Bodies and interaction

A body closes a reservoir through a world. It owns the sensorimotor organisation while the reservoir remains task-agnostic.

Component path

world sample
  → sensor
  → encoder
  → receptor frame(s)
  → reservoir step(s)
  → readout
  → effector values
  → actuator
  → typed command
  → dynamics

AbstractBody is the dispatch boundary. Embodiment is the generic composed body. Geometry, sensors, encoders, readout, actuators, dynamics, and optional physiology use stable component IDs.

portspec(body)
BrainlessLab.component_slots(body)
n_receptors(body)
n_effectors(body)

Port widths must match the reservoir before tick zero. Stable EntityID, ObjectID, and component IDs preserve identity when runtime order changes.

Interaction timing

InteractionCycle defines neural frames within one world step. FixedRateCycle(K) samples the world once, runs K neural frames, and emits one command through the selected readout. This timing does not define repeated research trials.

All agents observe the same pre-action world state. The runtime then applies complete command frames and world effects. An agent cannot observe another agent’s action from the same tick.

Physical interpretation

Component presets are simplified compositions. Names such as insect, robot, or aircraft do not establish fidelity. Inspect sensor geometry, noise, actuator limits, dynamics, and physiology before making a physical or biological claim.

Source: src/core/Interfaces.jl, src/world/Embodiment.jl, src/world/Ensemble.jl.