Task/Simplify SDK wrapper: Add backend registry with auto-discovery

dimos/control/README.md

@@ -1,12 +1,12 @@
-# Control Orchestrator
+# Control Coordinator
 
 Centralized control system for multi-arm robots with per-joint arbitration.
 
 ## Architecture
 
 ```
 ┌─────────────────────────────────────────────────────────────┐
-│                   ControlOrchestrator                       │
+│                   ControlCoordinator                        │
 │                                                             │
 │  ┌──────────────────────────────────────────────────────┐   │
 │  │                    TickLoop (100Hz)                  │   │
@@ -16,22 +16,22 @@ Centralized control system for multi-arm robots with per-joint arbitration.
 │         │           │           │              │            │
 │         ▼           ▼           ▼              ▼            │
 │    ┌─────────┐  ┌───────┐  ┌─────────┐   ┌──────────┐       │
-│    │Hardware │  │ Tasks │  │Priority │   │ Backends │       │
-│    │Interface│  │       │  │ Winners │   │          │       │
+│    │Connected│  │ Tasks │  │Priority │   │ Adapters │       │
+│    │Hardware │  │       │  │ Winners │   │          │       │
 │    └─────────┘  └───────┘  └─────────┘   └──────────┘       │
 └─────────────────────────────────────────────────────────────┘
 ```
 
 ## Quick Start
 
 ```bash
-# Terminal 1: Run orchestrator
-dimos run orchestrator-mock          # Single 7-DOF mock arm
-dimos run orchestrator-dual-mock     # Dual arms (7+6 DOF)
-dimos run orchestrator-piper-xarm    # Real hardware
+# Terminal 1: Run coordinator
+dimos run coordinator-mock          # Single 7-DOF mock arm
+dimos run coordinator-dual-mock     # Dual arms (7+6 DOF)
+dimos run coordinator-piper-xarm    # Real hardware
 
 # Terminal 2: Control via CLI
-python -m dimos.manipulation.control.orchestrator_client
+python -m dimos.manipulation.control.coordinator_client
 ```
 
 ## Core Concepts
@@ -42,17 +42,17 @@ Single deterministic loop at 100Hz:
 2. **Compute** - Each task calculates desired output
 3. **Arbitrate** - Per-joint, highest priority wins
 4. **Route** - Group commands by hardware
-5. **Write** - Send commands to backends
+5. **Write** - Send commands to adapters
 
 ### Tasks (Controllers)
-Tasks are passive controllers called by the orchestrator:
+Tasks are passive controllers called by the coordinator:
 
 ```python
 class MyController:
     def claim(self) -> ResourceClaim:
         return ResourceClaim(joints={"joint1", "joint2"}, priority=10)
 
-    def compute(self, state: OrchestratorState) -> JointCommandOutput:
+    def compute(self, state: CoordinatorState) -> JointCommandOutput:
         # Your control law here (PID, impedance, etc.)
         return JointCommandOutput(
             joint_names=["joint1", "joint2"],
@@ -83,10 +83,11 @@ def on_preempted(self, by_task: str, joints: frozenset[str]) -> None:
 
 ```
 dimos/control/
-├── orchestrator.py      # Module + RPC interface
+├── coordinator.py       # Module + RPC interface
 ├── tick_loop.py         # 100Hz control loop
 ├── task.py              # ControlTask protocol + types
-├── hardware_interface.py # Backend wrapper
+├── hardware_interface.py # ConnectedHardware wrapper
+├── components.py        # HardwareComponent config + type aliases
 ├── blueprints.py        # Pre-configured setups
 └── tasks/
     └── trajectory_task.py  # Joint trajectory controller
@@ -95,13 +96,25 @@ dimos/control/
 ## Configuration
 
 ```python
-from dimos.control import control_orchestrator, HardwareConfig, TaskConfig
+from dimos.control import control_coordinator, HardwareComponent, TaskConfig
 
-my_robot = control_orchestrator(
+my_robot = control_coordinator(
     tick_rate=100.0,
     hardware=[
-        HardwareConfig(id="left", type="xarm", dof=7, joint_prefix="left", ip="192.168.1.100"),
-        HardwareConfig(id="right", type="piper", dof=6, joint_prefix="right", can_port="can0"),
+        HardwareComponent(
+            hardware_id="left_arm",
+            hardware_type=HardwareType.MANIPULATOR,
+            joints=make_joints("left_arm", 7),
+            adapter_type="xarm",
+            address="192.168.1.100",
+        ),
+        HardwareComponent(
+            hardware_id="right_arm",
+            hardware_type=HardwareType.MANIPULATOR,
+            joints=make_joints("right_arm", 6),
+            adapter_type="piper",
+            address="can0",
+        ),
     ],
     tasks=[
         TaskConfig(name="traj_left", type="trajectory", joint_names=[...], priority=10),
@@ -181,15 +194,15 @@ class PIDController:
 
 ## Joint State Output
 
-The orchestrator publishes one aggregated `JointState` message containing all joints:
+The coordinator publishes one aggregated `JointState` message containing all joints:
 
 ```python
 JointState(
-    name=["left_joint1", ..., "right_joint1", ...],  # All joints
+    name=["left_arm_joint1", ..., "right_arm_joint1", ...],  # All joints
     position=[...],
     velocity=[...],
     effort=[...],
 )
 ```
 
-Subscribe via: `/orchestrator/joint_state`
+Subscribe via: `/coordinator/joint_state`

dimos/control/__init__.py

@@ -18,7 +18,7 @@
 per-driver/per-controller loops with a single deterministic tick-based system.
 
 Features:
-- Single tick loop (read → compute → arbitrate → route → write)
+- Single tick loop (read -> compute -> arbitrate -> route -> write)
 - Per-joint arbitration (highest priority wins)
 - Mode conflict detection
 - Partial command support (hold last value)
@@ -27,15 +27,15 @@
 Example:
     >>> from dimos.control import ControlCoordinator
     >>> from dimos.control.tasks import JointTrajectoryTask, JointTrajectoryTaskConfig
-    >>> from dimos.hardware.manipulators.xarm import XArmBackend
+    >>> from dimos.hardware.manipulators.xarm import XArmAdapter
     >>>
     >>> # Create coordinator
     >>> coord = ControlCoordinator(tick_rate=100.0)
     >>>
     >>> # Add hardware
-    >>> backend = XArmBackend(ip="192.168.1.185", dof=7)
-    >>> backend.connect()
-    >>> coord.add_hardware("left_arm", backend)
+    >>> adapter = XArmAdapter(ip="192.168.1.185", dof=7)
+    >>> adapter.connect()
+    >>> coord.add_hardware("left_arm", adapter)
     >>>
     >>> # Add task
     >>> joints = [f"left_arm_joint{i+1}" for i in range(7)]
@@ -63,10 +63,7 @@
     TaskConfig,
     control_coordinator,
 )
-from dimos.control.hardware_interface import (
-    BackendHardwareInterface,
-    HardwareInterface,
-)
+from dimos.control.hardware_interface import ConnectedHardware
 from dimos.control.task import (
     ControlMode,
     ControlTask,
@@ -78,8 +75,8 @@
 from dimos.control.tick_loop import TickLoop
 
 __all__ = [
-    # Hardware interface
-    "BackendHardwareInterface",
+    # Connected hardware
+    "ConnectedHardware",
     # Coordinator
     "ControlCoordinator",
     "ControlCoordinatorConfig",
@@ -89,7 +86,6 @@
     "CoordinatorState",
     "HardwareComponent",
     "HardwareId",
-    "HardwareInterface",
     "HardwareType",
     "JointCommandOutput",
     "JointName",

dimos/control/blueprints.py

@@ -66,7 +66,7 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("arm", 7),
-            backend_type="mock",
+            adapter_type="mock",
         ),
     ],
     tasks=[
@@ -93,7 +93,7 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("arm", 7),
-            backend_type="xarm",
+            adapter_type="xarm",
             address="192.168.2.235",  # Default IP, override via env or config
             auto_enable=True,
         ),
@@ -122,7 +122,7 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("arm", 6),
-            backend_type="xarm",
+            adapter_type="xarm",
             address="192.168.1.210",
             auto_enable=True,
         ),
@@ -151,7 +151,7 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("arm", 6),
-            backend_type="piper",
+            adapter_type="piper",
             address="can0",
             auto_enable=True,
         ),
@@ -184,13 +184,13 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="left_arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("left_arm", 7),
-            backend_type="mock",
+            adapter_type="mock",
         ),
         HardwareComponent(
             hardware_id="right_arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("right_arm", 6),
-            backend_type="mock",
+            adapter_type="mock",
         ),
     ],
     tasks=[
@@ -223,15 +223,15 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="left_arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("left_arm", 7),
-            backend_type="xarm",
+            adapter_type="xarm",
             address="192.168.2.235",
             auto_enable=True,
         ),
         HardwareComponent(
             hardware_id="right_arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("right_arm", 6),
-            backend_type="xarm",
+            adapter_type="xarm",
             address="192.168.1.210",
             auto_enable=True,
         ),
@@ -266,15 +266,15 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="xarm_arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("xarm_arm", 6),
-            backend_type="xarm",
+            adapter_type="xarm",
             address="192.168.1.210",
             auto_enable=True,
         ),
         HardwareComponent(
             hardware_id="piper_arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("piper_arm", 6),
-            backend_type="piper",
+            adapter_type="piper",
             address="can0",
             auto_enable=True,
         ),
@@ -313,7 +313,7 @@ def _joint_names(hardware_id: str, dof: int) -> list[str]:
             hardware_id="arm",
             hardware_type=HardwareType.MANIPULATOR,
             joints=make_joints("arm", 7),
-            backend_type="mock",
+            adapter_type="mock",
         ),
     ],
     tasks=[

dimos/control/components.py

@@ -12,13 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Hardware component schema for the ControlCoordnator."""
+"""Hardware component schema for the ControlCoordinator."""
 
 from dataclasses import dataclass, field
 from enum import Enum
 
 HardwareId = str
 JointName = str
+TaskName = str
 
 
 class HardwareType(Enum):
@@ -44,15 +45,15 @@ class HardwareComponent:
         hardware_id: Unique identifier, also used as joint name prefix
         hardware_type: Type of hardware (MANIPULATOR, BASE, GRIPPER)
         joints: List of joint names (e.g., ["arm_joint1", "arm_joint2", ...])
-        backend_type: Backend type ("mock", "xarm", "piper")
+        adapter_type: Adapter type ("mock", "xarm", "piper")
         address: Connection address - IP for TCP, port for CAN
         auto_enable: Whether to auto-enable servos
     """
 
     hardware_id: HardwareId
     hardware_type: HardwareType
     joints: list[JointName] = field(default_factory=list)
-    backend_type: str = "mock"
+    adapter_type: str = "mock"
     address: str | None = None
     auto_enable: bool = True
 
@@ -76,5 +77,6 @@ def make_joints(hardware_id: HardwareId, dof: int) -> list[JointName]:
     "HardwareType",
     "JointName",
     "JointState",
+    "TaskName",
     "make_joints",
 ]