Adventure x

dimos/cli/dimos.py

@@ -64,6 +64,7 @@
 from dimos.mapping.cli.rename import main as _map_rename_main
 from dimos.mapping.cli.replay import main as _map_replay_main
 from dimos.mapping.cli.replay_marker import main as _map_replay_marker_main
+from dimos.robot.manipulators.galaxea_a1z.teach_replay_cli import app as a1z_app
 from dimos.robot.manipulators.piper.cli import app as piper_app
 from dimos.robot.unitree.go2.cli.go2tool import app as go2tool_app
 from dimos.utils.cache import cache_usage_locked
@@ -177,6 +178,7 @@ def callback(**kwargs) -> None:  # type: ignore[no-untyped-def]
 
 main.callback()(create_dynamic_callback())  # type: ignore[no-untyped-call]
 main.add_typer(go2tool_app, name="go2tool")
+main.add_typer(a1z_app, name="a1z")
 main.add_typer(piper_app, name="piper")
 main.command()(shell)
 main.add_typer(cache_app, name="cache")

dimos/constants.py

@@ -14,6 +14,8 @@
 
 import os
 from pathlib import Path
+import subprocess
+import sys
 
 try:
     # Not a dependency, just the best way to get config path if available.
@@ -27,6 +29,16 @@
     STATE_DIR = Path(GLib.get_user_state_dir()) / "dimos"
     CACHE_DIR = Path(GLib.get_user_cache_dir()) / "dimos"
 
+if sys.platform == "linux":
+    MACHINE_ID = Path("/etc/machine-id").read_text().strip()
+if os.sys.platform == "darwin":
+    parts = subprocess.run(
+        ["ioreg", "-rd1", "-c", "IOPlatformExpertDevice"],
+        capture_output=True,
+        text=True,
+    ).stdout.split('"')
+    MACHINE_ID = parts[parts.index("IOPlatformUUID") + 2].lower()
+
 DIMOS_PROJECT_ROOT = Path(__file__).parent.parent
 
 if (DIMOS_PROJECT_ROOT / ".git").exists():

dimos/core/global_config.py

@@ -20,7 +20,7 @@
 from pydantic import AliasChoices, Field
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
-from dimos.constants import DEFAULT_BUILD_NATIVE
+from dimos.constants import DEFAULT_BUILD_NATIVE, MACHINE_ID
 from dimos.models.vl.types import VlModelName
 from dimos.visualization.rerun.constants import (
     RERUN_ENABLE_WEB,
@@ -92,6 +92,10 @@ class GlobalConfig(BaseSettings):
         default_factory=_default_transport,
         validation_alias=AliasChoices("DIMOS_TRANSPORT", "transport"),
     )
+    zenoh_password: str = Field(
+        default=MACHINE_ID,
+        validation_alias=AliasChoices("DIMOS_ZENOH_PASSWORD", "zenoh_password"),
+    )
     build_native: bool = DEFAULT_BUILD_NATIVE
     dtop: bool = False
     obstacle_avoidance: bool = True

dimos/hardware/manipulators/galaxea_a1z/_registry.py

@@ -0,0 +1,17 @@
+# 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.
+
+ADAPTER_FACTORIES = {
+    "galaxea_a1z": "dimos.hardware.manipulators.galaxea_a1z.adapter:GalaxeaA1ZAdapter",
+}