
+from dimos.control.components import (
+    HardwareComponent,
+    HardwareType,
+    make_joints,
+    make_twist_base_joints,
+)
 from dimos.control.coordinator import TaskConfig, control_coordinator
 from dimos.core.transport import LCMTransport
-from dimos.msgs.geometry_msgs import PoseStamped
+from dimos.msgs.geometry_msgs import PoseStamped, Twist
 from dimos.msgs.sensor_msgs import JointState
 from dimos.teleop.quest.quest_types import Buttons
 from dimos.utils.data import LfsPath
@@ -594,6 +599,86 @@
 )
 
 
+# =============================================================================
+# Twist Base Blueprints (velocity-commanded platforms)
+# =============================================================================
+
+# Mock holonomic twist base (3-DOF: vx, vy, wz)
+_base_joints = make_twist_base_joints("base")
+coordinator_mock_twist_base = control_coordinator(
+    tick_rate=100.0,
+    publish_joint_state=True,
+    joint_state_frame_id="coordinator",
+    hardware=[
+        HardwareComponent(
+            hardware_id="base",
+            hardware_type=HardwareType.BASE,
+            joints=_base_joints,
+            adapter_type="mock_twist_base",
+        ),
+    ],
+    tasks=[
+        TaskConfig(
+            name="vel_base",
+            type="velocity",
+            joint_names=_base_joints,
+            priority=10,
+        ),
+    ],
+).transports(
+    {
+        ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState),
+        ("twist_command", Twist): LCMTransport("/cmd_vel", Twist),
+    }
+)
+
+
+# =============================================================================
+# Mobile Manipulation Blueprints (arm + twist base)
+# =============================================================================
+
+# Mock arm (7-DOF) + mock holonomic base (3-DOF)
+_mm_base_joints = make_twist_base_joints("base")
+coordinator_mobile_manip_mock = control_coordinator(
+    tick_rate=100.0,
+    publish_joint_state=True,
+    joint_state_frame_id="coordinator",
+    hardware=[
+        HardwareComponent(
+            hardware_id="arm",
+            hardware_type=HardwareType.MANIPULATOR,
+            joints=make_joints("arm", 7),
+            adapter_type="mock",
+        ),
+        HardwareComponent(
+            hardware_id="base",
+            hardware_type=HardwareType.BASE,
+            joints=_mm_base_joints,
+            adapter_type="mock_twist_base",
+        ),
+    ],
+    tasks=[
+        TaskConfig(
+            name="traj_arm",
+            type="trajectory",
+            joint_names=[f"arm_joint{i + 1}" for i in range(7)],
+            priority=10,
+        ),
+        TaskConfig(
+            name="vel_base",
+            type="velocity",
+            joint_names=_mm_base_joints,
+            priority=10,
+        ),
+    ],
+).transports(
+    {
+        ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState),
+        ("twist_command", Twist): LCMTransport("/cmd_vel", Twist),
+    }
+)
+
+
 # =============================================================================
 # Raw Blueprints (for programmatic setup)
 # =============================================================================
@@ -624,8 +709,12 @@
     # Dual arm
     "coordinator_dual_mock",
     "coordinator_dual_xarm",
+    # Mobile manipulation
+    "coordinator_mobile_manip_mock",
     # Single arm
     "coordinator_mock",
+    # Twist base
+    "coordinator_mock_twist_base",
     "coordinator_piper",
     "coordinator_piper_xarm",
     # Teleop IK
diff --git a/dimos/control/examples/twist_base_keyboard_teleop.py b/dimos/control/examples/twist_base_keyboard_teleop.py
new file mode 100644
index 000000000..737ac8508
--- /dev/null
+++ b/dimos/control/examples/twist_base_keyboard_teleop.py
@@ -0,0 +1,78 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Keyboard teleop for twist base via ControlCoordinator.
+
+Runs a mock holonomic twist base with pygame keyboard control.
+WASD keys publish Twist → coordinator's twist_command port → virtual joints
+→ tick loop → MockTwistBaseAdapter.
+
+Controls:
+    W/S: Forward/backward (linear.x)
+    Q/E: Strafe left/right (linear.y)
+    A/D: Turn left/right (angular.z)
+    Shift: 2x boost
+    Ctrl: 0.5x slow
+    Space: Emergency stop
+    ESC: Quit
+
+Usage:
+    python -m dimos.control.examples.twist_base_keyboard_teleop
+"""
+
+from __future__ import annotations
+
+from dimos.control.blueprints import coordinator_mock_twist_base
+from dimos.core.transport import LCMTransport
+from dimos.msgs.geometry_msgs import Twist
+from dimos.robot.unitree.keyboard_teleop import keyboard_teleop
+
+
+def main() -> None:
+    """Run mock twist base + keyboard teleop."""
+    # Build coordinator with mock twist base
+    coord = coordinator_mock_twist_base.build()
+
+    # Build keyboard teleop with LCM transport on /cmd_vel
+    teleop = (
+        keyboard_teleop()
+        .transports(
+            {
+                ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist),
+            }
+        )
+        .build()
+    )
+
+    print("Starting mock twist base coordinator + keyboard teleop...")
+    print("Coordinator tick loop: 100Hz")
+    print("Keyboard teleop: 50Hz on /cmd_vel")
+    print()
+
+    coord.start()
+    teleop.start()
+
+    # Block until coordinator stops (or Ctrl+C)
+    try:
+        coord.loop()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        teleop.stop()
+        coord.stop()
+        print("Stopped.")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index bdfd98cd1..0e23c8206 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -27,7 +27,9 @@
     "coordinator-combined-xarm6": "dimos.control.blueprints:coordinator_combined_xarm6",
     "coordinator-dual-mock": "dimos.control.blueprints:coordinator_dual_mock",
     "coordinator-dual-xarm": "dimos.control.blueprints:coordinator_dual_xarm",
+    "coordinator-mobile-manip-mock": "dimos.control.blueprints:coordinator_mobile_manip_mock",
     "coordinator-mock": "dimos.control.blueprints:coordinator_mock",
+    "coordinator-mock-twist-base": "dimos.control.blueprints:coordinator_mock_twist_base",
     "coordinator-piper": "dimos.control.blueprints:coordinator_piper",
     "coordinator-piper-xarm": "dimos.control.blueprints:coordinator_piper_xarm",
     "coordinator-teleop-dual": "dimos.control.blueprints:coordinator_teleop_dual",

From 4bbb6ba68c24dbc9c7c4e549cf140083dfc87342 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 17:45:08 -0800
Subject: [PATCH 07/14] mypy test fixes

---
 dimos/control/coordinator.py                    | 11 +++++++++--
 dimos/control/hardware_interface.py             |  2 +-
 dimos/hardware/drive_trains/flowbase/adapter.py |  3 ++-
 3 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index 02a48e1e7..6a15fc6a5 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -219,6 +219,7 @@ def _setup_from_config(self) -> None:
 
     def _setup_hardware(self, component: HardwareComponent) -> None:
         """Connect and add a single hardware adapter."""
+        adapter: ManipulatorAdapter | TwistBaseAdapter
         if component.hardware_type == HardwareType.BASE:
             adapter = self._create_twist_base_adapter(component)
         else:
@@ -346,9 +347,15 @@ def add_hardware(
                 return False
 
             if component.hardware_type == HardwareType.BASE:
-                connected = ConnectedTwistBase(adapter=adapter, component=component)
+                connected: ConnectedHardware = ConnectedTwistBase(
+                    adapter=adapter,  # type: ignore[arg-type]
+                    component=component,
+                )
             else:
-                connected = ConnectedHardware(adapter=adapter, component=component)
+                connected = ConnectedHardware(
+                    adapter=adapter,  # type: ignore[arg-type]
+                    component=component,
+                )
 
             self._hardware[component.hardware_id] = connected
 
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 925a29fde..53a455cbe 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -219,7 +219,7 @@ def __init__(
         if not isinstance(adapter, TwistBaseAdapterProto):
             raise TypeError("adapter must implement TwistBaseAdapter")
 
-        self._adapter = adapter
+        self._adapter: TwistBaseAdapter = adapter  # type: ignore[assignment]
         self._component = component
         self._joint_names = component.joints
 
diff --git a/dimos/hardware/drive_trains/flowbase/adapter.py b/dimos/hardware/drive_trains/flowbase/adapter.py
index b8801d88a..2b3509683 100644
--- a/dimos/hardware/drive_trains/flowbase/adapter.py
+++ b/dimos/hardware/drive_trains/flowbase/adapter.py
@@ -69,7 +69,7 @@ def __init__(self, dof: int = 3, address: str | None = None, **_: object) -> Non
     def connect(self) -> bool:
         """Connect to FlowBase controller via Portal RPC."""
         try:
-            import portal
+            import portal  # type: ignore[import-not-found]
 
             self._client = portal.Client(self._address)
             self._connected = True
@@ -187,6 +187,7 @@ def _send_velocity(self, vx: float, vy: float, wz: float) -> bool:
                 "frame": "local",
             }
             with self._lock:
+                assert self._client is not None
                 self._client.set_target_velocity(command).result()
             return True
         except Exception as e:

From 12194fcac8e1cd15bc6c159adfa04a05194c3e6d Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 16 Feb 2026 17:52:45 -0800
Subject: [PATCH 08/14] fix  validates the adapter/hardware-type pairing
 upfront with a clear error

---
 dimos/control/coordinator.py | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index 6a15fc6a5..8296961d0 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -341,12 +341,23 @@ def add_hardware(
         component: HardwareComponent,
     ) -> bool:
         """Register a hardware adapter with the coordinator."""
+        from dimos.hardware.drive_trains.spec import TwistBaseAdapter as TwistBaseAdapterProto
+
+        is_base = component.hardware_type == HardwareType.BASE
+        is_twist_adapter = isinstance(adapter, TwistBaseAdapterProto)
+        if is_base != is_twist_adapter:
+            raise TypeError(
+                f"Hardware type / adapter mismatch for '{component.hardware_id}': "
+                f"hardware_type={component.hardware_type.value} but adapter is "
+                f"{'TwistBaseAdapter' if is_twist_adapter else 'ManipulatorAdapter'}"
+            )
+
         with self._hardware_lock:
             if component.hardware_id in self._hardware:
                 logger.warning(f"Hardware {component.hardware_id} already registered")
                 return False
 
-            if component.hardware_type == HardwareType.BASE:
+            if is_base:
                 connected: ConnectedHardware = ConnectedTwistBase(
                     adapter=adapter,  # type: ignore[arg-type]
                     component=component,

From 2ef091c67c9fb8176152c24381fa1aa256427af8 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Thu, 19 Feb 2026 08:17:41 -0800
Subject: [PATCH 09/14] fixed redundant blueprint assignments

---
 dimos/control/blueprints.py                          |  6 ------
 dimos/control/examples/twist_base_keyboard_teleop.py | 12 +++---------
 dimos/hardware/drive_trains/registry.py              |  2 +-
 3 files changed, 4 insertions(+), 16 deletions(-)

diff --git a/dimos/control/blueprints.py b/dimos/control/blueprints.py
index e869878d8..5c33928e7 100644
--- a/dimos/control/blueprints.py
+++ b/dimos/control/blueprints.py
@@ -606,9 +606,6 @@
 # Mock holonomic twist base (3-DOF: vx, vy, wz)
 _base_joints = make_twist_base_joints("base")
 coordinator_mock_twist_base = control_coordinator(
-    tick_rate=100.0,
-    publish_joint_state=True,
-    joint_state_frame_id="coordinator",
     hardware=[
         HardwareComponent(
             hardware_id="base",
@@ -640,9 +637,6 @@
 # Mock arm (7-DOF) + mock holonomic base (3-DOF)
 _mm_base_joints = make_twist_base_joints("base")
 coordinator_mobile_manip_mock = control_coordinator(
-    tick_rate=100.0,
-    publish_joint_state=True,
-    joint_state_frame_id="coordinator",
     hardware=[
         HardwareComponent(
             hardware_id="arm",
diff --git a/dimos/control/examples/twist_base_keyboard_teleop.py b/dimos/control/examples/twist_base_keyboard_teleop.py
index 737ac8508..d51eba51a 100644
--- a/dimos/control/examples/twist_base_keyboard_teleop.py
+++ b/dimos/control/examples/twist_base_keyboard_teleop.py
@@ -63,15 +63,9 @@ def main() -> None:
     coord.start()
     teleop.start()
 
-    # Block until coordinator stops (or Ctrl+C)
-    try:
-        coord.loop()
-    except KeyboardInterrupt:
-        pass
-    finally:
-        teleop.stop()
-        coord.stop()
-        print("Stopped.")
+    # Block until Ctrl+C — loop() handles KeyboardInterrupt and calls stop()
+    coord.loop()
+    teleop.stop()
 
 
 if __name__ == "__main__":
diff --git a/dimos/hardware/drive_trains/registry.py b/dimos/hardware/drive_trains/registry.py
index 299845740..0a513d2bd 100644
--- a/dimos/hardware/drive_trains/registry.py
+++ b/dimos/hardware/drive_trains/registry.py
@@ -89,7 +89,7 @@ def discover(self) -> None:
                 if hasattr(module, "register"):
                     module.register(self)
             except ImportError as e:
-                logger.debug(f"Skipping twist base adapter {name}: {e}")
+                logger.warning(f"Skipping twist base adapter {name}: {e}")
 
 
 twist_base_adapter_registry = TwistBaseAdapterRegistry()

From c7fa716e3e96ef53d792cf08fc457e925d26af7b Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Thu, 19 Feb 2026 08:18:25 -0800
Subject: [PATCH 10/14] fixed mypy type ignore flags

---
 dimos/control/coordinator.py        | 23 ++++++++++++-----------
 dimos/control/hardware_interface.py | 18 ++++++++++++------
 2 files changed, 24 insertions(+), 17 deletions(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index 8296961d0..c9182e6aa 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -45,6 +45,9 @@
 from dimos.control.tick_loop import TickLoop
 from dimos.core import In, Module, Out, rpc
 from dimos.core.module import ModuleConfig
+from dimos.hardware.drive_trains.spec import (
+    TwistBaseAdapter,
+)
 from dimos.msgs.geometry_msgs import (
     PoseStamped,  # noqa: TC001 - needed at runtime for In[PoseStamped]
     Twist,  # noqa: TC001 - needed at runtime for In[Twist]
@@ -52,14 +55,15 @@
 from dimos.msgs.sensor_msgs import (
     JointState,
 )
-from dimos.teleop.quest.quest_types import Buttons  # noqa: TC001 - needed for teleop buttons
+from dimos.teleop.quest.quest_types import (
+    Buttons,  # noqa: TC001 - needed at runtime for In[Buttons]
+)
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
     from collections.abc import Callable
     from pathlib import Path
 
-    from dimos.hardware.drive_trains.spec import TwistBaseAdapter
     from dimos.hardware.manipulators.spec import ManipulatorAdapter
 
 logger = setup_logger()
@@ -341,15 +345,12 @@ def add_hardware(
         component: HardwareComponent,
     ) -> bool:
         """Register a hardware adapter with the coordinator."""
-        from dimos.hardware.drive_trains.spec import TwistBaseAdapter as TwistBaseAdapterProto
-
         is_base = component.hardware_type == HardwareType.BASE
-        is_twist_adapter = isinstance(adapter, TwistBaseAdapterProto)
-        if is_base != is_twist_adapter:
+        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 adapter is "
-                f"{'TwistBaseAdapter' if is_twist_adapter else 'ManipulatorAdapter'}"
+                f"hardware_type={component.hardware_type.value} but got "
+                f"{type(adapter).__name__}"
             )
 
         with self._hardware_lock:
@@ -357,14 +358,14 @@ def add_hardware(
                 logger.warning(f"Hardware {component.hardware_id} already registered")
                 return False
 
-            if is_base:
+            if isinstance(adapter, TwistBaseAdapter):
                 connected: ConnectedHardware = ConnectedTwistBase(
-                    adapter=adapter,  # type: ignore[arg-type]
+                    adapter=adapter,
                     component=component,
                 )
             else:
                 connected = ConnectedHardware(
-                    adapter=adapter,  # type: ignore[arg-type]
+                    adapter=adapter,
                     component=component,
                 )
 
diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 53a455cbe..48a39e0a8 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -209,6 +209,8 @@ class ConnectedTwistBase(ConnectedHardware):
     - No retry loop for initialization (twist bases start at zero velocity)
     """
 
+    _twist_adapter: TwistBaseAdapter
+
     def __init__(
         self,
         adapter: TwistBaseAdapter,
@@ -219,7 +221,7 @@ def __init__(
         if not isinstance(adapter, TwistBaseAdapterProto):
             raise TypeError("adapter must implement TwistBaseAdapter")
 
-        self._adapter: TwistBaseAdapter = adapter  # type: ignore[assignment]
+        self._twist_adapter = adapter
         self._component = component
         self._joint_names = component.joints
 
@@ -230,9 +232,13 @@ def __init__(
         self._current_mode: ControlMode | None = None
 
     @property
-    def adapter(self) -> TwistBaseAdapter:  # type: ignore[override]
+    def adapter(self) -> TwistBaseAdapter:
         """The underlying twist base adapter."""
-        return self._adapter
+        return self._twist_adapter
+
+    def disconnect(self) -> None:
+        """Disconnect the underlying adapter."""
+        self._twist_adapter.disconnect()
 
     def read_state(self) -> dict[JointName, JointState]:
         """Read state as {joint_name: JointState}.
@@ -242,8 +248,8 @@ def read_state(self) -> dict[JointName, JointState]:
         """
         from dimos.control.components import JointState
 
-        velocities = self._adapter.read_velocities()
-        odometry = self._adapter.read_odometry()
+        velocities = self._twist_adapter.read_velocities()
+        odometry = self._twist_adapter.read_odometry()
         positions = odometry if odometry is not None else [0.0] * self.dof
 
         return {
@@ -278,7 +284,7 @@ def write_command(self, commands: dict[str, float], _mode: ControlMode) -> bool:
 
         # Build ordered velocity list and send
         ordered = self._build_ordered_command()
-        return self._adapter.write_velocities(ordered)
+        return self._twist_adapter.write_velocities(ordered)
 
 
 __all__ = [

From 99c70806599a8e1636e732dbb59f23c7c2d34d11 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Thu, 19 Feb 2026 08:19:10 -0800
Subject: [PATCH 11/14] added thread locks to velocity read write for flowbase
 adapter

---
 .../hardware/drive_trains/flowbase/adapter.py  |  9 ++++++---
 pyproject.toml                                 |  1 +
 uv.lock                                        | 18 ++++++++++++++++++
 3 files changed, 25 insertions(+), 3 deletions(-)

diff --git a/dimos/hardware/drive_trains/flowbase/adapter.py b/dimos/hardware/drive_trains/flowbase/adapter.py
index 2b3509683..e42cfa4ec 100644
--- a/dimos/hardware/drive_trains/flowbase/adapter.py
+++ b/dimos/hardware/drive_trains/flowbase/adapter.py
@@ -112,7 +112,8 @@ def get_dof(self) -> int:
 
     def read_velocities(self) -> list[float]:
         """Return last commanded velocities (FlowBase doesn't report actual)."""
-        return self._last_velocities.copy()
+        with self._lock:
+            return self._last_velocities.copy()
 
     def read_odometry(self) -> list[float] | None:
         """Read odometry from FlowBase as [x, y, theta]."""
@@ -150,14 +151,16 @@ def write_velocities(self, velocities: list[float]) -> bool:
             return False
 
         vx, vy, wz = velocities
-        self._last_velocities = list(velocities)
+        with self._lock:
+            self._last_velocities = list(velocities)
 
         # Negate vy and wz for FlowBase's inverted Y-axis frame
         return self._send_velocity(vx, -vy, -wz)
 
     def write_stop(self) -> bool:
         """Stop all motion."""
-        self._last_velocities = [0.0, 0.0, 0.0]
+        with self._lock:
+            self._last_velocities = [0.0, 0.0, 0.0]
         if not self._connected or not self._client:
             return False
         return self._send_velocity(0.0, 0.0, 0.0)
diff --git a/pyproject.toml b/pyproject.toml
index 9dea7e192..ee7c4778b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -119,6 +119,7 @@ misc = [
 
     # Hardware SDKs
     "xarm-python-sdk>=1.17.0",
+    "portal",
 ]
 
 visualization = [
diff --git a/uv.lock b/uv.lock
index d971dcfea..53b2454b4 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1964,6 +1964,7 @@ misc = [
     { name = "onnx" },
     { name = "open-clip-torch" },
     { name = "opencv-contrib-python" },
+    { name = "portal" },
     { name = "python-multipart" },
     { name = "scikit-learn", version = "1.7.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "scikit-learn", version = "1.8.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
@@ -2121,6 +2122,7 @@ requires-dist = [
     { name = "plotly", marker = "extra == 'manipulation'", specifier = ">=5.9.0" },
     { name = "plum-dispatch", specifier = "==2.5.7" },
     { name = "plum-dispatch", marker = "extra == 'docker'", specifier = "==2.5.7" },
+    { name = "portal", marker = "extra == 'misc'" },
     { name = "pre-commit", marker = "extra == 'dev'", specifier = "==4.2.0" },
     { name = "psycopg2-binary", marker = "extra == 'psql'", specifier = ">=2.9.11" },
     { name = "py-spy", marker = "extra == 'dev'" },
@@ -6944,6 +6946,22 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/bf/18/72c216f4ab0c82b907009668f79183ae029116ff0dd245d56ef58aac48e7/polars_runtime_32-1.38.1-cp310-abi3-win_arm64.whl", hash = "sha256:6d07d0cc832bfe4fb54b6e04218c2c27afcfa6b9498f9f6bbf262a00d58cc7c4", size = 41639413, upload-time = "2026-02-06T18:12:22.044Z" },
 ]
 
+[[package]]
+name = "portal"
+version = "3.7.4"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "cloudpickle" },
+    { name = "msgpack" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+    { name = "psutil" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/57/11/c67a1b771901e4c941fe3dcda763b78a29b6c45308e3ebaf99bac96820d8/portal-3.7.4.tar.gz", hash = "sha256:67234267d1eb319fe790653822d4a8d0e0e5312fb29fd8f440d8287066f478b9", size = 17380, upload-time = "2026-01-12T18:17:45.727Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/c3/14/0f7d227894831d2d7eb7f2c6946e8cad8e86da6135b6f902bb961d948f04/portal-3.7.4-py3-none-any.whl", hash = "sha256:3801a489766d3ec2eb73ca8cefd29c54e166d4cf5cfdf1a079ac93fe1130bedb", size = 23486, upload-time = "2026-01-12T18:17:44.326Z" },
+]
+
 [[package]]
 name = "portalocker"
 version = "3.2.0"

From 150aece8ae6436f231be64b535eff46462379b3c Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Thu, 19 Feb 2026 11:23:04 -0800
Subject: [PATCH 12/14] fix mypy errors: portal import-untyped and adapter
 property override

---
 dimos/control/hardware_interface.py             | 2 +-
 dimos/hardware/drive_trains/flowbase/adapter.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/dimos/control/hardware_interface.py b/dimos/control/hardware_interface.py
index 48a39e0a8..4e5d1d634 100644
--- a/dimos/control/hardware_interface.py
+++ b/dimos/control/hardware_interface.py
@@ -232,7 +232,7 @@ def __init__(
         self._current_mode: ControlMode | None = None
 
     @property
-    def adapter(self) -> TwistBaseAdapter:
+    def adapter(self) -> TwistBaseAdapter:  # type: ignore[override]
         """The underlying twist base adapter."""
         return self._twist_adapter
 
diff --git a/dimos/hardware/drive_trains/flowbase/adapter.py b/dimos/hardware/drive_trains/flowbase/adapter.py
index e42cfa4ec..5b5563792 100644
--- a/dimos/hardware/drive_trains/flowbase/adapter.py
+++ b/dimos/hardware/drive_trains/flowbase/adapter.py
@@ -69,7 +69,7 @@ def __init__(self, dof: int = 3, address: str | None = None, **_: object) -> Non
     def connect(self) -> bool:
         """Connect to FlowBase controller via Portal RPC."""
         try:
-            import portal  # type: ignore[import-not-found]
+            import portal  # type: ignore[import-untyped]
 
             self._client = portal.Client(self._address)
             self._connected = True

From 95edf5af1f6cd55c0e7324f44afffe55329bee81 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Sat, 21 Feb 2026 07:39:27 -0800
Subject: [PATCH 13/14] added echo cmd vel script back for testing will be
 deprecated

---
 dimos/control/examples/echo_cmd_vel.py | 55 ++++++++++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100644 dimos/control/examples/echo_cmd_vel.py

diff --git a/dimos/control/examples/echo_cmd_vel.py b/dimos/control/examples/echo_cmd_vel.py
new file mode 100644
index 000000000..44d7b5d54
--- /dev/null
+++ b/dimos/control/examples/echo_cmd_vel.py
@@ -0,0 +1,55 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Echo Twist messages on /cmd_vel.
+
+Usage:
+    python -m dimos.control.examples.echo_cmd_vel
+    python -m dimos.control.examples.echo_cmd_vel --topic /my_cmd_vel
+"""
+
+from __future__ import annotations
+
+import argparse
+import time
+
+from dimos.core.transport import LCMTransport
+from dimos.msgs.geometry_msgs import Twist
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Echo Twist on an LCM topic")
+    parser.add_argument("--topic", default="/cmd_vel", help="LCM topic (default: /cmd_vel)")
+    args = parser.parse_args()
+
+    transport = LCMTransport(args.topic, Twist)
+    print(f"Listening on {args.topic} ...")
+
+    def on_twist(twist: Twist) -> None:
+        print(
+            f"  linear=({twist.linear.x:+.3f}, {twist.linear.y:+.3f}, {twist.linear.z:+.3f})"
+            f"  angular=({twist.angular.x:+.3f}, {twist.angular.y:+.3f}, {twist.angular.z:+.3f})"
+        )
+
+    transport.subscribe(on_twist)
+
+    try:
+        while True:
+            time.sleep(1.0)
+    except KeyboardInterrupt:
+        print("\nStopped.")
+
+
+if __name__ == "__main__":
+    main()

From 148f9fbdcc2377b5e3c2201548731e42c55888ad Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Mon, 23 Feb 2026 10:27:01 -0800
Subject: [PATCH 14/14] removed echo_cmd_vel test script

---
 dimos/control/examples/echo_cmd_vel.py        | 55 -------------------
 .../examples/twist_base_keyboard_teleop.py    | 15 +----
 2 files changed, 1 insertion(+), 69 deletions(-)
 delete mode 100644 dimos/control/examples/echo_cmd_vel.py

diff --git a/dimos/control/examples/echo_cmd_vel.py b/dimos/control/examples/echo_cmd_vel.py
deleted file mode 100644
index 44d7b5d54..000000000
--- a/dimos/control/examples/echo_cmd_vel.py
+++ /dev/null
@@ -1,55 +0,0 @@
-# Copyright 2025-2026 Dimensional Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Echo Twist messages on /cmd_vel.
-
-Usage:
-    python -m dimos.control.examples.echo_cmd_vel
-    python -m dimos.control.examples.echo_cmd_vel --topic /my_cmd_vel
-"""
-
-from __future__ import annotations
-
-import argparse
-import time
-
-from dimos.core.transport import LCMTransport
-from dimos.msgs.geometry_msgs import Twist
-
-
-def main() -> None:
-    parser = argparse.ArgumentParser(description="Echo Twist on an LCM topic")
-    parser.add_argument("--topic", default="/cmd_vel", help="LCM topic (default: /cmd_vel)")
-    args = parser.parse_args()
-
-    transport = LCMTransport(args.topic, Twist)
-    print(f"Listening on {args.topic} ...")
-
-    def on_twist(twist: Twist) -> None:
-        print(
-            f"  linear=({twist.linear.x:+.3f}, {twist.linear.y:+.3f}, {twist.linear.z:+.3f})"
-            f"  angular=({twist.angular.x:+.3f}, {twist.angular.y:+.3f}, {twist.angular.z:+.3f})"
-        )
-
-    transport.subscribe(on_twist)
-
-    try:
-        while True:
-            time.sleep(1.0)
-    except KeyboardInterrupt:
-        print("\nStopped.")
-
-
-if __name__ == "__main__":
-    main()
diff --git a/dimos/control/examples/twist_base_keyboard_teleop.py b/dimos/control/examples/twist_base_keyboard_teleop.py
index d51eba51a..2d7651145 100644
--- a/dimos/control/examples/twist_base_keyboard_teleop.py
+++ b/dimos/control/examples/twist_base_keyboard_teleop.py
@@ -34,26 +34,13 @@
 from __future__ import annotations
 
 from dimos.control.blueprints import coordinator_mock_twist_base
-from dimos.core.transport import LCMTransport
-from dimos.msgs.geometry_msgs import Twist
 from dimos.robot.unitree.keyboard_teleop import keyboard_teleop
 
 
 def main() -> None:
     """Run mock twist base + keyboard teleop."""
-    # Build coordinator with mock twist base
     coord = coordinator_mock_twist_base.build()
-
-    # Build keyboard teleop with LCM transport on /cmd_vel
-    teleop = (
-        keyboard_teleop()
-        .transports(
-            {
-                ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist),
-            }
-        )
-        .build()
-    )
+    teleop = keyboard_teleop().build()
 
     print("Starting mock twist base coordinator + keyboard teleop...")
     print("Coordinator tick loop: 100Hz")