Module robot 

Robot namespace for model abstractions and demo models.

Method identity

This module groups:

• core robot traits/wrappers in Robot, RobotBasic, RobotTorque.
• lightweight demo/reference robot models in demo.

Usage guidance

• For most users, prefer Robot as the primary entry instead of operating on Constraints directly. Robot enables physically meaningful high-level constraint APIs.
• Topp*Problem workflows can use any model implementing RobotBasic.
• Copp*Problem workflows require models implementing RobotTorque.
• If your workflow does not need real dynamics but still expects a RobotTorque implementation, use usize as a trivial placeholder model (tau = ddq).
• For real systems, implement RobotTorque yourself with your inverse-dynamics model.
• Advanced users who need full manual control can still operate directly on Constraints.

Export policy

• Re-export all public symbols from robot_core as primary robot API surface.

Structs

Robot

User-facing robot wrapper that owns constraint storage and conversion logic.

Traits

RobotBasic

Minimal robot metadata required by the planner.

RobotTorque

Robot trait with inverse-dynamics capability.

UpperBound

Borrowable upper-bound input accepted by robot constraint APIs.