One dependency. The whole arm.

Pull in repose for everything, or take only the pieces you need. Every task is generic over joint count and capacity, and named directly in RON.

• lib / task

  repose-kinematics

  Const-generic chains, forward kinematics, space and body Jacobians, DLS inverse kinematics, damped differential IK and servoing.

• lib / task

  repose-collision

  Fixed-capacity sphere and capsule geometry, exact signed distances, planning scenes and self-collision checks.

• lib / task

  repose-motion-planning

  A planner-agnostic contract with RRT-Connect, PRM, A* lattice, STOMP, gradient optimization and direct joint lines.

• task

  repose-joint-rrt-star

  Informed RRT* with rewiring and shortcutting, seeded by a deterministic CuRng. Same input, same path.

• lib / task

  repose-trajectory

  Fixed-capacity joint trajectories, timing profiles, interpolation and Cartesian TCP-zone blending.

• task

  repose-controller

  Position, velocity and effort control with robot status, state watchdog and command rate limiting.

• startup lib

  repose-robot-description

  Import URDF serial chains and SRDF groups, collision exclusions and named states.

• task

  repose-io

  Robot-agnostic digital IO payloads and an IO-driven gripper task.