Concept Taxonomy¶
The concepts in the learning graph are grouped into the following categories. Each category has a short TaxonomyID that appears in learning-graph.csv and a color in the graph viewer.
The Advanced Path Mathematics category is the optional advanced chapter. No concept in any other category depends on it.
Python Setup and Tools¶
TaxonomyID: PYS
Review of the Learning Python skills plus the tooling (virtual environments, pip, packages, JSON, command line, git) that every lab uses.
Robot Arm Fundamentals¶
TaxonomyID: ARM
Links, joints, degrees of freedom, workspace, payload, repeatability, leader and follower arms, and the vocabulary of arm design.
Actuators and Sensors¶
TaxonomyID: ACT
Servos, brushless actuators, gear ratios, torque, encoders, feedback, and the control that holds a joint in position.
Communication Buses and Protocols¶
TaxonomyID: COMM
Serial and CAN buses, packets, bytes, registers, device IDs, and the Python libraries that talk to motors.
Power Systems¶
TaxonomyID: POWR
Voltage, current, power supplies, wiring, fuses, distribution, and the electrical problems that cause failures.
Safety¶
TaxonomyID: SAFE
Pinch points, limits, emergency stops, safe power-up and shutdown, supervision, and fail-safe design.
Sourcing Parts¶
TaxonomyID: SORC
Bills of materials, kits versus self-sourcing, vendors, lead times, costs, revisions, and the SO-ARM100 and reBot-DevArm product lines.
Fabrication and Building¶
TaxonomyID: BUILD
3D printing, fasteners, and tools, then assembling, calibrating, troubleshooting, and comparing the SO-ARM100 and reBot-DevArm.
Python Motion Programming¶
TaxonomyID: PYMO
Hardware abstraction classes, fake arms, joint-space moves, trajectories, control loops, pick and place, teleoperation, logging, plotting, and testing.
Kinematics and Simulation¶
TaxonomyID: KINE
Coordinate frames, forward and inverse kinematics, Cartesian motion, workspace analysis, simulation, and the ROS 2 tour.
Perception and Learning¶
TaxonomyID: PERC
Cameras, OpenCV, calibration, mapping pixels to the arm, and learning from demonstration with LeRobot.
AI Agents and OpenClaw¶
TaxonomyID: AGNT
The agent loop, tool calling, OpenClaw and its skills, natural-language control, planning, vision-language models, and agent interfaces such as MCP.
Agent Safety and Evaluation¶
TaxonomyID: AGSF
Safety layers, validation, dry-run modes, prompt injection and other agent risks, and testing and evaluating agent-controlled systems.
Projects, Operations, and Teaching¶
TaxonomyID: PROJ
Capstone projects, startup and shutdown, maintenance, classroom and makerspace use, and next steps.
Advanced Path Mathematics¶
TaxonomyID: ADV
Optional advanced chapter: orientation math, the Jacobian, trajectory polynomials, path planning, and predicting and measuring arm paths.