Control Coordinator refactor Docs update and final cleanup - #3294
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CollectionRecorder and WorldBeliefRecorder capture whatever joints are present, so the aggregate stream is their intended input. Dropping the remaps #3277 added lets autoconnect pair them by port name again, with no module-code changes. Nothing else consumed either coordinator's `arm_joints`, so the per-robot opt-in comes off the xarm7 teleop, piper teleop, and xarm6 worldbelief coordinators too.
Documents the refactor as merged: task cards (TASK_FACTORIES / TASK_CONSUMES / TASK_EXPOSES), subclass-declared deployment I/O and its startup validation, TaskConfig.stream_bind, the four routing rules, and the two permanent joint-state views with the rule for choosing between them.
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Codecov Report✅ All modified and coverable lines are covered by tests. @@ Coverage Diff @@
## main #3294 +/- ##
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Coverage 74.86% 74.87%
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Files 1137 1138 +1
Lines 109071 109070 -1
Branches 9838 9838
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Hits 81661 81661
+ Misses 24618 24616 -2
- Partials 2792 2793 +1
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Problem
The control coordinator publishes joint state two ways: one message holding every robot's joints, or one message per robot. A recent change (#3277) moved both recorders onto the per-robot streams. This is not ideal so I am reverting now, and adding more Docs.
Solution
Both recorders go back on the all-robots stream.
dimos/control/README.mdgains an architecture section: both views are permanent, and you pick by what the consumer is.Breaking Changes
None. Both streams still exist. The consumers that are genuinely robot-specific (g1 replay, the go2 controllers) are untouched.
How to Test
uv run pytest dimos/control dimos/manipulation dimos/imitation -m 'not (tool or self_hosted or mujoco or self_hosted_large)'uv run pytest dimos/robot/test_all_blueprints_generation.py— confirms the generated blueprint list is unchanged.coordinator_joint_staterows hold the full joint set.dimos run xarm6-worldbeliefon the xArm6 stack.Steps 3 and 4 need hardware; CI cannot cover them.