embodiment
Version: v1.3.0 | Status: Active | Last Updated: July 2026
Overview
The embodiment module provides local simulated hardware interfaces used by tests and demos: telemetry parsing, a WebSocket bridge, simulated sensors and actuators, an in-process ROS-style pub/sub bridge, and 3D vector transforms.
Key Components
| Component | File | Purpose |
|---|---|---|
SensorPayload / TelemetryStream | telemetry.py | Parse and retain latest sensor readings by node |
EmbodimentBridge | bridge.py | WebSocket telemetry ingress and actuator command egress |
SimulatedSensor | sensors/base.py | Deterministic sensor readings |
SimulatedActuator | actuators/base.py | Deterministic actuator command lifecycle |
ROS2Bridge | ros/ros_bridge.py | In-process topic history, latching, subscribe, publish, and simulation |
Vec3 / Transform3D | transformation/transformation.py | Vector math and Euler transform composition |
Validation
uv run pytest tests/unit/embodiment/ -q
uv run ruff check src/codomyrmex/embodiment
uv run ty check --output-format concise src/codomyrmex/embodiment
Navigation
- Agent Guidance: AGENTS.md
- Specification: SPEC.md
- API Specification: API_SPECIFICATION.md
- MCP Tools: MCP_TOOL_SPECIFICATION.md