use-robotics

use-robotics is the RustUse set for small, composable robotics vocabulary primitives.

RustUse is "Composable sets of primitive Rust utility crates for fellow crustaceans."

This workspace describes robot-domain concepts: robots, joints, actuators, sensors, poses, frames, end effectors, kinematics labels, and robot subsystems. It does not move, control, simulate, plan, connect to, or operate real robots.

Scope

use-robotics owns descriptive robotics vocabulary.

• robots and robot identity
• joints and descriptive joint labels
• actuators as vocabulary, not motor control
• robot sensors as vocabulary, not sensor payload processing
• pose names and pose labels, not transforms or interpolation
• robotics frame names and parent/child labels, not transform trees
• end-effector names, kinds, mount labels, and grip states
• kinematics terminology labels, not solvers
• robot subsystem names, kinds, and lifecycle states

Non-goals

use-robotics is not a robotics framework, ROS replacement, simulator, hardware abstraction layer, firmware framework, motion planner, control system, kinematics solver, navigation stack, SLAM system, robot runtime, command-line app, async runtime, path planner, hardware driver, embedded HAL, sensor processing engine, or distributed robot middleware.

Boundaries

• use-physics owns physical concepts such as force, torque, motion, momentum, rotation, and rigid bodies.
• use-geometry owns geometric concepts such as points, vectors, rays, planes, polygons, solids, and transforms when present.
• use-control owns control primitives.
• use-electronics owns electronic components, pins, boards, and circuits.

use-robotics complements use-physics, use-geometry, use-control, use-electronics, use-signal, use-data, and use-validate by staying focused on robot-domain naming and descriptive labels.

Crates

Crate	Purpose
use-robotics	Thin facade over the focused robotics vocabulary crates.
use-robot	Robot names, kinds, models, and manufacturers.
use-robot-id	Robot IDs, serial numbers, and instance IDs.
use-joint	Joint names, kinds, limits, axes, and indexes.
use-actuator	Actuator names, kinds, states, and descriptive ratings.
use-robot-sensor	Robot sensor names, kinds, mounts, and reading-kind labels.
use-pose	Pose names, pose labels, and orientation-kind labels.
use-frame	Robotics frame names, kinds, references, and parent/child relations.
use-end-effector	End-effector names, kinds, grip states, and tool mounts.
use-kinematics-label	Kinematics terminology, chain names, link names, and degrees of freedom.
use-robot-subsystem	Robot subsystem names, kinds, and lifecycle states.

Example

use use_robotics::{
    actuator, end_effector, frame, joint, kinematics_label, pose, robot, robot_sensor,
    robot_subsystem,
};

let robot_name = robot::RobotName::new("inspection-arm")?;
let robot_kind = robot::RobotKind::Arm;
let joint_name = joint::JointName::new("shoulder-pan")?;
let joint_kind = joint::JointKind::Revolute;
let actuator_name = actuator::ActuatorName::new("shoulder-servo")?;
let sensor_name = robot_sensor::RobotSensorName::new("wrist-camera")?;
let frame_name = frame::FrameName::new("tool0")?;
let pose_label = pose::Pose3Label::new("pick-ready")?;
let end_effector = end_effector::EndEffectorKind::Gripper;
let kinematics = kinematics_label::KinematicsKind::Forward;
let subsystem_state = robot_subsystem::SubsystemState::Ready;

assert_eq!(robot_name.as_str(), "inspection-arm");
assert_eq!(robot_kind.to_string(), "arm");
assert_eq!(joint_name.as_str(), "shoulder-pan");
assert_eq!(joint_kind.to_string(), "revolute");
assert_eq!(actuator_name.as_str(), "shoulder-servo");
assert_eq!(sensor_name.as_str(), "wrist-camera");
assert_eq!(frame_name.as_str(), "tool0");
assert_eq!(pose_label.as_str(), "pick-ready");
assert_eq!(end_effector.to_string(), "gripper");
assert_eq!(kinematics.to_string(), "forward");
assert_eq!(subsystem_state.to_string(), "ready");
# Ok::<(), Box<dyn std::error::Error>>(())

The example composes labels and vocabulary that downstream crates can store, compare, serialize, validate, or map into their own systems. It does not move, control, simulate, plan, connect to, or operate anything.

Development

Run the standard workspace checks from this directory:

cargo fmt
cargo clippy --workspace --all-targets --all-features -- -D warnings
cargo test --workspace --all-features

License

Licensed under either the MIT license or Apache License, Version 2.0.