Struct ShapeTable 

pub struct ShapeTable {
    pub robot_name: String,
    pub capabilities: Vec<Capability>,
    pub joints: Vec<JointLimitConfig>,
    pub locomotion: Option<LocomotionLimitsConfig>,
    pub cameras: Vec<CameraShape>,
    pub action_space: Vec<ActionSpaceShape>,
}

A robot’s full declared shape: joints, actuators, cameras, and capability-keyed action-space shape. Derived from a ProjectConfig via ShapeTable::from_project_config - never hand-authored directly.

Fields

robot_name: String

The robot’s project name (mecha10.json’s name).

capabilities: Vec<Capability>

Every enabled node’s declared capability, unioned - mirrors ProjectConfig::capabilities exactly. Determines which of locomotion/action_space entries below are populated.

joints: Vec<JointLimitConfig>

Named per-joint angle limits, radians. Empty when this robot declares no joints (locomotion-only, e.g. a rover).

locomotion: Option<LocomotionLimitsConfig>

Drivetrain motion limits, present only when capabilities includes Capability::Locomotion. None for a joints-only (e.g. arm) robot.

cameras: Vec<CameraShape>

One entry per distinct camera this robot’s targets wiring actually names (via a video-streamer placement’s camera_id), each carrying the project’s single shared camera resolution (ProjectConfig::vision). Empty when no target names a specific camera - not a gap: camera/video sizing is explicitly out of scope for this migration (see LAB-5257’s planning doc, “Camera/video sizing” row) since L3 preprocessing already resizes to the loaded model’s own metadata regardless of what’s declared here.

action_space: Vec<ActionSpaceShape>

Capability-keyed action-space shape: one entry per capability that has an actionable degree-of-freedom shape at all (today: Capability::Locomotion and Capability::Joints - Flight/Video/Vision/Audio carry none and are omitted). This is the field every RL algorithm/env adapter sizes its action vector from, instead of a hardcoded Discrete(5)/PanTiltAction/RoverAction enum (LAB-5257 stage 6).

Implementations

impl ShapeTable

pub fn from_project_config(config: &ProjectConfig) -> ShapeTable

Project config’s shape-bearing fields into a ShapeTable. This is the one place a ShapeTable gets built - every field here is derived, never independently authored, so it can’t drift from mecha10.json the way the pre-migration hand-copies did.

pub fn schema_value() -> Value

The schemars-derived JSON Schema for this struct, as a serde_json::Value - what publish-shape-catalog CI publishes to mecha10-api’s shape catalog, and what cargo run -p mecha10-cli --example export_schemas writes to schemas/.

Trait Implementations

impl Clone for ShapeTable

fn clone(&self) -> ShapeTable

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ShapeTable

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for ShapeTable

fn deserialize<__D>( __deserializer: __D, ) -> Result<ShapeTable, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl JsonSchema for ShapeTable

fn schema_name() -> Cow<'static, str>

The name of the generated JSON Schema.

fn schema_id() -> Cow<'static, str>

Returns a string that uniquely identifies the schema produced by this type.

fn json_schema(generator: &mut SchemaGenerator) -> Schema

Generates a JSON Schema for this type.

fn inline_schema() -> bool

Whether JSON Schemas generated for this type should be included directly in parent schemas, rather than being re-used where possible using the $ref keyword.

impl PartialEq for ShapeTable

fn eq(&self, other: &ShapeTable) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for ShapeTable

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ShapeTable