Work in progress: Items to address

[zakmat]

Control Layer Architecture

• PhysicsDriveAPI – document what is already covered; identify gaps
• Ros2ControlAPI – define mapping/schema for the control layer (USD sublayer opinion on top of the plant layer)
• Vendor/feature override layer – specify how vendor-specific control mechanisms are expressed as overrides

All three control mechanisms must be addressed: DriveAPI (interoperable), Ros2ControlAPI, vendor overrides.

Schema & Interoperability

• Formal schema definitions – attach .usda schema files to the spec (not required by REP, but we are defining a USD profile)
• SDF / URDF mapping – write explicit field-level mapping from SDF/URDF to the REP equivalents
• Mimic joints – add support spec (kinematics + control implications)

Sensor Interfaces

• Declarative sensor interfaces

[adamdbrw]

Make sure that sensor interfaces support both analytical (e.g. generic lidar layers / angles etc) and explicit (custom patterns) sensors.
Should be generic e.g. SensorAPI - declarative, Ros2API handles their ROS-parts

[michalpelka]

Control is being addressed: #10