maxspahn / forwardkinematics Goto Github PK
View Code? Open in Web Editor NEWThis is a simple package for computing forward kinematics in a symbolic way.
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forwardkinematics's Issues
XML Fk
It would be nice to also support mujoco Xmls for computing the fk.
Mount position should be passed as an argument
Registry instead of creator pattern
Currently all subclasses can be called through the creator class. FkCreator
This could be replaced with the 'init_subclass' hook . In there, a register would simplify the process of adding fks.
Code coverage
The coverage of the code should be displayed in the readme.
Besides, code-coverage is quite low (around 44%). This is mainly due to many unverified cases in the urdfparser.
Many lines there (e.g. dynamics) could be removed entirely.
BUG: Link Transformation is added on every iteration through the joints
This must be intended
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