robotics-design-patterns

Behavior trees offer better modularity for complex robot behaviors, while finite state machines are simpler for linear state transitions. The skill provides decision criteria to evaluate your specific robotics architecture needs and choose the appropriate pattern.

Structure the perception-planning-control pipeline by separating these stages into distinct modules with clear interfaces. This skill provides architecture patterns to define data flow and structurally decouple perception from planning and control execution.

A hardware abstraction layer (HAL) separates robot software logic from hardware-specific drivers. Implementing a HAL pattern isolates hardware dependencies, enabling code portability and easier hardware swaps without rewriting higher-level control systems.

Common robotics safety anti-patterns include tightly coupling safety logic with behavior trees and bypassing hardware abstraction layers. This skill identifies these mistakes and provides architectural patterns to safely isolate and implement robot safety systems.

Prepare for sim-to-real deployment by structuring your robot software stack with strict hardware abstraction layers and modular perception-planning-control pipelines. This skill provides architecture patterns to bridge the gap between simulation and real hardware deployment.