Robot Behavior

This site is frozen. On 2026-10-26 robot_behavior was renamed roplat_behavior and split into roplat_behavior, roplat_kinematics, roplat_control and roplat_trajectory. This site documents robot_behavior 0.8 and is no longer updated. robot_behavior 0.8.1 on crates.io is the final release (same API as 0.8.0). Code and migration notes: roplat_behavior; as of 2026-10-26, 0.9 is not on crates.io yet.

robot_behavior is the shared behavior-contract crate for the Roplat driver stack. It is not tied to one robot model; it extracts the behavior interfaces that real arms, simulators, visualizers and Roplat adapters need to share.

The current version is centered on typed motion spaces, typed realtime control channels, fixed-DoF arm modeling, and reusable kinematics / trajectory utilities.

Who Should Read This

• Driver users: start with Using a Driver.
• Driver authors: start with Implementing a Driver.
• API/design readers: read Capability Model and Motion and Control.
• API lookup: see API Map.

Main Interfaces

Layer	Key types	Purpose
Lifecycle	Robot	connect, enable, read state, stop, shutdown
Arm description	Joints<N>, EndPoint, Arm<N>	joint limits, Cartesian limits, state and payload
Motion	MotionSpace, MoveTo, MoveTraj, Motion	typed motion spaces and a uniform call surface
Realtime control	ControlSpace, ControlWith, Control	typed control channels and closure-driven loops
Geometry / kinematics	Pose, DhParam, ArmKineCache, IKMethod	pose, DH, FK/IK, Jacobian
Utilities	utils::*	limits, interpolation, trajectory generation, copp retiming

!!! note src/robot_old is not the current public interface. This documentation follows the items re-exported by src/lib.rs and src/robot/mod.rs.

For the optional roplat feature, lifecycle ownership and cooperative exits, read Roplat integration. This development documentation does not certify hardware operation or realtime timing.