Roadmap

From a kinematic chain to the real robot.

One phase at a time, each closed only when it is documented, tested in std and no_std, and demonstrated end to end.

  1. Shipped

    Foundations

    FK, Jacobians, IK and servoing. Capsule collision. URDF/SRDF import.

  2. Shipped

    Planners

    RRT*, RRT-Connect, PRM, A*, STOMP and a gradient optimizer behind one anytime contract.

  3. v0.3

    Controller

    Position, velocity and effort commands. Gripper and IO. Watchdog and rate limits.

  4. Closeout

    Trajectories

    TCP zones, C² splines, S-curve jerk bounds, follower preemption.

  5. Now

    Scene & simulation

    Versioned planning scene, attached objects, pose goals, seeded benchmarks. MuJoCo loop running.

  6. Next

    Real-time servoing

    Production servo loop with collision monitoring and a defined abort.

  7. Then

    Robot bridges

    The same RON graph on hardware, proven on the igus ReBeL over CRI.

  8. 1.0

    Stable & published

    Branched chains and dynamics, then semver, full docs and crates.io.

Not doingROS interopPerceptionA GUI productRuntime-loaded graphs