Concepts
Key concepts
| Concept | What it is |
|---|---|
physical_map | Every discovered actuator by BCM pin: pin → device type (positional / continuous servo / motor) + a human label of what it moves. Built during calibration. |
| Robot Genome | A versioned robot.json identity card derived from the map: locomotion class, actuators, sensors, content hash. Portable across identical hardware. |
| Capabilities | A deterministic set derived from the genome — same hardware ⇒ same capabilities. Skills declare SKILL_REQUIRES; AETHER rejects skills the genome can't satisfy before any hardware moves. |
| Tool | A callable unit of hardware action in the ToolRegistry (e.g. move_forward). The planner selects tools by name. |
| Adapter | A module that registers a HAT board's tools. Tier 1 pre-built · Tier 2 LLM-generated · Tier 3 guided wizard. |
| Skill | A higher-level composite behavior built on tools (e.g. drive_until_obstacle), optionally running tasks in parallel. |
| FDIR | Fault Detection, Isolation & Recovery — the PPO network + recovery logic on the sensor observation vector. |