Reference

Architecture

  User input (plain English)
        │
        ▼
  ToolDiscovery ─────────► physical_map + robot.json genome
        │                            │
        │           AdapterResolver (Tier 1 → 2 → 3)
        │                └── ~/.aether/adapters/  (persisted)
        ▼                            │
  LLMPlanner ◄── genome capabilities injected into context
        │
        ▼
  NavigationEngine  (L1 camera / L2 GPIO / L3 MAVLink)
        │                       │
        ▼                       ▼
  Hardware (servo/motor/FC)  FaultAgent (PPO, 15-dim → fault class)
                                │
                          detect · recover · log

Path	Responsibility
`app.py` / `__main__.py`	Entry point, CLI parsing, mode dispatch
`core/`	Planner, tool registry, navigation, genome, calibration, memory, metrics, MAVLink, updater
`adapters/`	Tier 1 adapters + the auto-adapter generator/validator
`agents/`	Perception, navigation, fault, thermal, power, correction, planner, memory…
`skills/`	High-level composite behaviors
`parallel/`	Threading-based parallel execution
`faults/`	Fault detector + injector
`simulation/`	Virtual environment, scenarios, perception for sim