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robotics-design-patterns

robotics-design-patterns is a skill for Claude Code, Codex from arpitg1304/robotics-agent-skills. It costs 120 tokens per session (4,847 once invoked), scanned A, original, Apache-2.0.

A guide to designing software for robots using established architecture patterns and design principles. It covers how robot software separates sensing, planning, control, communication, and higher-level decisions.

In plain words
What is it for?
Use it when designing robot software, behavior trees, state machines, perception-planning-control pipelines, safety systems, hardware interfaces, simulation transfer, or multi-robot systems. ROS2 is a robotics framework and DDS is its common communication layer.
Why use it?
It helps developers choose a suitable structure before robot code becomes difficult to test, change, or operate safely. It also explains tradeoffs such as real-time versus non-real-time processing and simulation versus physical hardware.

Skill for Claude CodeCodex

Written for no agent in particular: nothing here depends on one.

not rated 393repo +2 2mo ago A scan SkillSpector: warn 120 tokens original Apache-2.0

Good fit Use it when designing robot software, behavior trees, state machines, perception-planning-control pipelines, safety systems, hardware interfaces, simulation transfer, or multi-robot systems. ROS2 is a robotics framework and DDS is its common communication layer.

Compare 6 skills from other repositories ↓
Install with agentmods
npx agentmods add skills/arpitg1304/robotics-agent-skills/robotics-design-patterns
View source ↗ arpitg1304/robotics-agent-skills
Install

Getting it into your agent

One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.

Any agent
npx skills add arpitg1304/robotics-agent-skills --skill robotics-design-patterns
Clone the repo
git clone --depth 1 https://github.com/arpitg1304/robotics-agent-skills

Made for: Claude Code, Codex.

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README.md
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<a href="https://agentmods.dev/skills/arpitg1304/robotics-agent-skills/robotics-design-patterns"><img src="https://agentmods.dev/badge/skills/arpitg1304/robotics-agent-skills/robotics-design-patterns.svg" alt="Reviewed on agentmods" width="80" height="20"></a>
Per session 120 Skills are progressive disclosure: only the name and description are preloaded; the body loads when the skill is used.
When invoked 4,847 The whole file, excluding the scripts and references it only reads on demand.
Security scan A 0 findings. A grade says what 26 rules found in the file — not that it is safe. Third-party audits
  • NVIDIA SkillSpector warn 7 Sept 2026
SkillSpector: 1 finding, up to high

These are SkillSpector’s own severities. On a checked sample its high-severity flags on skills were ~96% false positives — a documented command, a public API, a “never do X” rule — so we show them as a caution to read, not a verdict. Why →

  • high Memory Poisoning · line 179
    Skill manipulates agent memory, state, or stored context. Memory corruption can alter personality, override safety rules, or cause unpredictable behavior.
    Fix: Protect agent memory and state from modification by untrusted content. Use read-only memory for critical instructions and validate all state changes.
How audits are shown
Origin original No closer match found in the catalogue.
Token cost

What it costs to keep this loaded

Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.

ModelPer sessionOnce invoked
Fable 5.1 $0.00120 $0.04847
Opus 5.5 $0.00048 $0.01939
Sonnet 5.5 $0.00024 $0.00969
Haiku 4.5 $0.00012 $0.00485

Measured 2mo ago against content hash 9d911e5462ea, method: parsed. Prices are Anthropic first-party input rates as of 2026-10-07, from the pricing page.

Security

Grade A, and why

robotics-design-patterns scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 2mo ago.

A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.

Nothing flagged

None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.

skills/robotics-design-patterns/SKILL.md · 610 lines

How it starts

The opening of the file, as written. The whole thing — 610 lines — stays where its author put it; the contents beside it link to each section on GitHub.

Robotics Design Patterns

When to Use This Skill

  • Designing robot software architecture from scratch
  • Choosing between behavior trees, FSMs, or hybrid approaches
  • Structuring perception → planning → control pipelines
  • Implementing safety systems and watchdogs
  • Building hardware abstraction layers (HAL)
  • Designing for sim-to-real transfer
  • Architecting multi-robot / fleet systems
  • Making real-time vs. non-real-time tradeoffs

Pattern 1: The Robot Software Stack

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.

Pattern 2: Behavior Trees (BT)

Behavior trees are the recommended default for robot decision-making. They're modular, reusable, and easier to debug than FSMs for complex behaviors.

Core Node Types

Sequence (→)     : Execute children left-to-right, FAIL on first failure
Fallback (?)     : Execute children left-to-right, SUCCEED on first success
Parallel (⇉)     : Execute all children simultaneously
Decorator        : Modify a single child's behavior
Action (leaf)    : Execute a robot action
Condition (leaf) : Check a condition (no side effects)

Read the full file on GitHub · 610 lines

Changes

What this file has done since we first saw it

Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.

  1. 2mo ago First seen · 610 lines · 120 tokens per session scan A 9d911e5462ea

Subscribe to this mod's changes

robotics-design-patterns is a skill published in the GitHub repository arpitg1304/robotics-agent-skills (393 stars, last pushed 2mo ago), licensed Apache-2.0. It adds 120 tokens to every session and 4,847 once invoked, about $0.0005 per session on Opus 5.5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.

Building agentsHardware and IoTagent-skillsai-coding-assistantclaude-skillsrobotics
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