petercorke / petercorke/robotics-toolbox-python
Dynamics wishlist: symbolic RBD simplification, Featherstone ABA, PyBullet, floating base, closed loops
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enhancement
help wanted
- Dominant language
- C++
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Description
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
ERobotto 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
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
The issue names six separate dynamics directions but no files, tests, or entry points. Start by choosing one bullet, scope its expected behavior and interfaces in a comment, then inspect the existing dynamics and simulation-related code before proposing a focused change; done means one independently reviewable item is implemented with validation.
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
- 20/100