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DecRAS — Claude Code Context

What is this project?

Distributed robotics architecture: LLM (planner) + MCP server (executor) + perception pipeline. See ARCHITECTURE.md for design decisions and PROJECT_STATUS.md for implementation state.

How to run tests

PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 uv run pytest

Key rules

  • MCP tool signatures in server.py are the API contract — don't change them without discussion
  • SIMULATE flag in config.py switches between real hardware and PyBullet
  • All robot interaction goes through robot/lerobot.py, never direct serial access
  • FK/IK goes through robot/kinematics.py (PyBullet DIRECT headless client)

Current focus

Phase 6 — Imitation Learning Pipeline. See BACKLOG.md for specific tasks.

File structure

See PROJECT_STATUS.md "Key Files" section for the full map.

MANDATORY: Doc updates on every task

Every PR / commit that completes a task MUST also update the project docs in the same commit:

  1. BACKLOG.md — Check off (- [x]) the completed task(s)
  2. PROJECT_STATUS.md — If the task adds a new capability, file, or changes behavior:
    • Add it under the appropriate section (Working, Key Files, Completed, etc.)
    • If a new file was created, add it to the Key Files tree
    • If a phase milestone was reached, note it under Completed
  3. ARCHITECTURE.md — Only update if a design decision was made or changed (rare)

How to do this

After implementing the task and before committing:

  • Re-read BACKLOG.md, find the task you just completed, check the box
  • Re-read PROJECT_STATUS.md, add any new capabilities/files
  • Include these doc changes in the same commit as the code changes

Example commit message format

feat: add demo store schema (BACKLOG 6.2.1)

- Created decras/imitation/retrieval.py with DemoRecord schema
- Updated BACKLOG.md: checked off task 6.2.1
- Updated PROJECT_STATUS.md: added retrieval.py to Key Files

This keeps the project docs always in sync with the code. No separate "update docs" step needed.

Context from conversations

Read DECISIONS.md before starting any task. It contains architectural decisions made in claude.ai conversations that may not yet be reflected in ARCHITECTURE.md or BACKLOG.md. If a decision in DECISIONS.md conflicts with another doc, DECISIONS.md is more recent and takes precedence.