Robot Behavior
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, RealtimeControl, 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.