API Map

This page lists the current public API by source module. Most items are re-exported at the crate root and common behavior items are also available through robot_behavior::behavior::*.

Crate Root

Item	Description
RobotException, RobotResult<T>	unified error and result alias
Robot, RobotDescription	lifecycle and URDF description
behavior	behavior prelude
controller	controller utility prelude
roplat_data_dir()	roplat asset directory helper

robot

Module	Public items
arm	Arm, ArmState
joint	Joints
state	StateView, JointSample, JointState, SpatialSample, BaseState, MobileBaseState, QuadrupedState, HumanoidState
observe	ControlObservation, ControlObserver
endpoint	EndPoint
motion	MotionSpace, MoveTo, MoveTraj, Motion, MotionFile
control	ControlSpace, ControlStep, ControlWith, Control, TorqueControl, JointPositionControl, JointVelocityControl, CartesianVelocityControl
types	Coord, Pose
dh	DhParam, dh_param!, mdh_param!
kinematics_dynamics	Iso3, Twist, Wrench, JVec, JMat, Jaco, Link, Joint, JointType, ArmKineCache, ArmForwardKinematics, ArmInverseKinematics, IKMethod, CommonStop, AnalyticFamily, ArmDynamics
load	LoadState
spaces	JointSpace, EndSpace, FlangeSpace, TcpSpace, BasePoseSpace, BaseVelocitySpace, WholeBodyJointSpace, WholeBodyVelocitySpace, WholeBodyTorqueSpace, CenterOfMassSpace, GaitCommand, GaitSpace, FootSpace, HandSpace, JacobianSpace, MassMatrixSpace, JointTorqueSpace, CoriolisInputSpace, GravityInputSpace, Relative, Inertial

utils

Module	Description
types	homo_to_isometry, combine_array, rad_to_deg, to_radians_array, isometry raw/frame helpers
once	OverrideOnce, RobotBound, ArmBound
limit	limit, clamp, limit_dot, difference, update
path_generate	joint_linear, cartesian_quat_linear, joint_trapezoid, t_curve, joint_s_curve
trajectory	plan_s_t_via_copp, plan_waypoints_traj_via_copp, plan_path_traj_via_copp
inverse	ik_planar_2r_all
controller::impedance	joint-space impedance helpers
controller::pid	PID helpers

world / physics / renderer

Item	Description
PhysicsEngine, AddSearchPath	simulation backend interfaces
World, Entity, EntityBuilder, AddRobot, AddCollision, AddVisual	world entity loading interfaces
Renderer, AttachFrom<T>	visualization / rendering adapters

FFI

ffi, to_py, to_cxx and to_c are feature-gated adapters. They are not required by the current core Rust API and should be checked separately with the target feature before use.

Optional graph integration

The roplat feature exposes MotionNode, SpaceMapNode, SafetyNode ControlRhythm and AsyncControlRhythm. See Roplat integration for Execution, lifecycle ownership and resource-return limits. Driver traits and tools do not require this feature.