Robot-description-builder

A way to create (valid) Robot descriptions

Rust 🦀	Python 🐍

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OLD

This is a temporary read me for the full project. This will be cleaned up and improved soon.

Roadmap:

• Implement geometries
• Implement Materials fully
• Implement to URDF some way.
• Implement mirroring
  • KinematicInterface::Mirror(...) Chainded<T: ChainableBuilder>::mirror(...)
• Implement propper name cloning
  • change_group_tag change_group_id method
• Transmissions
  • Implementation
  • Documentation
• Wrap to python
• Add LICENSE

Long term:

• Learn how to generate python typesubs
• Support the "logging" feature everywhere.
• Support SDFormat
• Support URDF Gazebo Extension
• Support URDF Drake Extension

See Obsidian

Might be nice to look into

• nalgebra supports arbitrary feature which allows for randomized propperty testing using quickcheck
  • quick-xml also has a feature for it
• A feature flag for Customizable types for JointType TransmissionType and TransmissionHardwareInterface etc.