Task/universal schema for joints and hardware ids

dimos/control/__init__.py

@@ -12,9 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""ControlOrchestrator - Centralized control for multi-arm coordination.
+"""ControlCoordinator - Centralized control for multi-arm coordination.
 
-This module provides a centralized control orchestrator that replaces
+This module provides a centralized control coordinator that replaces
 per-driver/per-controller loops with a single deterministic tick-based system.
 
 Features:
@@ -25,68 +25,80 @@
 - Aggregated preemption notifications
 
 Example:
-    >>> from dimos.control import ControlOrchestrator
+    >>> from dimos.control import ControlCoordinator
     >>> from dimos.control.tasks import JointTrajectoryTask, JointTrajectoryTaskConfig
     >>> from dimos.hardware.manipulators.xarm import XArmBackend
     >>>
-    >>> # Create orchestrator
-    >>> orch = ControlOrchestrator(tick_rate=100.0)
+    >>> # Create coordinator
+    >>> coord = ControlCoordinator(tick_rate=100.0)
     >>>
     >>> # Add hardware
     >>> backend = XArmBackend(ip="192.168.1.185", dof=7)
     >>> backend.connect()
-    >>> orch.add_hardware("left_arm", backend, joint_prefix="left")
+    >>> coord.add_hardware("left_arm", backend)
     >>>
     >>> # Add task
-    >>> joints = [f"left_joint{i+1}" for i in range(7)]
+    >>> joints = [f"left_arm_joint{i+1}" for i in range(7)]
     >>> task = JointTrajectoryTask(
     ...     "traj_left",
     ...     JointTrajectoryTaskConfig(joint_names=joints, priority=10),
     ... )
-    >>> orch.add_task(task)
+    >>> coord.add_task(task)
     >>>
     >>> # Start
-    >>> orch.start()
+    >>> coord.start()
 """
 
+from dimos.control.components import (
+    HardwareComponent,
+    HardwareId,
+    HardwareType,
+    JointName,
+    JointState,
+    make_joints,
+)
+from dimos.control.coordinator import (
+    ControlCoordinator,
+    ControlCoordinatorConfig,
+    TaskConfig,
+    control_coordinator,
+)
 from dimos.control.hardware_interface import (
     BackendHardwareInterface,
     HardwareInterface,
 )
-from dimos.control.orchestrator import (
-    ControlOrchestrator,
-    ControlOrchestratorConfig,
-    HardwareConfig,
-    TaskConfig,
-    control_orchestrator,
-)
 from dimos.control.task import (
     ControlMode,
     ControlTask,
+    CoordinatorState,
     JointCommandOutput,
     JointStateSnapshot,
-    OrchestratorState,
     ResourceClaim,
 )
 from dimos.control.tick_loop import TickLoop
 
 __all__ = [
     # Hardware interface
     "BackendHardwareInterface",
+    # Coordinator
+    "ControlCoordinator",
+    "ControlCoordinatorConfig",
     "ControlMode",
-    # Orchestrator
-    "ControlOrchestrator",
-    "ControlOrchestratorConfig",
     # Task protocol and types
     "ControlTask",
-    "HardwareConfig",
+    "CoordinatorState",
+    "HardwareComponent",
+    "HardwareId",
     "HardwareInterface",
+    "HardwareType",
     "JointCommandOutput",
+    "JointName",
+    "JointState",
     "JointStateSnapshot",
-    "OrchestratorState",
     "ResourceClaim",
     "TaskConfig",
     # Tick loop
     "TickLoop",
-    "control_orchestrator",
+    "control_coordinator",
+    "make_joints",
 ]