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Sep 1, 2026
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docs: expand Leash site with current product surface #62

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docs: expand Leash site from current product surface
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docs: tighten Leash landing page
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<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>leash — safe robot control from CLI, HTTP, and MCP | specdog</title>
<meta name="description" content="Leash is an open-source Rust runtime for robot control. Start in simulation, use CLI, HTTP, or MCP, and connect real hardware behind explicit safety checks.">
<meta name="description" content="Leash is an open-source Rust runtime for safe robot control across CLI, HTTP, MCP, simulation, agents, ROS 2, CUDA, and real hardware.">
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<link rel="canonical" href="https://specdog.github.io/leash">
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<h1>leash</h1>
<p class="lead"><strong>Safe robot control from the CLI, HTTP, and MCP.</strong></p>
<p class="sublead">Leash is an open-source Rust runtime for controlling robots. Start in simulation. Connect real hardware when you're ready.</p>
<p class="sublead">Open-source Rust runtime for simulation, replay, agents, navigation, ROS 2, CUDA, and real robots — with one safety boundary before motion.</p>

<div class="actions">
<a class="button primary" href="#quick-start">Get started</a>
<a class="button" href="https://github.com/specdog/leash">GitHub</a>
<a class="button" href="https://github.com/specdog/leash/tree/main/talks/geek-on-a-leash">Demo</a>
</div>

<div class="badge-row">
Expand All @@ -73,79 +69,55 @@ <h1>leash</h1>
</div>

<h2 id="quick-start">Quick start</h2>

<pre><code>cargo install leash-harness
leash run sim-http</code></pre>

<p>Then, in another terminal:</p>

<pre><code>leash health --url http://127.0.0.1:8000
curl -s http://127.0.0.1:8000/telemetry | jq</code></pre>
<p>This runs entirely in simulation. No robot required.</p>

<p>This runs entirely in simulation. It cannot move physical hardware.</p>

<p>For MCP:</p>

<pre><code>leash run sim-mcp</code></pre>

<h2>What it does</h2>

<h2>Features</h2>
<div class="grid">
<div class="card"><strong>Control</strong><span class="muted">CLI, HTTP, WebSocket/SSE, and MCP.</span></div>
<div class="card"><strong>Simulate</strong><span class="muted">Run and test without a robot connected.</span></div>
<div class="card"><strong>Replay</strong><span class="muted">Record runs and replay them through the same telemetry path.</span></div>
<div class="card"><strong>Navigate</strong><span class="muted">Submit bounded goals, patrols, cancellations, and verified stops.</span></div>
<div class="card"><strong>Connect hardware</strong><span class="muted">Use feature-gated robot adapters when you're ready to leave simulation.</span></div>
<div class="card"><strong>Process sensor data</strong><span class="muted">Run bounded CPU jobs and optional CUDA acceleration.</span></div>
<div class="card"><strong>CLI, HTTP, and MCP</strong><span class="muted">One runtime across human, app, and agent clients.</span></div>
<div class="card"><strong>Simulation and replay</strong><span class="muted">Develop without hardware and replay recorded runs deterministically.</span></div>
<div class="card"><strong>Agent workflows</strong><span class="muted">Persistent sessions, browser console, scoped capabilities, and supervised tasks.</span></div>
<div class="card"><strong>Bounded navigation</strong><span class="muted">Goals, patrols, status, cancellation, deadlines, and verified stop.</span></div>
<div class="card"><strong>CPU and CUDA</strong><span class="muted">Bounded sensor processing with CPU-authoritative GPU qualification and fallback.</span></div>
<div class="card"><strong>ROS 2 and hardware</strong><span class="muted">Mapping and planning inputs plus feature-gated robot adapters; Waveshare UGV included.</span></div>
</div>

<h2>Safety</h2>

<p>Leash owns the final command sent to the robot.</p>

<p>A planner, ROS 2 node, model, app, or agent can ask Leash to do something. It cannot write to the motors directly.</p>

<p>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.</p>

<p><strong>Agents can request motion. Leash decides whether motion is allowed.</strong></p>

<h2>Real hardware</h2>
<h2>Demo</h2>
<div class="callout">
<strong>Geek on a Leash</strong><br>
A full Rust Tuesdays walkthrough of Leash: runtime, safety boundary, ROS 2, CUDA, and a bounded UGV demo. Includes editable deck source, PDF, PowerPoint, speaker notes, preflight tooling, and a recorded fallback.
</div>
<p><a href="https://github.com/specdog/leash/tree/main/talks/geek-on-a-leash">Open the demo package →</a></p>

<p>The current hardware implementation is the <a href="https://github.com/specdog/leash/tree/main/implementations/waveshare-ugv">Waveshare UGV stack</a>.</p>
<h2>Safety boundary</h2>
<p><strong>Leash owns the final command sent to the robot.</strong> Agents, planners, ROS 2 nodes, CUDA jobs, and apps can request work or provide evidence; they do not become another motor writer.</p>
<p>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.</p>

<p>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.</p>
<h2>Explore</h2>
<div class="grid">
<div class="card"><strong>Agents</strong><span class="muted">Run durable sessions and bounded capability calls.</span><br><a href="https://github.com/specdog/leash/blob/main/README.md#agent-workflows">Agent workflows →</a></div>
<div class="card"><strong>Navigation</strong><span class="muted">Submit and supervise bounded goals.</span><br><a href="https://github.com/specdog/leash/blob/main/docs/NAVIGATION_API.md">Navigation API →</a></div>
<div class="card"><strong>Compute</strong><span class="muted">Use authenticated CPU/CUDA spatial jobs.</span><br><a href="https://github.com/specdog/leash/blob/main/docs/COMPUTE_API.md">Compute API →</a></div>
<div class="card"><strong>Hardware</strong><span class="muted">Waveshare UGV, calibration, ROS 2, deployment, and field proof.</span><br><a href="https://github.com/specdog/leash/tree/main/implementations/waveshare-ugv">Waveshare stack →</a></div>
</div>

<h2>Open source</h2>

<h3>Contributors</h3>

<pre><code>git clone https://github.com/specdog/leash.git
cd leash
npm ci
cargo build
cargo run -- run sim-http</code></pre>
<p>MIT licensed. Human contributors start with <a href="https://github.com/specdog/leash/blob/main/CONTRIBUTING.md">CONTRIBUTING.md</a>; coding agents start with <a href="https://github.com/specdog/leash/blob/main/AGENTS.md">AGENTS.md</a>.</p>

<p>Work from current <code>main</code> on a branch. Keep hardware changes feature-gated and test the simulation path without hardware.</p>

<p><a href="https://github.com/specdog/leash/blob/main/CONTRIBUTING.md">Contributing guide</a></p>

<h3>Coding agents</h3>

<p>Start with the repository's <a href="https://github.com/specdog/leash/blob/main/AGENTS.md">AGENTS.md</a>. Project structure is available through the compiled DotDog graph:</p>

<pre><code>npm ci
npx dotdog serve</code></pre>

<p>Agents query <code>specs/leash/leash.dag</code>. Humans own the <code>.dog</code> source.</p>

<h2>Learn more</h2>

<p>
<a href="https://github.com/specdog/leash">GitHub</a> ·
<a href="https://github.com/specdog/leash/blob/main/README.md">README</a> ·
<a href="https://github.com/specdog/leash/tree/main/docs">Docs</a> ·
<div class="links">
<a href="https://github.com/specdog/leash">GitHub</a>
<a href="https://github.com/specdog/leash/blob/main/README.md">README</a>
<a href="https://github.com/specdog/leash/tree/main/docs">Docs</a>
<a href="https://github.com/specdog/leash/issues">Issues</a>
</p>
</div>

<footer>
<a href="https://github.com/specdog">specdog</a> · MIT
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