One dependency. The whole arm.

Pull in cu-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

  cu-kinematics

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

• lib / task

  cu-collision

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

• lib / task

  cu-motion-planning

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

• task

  cu-joint-rrt-star

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

• lib / task

  cu-trajectory

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

• task

  cu-controller

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

• startup lib

  cu-robot-description

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

• task

  cu-io

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