# matthewbuck36/dsim-lab architecture

> Architecture diagram of the GitHub repository matthewbuck36/dsim-lab, generated by GitDiagram from its file tree, README and a sample of source files (last updated 2026-06-23). It is an AI-made overview: check details against the source.

- Interactive diagram: https://gitdiagram.com/matthewbuck36/dsim-lab
- Repository: https://github.com/matthewbuck36/dsim-lab

## Overview

1. This repository is a research workspace, not a single application. It has two main source systems:
   - `extremum-seeking/`: a standalone Python package for extremum-seeking / optimization simulation.
   - `ros2_ws/`: a ROS 2 workspace that turns those ideas into runnable nodes, interfaces, launch files, and a Turtlebot rotating-sensor setup.

2. The `extremum_seeking` Python package is the algorithmic core. Its main submodules are:
   - `objectives.py` for cost/objective definitions.
   - `seekers/` for seeker dynamics and simulation orchestration.
   - `filters/` for filter primitives and combinations.
   - `averaging/` for perturbation-based estimation.
   - `modifiers/` for time-modifying logic such as prescribed-time behavior.
   - `systems.py` for plant/system models.
   This package is where the control/optimization math lives, independent of ROS.

3. The ROS 2 interface boundary is the `ros_esc_interfaces` package. It defines the message contracts used across nodes:
   - `StampedFloat64`
   - `StampedFloat64MultiArray`
   - `StampedString`
   - `StampedTransformMultiArray`
   - `Timekeeper`
   These messages are the glue between control, sensing, filtering, and logging components.

4. The runtime ROS 2 application is the `ros_esc` package. It is split into node-level subsystems:
   - `controller_node`: produces control commands from tuning/config inputs.
   - `cost_function_node`: computes objective/cost values from state or sensor data.
   - `filter_node`: filters signals used by the optimizer/controller.
   - `encoder_node`: converts raw motion/state into encoded signals.
   - `rotate_frame_node`: handles frame rotation / spin-profile transforms for the sensor rig.
   - `sensor_pose_node`: publishes or computes sensor transforms/poses.
   - `data_collection_node`: records and visualizes streamed outputs.
   - `plotting_scripts/`: offline analysis and visualization utilities.
   `config_parsing.py` and `helper_functions.py` support these nodes with shared parsing and utility logic.

5. The main data flow in the ROS 2 system is message-driven:
   - simulation or hardware state enters through the Turtlebot / sensor pose / encoder side,
   - frame transforms are applied by the rotate-frame and sensor-pose components,
   - the cost function consumes the transformed state,
   - the filter and controller process the resulting signal,
   - outputs are collected and plotted by data collection and plotting tools.
   The `Stamped*` interfaces suggest most payloads are timestamped and move through the system as typed ROS messages.

6. The `turtlebot3_rotating_sensor` package is the physical/simulation platform around which the ROS nodes operate. It contains:
   - URDF, meshes, Gazebo world, RViz config, and launch files.
   - `controller_config/` for joint/controller YAML.
   - `bash_scripts/` that encode ready-made experiment launches for different control methods.
   - `math_simulation/` for offline signal/cost/control modeling.
   This package is the integration layer between the robotics platform and the extremum-seeking logic.

7. There is a strong configuration-driven design across the repo. Most experiments are not hard-coded; they are selected through JSON/YAML files under package-specific `*_config_files/` directories. These configs encode variants for:
   - vehicle type,
   - rotation mode,
   - cost function type,
   - filter choice,
   - controller family.
   This makes the system easy to rewire without changing node code.

8. The repository supports multiple control families and experiment styles. You can see this in the config and example naming:
   - gradient methods,
   - adaptive methods such as AdaGrad and RMSProp,
   - lie-bracket / GESC variants,
   - Newton-style methods,
   - forward/angular tuning,
   - safety/barrier variants.
   Architecturally, these are alternative controller/filter/cost pipelines, not separate apps.

9. Offline and reproducibility tooling is a first-class part of the architecture:
   - `scripts/` in `extremum-seeking/` run benchmark functions such as Ackley, Beale, Rosenbrock, Rastrigin, Sphere, and custom demos.
   - `paper-recreations/` stores scenario-specific scripts and configs tied to published experiments.
   - `docs/` provides generated documentation for the Python package.
   These support validation and analysis outside ROS execution.

10. The ROS 2 workspace is built with `colcon`, and the generated `build/`, `install/`, and `log/` trees are present in the repository snapshot. Those directories are runtime/build artifacts, not source architecture, but they confirm the deployment model:
   - packages are built independently,
   - launch files start coordinated node sets,
   - generated interfaces are shared via the ROS 2 install overlay.

11. The key architectural boundary is between simulation/robotics runtime and algorithmic logic:
   - `extremum_seeking/` holds reusable math and simulation primitives.
   - `ros2_ws/src/ros_esc` and `turtlebot3_rotating_sensor` adapt those ideas into ROS 2 nodes and a robot platform.
   This separation is important for any diagram: the math library feeds the ROS system, but does not depend on it.

12. If you are drawing the system, the highest-level boxes should likely be:
   - Algorithm library
   - ROS interface definitions
   - ROS control/sensing nodes
   - Turtlebot rotating-sensor platform
   - Offline scripts/docs/examples
   with arrows showing typed ROS messages flowing between the node boxes, and config files selecting experiment variants at startup.

Main entry points: [`ros2_ws/src/turtlebot3_rotating_sensor/launch`](https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/turtlebot3_rotating_sensor/launch) (Launch files), [`extremum-seeking/src/extremum_seeking`](https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking) (Core math), [`ros2_ws/src/ros_esc_interfaces/msg`](https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/ros_esc_interfaces/msg) (Messages), [`ros2_ws/src/ros_esc/ros_esc/config_parsing.py`](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/config_parsing.py) (Config parsing)

## Diagram (Mermaid)

```mermaid
flowchart TD

subgraph group_grp_algo["Algorithm library"]
  node_n_algo_core["Core math<br/>python package"]
  node_n_algo_objectives["Objectives<br/>cost models<br/>[objectives.py]"]
  node_n_algo_seekers["Seekers<br/>dynamics"]
  node_n_algo_filters["Filters"]
  node_n_algo_avg["Averaging<br/>estimation"]
  node_n_algo_mod["Modifiers<br/>time transforms"]
  node_n_algo_systems["Systems<br/>plant models<br/>[systems.py]"]
end

subgraph group_grp_ros["ROS 2 runtime"]
  node_n_ros_controller["Controller<br/>ROS node"]
  node_n_ros_cost["Cost function<br/>ROS node"]
  node_n_ros_filter["Filter node<br/>ROS node"]
  node_n_ros_encoder["Encoder<br/>ROS node"]
  node_n_ros_rotate["Rotate frame<br/>ROS node"]
  node_n_ros_sensor["Sensor pose<br/>ROS node"]
  node_n_ros_data["Data collection<br/>ROS node"]
  node_n_ros_cfg["Config parsing<br/>support code<br/>[config_parsing.py]"]
end

subgraph group_grp_iface["ROS interfaces"]
  node_n_ros_iface["Messages<br/>ROS msg pkg"]
end

subgraph group_grp_platform["Robot platform"]
  node_n_platform_launch["Launch files<br/>integration"]
  node_n_platform_urdf["Robot model<br/>URDF/assets"]
  node_n_platform_ctrlcfg["Controller cfg<br/>YAML config"]
  node_n_platform_bash["Experiment scripts<br/>bash launchers"]
  node_n_platform_mathsim["Math simulation<br/>offline model"]
end

subgraph group_grp_offline["Offline tooling"]
  node_n_offline_scripts["Python scripts<br/>benchmarks"]
  node_n_offline_docs["Docs<br/>documentation<br/>[index.rst]"]
  node_n_offline_papers["Paper recreations<br/>reproducibility"]
end

node_n_algo_core -->|"defines"| node_n_algo_objectives
node_n_algo_core -->|"simulates"| node_n_algo_seekers
node_n_algo_core -->|"uses"| node_n_algo_filters
node_n_algo_core -->|"uses"| node_n_algo_avg
node_n_algo_core -->|"uses"| node_n_algo_mod
node_n_algo_core -->|"models"| node_n_algo_systems
node_n_ros_iface -->|"messages"| node_n_ros_controller
node_n_ros_iface -->|"messages"| node_n_ros_cost
node_n_ros_iface -->|"messages"| node_n_ros_filter
node_n_ros_iface -->|"messages"| node_n_ros_encoder
node_n_ros_iface -->|"messages"| node_n_ros_rotate
node_n_ros_iface -->|"messages"| node_n_ros_sensor
node_n_ros_iface -->|"messages"| node_n_ros_data
node_n_ros_cfg -->|"configures"| node_n_ros_controller
node_n_ros_cfg -->|"configures"| node_n_ros_cost
node_n_ros_cfg -->|"configures"| node_n_ros_filter
node_n_ros_cfg -->|"configures"| node_n_ros_rotate
node_n_ros_cfg -->|"configures"| node_n_ros_sensor
node_n_platform_launch -->|"starts"| node_n_ros_controller
node_n_platform_launch -->|"starts"| node_n_ros_cost
node_n_platform_launch -->|"starts"| node_n_ros_filter
node_n_platform_launch -->|"starts"| node_n_ros_encoder
node_n_platform_launch -->|"starts"| node_n_ros_rotate
node_n_platform_launch -->|"starts"| node_n_ros_sensor
node_n_platform_launch -->|"starts"| node_n_ros_data
node_n_platform_urdf -->|"feeds"| node_n_ros_sensor
node_n_platform_ctrlcfg -->|"used by"| node_n_platform_launch
node_n_platform_bash -->|"wraps"| node_n_platform_launch
node_n_platform_mathsim -->|"mirrors"| node_n_algo_core
node_n_platform_mathsim -->|"prototypes"| node_n_ros_controller
node_n_offline_scripts -->|"benchmarks"| node_n_algo_core
node_n_offline_papers -->|"recreates"| node_n_ros_controller
node_n_offline_papers -->|"recreates"| node_n_ros_cost
node_n_offline_docs -->|"documents"| node_n_algo_core

click node_n_algo_core "https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking"
click node_n_algo_objectives "https://github.com/matthewbuck36/dsim-lab/blob/main/extremum-seeking/src/extremum_seeking/objectives.py"
click node_n_algo_seekers "https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/seekers"
click node_n_algo_filters "https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/filters"
click node_n_algo_avg "https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/averaging"
click node_n_algo_mod "https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/modifiers"
click node_n_algo_systems "https://github.com/matthewbuck36/dsim-lab/blob/main/extremum-seeking/src/extremum_seeking/systems.py"
click node_n_ros_iface "https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/ros_esc_interfaces/msg"
click node_n_ros_controller "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/controller_node/controller_node_script.py"
click node_n_ros_cost "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/cost_function_node/cost_function_node_script.py"
click node_n_ros_filter "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/filter_node/filter_node_script.py"
click node_n_ros_encoder "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/encoder_node/encoder_node_script.py"
click node_n_ros_rotate "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/rotate_frame_node/rotate_frame_node_script.py"
click node_n_ros_sensor "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/sensor_pose_node/sensor_pose_node_script.py"
click node_n_ros_data "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/data_collection_node/data_collection_node_script.py"
click node_n_ros_cfg "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/config_parsing.py"
click node_n_platform_launch "https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/turtlebot3_rotating_sensor/launch"
click node_n_platform_urdf "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/turtlebot3_rotating_sensor/urdf/turtlebot3_rotating_sensor.urdf"
click node_n_platform_ctrlcfg "https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/turtlebot3_rotating_sensor/controller_config/joint_controller.yaml"
click node_n_platform_bash "https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/turtlebot3_rotating_sensor/bash_scripts"
click node_n_platform_mathsim "https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/turtlebot3_rotating_sensor/math_simulation"
click node_n_offline_scripts "https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/scripts"
click node_n_offline_docs "https://github.com/matthewbuck36/dsim-lab/blob/main/extremum-seeking/docs/source/index.rst"
click node_n_offline_papers "https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/ros_esc/paper_recreations"

classDef toneNeutral fill:#f8fafc,stroke:#334155,stroke-width:1.5px,color:#0f172a
classDef toneBlue fill:#dbeafe,stroke:#2563eb,stroke-width:1.5px,color:#172554
classDef toneAmber fill:#fef3c7,stroke:#d97706,stroke-width:1.5px,color:#78350f
classDef toneMint fill:#dcfce7,stroke:#16a34a,stroke-width:1.5px,color:#14532d
classDef toneRose fill:#ffe4e6,stroke:#e11d48,stroke-width:1.5px,color:#881337
classDef toneIndigo fill:#e0e7ff,stroke:#4f46e5,stroke-width:1.5px,color:#312e81
classDef toneTeal fill:#ccfbf1,stroke:#0f766e,stroke-width:1.5px,color:#134e4a
class node_n_algo_core,node_n_algo_objectives,node_n_algo_seekers,node_n_algo_filters,node_n_algo_avg,node_n_algo_mod,node_n_algo_systems toneBlue
class node_n_ros_controller,node_n_ros_cost,node_n_ros_filter,node_n_ros_encoder,node_n_ros_rotate,node_n_ros_sensor,node_n_ros_data,node_n_ros_cfg toneAmber
class node_n_ros_iface toneMint
class node_n_platform_launch,node_n_platform_urdf,node_n_platform_ctrlcfg,node_n_platform_bash,node_n_platform_mathsim toneRose
class node_n_offline_scripts,node_n_offline_docs,node_n_offline_papers toneIndigo
```

## Components

### Algorithm library

Standalone extremum-seeking math and simulation package.

- [Core math](https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking): python package · Reusable extremum-seeking algorithm core, independent of ROS. · `extremum-seeking/src/extremum_seeking`
- [Objectives](https://github.com/matthewbuck36/dsim-lab/blob/main/extremum-seeking/src/extremum_seeking/objectives.py): cost models · Objective and cost definitions used by seekers and simulations. · `extremum-seeking/src/extremum_seeking/objectives.py`
- [Seekers](https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/seekers): dynamics · Seeker dynamics and simulation orchestration. · `extremum-seeking/src/extremum_seeking/seekers`
- [Filters](https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/filters): signal filters · Filter primitives and filter composition logic. · `extremum-seeking/src/extremum_seeking/filters`
- [Averaging](https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/averaging): estimation · Perturbation-based estimation routines. · `extremum-seeking/src/extremum_seeking/averaging`
- [Modifiers](https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/src/extremum_seeking/modifiers): time transforms · Prescribed-time and other time-modifying behavior. · `extremum-seeking/src/extremum_seeking/modifiers`
- [Systems](https://github.com/matthewbuck36/dsim-lab/blob/main/extremum-seeking/src/extremum_seeking/systems.py): plant models · Plant and system models used in simulations. · `extremum-seeking/src/extremum_seeking/systems.py`

### ROS 2 runtime

ROS nodes that turn the algorithms into a runnable system.

- [Controller](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/controller_node/controller_node_script.py): ROS node · Produces control commands from tuning and configuration inputs. · `ros2_ws/src/ros_esc/ros_esc/controller_node/controller_node_script.py`
- [Cost function](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/cost_function_node/cost_function_node_script.py): ROS node · Computes objective values from state or sensor data. · `ros2_ws/src/ros_esc/ros_esc/cost_function_node/cost_function_node_script.py`
- [Filter node](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/filter_node/filter_node_script.py): ROS node · Filters streamed signals for control and optimization. · `ros2_ws/src/ros_esc/ros_esc/filter_node/filter_node_script.py`
- [Encoder](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/encoder_node/encoder_node_script.py): ROS node · Encodes raw motion or state into downstream signals. · `ros2_ws/src/ros_esc/ros_esc/encoder_node/encoder_node_script.py`
- [Rotate frame](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/rotate_frame_node/rotate_frame_node_script.py): ROS node · Applies spin-profile and frame-rotation transforms. · `ros2_ws/src/ros_esc/ros_esc/rotate_frame_node/rotate_frame_node_script.py`
- [Sensor pose](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/sensor_pose_node/sensor_pose_node_script.py): ROS node · Publishes or computes sensor transforms and poses. · `ros2_ws/src/ros_esc/ros_esc/sensor_pose_node/sensor_pose_node_script.py`
- [Data collection](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/data_collection_node/data_collection_node_script.py): ROS node · Records streamed outputs and supports live plotting. · `ros2_ws/src/ros_esc/ros_esc/data_collection_node/data_collection_node_script.py`
- [Config parsing](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/ros_esc/ros_esc/config_parsing.py): support code · Shared parsing and helper logic for ROS node startup. · `ros2_ws/src/ros_esc/ros_esc/config_parsing.py`

### ROS interfaces

Shared message contracts for node-to-node communication.

- [Messages](https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/ros_esc_interfaces/msg): ROS msg pkg · Shared typed message definitions for all ROS nodes. · `ros2_ws/src/ros_esc_interfaces/msg`

### Robot platform

Turtlebot rotating-sensor integration, launch, and simulation assets.

- [Launch files](https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/turtlebot3_rotating_sensor/launch): integration · Launch entry points for control, RViz, and Gazebo runs. · `ros2_ws/src/turtlebot3_rotating_sensor/launch`
- [Robot model](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/turtlebot3_rotating_sensor/urdf/turtlebot3_rotating_sensor.urdf): URDF/assets · Robot description, meshes, and world assets for the rotating sensor rig. · `ros2_ws/src/turtlebot3_rotating_sensor/urdf/turtlebot3_rotating_sensor.urdf`
- [Controller cfg](https://github.com/matthewbuck36/dsim-lab/blob/main/ros2_ws/src/turtlebot3_rotating_sensor/controller_config/joint_controller.yaml): YAML config · Joint/controller configuration for the platform. · `ros2_ws/src/turtlebot3_rotating_sensor/controller_config/joint_controller.yaml`
- [Experiment scripts](https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/turtlebot3_rotating_sensor/bash_scripts): bash launchers · Ready-made experiment entry points for control families and sensor modes. · `ros2_ws/src/turtlebot3_rotating_sensor/bash_scripts`
- [Math simulation](https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/turtlebot3_rotating_sensor/math_simulation): offline model · Offline platform-specific modeling of control, cost, filters, and signals. · `ros2_ws/src/turtlebot3_rotating_sensor/math_simulation`

### Offline tooling

Scripts and docs for experiments, benchmarks, and reproducibility.

- [Python scripts](https://github.com/matthewbuck36/dsim-lab/tree/main/extremum-seeking/scripts): benchmarks · Standalone benchmark and demo scripts for algorithm validation. · `extremum-seeking/scripts`
- [Docs](https://github.com/matthewbuck36/dsim-lab/blob/main/extremum-seeking/docs/source/index.rst): documentation · Generated documentation for the Python package. · `extremum-seeking/docs/source/index.rst`
- [Paper recreations](https://github.com/matthewbuck36/dsim-lab/tree/main/ros2_ws/src/ros_esc/paper_recreations): reproducibility · Scenario-specific scripts and configs mirroring published experiments. · `ros2_ws/src/ros_esc/paper_recreations`

## Connections

- Core math → Objectives: defines · Algorithm core uses objective definitions.
- Core math → Seekers: simulates · Seekers orchestrate algorithm dynamics.
- Core math → Filters: uses · Algorithms compose filter primitives.
- Core math → Averaging: uses · Algorithms use perturbation-based estimation.
- Core math → Modifiers: uses · Algorithms apply timing modifiers.
- Core math → Systems: models · Core simulations depend on plant/system models.
- Messages → Controller: messages · Controller exchanges typed stamped messages.
- Messages → Cost function: messages · Cost function communicates through shared messages.
- Messages → Filter node: messages · Filter node consumes and emits shared messages.
- Messages → Encoder: messages · Encoder uses shared message contracts.
- Messages → Rotate frame: messages · Rotate-frame logic uses shared message contracts.
- Messages → Sensor pose: messages · Sensor pose logic uses shared message contracts.
- Messages → Data collection: messages · Data collection subscribes to typed messages.
- Config parsing → Controller: configures · Startup config selects controller variant.
- Config parsing → Cost function: configures · Startup config selects cost variant.
- Config parsing → Filter node: configures · Startup config selects filter variant.
- Config parsing → Rotate frame: configures · Startup config selects rotation mode.
- Config parsing → Sensor pose: configures · Startup config selects transform variant.
- Launch files → Controller: starts · Launch files start the node set.
- Launch files → Cost function: starts · Launch files start the node set.
- Launch files → Filter node: starts · Launch files start the node set.
- Launch files → Encoder: starts · Launch files start the node set.
- Launch files → Rotate frame: starts · Launch files start the node set.
- Launch files → Sensor pose: starts · Launch files start the node set.
- Launch files → Data collection: starts · Launch files start the node set.
- Robot model → Sensor pose: feeds · Robot geometry and frames inform sensor pose generation.
- Controller cfg → Launch files: used by · Joint/controller settings are loaded at startup.
- Experiment scripts → Launch files: wraps · Experiment scripts wrap coordinated launches.
- Math simulation → Core math: mirrors · Offline simulation mirrors the algorithmic core.
- Math simulation → Controller: prototypes · Platform math sim prototypes controller behavior.
- Python scripts → Core math: benchmarks · Standalone scripts exercise the algorithm library.
- Paper recreations → Controller: recreates · Paper scenarios recreate ROS control pipelines.
- Paper recreations → Cost function: recreates · Paper scenarios recreate cost pipelines.
- Docs → Core math: documents · Docs describe the Python package API.