Synapses connect representations without crossing into runtime execution.

The current canonical toolchain implements deterministic static interoperability generation. ROS 2 is the active lifecycle-tested target.

STATUS BOUNDARY

Implemented here means static generation in OpenRGD/openrgd. The standalone OpenRGD/rgd-synapse repository is currently only a reserved empty surface and is not the source of this implementation.

ROS 2 OUTPUT

Generate configuration, not motion.

ros2_control.yaml

Deterministic controller and joint configuration from a verified machine bundle.

rgd_limits.xacro

Static limits exported with explicit units and source commitments.

export_manifest.json

Records bundle identity, exported joints, hardware completeness and output status.

rgd_hardware.xacro

Emitted only when every joint has complete explicit HAL evidence and one system driver plugin.

FAIL-CLOSED EXPORT

Imported bodies cannot inherit hardware bindings by name collision.

When a body comes from partial imported evidence, actuator mappings and driver bindings from a seed are intentionally withheld. The export can succeed as CONFIGURATION_ONLY without pretending the hardware layer is complete.

SOURCE MATERIAL

01OpenRGD Static Export Guide↗02ROS 2 Synapse generator↗