Crate phoxal_model 

Canonical immutable runtime robot model.

The model is constructed by source/build tooling and decoded from the bundle’s manifest.json. manifest owns that document: its schema tag and the envelope around the Robot body. phoxal-bundle owns where the file sits and how it is read.

Paths

Concepts live in the module that owns them: asset, builder, component, identity, manifest, robot, simulation, structure.

The crate root is a deliberate facade over the handful of names a consumer meets first, so that loading, reading or composing a robot does not require learning the module layout. Those names - and the error vocabulary, whose module is private precisely so the root is its only path - are the canonical ones; write phoxal_model::Robot, not phoxal_model::robot::Robot. Everything else is named through its owning module.

Modules inside this crate import from the owning module, never through this facade.

Re-exports

pub use asset::AssetId;

pub use builder::RobotBuilder;

pub use component::capability::CapabilityRole;

pub use footprint::FootprintEnvelope;

pub use manifest::ManifestDocument;

pub use robot::Robot;

Modules

asset

Canonical logical asset identities.

builder

Compose a canonical Robot programmatically.

component

Canonical component facts used after authored documents are loaded.

footprint

The stock safety footprint compiled from canonical collision geometry.

identity

Validated canonical identifiers and the token grammar they share.

manifest

The one document a compiled robot is persisted as.

robot

Canonical immutable robot model.

simulation

Canonical simulation facts used after authored documents are loaded.

structure

Canonical normalized structure facts.

Enums

IdentifierKind

What a rejected identifier was being used to name.

JointOwner

Which structure a rejected joint belongs to.

KinematicScalarField

Which kinematic dimension was rejected.

LinkRole

Which end of a joint named a missing link.

ModelError

A canonical robot model that violates the runtime model’s invariants.

MotionLimitField

Which motion limit was rejected.

PoseOwner

Which pose in the structure was rejected.

StructureError

A canonical structure that violates the structural invariants.