roplat_behavior

English | 简体中文 | Migrating from robot_behavior

[!NOTE] 0.9 is not on crates.io yet. These crates continue robot_behavior 0.8 under new names and depend on roplat_msgs from the roplat core, which is also unpublished. Until both are released, build from source (see Working from source). The last robot_behavior release, 0.8.1, only points here.

roplat_behavior is a Rust interface library for writing robot applications against capabilities: move to a target, read a structured state, or calculate a command each control cycle. A hardware driver or simulator implements those capabilities; this repository supplies their shared contracts and the algorithms built on them. Each crate has its own README.

Contracts. Drivers and simulators implement these.

Crate	Contents
roplat_behavior	Capability contracts (Robot, motion spaces, control channels, model maps; gripper, force/torque, IMU and camera), robot state, motion limits as data, roplat adapters.
roplat_behavior_ffi	Python and C++ bindings of the contracts for driver packages.
roplat_world	Simulator backends and model selection, physics engines, renderers, world entities, SimulationRhythm.

Running a robot.

Crate	Contents
roplat_description	One robot model from URDF: tree, inertia, geometry, limits, chain kinematics, inverse dynamics.
roplat_kinematics	DH and URDF kinematics and inverse kinematics on the contract's model maps; URDF dynamics.
roplat_control	PID, impedance, computed torque, teleoperation, Cartesian servoing and Cartesian trajectory following.
roplat_trajectory	Interpolation, COPP time scaling, collision-free joint paths and their smoothing, straight tip paths, joint trajectory following.
roplat_safety	Gates that refuse commands: limits, rates, freshness, a watchdog and a stop latch.
roplat_diagnostics	Rate and latency probes, health checks and status aggregation.

Manipulation. These build on roplat_description and do not depend on the contracts.

Crate	Contents
roplat_frames	Frame tree with time-buffered transforms, hand-eye calibration, chessboard detection, lens distortion.
roplat_scene	Collision checking for planning: the robot, world and attached objects, whole-motion checks, sensed points and occupancy.
roplat_grasp	Grasp candidates for boxes, cylinders and spheres, pick and place planning, grasp checks.
roplat_perception	Point-cloud filtering, tabletop segmentation, shape fitting, ICP, normals and region growing.

Sample and geometry types (Pose, JointSample, SpatialSample, LoadState, Twist, …) come from roplat_msgs and are re-exported by roplat_behavior. They have one representation each and a fixed native layout, so the same values cross process and language boundaries. None of these crates depends on the roplat runtime unless you enable the roplat feature.

Use them when you want to reuse application or controller code across compatible backends, or implement a new driver in the same vocabulary. To connect to a robot, also choose its driver. To simulate physics, choose a physics backend such as RsBullet.

Where to start

• An application or a driver: the roplat_behavior README has a complete program without a robot, the state types, control sessions and the roplat integration. The example checklist lists the examples a driver should provide.
• Picking objects a camera sees: roplat_perception finds them, roplat_scene keeps them as obstacles, and roplat_grasp plans the pick.
• Coming from robot_behavior 0.8: what changed.

Working from source

This is a Cargo workspace of the crates above; each crate declares its own version. Until roplat_msgs is published, the root manifest patches roplat and roplat_msgs to a sibling checkout of the roplat core, so clone both side by side:

Robot-Exp-Platform/
├── roplat/
└── roplat_behavior/

cargo +nightly test --workspace runs the default tests; add --features roplat_behavior/roplat for the adapter tests. The tests provide finite mock examples of contracts, not evidence of hardware timing. For driver integration, see drives.

To check a change, python scripts/affected-tests.py runs cargo fmt --check, then tests and clippy for the crates that differ from origin/main and every workspace crate that depends on them; --list prints the selection only, and --base compares with another revision. A change to the root manifest, the lock file or the toolchain selects the whole workspace. Before a release, run the whole workspace anyway, since features are unified only across the selected crates.

License

Apache-2.0; see LICENSE.