diff --git a/dimos/hardware/whole_body/damiao/test_adapter.py b/dimos/hardware/whole_body/damiao/test_adapter.py
index c1739d4809..8345fdde63 100644
--- a/dimos/hardware/whole_body/damiao/test_adapter.py
+++ b/dimos/hardware/whole_body/damiao/test_adapter.py
@@ -330,7 +330,7 @@ def test_make_can_bus_linux_uses_ordered_defaults(
     dual_robot: FakeRobot,
     mocker: MockerFixture,
 ) -> None:
-    socketcan = mocker.patch.object(can_motor_control, "SocketCanBus")
+    socketcan = mocker.patch.object(can_motor_control, "SocketCanBus", create=True)
     mocker.patch.object(adapter_module.sys, "platform", "linux")
     adapter = DualAdapter(dual_robot)
 
@@ -343,7 +343,7 @@ def test_make_can_bus_linux_uses_configured_interface(
     dual_robot: FakeRobot,
     mocker: MockerFixture,
 ) -> None:
-    socketcan = mocker.patch.object(can_motor_control, "SocketCanBus")
+    socketcan = mocker.patch.object(can_motor_control, "SocketCanBus", create=True)
     mocker.patch.object(adapter_module.sys, "platform", "linux")
     adapter = DualAdapter(
         dual_robot,
diff --git a/dimos/hardware/whole_body/dual_openyam_damiao/test_adapter.py b/dimos/hardware/whole_body/dual_openyam_damiao/test_adapter.py
index ce792282a4..c0b1aefb77 100644
--- a/dimos/hardware/whole_body/dual_openyam_damiao/test_adapter.py
+++ b/dimos/hardware/whole_body/dual_openyam_damiao/test_adapter.py
@@ -18,6 +18,7 @@
 import pytest
 from pytest_mock import MockerFixture
 
+from dimos.hardware.whole_body.damiao import adapter as adapter_module
 from dimos.hardware.whole_body.damiao.config import DamiaoRuntimeConfig
 from dimos.hardware.whole_body.dual_openyam_damiao.adapter import (
     DualOpenYamDamiaoAdapter,
@@ -29,7 +30,12 @@
 
 @pytest.fixture
 def adapter(mocker: MockerFixture) -> Iterator[DualOpenYamDamiaoAdapter]:
-    mocker.patch.object(can_motor_control, "SocketCanBus", can_motor_control.MockCanBus)
+    # Darwin wheels of can_motor_control omit SocketCanBus (SocketCAN is
+    # Linux-only), so create the attribute and force the Linux bus path.
+    mocker.patch.object(
+        can_motor_control, "SocketCanBus", can_motor_control.MockCanBus, create=True
+    )
+    mocker.patch.object(adapter_module.sys, "platform", "linux")
     result = DualOpenYamDamiaoAdapter(
         runtime_config=DamiaoRuntimeConfig(
             bus_devices={"left": "can8", "right": "can9"},
diff --git a/dimos/hardware/whole_body/openarm_damiao/test_adapter.py b/dimos/hardware/whole_body/openarm_damiao/test_adapter.py
index 640e9be92e..b1321e406e 100644
--- a/dimos/hardware/whole_body/openarm_damiao/test_adapter.py
+++ b/dimos/hardware/whole_body/openarm_damiao/test_adapter.py
@@ -21,6 +21,7 @@
 import pytest
 from pytest_mock import MockerFixture
 
+from dimos.hardware.whole_body.damiao import adapter as damiao_adapter_module
 from dimos.hardware.whole_body.damiao.adapter import DamiaoWholeBodyAdapter
 from dimos.hardware.whole_body.damiao.config import DamiaoRuntimeConfig
 from dimos.hardware.whole_body.openarm_damiao import adapter as adapter_module
@@ -30,7 +31,12 @@
 
 @pytest.fixture
 def openarm_adapter(mocker: MockerFixture) -> Iterator[OpenArmDamiaoAdapter]:
-    mocker.patch.object(can_motor_control, "SocketCanBus", can_motor_control.MockCanBus)
+    # Darwin wheels of can_motor_control omit SocketCanBus (SocketCAN is
+    # Linux-only), so create the attribute and force the Linux bus path.
+    mocker.patch.object(
+        can_motor_control, "SocketCanBus", can_motor_control.MockCanBus, create=True
+    )
+    mocker.patch.object(damiao_adapter_module.sys, "platform", "linux")
     adapter = OpenArmDamiaoAdapter(
         runtime_config=DamiaoRuntimeConfig(gravity_comp=False),
     )