Reference

Units & capacities

Repose never grows a container at runtime. Every size is a constant you can look up here, and every quantity has a fixed unit.

Units

Joint positions	`CuJointPosition`: rad or m by joint type.
Joint derivatives	rad/s, rad/s², rad/s³ or m/s, m/s², m/s³.
Poses	`Transform3D<f64>`, metres, base frame.
Planner distances and cost	Dimensionless, normalised by `CuJointMetric` (default 1 rad ≡ 1 m).
Controller limits	Bare SI magnitudes compared per joint in that joint's unit.
Template programs	Degrees and metres, converted by the runner. The only exception.

`N`	Movable joints. Must agree across chain, model, every task and payload in a graph; the compiler enforces it.
`M`	Collision shapes, default `N`. Raise for multi-shape links or imported robots.
`MAX_POINTS` / `CAP`	Trajectory knots, default 64. Examples use 1024.

Plan waypoints	32 (`MAX_WAYPOINTS`)
Request scene	16 obstacles, 8 attached, 16 exclusions
Planning scene default	32 obstacles, 8 attached
Collision report default	16 contacts
RRT* / RRT-Connect	256 nodes (per tree for RRT-Connect)
PRM	1024 nodes, 10 neighbours each
A*	2048 lattice nodes
STOMP	16 rollouts
Session detail text	32 bytes

Exhausting a capacity is reported (CapacityExceeded, a scene error, total_contacts above the stored count), never a silent truncation.

Serial chains only: no branched or closed-chain mechanisms.
Collision geometry is spheres and capsules; URDF boxes and meshes must be approximated.
Collision and edge checks are discrete samples, not swept volumes. Execution-time collision monitoring is not built in.
Planning goals are joint configurations; Cartesian goals go through IK first.
UR motion is verified on URSim only; bridge motion is gated behind a feature and config flags that default off.