OpenRAL · repo state map

A canvas view of every module in the eight-layer runtime, what it produces, what it consumes, and whether it actually exists. Click a block to inspect its schemas.
working in development planned cancelled / out of scope schema Generated from CLAUDE.md + actual filesystem state. Branch: master · 2026-06-15

Runtime data flow · the closed loop one Skill execution traverses

L0
HAL
read_state @ ctrl Hz
L1
Sensors
RGB / depth / IMU
L2
World State
snapshot @ 30 Hz
L3
rSkill (S1)
VLA chunk @ 30–200 Hz
L4
Reasoner (S2)
LLM → BT @ 5–10 Hz
L5
WAM (opt.)
mental rollout
L6
Safety
C++, deny-by-default
L7
Observability
OTel + LeRobotDataset
JointState, images, tf2 frames → WorldState → Action(chunk) → clamped Action → motors · spans+frames forked to Observability the whole time
Filter: all working in dev planned cancelled

The eight layers · per-module status, inputs, outputs, schemas

Cross-cutting · not a layer, but every layer touches them

Out of scope · never going to exist in this repo (per CLAUDE.md §0, §1)