Robotics templates
Ready-to-deploy state contracts in the Robotics category. Each is a running machine — protocols pre-composed into states and transitions, deployable as-is onto your state machine.
| Template | What it does |
|---|---|
| Joint Torque Safety | TORQUE_DYNAMICS per joint: within_limit → over-torque stop, protecting actuators and anything (or anyone) the arm contacts. |
| Trajectory Feasibility Gate | TRAJECTORY_PLANNING + INVERSE_KINEMATICS: planned → infeasible if a path violates reach, velocity, or collision limits before it ever executes. |
| ZeqKinematics | INVERSE_KINEMATICS watch — idle → tracking → fault when pose_error crosses your thresholds; auto-logged with a ZeqProof per transition. Forward/inverse kinemati |
| ZeqManipulation | INVERSE_KINEMATICS watch — idle → tracking → fault when pose_error crosses your thresholds; auto-logged with a ZeqProof per transition. Robotic grasp planning a |
| ZeqSwarm | INVERSE_KINEMATICS watch — idle → tracking → fault when pose_error crosses your thresholds; auto-logged with a ZeqProof per transition. Multi-robot swarm coordi |
| ZeqPID | INVERSE_KINEMATICS watch — idle → tracking → fault when pose_error crosses your thresholds; auto-logged with a ZeqProof per transition. PID controller tuning wi |
| ZeqSLAM | INVERSE_KINEMATICS watch — idle → tracking → fault when pose_error crosses your thresholds; auto-logged with a ZeqProof per transition. Simultaneous Localizatio |
See the full Templates Library for all categories, or the State Contracts model for how to author your own.