Documentation Index
Fetch the complete documentation index at: https://bedrockdynamics.studio/docs/llms.txt
Use this file to discover all available pages before exploring further.
A channel manifest describes a robot’s control and state interface. It defines the named, typed, bounded channels that a WASM controller reads from and writes to on every tick. The safety filter uses these same definitions to clamp values before they reach actuators.
Manifests follow the ros2_control / MuJoCo / Drake pattern: each robot exposes N command channels (written by the controller) and M state channels (read by the controller). The WASM controller accesses channels by index. The safety filter enforces per-channel limits.
Built-In Manifests
roz ships with factory methods for common robot types. Each method returns a ChannelManifest with the correct channels, limits, and rates preconfigured.
UR5 Manipulator
6-DOF arm with velocity control and full joint state feedback. 6 command channels, 12 state channels (6 position + 6 velocity).
Command Channels (6)
| Index | Name | Type | Unit | Limits | Rate Limit |
|---|
| 0 | shoulder_pan_joint/velocity | Velocity | rad/s | -3.14, 3.14 | 0.5 |
| 1 | shoulder_lift_joint/velocity | Velocity | rad/s | -3.14, 3.14 | 0.5 |
| 2 | elbow_joint/velocity | Velocity | rad/s | -3.14, 3.14 | 0.5 |
| 3 | wrist_1_joint/velocity | Velocity | rad/s | -3.14, 3.14 | 0.5 |
| 4 | wrist_2_joint/velocity | Velocity | rad/s | -3.14, 3.14 | 0.5 |
| 5 | wrist_3_joint/velocity | Velocity | rad/s | -3.14, 3.14 | 0.5 |
position_state_index) for position limit enforcement.
State Channels (12)
| Index | Name | Type | Unit | Limits |
|---|
| 0 | shoulder_pan_joint/position | Position | rad | -6.28, 6.28 |
| 1 | shoulder_lift_joint/position | Position | rad | -6.28, 6.28 |
| 2 | elbow_joint/position | Position | rad | -6.28, 6.28 |
| 3 | wrist_1_joint/position | Position | rad | -6.28, 6.28 |
| 4 | wrist_2_joint/position | Position | rad | -6.28, 6.28 |
| 5 | wrist_3_joint/position | Position | rad | -6.28, 6.28 |
| 6 | shoulder_pan_joint/velocity | Velocity | rad/s | -3.14, 3.14 |
| 7 | shoulder_lift_joint/velocity | Velocity | rad/s | -3.14, 3.14 |
| 8 | elbow_joint/velocity | Velocity | rad/s | -3.14, 3.14 |
| 9 | wrist_1_joint/velocity | Velocity | rad/s | -3.14, 3.14 |
| 10 | wrist_2_joint/velocity | Velocity | rad/s | -3.14, 3.14 |
| 11 | wrist_3_joint/velocity | Velocity | rad/s | -3.14, 3.14 |
Quadcopter
ChannelManifest::quadcopter()
| Index | Name | Type | Unit | Limits | Rate Limit |
|---|
| 0 | body/velocity.x | Velocity | m/s | -5.0, 5.0 | 2.0 |
| 1 | body/velocity.y | Velocity | m/s | -5.0, 5.0 | 2.0 |
| 2 | body/velocity.z | Velocity | m/s | -3.0, 3.0 | 1.5 |
| 3 | body/yaw_rate | Velocity | rad/s | -1.57, 1.57 | 1.0 |
| Index | Name | Type | Unit | Limits |
|---|
| 0 | body/position.x | Position | m | -1000.0, 1000.0 |
| 1 | body/position.y | Position | m | -1000.0, 1000.0 |
| 2 | body/position.z | Position | m | 0.0, 500.0 |
| 3 | body/yaw | Position | rad | -3.14, 3.14 |
Differential Drive
ChannelManifest::diff_drive()
| Index | Name | Type | Unit | Limits | Rate Limit |
|---|
| 0 | base/linear.x | Velocity | m/s | -1.0, 1.0 | 0.5 |
| 1 | base/angular.z | Velocity | rad/s | -2.0, 2.0 | 1.0 |
| Index | Name | Type | Unit | Limits |
|---|
| 0 | base/odom.x | Position | m | -1000.0, 1000.0 |
| 1 | base/odom.y | Position | m | -1000.0, 1000.0 |
| 2 | base/odom.yaw | Position | rad | -3.14, 3.14 |
Generic Velocity
ChannelManifest::generic_velocity(n_joints, max_velocity)
n_joints velocity command channels with symmetric limits (-max_velocity, max_velocity) and no state channels. Useful for quick prototyping or when you know the joint count and velocity limit but not the full robot specification.
// 4-joint arm with 2.0 rad/s limit
let manifest = ChannelManifest::generic_velocity(4, 2.0);
// Creates: joint0/velocity, joint1/velocity, joint2/velocity, joint3/velocity
Channel Descriptor Fields
Each channel is described by a ChannelDescriptor with these fields:
| Field | Type | Description |
|---|
name | String | Channel name following ros2_control convention: "joint_name/interface_type" |
interface_type | InterfaceType | Position, Velocity, or Effort |
unit | String | Physical unit: "rad", "rad/s", "m", "m/s", "Nm", "N" |
limits | (f64, f64) | (min, max) value limits enforced by the safety filter |
default | f64 | Safe default value, usually 0.0 |
max_rate_of_change | Option<f64> | Max change per tick for acceleration limiting. None = no rate limiting. |
position_state_index | Option<usize> | Index of the corresponding position state channel for position limit checks. |
Custom Manifests
You can define custom manifests by constructing a ChannelManifest directly:
use roz_core::channels::{ChannelManifest, ChannelDescriptor, InterfaceType};
let manifest = ChannelManifest {
robot_id: "my_robot".into(),
robot_class: "manipulator".into(),
control_rate_hz: 100,
commands: vec![
ChannelDescriptor {
name: "joint0/velocity".into(),
interface_type: InterfaceType::Velocity,
unit: "rad/s".into(),
limits: (-2.0, 2.0),
default: 0.0,
max_rate_of_change: Some(0.3),
position_state_index: Some(0),
},
],
states: vec![
ChannelDescriptor {
name: "joint0/position".into(),
interface_type: InterfaceType::Position,
unit: "rad".into(),
limits: (-6.28, 6.28),
default: 0.0,
max_rate_of_change: None,
position_state_index: None,
},
],
};
robot.toml
When using roz sim start, the sim container provides its channel manifest automatically. For custom robots, you can define the manifest in a robot.toml file:
[manifest]
robot_id = "my_robot"
robot_class = "manipulator"
control_rate_hz = 100
[[manifest.commands]]
name = "joint0/velocity"
interface_type = "velocity"
unit = "rad/s"
limits = [-2.0, 2.0]
default = 0.0
max_rate_of_change = 0.3
position_state_index = 0
[[manifest.states]]
name = "joint0/position"
interface_type = "position"
unit = "rad"
limits = [-6.28, 6.28]
default = 0.0
Source Code
Channel manifest definitions: crates/roz-core/src/channels.rs
