feat: xarm manipulator adapter improvement

[TomCC7]

Closes #1183

Solution

This PR resolves the following issues observed on teleoperating xarm:

KeyboardTeleopModule initial position sync

Wire robot joint states to the keyboard teleop module so that it initialize target to the robot startup position. A more proper fix in my mind should be to refactor keyboard teleop module to only output relative cartesian motion and wire that to some relative cartesian task so that the teleop module is decoupled from the actual robot state.

XArm graceful start/stop

Added two lifecycle methods in manipulator adapter activate/deactivate to execute functions required before robot starts/stop movement. The semantic is different from connect/disconnect in that sometime you might want to only pause robot commanding while still keeping the connection. Now the xarm will move to the default position on start/stop.

How to Test

# connects to a real robot for testing
dimos --xarm6-ip=192.168.1.210 run keyboard-teleop-xarm6

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR improves the XArm teleoperation workflow by wiring live joint states into the keyboard teleop module for accurate initialization, and introducing activate/deactivate lifecycle hooks on manipulator adapters so the arm returns to a safe home pose on start and stop.

• Lifecycle hooks: activate() and deactivate() are added to ManipulatorAdapter protocol, MockAdapter, ShmMujocoAdapter, and XArmAdapter; the coordinator calls them automatically in _setup_hardware and stop(), with a graceful fallback to write_enable(True) for adapters that don't implement them.
• Keyboard teleop init: _pygame_loop now reads the robot's actual joint state (with a configurable timeout) before computing the initial cartesian pose, and the SPACE key syncs to the live pose rather than a fixed home configuration.
• A/D key direction swap: The left/right keybinding was inverted to match the correct +Y/-Y convention.

Confidence Score: 4/5

Safe to merge for simulation/testing; a physical-robot safety concern in the deactivation path warrants review before deploying to a real arm.

The deactivate() method on XArmAdapter clears active error/warning codes and re-enables motors before commanding the home-pose move. If the arm stopped because of a collision or an operator E-stop, this silently resumes motion without requiring any acknowledgment, which is unexpected on a physical robot. Everything else — the coordinator lifecycle wiring, the joint-state init for keyboard teleop, and the test coverage — looks solid.

dimos/hardware/manipulators/xarm/adapter.py — specifically the _prepare_for_position_motion() call inside deactivate().

Important Files Changed

Filename	Overview
dimos/hardware/manipulators/xarm/adapter.py	Adds activate/deactivate lifecycle methods; _prepare_for_position_motion() ignores SDK return codes from motion_enable/set_mode/set_state, and clears active errors during deactivation which could resume motion after a safety stop.
dimos/control/coordinator.py	Wires activate/deactivate into hardware setup and shutdown; gracefully skips adapters without the methods, and falls back to write_enable(True) for the old path.
dimos/teleop/keyboard/keyboard_teleop_module.py	Reads live joint state on startup (configurable timeout) and syncs on SPACE; fixes A/D inversion; module-level docstring still says 'Reset to home pose' instead of 'Sync to current pose'.
dimos/hardware/manipulators/spec.py	Adds activate/deactivate to ManipulatorAdapter Protocol; existing adapters that omit these methods won't satisfy the protocol statically, but the coordinator handles missing methods via getattr gracefully.
dimos/hardware/manipulators/mock/adapter.py	Implements activate (write_enable True) and deactivate (write_stop + write_enable False) for the mock adapter.
dimos/hardware/manipulators/sim/adapter.py	Mirrors mock adapter's lifecycle implementation for the shared-memory MuJoCo sim adapter.
dimos/control/test_control.py	Adds two new lifecycle integration tests: one verifying connect→activate→deactivate→disconnect ordering, one confirming adapters without lifecycle methods still start/stop cleanly.
dimos/robot/manipulators/xarm/blueprints.py	Passes coordinator_joint_names to KeyboardTeleopModule.blueprint for both xarm6 and xarm7 so the teleop module can filter joint states by name.

Sequence Diagram

sequenceDiagram
    participant C as ControlCoordinator
    participant A as XArmAdapter
    participant K as KeyboardTeleopModule

    Note over C,A: start() / _setup_hardware()
    C->>A: connect()
    A-->>C: True
    C->>A: activate()
    A->>A: _prepare_for_position_motion()
    A->>A: _move_to_initial_pose() [blocking]
    A->>A: set_control_mode(SERVO_POSITION)
    A-->>C: True
    C->>C: publish joint_state stream

    Note over K: start() / _pygame_loop thread
    K->>C: "joint_state.get_next(timeout=5s)"
    C-->>K: JointState (initial positions)
    K->>K: JogState.from_fk(initial_joints)

    Note over K: SPACE pressed
    K->>C: "joint_state.get_next(timeout=0.1s)"
    C-->>K: JointState (current)
    K->>K: sync current_pose to live FK

    Note over C,A: stop()
    C->>C: tick_loop.stop()
    C->>A: deactivate()
    A->>A: _prepare_for_position_motion()
    A->>A: _move_to_initial_pose() [blocking]
    A->>A: motion_enable(False), set_state(4)
    A-->>C: True
    C->>A: disconnect()

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