PHOXAL is a Rust-first robotics platform: typed runtimes, simulation-first workflows, containerized service orchestration, and operator-facing observability — released as a coherent set of open-source crates and tools. Built to take robots from a Webots scene to real operational environments without abandoning the same conventions along the way.
The first operational target is sidewalk and street-maintenance autonomy. The platform itself is general — it just refuses to be generic where opinionation makes the system easier to reason about.
| You want to … | Go here |
|---|---|
| Drive a robot in simulation | phoxal/phoxal-cli — the consumer CLI |
| Read the framework code | phoxal/framework — engine + every platform runtime, one workspace |
| Author a custom runtime | The library crates under phoxal/framework (phoxal-engine, phoxal-bus, schema crates) |
| Browse simulator integrations | phoxal/simulator — Webots controller + supervisor + phoxal-simulator-api |
| See operator tools | phoxal/operator and phoxal/joypad |
| Pick a reference robot | phoxal/robot-rover — open exploratory rover manifest |
| Hardware catalog | phoxal/component-* — driver + URDF + manifest per part |
┌─────────────────────────────────────────────────────────────────┐
│ phoxal-cli │
│ validate · simulate · doctor · create (robot.yaml) │
└─────────────────────────────────────────────────────────────────┘
│ │
▼ ▼
┌─────────────────────────┐ ┌──────────────────────────┐
│ phoxal/framework │ │ phoxal/simulator │
│ engine + bus + schema │ ◀──────────▶ │ webots ctrl/supervisor │
│ + every platform │ │ + simulator-api │
│ runtime ─┼─────┐ └──────────────────────────┘
│ (router, asset, │ │
│ drive, localize, │ │
│ safety, mission, …) │ │ ┌──────────────────────────┐
└─────────────────────────┘ └─────▶ │ phoxal/operator │
▲ │ phoxal/joypad │
│ │ host-side observability │
│ │ & teleop │
│ └──────────────────────────┘
┌─────────────────────────┐
│ phoxal/component-* │ per-hardware catalog —
│ driver + URDF + │ referenced by robot.yaml
│ simulation manifest │ via git + tag
└─────────────────────────┘
▲
│
┌─────────────────────────┐
│ Robot manifests │ robot.yaml + structure.urdf +
│ robot-rover (public) │ user runtimes + sim worlds +
│ robot-v1 (private) │ scenarios
└─────────────────────────┘
Active development, pre-1.0. The structure above is stable; APIs under each phoxal-*-api crate are evolving under pub mod v1. Expect changes; expect them to be loud.
Cross-repo reference material lives in this repo:
- docs/VISION.md — what Phoxal is and what it intentionally avoids
- docs/ARCHITECTURE.md — system model end to end
- docs/BLUEPRINT.md — target architecture for v1 autonomy
- docs/REPOSITORY_MAP.md — every
phoxal/*repo and what it owns - docs/DEVELOPMENT_MODEL.md — how to contribute across repos
- docs/AI_ASSISTANT_GUIDE.md — canonical guide for AI coding agents
- governance/CONTRIBUTING.md · governance/SECURITY.md · governance/LICENSE_POLICY.md
- License: AGPL-3.0-only across every public repository. A commercial license is available for downstream products that cannot meet the AGPL source-disclosure obligations — see each repo's
COMMERCIAL.mdor reach out via phoxal.com. - Contributing: DCO sign-off on every commit; Conventional Commits for messages. Details in each repo's
CONTRIBUTING.md. - Coherent release:
phoxal/frameworkreleases every runtime image and everyphoxal-runtime-<name>-apicrate together at the same version. The CLI gates resolution by the runtime-set version it knows how to compose.
- 🌐 phoxal.com
- 💬 Issues + discussions on each individual repo
© PHOXAL · Built in the open.