DSL authoring

motion-spec-dsl defines the .robmot authoring language and emits the RDF dataset consumed by motion-spec. The DSL package also owns its model classes, RDF emission, vocabulary, manifest handling, and semantic validation. motion-spec begins at RDF-to-compiler-IR lowering.

Read DSL concepts for the complete language surface, quantity expressions for arithmetic over quantity refs, then work through the pick_and_place tutorial.

• DSL concepts
  • Model composition
  • Execution context
  • Context scopes
  • Views
  • Paths
  • Guarded motions
  • Constraint handlers
  • ROS topics
  • Scene and FSM integration
  • Units
  • Generated outputs
• Quantity expressions
  • Named and inline expressions
  • Dimension inference
  • Controlled expressions
  • Errors
• DSL tutorials
  • Hands-on: pick_and_place
  • Dual-arm pick and place
  • Arc motion and admittance