Architecture Overview

One API. Four Backends.
Zero Compromise.

The clinical foundation for modern robotics. A unified control plane that bridges simulation and reality with deterministic precision.

12ms Control Loop Latency
100% ROS2 Native Compliance
4 Backends
0.1mm Precision Repeatability
Backend Architecture

Interchangeable Intelligence

Four simulation and execution backends, one unified API. Swap with a single config change.

Zero Dependency Prototyping

NumPy-based physics mock for rapid iteration. No GPU, no simulator install, no network. Pure Python deterministic execution for CI pipelines and algorithm development.

  • check_circle Instant CI/CD Integration
  • check_circle 1000x Real-time Speed
  • check_circle Deterministic Physics
config.yaml 
backend: "mock"
robot: "differential_drive"
step_size: 0.001

Full Physics Simulation

Gazebo Harmonic with full ROS2 integration. CPU-based multi-body dynamics with Nav2 navigation stack and SLAM capabilities out of the box.

  • check_circle Nav2 + SLAM Integration
  • check_circle Multi-body Collision Physics
  • check_circle Sensor Noise Models
config.yaml 
backend: "gazebo"
robot: "differential_drive"
world: "office_floorplan"
nav_stack: true

GPU-Accelerated Training

NVIDIA Isaac Sim with parallel environment execution. Domain randomization, photorealistic rendering, and massive-scale RL training on RTX hardware.

  • check_circle 1024 Parallel Environments
  • check_circle Domain Randomization
  • check_circle Photorealistic Rendering
config.yaml 
backend: "isaac_sim"
robot: "differential_drive"
num_envs: 1024
gpu_id: 0

Production Deployment

Deploy directly to physical hardware. Raspberry Pi 5 + ESP32-S3 + Hailo-8L running ROS2 Jazzy at 50Hz control frequency with ISO 13850 E-Stop compliance.

  • check_circle 50Hz Control Loop
  • check_circle ISO 13850 E-Stop
  • check_circle Zero Code Changes from Sim
config.yaml 
backend: "real"
robot: "differential_drive"
hardware: "3we_v1"
e_stop: true
AI Integration

Neural-First Integration

Bridging the gap between VLMs and real-world actuators.

neurology

VLA Deployment Pipeline

Map Vision-Language-Action tokens directly to motor velocities. Full support for LeRobot and HuggingFace model architectures with automatic action-space mapping.

Transformer_v2
arrow_forward
Joint_States
arrow_forward
Robot_Hardware
explore

VLM Navigation

Semantic reasoning for complex paths. Vision-language models interpret scene context to generate navigation waypoints through unstructured environments.

fitness_center

Gymnasium Environments

Standardized RL training wrappers for all backends. Compatible with Stable Baselines3, CleanRL, and any Gymnasium-compliant algorithm.

timeline

Trajectory Recording

High-fidelity data logging at 100Hz+ for imitation learning. Record demonstrations in simulation or hardware and replay across backends.

Safety & Trust

Industrial Grade Reliability

emergency_stop

ISO 13850 E-Stop

Redundant signal paths with hardware-level interrupt. Compliant emergency stop with less than 50ms response time across all actuators.

visibility

3-Level Watchdog

MCU, SOC, and Cloud nested monitoring. If any layer fails to heartbeat, the system cascades to a safe state within one control cycle.

encrypted

DTLS Encryption

Secure telemetry with DTLS 1.3 encryption on all robot-to-cloud communication. Mutual authentication prevents unauthorized command injection.

Integrations

Ecosystem Compatibility

ROS2 Jazzy / Humble
Gymnasium Standard RL
HuggingFace LeRobot
NVIDIA Isaac
Open3D Pointcloud

Scale from 1 to 1000 Robots.

From prototype to fleet deployment with the same codebase. No rewrites, no vendor lock-in.

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