tpt-morph

Embodiment is the instantiation layer of the tpt ecosystem — the framework for turning the digital blueprints of tpt-soma (body), tpt-cerebrum (mind), and tpt-chrysalis (biological validation) into physically-acting entities.

Status: Phase 0 foundational scaffold + ESM core + simulation-only Phase 1 substrate. See TODO.md for the full 4-phase roadmap and spec.txt (v1.0.0) for the system design.

This repository is simulation-only for the foreseeable future: no physical robot chassis, DVS camera, neuromorphic chip, or bioprinter is available. Every hardware-facing crate is built against a trait-based abstraction (SensorBackend, MotorHal, PhysicsBackend, CapabilityAuthority, …) with a Sim backend implemented today and a Hardware backend stubbed for later — exactly the pattern used by the sibling repo tpt-flight-control.

Crates

Crate	Phase	Purpose
tpt-morph-core	—	Embodied State Manifold (4-axis ESM) + CouplingRule engine. no_std/alloc.
tpt-morph-sensorium	1	Perception/proprioception; SensorBackend trait, zero-alloc DVS parser. no_std.
tpt-morph-kinematics	1	Movement/actuation; MotorHal (verifiable) + balance/gait + energy planning. no_std.
tpt-morph-sim	1	Headless physics substrate (PhysicsBackend) the Coupling Engine drives. no_std.
tpt-morph-kernel-bridge	1	Capability-token gate + append-only audit ledger (tpt-archon stand-in).
tpt-morph-telemetry	4	ESM snapshot/export for the real-time dashboard.
tpt-morph-cognita	2	Hierarchical planner + tpt-eve symbolic safety overlay stub.
tpt-morph-metabolica	3	Power distribution + thermal regulation model.
tpt-morph-biohybrida	3	Tissue-health data model + tpt-chrysalis orchestration stub.
tpt-morph-socialis	4	Proxemics + explainable-action stub.

Phase status

Phase	Scope	Status
0	Monorepo foundation, workspace, configs, ADRs	In progress
1	Perception & locomotion wedge (sim)	Core + substrate scaffolded
2	Manipulation & cognition	Stub (tpt-morph-cognita)
3	Bio-hybrid	Stub (tpt-morph-metabolica, tpt-morph-biohybrida)
4	Social & medical embodiment	Stub (tpt-morph-socialis, tpt-morph-telemetry)

External dependency graph

tpt-morph consumes sibling repos behind trait boundaries as git dependencies, so it is not hard-coupled to their churn:

• tpt-archon — capability-based kernel (consumed via CapabilityAuthority).
• tpt-eve — symbolic safety overlay (consumed via SymbolicConstraint).
• tpt-telos — formal verification of Motor HAL / balance & gait.
• tpt-crucible — neuromorphic ("Pulse" SNN) compilation path.
• tpt-anima — sensorimotor runtime / planning.
• tpt-flight-control — reusable sensor-fusion / math / abstraction crates.
• tpt-chrysalis — bioprinting / tissue-maturation orchestration.
• tpt-soma, tpt-cerebrum — currently stub repos (spec only); anything integrating with them is explicitly cross-repo-blocked.

Build & test

cargo build
cargo test
cargo clippy --all-targets -- -D warnings
cargo fmt --check

no_std build check for the sensor-ingestion and Motor-HAL crates:

cargo build -p tpt-morph-sensorium --no-default-features
cargo build -p tpt-morph-kinematics --no-default-features

License

Dual-licensed under MIT and Apache-2.0.