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Contributing

Peter Corke edited this page Mar 21, 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

What needs doing

Housekeeping

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

Kinematics

  • Additional DH convention models, there are lots from the MATLAB version that haven't been ported across
  • DHFactor
  • Robust/global search IK

Trajectory generators

  • Lots of scope here
  • 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

Dynamics

  • Symbolic simplification/factorization of rigid-body dynamics
  • Integration of dynamics with some control design/dynamic simulation framework
  • Integration with capability like the compliant joint toolbox
  • Floating base dynamics
  • Dynamics of closed kinematic loops

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.

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