petercorke/robotics-toolbox-python

Grab-bag of small housekeeping/feature ideas, migrated from the wiki's Contributing and Grippers pages. Rationalize the examples/ folder (grown organically, could use a pass for consistency/dedup) Benchmarking and performance optimisation pass More trajectory generators, e.g. a proper multi-segment point-to-point generator (mstraj covers waypoints, but there may be room for more) Attaching an existing Gripper (or other end-effector subtree) from one robot model onto a different robot model isn't a documented/ergonomic workflow today — Gripper and robot.grippers are real and shipped, but built at model-construction time; there's no supported way to e.g. bolt a UR gripper model onto a Panda model after the fact

Small cluster of backend-API cleanup ideas, migrated from the wiki's Backends page TODO section. Objects addable to a backend (robots, shapes, etc.) don't share a common superclass with the abstract methods they need — tidy this up teach is still effectively a private/underscore-prefixed panel feature — promote it to a proper public API Add a getframe() method to Connector to return the current frame as a PIL image, for saving/embedding — needs a design that works across backends (PyPlot, Swift, ...) since none currently implement it

There's currently no Connector backend for CoppeliaSim (formerly V-REP) in roboticstoolbox/backends/ — this has been a documented gap since the wiki's Backends page was first written. CoppeliaSim is a mature, cross-platform robot simulator with a free education licence. Implementing this means writing a new Connector subclass against the API in roboticstoolbox/backends/Connector.py (see PyPlot, Swift, or ROS backends for the existing pattern).

Cluster of longstanding dynamics ideas, migrated from the wiki's Contributing page. Not scoped/prioritized; pick any item and open a PR, or comment here to discuss approach first. Symbolic simplification/factorization of rigid-body dynamics Use Featherstone's Articulated-Body Algorithm (ABA) to compute forward dynamics Integrate with PyBullet — map ERobot to a form PyBullet can consume Floating-base dynamics Dynamics of closed kinematic loops, and integration with a control-design/dynamic-simulation framework Integration with something like a compliant-joint toolbox

Cluster of longstanding kinematics ideas, migrated from the wiki's Contributing page (which had drifted out of sync with actual status — see the wiki cleanup discussion). Not scoped/prioritized; pick any item and open a PR, or comment here to discuss approach first. Robust/global-search IK (current numeric solvers are local — IK_NR/IK_LM/IK_GN/IK_QP in roboticstoolbox/robot/IK.py) Symbolic IK solutions — interface to OpenRAVE's IK generation toolset, and/or integrate with SYMORO (Python 2 only currently) Improve the URDF/xacro subsystem to report parse errors with line numbers Port additional DH-convention robot models from the MATLAB toolbox that haven't been carried across DHFactor (symbolic factorization of a DH-parameter chain)