petercorke / petercorke/robotics-toolbox-python
Kinematics wishlist: robust/global IK, symbolic IK, DH model porting, xacro error reporting
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enhancement
help wanted
- Dominant language
- C++
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- Merged PRs (30d)
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Description
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_QPinroboticstoolbox/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)
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Choose one checklist item and define its scope before coding. For global-search IK, start with roboticstoolbox/robot/IK.py and review IK_NR, IK_LM, IK_GN, and IK_QP; the other items point to the URDF/xacro subsystem, MATLAB toolbox models, OpenRAVE, or SYMORO. Done means one item has a documented approach and a focused pull request.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Active
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100