feat(control): per-robot JointState output streams

[mustafab0]

Problem

A multi-robot coordinator publishes only one merged coordinator_joint_state, so every consumer has to untangle a concatenated joint list to find the arm it cares about.

Issue: #

---

Solution

Coordinator subclasses can declare {hardware_id}_joints: Out[JointState] per robot. The tick loop reuses the read it and publishes outside the hardware lock.

A missing port fails loudly at start() before any adapter connects, and at runtime add_hardware.

coordinator-dual-mock is the migrated exemplar; it pins instance_name="ControlCoordinator" since a subclass otherwise serves RPCs under its own name (start() now warns).

---

Breaking Changes

None. Backwards support bool added with publish_robot_joint_states=True. Keeps all previous blueprints working.

Will remove this after transisitioning all blueprints to new Control Coordinator

---

How to Test

1. uv run pytest dimos/control -m 'not (tool or self_hosted or mujoco or self_hosted_large)'
2. dimos run coordinator-dual-mock
3. Confirm left_arm_joints and right_arm_joints each carry only their own arm, alongside the unchanged coordinator_joint_state.

[greptile-apps]

Greptile Summary

This PR adds opt-in per-robot joint-state streams to the control coordinator. The main changes are:

• Reuses each hardware read for merged and robot-specific messages.
• Validates required output ports during startup and dynamic hardware registration.
• Migrates the dual-mock coordinator to robot-specific streams.
• Adds coverage for compatibility, message routing, failures, and dynamic hardware.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
dimos/control/coordinator.py	Adds feature configuration, output-port validation, callback wiring, and subclass instance-name diagnostics.
dimos/control/tick_loop.py	Captures per-hardware readings and publishes robot-specific messages after releasing the hardware lock.
dimos/robot/manipulators/common/mock.py	Adds the dual-mock coordinator subclass and enables its per-robot streams.
dimos/robot/all_blueprints.py	Registers the dual-mock coordinator module class.
dimos/control/test_per_robot_joint_states.py	Covers feature defaults, message contents, read reuse, failure isolation, validation, and dynamic hardware.
dimos/robot/manipulators/test_blueprints.py	Checks the migrated blueprint configuration and output declarations.

Sequence Diagram

%%{init: {'theme': 'neutral'}}%%
sequenceDiagram
    participant C as ControlCoordinator
    participant T as TickLoop
    participant H as Hardware
    participant M as Merged output
    participant R as Per-robot output

    C->>T: Configure publish callbacks
    loop Each tick
        T->>H: Read state under hardware lock
        H-->>T: Per-hardware joint readings
        T->>T: Build merged snapshot
        T->>M: Publish merged JointState
        T->>R: Publish robot-specific JointState
    end

Loading

%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
sequenceDiagram
    participant C as ControlCoordinator
    participant T as TickLoop
    participant H as Hardware
    participant M as Merged output
    participant R as Per-robot output

    C->>T: Configure publish callbacks
    loop Each tick
        T->>H: Read state under hardware lock
        H-->>T: Per-hardware joint readings
        T->>T: Build merged snapshot
        T->>M: Publish merged JointState
        T->>R: Publish robot-specific JointState
    end

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_{Reviews (1): Last reviewed commit: "feat(control): opt-in per-robot JointSta..." | Re-trigger Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 98.59155% with 4 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/control/test_per_robot_joint_states.py	99.12%	1 Missing and 1 partial ⚠️
dimos/control/tick_loop.py	90.47%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3130      +/-   ##
==========================================
+ Coverage   73.23%   73.31%   +0.08%     
==========================================
  Files        1037     1038       +1     
  Lines       93895    94174     +279     
  Branches     8528     8544      +16     
==========================================
+ Hits        68761    69043     +282     
+ Misses      22792    22787       -5     
- Partials     2342     2344       +2     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	66.43% <98.59%> (+0.09%)	⬆️
OS-ubuntu-latest	68.71% <98.59%> (+0.09%)	⬆️
Py-3.10	68.70% <98.59%> (+0.09%)	⬆️
Py-3.11	68.71% <98.59%> (+0.09%)	⬆️
Py-3.12	68.71% <98.59%> (+0.09%)	⬆️
Py-3.13	68.71% <98.59%> (+0.10%)	⬆️
Py-3.14	68.70% <98.59%> (+0.08%)	⬆️
Py-3.14t	68.69% <98.59%> (+0.08%)	⬆️
SelfHosted-Large	30.10% <28.87%> (+<0.01%)	⬆️
SelfHosted-Linux	37.13% <28.87%> (-0.03%)	⬇️
SelfHosted-macOS	36.03% <28.87%> (-0.03%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/control/coordinator.py	80.44% <100.00%> (+0.77%)	⬆️
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/robot/manipulators/common/mock.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/test_blueprints.py	100.00% <100.00%> (ø)
dimos/control/test_per_robot_joint_states.py	99.12% <99.12%> (ø)
dimos/control/tick_loop.py	70.09% <90.47%> (+4.27%)	⬆️

... and 3 files with indirect coverage changes

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