petercorke / petercorke/robotics-toolbox-python
Misc: examples folder rationalization, benchmarking, more trajectory generators, gripper composition
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enhancement
help wanted
- Dominant language
- C++
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Description
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 (
mstrajcovers 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 —Gripperandrobot.grippersare 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
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
Start by separating the four proposals: inspect the examples/ folder, the existing mstraj trajectory generator, and the Gripper and robot.grippers construction workflow. Establish scope and acceptance criteria for each proposal before implementation; done should be defined separately for folder consistency, benchmarking, trajectory generation, and documented gripper composition.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- documentation, performance, robotics, tooling
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Active
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100