Roadmap

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Not built yet, in the order it would pay. Nothing here is a promise about dates.

1. A MuJoCo binding of its own

Quiddity.Mjcf writes a part as an MJCF model. A model is not a world: stepping one, reading its state and rendering a camera from it needs MuJoCo itself, and there is no maintained Elixir binding of the C API.

ex_mujoco, as a package beside this one:

  • load an MJCF/XML model, step it, read qpos/qvel/xpos/sensordata;
  • render a camera to RGBA and depth offscreen, with no display;
  • apply qfrc_applied and controls, reset, read contacts;
  • ownership: an mjModel/mjData pair is mutable and not shareable, so one world per process behind a Mutex — unlike the read-only B-rep handle here.

Not in scope: writing MJCF from Elixir structures (a file is the interface) and any modelling. Quiddity.Mjcf already produces the part.

2. An instance's placement, applied to the rays

Quiddity.parts/1 reports where each instance of an assembly sits, but ray/4, nearest/3 and frame/2 ask the question in the file's own coordinates, so a caller that wants to sense instance three has to transform its ray into that instance's frame and the answer back out. A :place option taking the matrix parts/1 already reports would put that arithmetic on the side of the boundary where the geometry is.

3. Registering a scan to the part

Quiddity.ray/4 against a B-rep is a perfect range image; a real sensor's is noisy, partial, and in its own frame. Registering a point cloud to the part would make the exactness usable on measured data rather than on drawings. It needs the nearest point on a surface, which Quiddity.nearest/3 does not answer today — it names the nearest faces with a distance and a normal, which is what naming the feature at a coordinate wants and not what ICP does.

4. Written by hand, not generated

Quiddity.Api.operations/0 and Quiddity.Native are kept in step by a test that calls every listed operation. That covers arity and existence; it does not cover the argument validation each wrapper does, so a new operation is one table entry and a written wrapper, and the test is what catches it when the two disagree.