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Architecture

CORA is a monorepo. The joint manifest schema sits at the centre — every other component reads from it.

Repository layout​

cora/
├── configurator/          # React + TypeScript + Vite frontend + FastAPI backend
│   ├── apps/              # frontend app
│   └── packages/          # shared packages
├── codi/                  # Python SDK
│   └── src/               # importable codi package
├── cora_robot/            # ROS 2 workspace — robot description + control
│   └── src/
├── cora_common/           # ROS 2 workspace — shared messages + utilities
│   └── src/
├── cora_desktop/          # ROS 2 workspace — RViz panels + desktop integration
│   └── src/
├── cora_robot_description/# URDF + meshes (generated by export pipeline)
├── cora_docs/             # This documentation
└── odesc_config/          # ODrive / CAN protocol configuration
wiring