Control Orchestrator - Unified Controller for multi-arm and full body controller#970

Merged

spomichter merged 42 commits intodevfrom

control_orchestrator

Jan 15, 2026

Commits on Jan 9, 2026

archive old driver to manipulators_old for redesign
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spec.py defining minimal protocol for an arm driver
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xarm driver driver added - driver owns control thread and robot state threads also invokes rpc calls to arm specific SDK backends
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xarm SDK specific wrapper to interface with dimos RPC calls from the driver
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removed type checking for old armdriver spec from the cartesian controller
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replicated piper driver to meet the new architecture
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added mock backend
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updated all blueprints to add new arm module
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Added readme explaining new driver architecture overview
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config now parsed in backend init instead of connect method
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addded dual arm control blueprint using trajectory controller
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adding a control orchestrator for single control loop for multiple arms and joint control - added dataclasses for orchestrator and protocol for ControlTask
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hardware interface protocol that wraps specific arm SDK to work with orchestrator. Also solves namespace for multiple arm and hardware
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main orchestrator module and control loop that claims resources computes next commands, and arbitrates priority of different tasks and controllers
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added a trajectory task implementation that performs trajecotry control
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added blueprints to launch orchestratory module with differnt arms for testing
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updated blueprints to add piper + xarm blueprint
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orchestrator client that can send tasks to the control orchestrator module
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added a readme
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added pytest and e2e test
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Update dimos/control/hardware_interface.py
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CI code cleanup
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Fixed issues flagged by greptile
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Renamed deprecated old manipuialtion test file and Mypy type fixes
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fix mypy test
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mypy test fix added explicit type
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Remove deprecated manipulators_old folder
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fixed redef error in dual trajectory setter
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Commits on Jan 10, 2026

Fixed bugs identified by greptile overview:
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Commits on Jan 15, 2026