Crate phoxal 

phoxal

The Phoxal robot framework as one crate. Production-oriented autonomous robots: manifest-driven, simulation-first, typed bus.

Module map:

• bus — typed Zenoh transport + pubsub/query leaves.
• model — authored manifest schemas (robot.yaml, structure.urdf, component.yaml, simulation.yaml).
• spatial — geometry, frames, transforms, risk model.
• api — typed bus wire contracts, one module per platform runtime.
• runtime — the Runtime trait, bootstrap, logical clock, runtime context.
• [scenario] — Webots-backed validation harness (feature scenario).
• util — shared helpers.

Modules

api

bus

model

Authored manifest model.

runtime

Runtime execution and observability helpers.

spatial

util

Macros

topic_tree