Safe robot control from the CLI, HTTP, and MCP.
-Leash is an open-source Rust runtime for controlling robots. Start in simulation. Connect real hardware when you're ready.
+Open-source Rust runtime for simulation, replay, agents, navigation, ROS 2, CUDA, and real robots — with one safety boundary before motion.
cargo install leash-harness
leash run sim-httpThen, in another terminal:
-leash health --url http://127.0.0.1:8000
curl -s http://127.0.0.1:8000/telemetry | jqThis runs entirely in simulation. No robot required.
-This runs entirely in simulation. It cannot move physical hardware.
- -For MCP:
- -leash run sim-mcpLeash owns the final command sent to the robot.
- -A planner, ROS 2 node, model, app, or agent can ask Leash to do something. It cannot write to the motors directly.
- -Physical motion is off by default. Hardware commands pass authorization, approval, sensor freshness, deadman, collision, distance-limit, Stop, and E-Stop checks before reaching the robot.
- -Agents can request motion. Leash decides whether motion is allowed.
- -The current hardware implementation is the Waveshare UGV stack.
+Leash owns the final command sent to the robot. Agents, planners, ROS 2 nodes, CUDA jobs, and apps can request work or provide evidence; they do not become another motor writer.
+Physical motion is off by default and passes authorization, approval, freshness, deadman, collision, distance, Stop, and E-stop checks. Simulation and replay never actuate hardware.
-Robot-specific device paths, calibration, deployment, rollback, and field evidence stay outside the reusable core. ROS 2 can provide mapping, localization, and navigation data; Leash remains the motor owner.
+git clone https://github.com/specdog/leash.git
cd leash
npm ci
cargo build
cargo run -- run sim-httpMIT licensed. Human contributors start with CONTRIBUTING.md; coding agents start with AGENTS.md.
-Work from current main on a branch. Keep hardware changes feature-gated and test the simulation path without hardware.
Start with the repository's AGENTS.md. Project structure is available through the compiled DotDog graph:
- -npm ci
-npx dotdog serveAgents query specs/leash/leash.dag. Humans own the .dog source.