Getting started

Installation

Repose is a set of Rust crates. You add them to a Copper application with Cargo; there is no separate install step.

1. Install Rust

Repose uses Rust 2024 and needs Rust 1.95 or newer. Install it with rustup, or update an existing toolchain:

shell

rustup update stable
rustc --version

2. Create a Copper project

Start from an existing Copper application, or a new binary crate that depends on cu29:

shell

cargo new my_arm
cd my_arm

3. Add Repose

Add the cu-repose umbrella crate, which re-exports every component, along with Copper itself. Until 1.0, depend on a tagged release from GitHub:

Cargo.toml

[dependencies]
cu-repose = { git = "https://github.com/DavidSeyserGit/cu-moveit", tag = "v0.7.0" }
cu29 = { version = "1.3.1", features = ["units"] }
cu-spatial-payloads = "1.3.0"

The workspace is versioned as a whole, so every crate in one tag works together. If you only need part of the stack, depend on individual crates such as cu-kinematics from the same repository and tag.

4. Choose features

`std`	On by default. Needed for URDF/SRDF import and desktop use.
`default-features = false`	Builds the runtime crates as `no_std` for embedded targets.
`mujoco-sim`	Adds the MuJoCo simulator bridge, used by the plan-and-execute example.

5. Check the build

shell

cargo build

If it compiles, you are ready for the basic example.