Ecosystem and Status

Position in Roplat

robot_behavior sits at the bottom of the Roplat driver layer and provides shared interfaces. It usually has three kinds of consumers:

1. Real robot drivers: adapt vendor SDKs into common traits.
2. Simulation and visualization: use PhysicsEngine, World, Renderer and robot description interfaces.
3. roplat adapters: wrap driver behavior as roplat nodes or experiment components.

Known Related Crates / Directories

Directory	Role
franka-rust	Franka / Panda real arm driver
libjaka-rs	JAKA arm driver
libhans-rs	Hans arm driver
libaubo-rs	AUBO arm driver
rsbullet	PyBullet / Bullet simulation wrapper
roplat_exrobot	adapter from behavior traits to roplat nodes
roplat_rerun	Rerun visualization adapter
utils/rerun_urdf	URDF loading and Rerun logging tool

Not Mainline Anymore

The source tree may keep robot_old or older FFI examples for migration reference. New code should prefer:

• Robot
• Joints<N> / EndPoint / Arm<N>
• MotionSpace / MoveTo / MoveTraj / Motion
• ControlSpace / RealtimeControl / Control

Stability Notes

The current version is 0.6.x, and trait details may still change across minor versions. Before submitting a driver, verify at least:

cargo build -p robot_behavior
cargo test -p robot_behavior --doc
cargo check --manifest-path ../drives/Cargo.toml

If a public trait changes, also check real drivers, simulators and roplat-exp consumers.