Repose
Documentation
Docs overview
The Getting started pages run a ready-made robot program. These pages are the reference behind it: what each crate does, how the pieces fit together, and how to build your own application, robot, planner or bridge on Repose.
Choose your path
| Run a robot | Install & run the template, then write your first program. No crate knowledge needed. |
| Build an app | Start with Architecture and Integrate Repose: add the crates to your own Copper project and wire the graph in RON. |
| Add a robot | Import its URDF/SRDF, or define a chain inline, then give it a collision model. |
| Add hardware | Implement the bridge contract — four standard channels and the shared session lifecycle. |
| Understand a piece | One page per area: kinematics, collision, motion planning, trajectory, controller & IO. |
How to read the crate pages
- Kind. A lib is plain functions and types you call yourself. A task is a Copper component you name in
copperconfig.ron. Most crates are both: the task wraps the library. - Generics.
<N>is the joint count,<N, M>adds a collision-shape capacity,<N, CAP>a waypoint capacity. They are compile-time constants, written literally in RON:repose_trajectory::CuFollowTrajectoryTask<6, 1024>. - Version. Everything here describes Repose v0.7.1 on Copper (
cu29) 1.3, Rust 1.95+. Nothing is on crates.io yet; see Reference for the versioning rules.