Joint Torque Safety

TORQUE_DYNAMICS per joint: within_limit → over-torque stop, protecting actuators and anything (or anyone) the arm contacts.

Category	Robotics
Template ID	joint-torque-safety
Definition	joint_torque_safety v1.0
States	3 (initial: within_limit; terminal: safe_stop)
Transitions	3
Operators composed	TORQUE_DYNAMICS, JACOBIAN, KO42
Audit clock	on · tick rate 1

What it's for

• Collaborative robots
• Surgical robotics
• Heavy-payload manipulators

States

State	Role
within_limit	initial
over_torque	intermediate
safe_stop	terminal

Transitions

From	To	Operator	Fires when	Proof	Trigger / actions
within_limit	over_torque	TORQUE_DYNAMICS	input.joint_torque_nm > input.torque_limit_nm	required	—
over_torque	within_limit	TORQUE_DYNAMICS	input.joint_torque_nm <= input.torque_limit_nm	required	—
over_torque	safe_stop	KO42	input.estop == true	no	—

Operators it composes

Each transition fires a registry operator through the master equation (compute → prove → verify). This template composes:

• TORQUE_DYNAMICS
• JACOBIAN
• KO42

Browse the operators at /operators/; the building blocks a transition calls are the framework's protocols. KO42 is the always-on substrate operator; physics operators carry proof_required: true, so each fire runs the full compute → prove → verify path and lands a verifiable proof digest on your entangled state.

Deploy it

Inspect the full definition, then deploy it onto your state machine. Every fire is Zeqond-stamped onto your entangled state.

# 1. Inspect — the full definition (states, transitions, operators) as served
curl -sS https://zeqsdk.com/api/contracts/templates/joint-torque-safety

# 2. Deploy onto your machine (auth: session; body carries your machine slug)
curl -sS -X POST https://zeqsdk.com/api/contracts/templates/joint-torque-safety/deploy \
  -H "Content-Type: application/json" \
  -b "<your session cookie>" \
  -d '{"slug":"<your-machine>"}'
# → 201 { "ok": true, "contract": { "id": "…", "currentState": "within_limit", … },
#         "template_id": "joint-torque-safety" }

The deploy path runs the same two-stage validation as the canonical create route (ContractDefinitionSchema.parse + validateContractDefinition against the live registry), writes the creation row onto your entangled state, and schedules the first fire. From there, drive transitions with POST /api/chain/<your-machine>/contracts/<id>/transition or let any triggers fire them autonomously.

Next

• Contract IDE — author, preview, and deploy contracts (this template is in the Templates tab).
• State Contracts — the full contract model: conditions, triggers, pre/post actions, lifecycle.
• Templates Library — every ready-to-deploy contract, grouped by category.
• Protocols — the named building blocks a transition composes.