Contributing

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