Crate repose 

Repose: deterministic, real-time robot arm manipulation for copper-rs.

This umbrella crate re-exports every Repose component under one dependency, so an application needs a single line in Cargo.toml:

repose = { git = "https://github.com/ReposeRobotics/repose", tag = "v0.7.0" }

Module	Crate	Provides
kinematics	repose-kinematics	Serial chains, FK, Jacobians, IK, servoing, joint-state payloads
collision	repose-collision	Capsule/sphere robot models, planning scenes, collision checks
robot_description	repose-robot-description	URDF/SRDF import into fixed-size models (std)
robot_interface	repose-robot-interface	Vendor-neutral robot bridge contract: session commands, session state, CuSessionTracker
trajectory	repose-trajectory	Trajectory timing, interpolation, following
motion_planning	repose-motion-planning	Planner contract, anytime planner task, built-in planners
rrt_star	repose-joint-rrt-star	Joint-space RRT* planner
planners	(this crate)	The planner registry: planners::CuPlannerChoice (RON names) and planners::CuAnyPlanner
controller	repose-controller	Joint controller with watchdog and rate limiting
io	repose-io	Digital IO payloads and an IO-driven gripper
mujoco_sim	repose-mujoco-sim	MuJoCo simulator bridge (feature mujoco-sim)

Copper RON configs keep naming the component crates directly (type: "repose_trajectory::CuFollowTrajectoryTask<6, 1024>"); depend on them individually if you only need part of the stack.

Re-exports

pub use repose_collision as collision;

pub use repose_controller as controller;

pub use repose_io as io;

pub use repose_joint_rrt_star as rrt_star;

pub use repose_kinematics as kinematics;

pub use repose_motion_planning as motion_planning;

pub use repose_robot_description as robot_description;

pub use repose_robot_interface as robot_interface;

pub use repose_trajectory as trajectory;

Modules

planners

The one registry of Repose joint planners: CuPlannerChoice names every planner (its RON spelling) and CuAnyPlanner is a CuJointPlanner that runs whichever one is chosen, directly or inside CuJointPlannerTask<CuAnyPlanner<N>, N> with "params": "rrt_star". Adding a planner means implementing the trait and adding one line to the planners! list below; applications select it by name.