Skip to content

Contributing

Peter Corke edited this page Apr 5, 2021 · 7 revisions

Contributions are welcome, and there is lots to do.

What a contribution is

A contribution is ideally

  • submitted as a pull request, which means it can be tested by the build system before it is merged, and adheres to the coding conventions
  • well documented, using Sphinx + ReStructured Text and adheres to the documentation conventions
  • tested before submission, and has unit tests for the new functionality

If you want to contribute, and you're thinking about a big chunk of work, post an issue with new feature tag, and we can discuss the approach before you invest too much time.

What needs doing

Housekeeping

  • Documentation proof reading and fixups
  • Rationalize the examples folder
  • Add Python typing throughout
  • Benchmarking and performance optimisation

Kinematics

  • Robust/global search IK
  • Symbolic IK solutions, perhaps
    • interface to OpenRAVEs IK generation toolset
    • interface/integrate with SYMORO, written in Python 2
  • Improve URDF/xacro subsystem to give good reports of parse errors, with line numbers
  • Additional DH convention models, there are lots from the MATLAB version that haven't been ported across
  • DHFactor

Dynamics

  • Symbolic simplification/factorization of rigid-body dynamics
  • Use Featherstone's ABA to compute forward dynamics
  • Integrate with PyBullet, i.e. map the ERobot class to a form that allows us to exploit PyBullet goodness
  • Floating base dynamics
  • Dynamics of closed kinematic loops- Integration of dynamics with some control design/dynamic simulation framework
  • Integration with capability like the compliant joint toolbox

Trajectory generators

  • More trajectory generators, perhaps multiple point to point

Backends

  • Backends for CoppeliaSim, ROS, Dynamixels

Mobile robotics

  • Mobile robotics functions are on branch Kristian-dev-updated, and are modelled on the MATLAB version but have no test code or documentation
Clone this wiki locally
pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy