docs: propose control coordinator refactor

[TomCC7]

Summary

• define the connection-owned control boundary and one-logical-robot manipulation model
• specify scalar control interfaces, runtime connection descriptions, and robot-wide lifecycle safety
• provide a presentation-oriented design report and a seven-layer stacked PR implementation plan
• explicitly defer robot assembly, task registry redesign, multiwriter SHM, and other unrelated follow-ups

Review order

1. Review the ownership boundaries and decisions in design.md.
2. Review observable behavior in the four capability specs.
3. Review the PR dependency graph and 106 implementation tasks in tasks.md.

Proposed implementation stack

PR 3381 prerequisite -> static model -> single-robot manipulation -> control contracts -> connection-family migrations -> coordinator cutover -> integration -> verification/docs

Validation

• openspec validate refactor-control-coordinator-connections
• git diff --check

Context: #3390
Prerequisite: #3381

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

@@           Coverage Diff           @@
##             main    #3409   +/-   ##
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  Coverage   76.09%   76.09%           
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  Files        1189     1190    +1     
  Lines      115284   115295   +11     
  Branches    10366    10384   +18     
=======================================
+ Hits        87720    87731   +11     
  Misses      24553    24553           
  Partials     3011     3011           

Flag	Coverage Δ
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Py-3.10	72.14% <ø> (-0.01%)	⬇️
Py-3.11	72.14% <ø> (+<0.01%)	⬆️
Py-3.12	72.15% <ø> (+0.01%)	⬆️
Py-3.13	72.14% <ø> (-0.01%)	⬇️
Py-3.14	72.15% <ø> (+<0.01%)	⬆️
Py-3.14t	72.14% <ø> (-0.01%)	⬇️
SelfHosted-Large	29.66% <ø> (+0.01%)	⬆️
SelfHosted-Linux	35.84% <ø> (-0.02%)	⬇️

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see 10 files with indirect coverage changes

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