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Architecture patterns, design principles, and proven recipes for building robust robotics software.
Passed 19 of 22 test cases with the skill, and 19 of 22 without it.
1 fixed18 passed either way2 still failing1 broke
Tokens, turns and time describe resource use, not a dollar price.
A test case the skill fixed. Same model, same prompt, with and without the skill.
When constructing a ROS2 behavior tree, should safety checking sequences (such as checking battery level and E-stop status) use memory composite nodes or non-memory composite nodes? Why?
| Checked | Without skill | With skill |
|---|---|---|
| recommends setting memory=False for safety check sequences | Missed | Passed |
| explains that safety conditions must be re-checked on every tick | Passed | Passed |
The instructions your model reads when the skill loads.
Every robot system follows this layered architecture, regardless of complexity:
┌─────────────────────────────────────────────┐
│ APPLICATION LAYER │
│ Mission planning, task allocation, UI │
├─────────────────────────────────────────────┤
│ BEHAVIORAL LAYER │
│ Behavior trees, FSMs, decision-making │
├─────────────────────────────────────────────┤
│ FUNCTIONAL LAYER │
│ Perception, Planning, Control, Estimation │
├─────────────────────────────────────────────┤
│ COMMUNICATION LAYER │
│ ROS2, DDS, shared memory, IPC │
├─────────────────────────────────────────────┤
│ HARDWARE ABSTRACTION LAYER │
│ Drivers, sensor interfaces, actuators │
├─────────────────────────────────────────────┤
│ HARDWARE LAYER │
│ Cameras, LiDARs, motors, grippers, IMUs │
└─────────────────────────────────────────────┘
Design Rule: Information flows UP through perception, decisions flow DOWN through control. Never let the application layer directly command hardware.
test cases passed, vs 19 / 22 without
More skills from the same source and nearby in the registry, with their headline benchmark lift.