Examples are now out of sync with current codebase. Potential use for iPython?

Expected Behavior

• The look of https://pypi.org/project/pybotics/0.2.7/

Actual Behavior

• Broke RST format: https://pypi.python.org/pypi/pybotics/0.3.0

Expected Behavior

• CI is reproducible
• CI errors do not pop up out of nowhere

Actual Behavior

• New issue (#142 ) cause by new vulture version

http://stackoverflow.com/questions/35230635/type-hinting-in-python-2

https://codeclimate.com/github/nnadeau/pybotics

• Iterative solutions:
  • do not depend on the existence of an analytical solution
  • are not guaranteed to return a solution (even though one may exist)
• Analytical/symbolic solutions:
  • fastest
  • return solution(s) if one/many exist

• Requirements badge should reflect current requirements
• https://pypi.python.org/pypi/pybotics

Expected Behavior

• Line length limited to 80

Actual Behavior

• In pybotics/setup.cfg:

[flake8]
max-line-length = 120

• scipy is only used in pybotics/pybotics/robot.py for a numerical IK
• This is a pretty big dependency for one feature

Expected Behavior

• requirements folder with several requirements files

Actual Behavior

• Only two requirements files
• ci-requirements.txt is becoming quite large and causing dependecy checking issues

• There are many angle conventions in robotics
• As many conventions and conversions as possible should be supported
• An Angle class could act as a neutral container
  • Angle(vector, enum) constructs the class from a given vector convention
  • Angle(transform) constructs the class from a given transform
  • Angle.to(enum) -> vector or transform converts to given convention

Expected Behavior

• bandit linting works without error

Actual Behavior

• CI passes...
• bandit throws an error on Python 3.3:

ERROR	Bandit internal error running: start_process_with_partial_path on file pybotics/robot.py at line 385: 'module' object has no attribute 'NameConstant'Traceback (most recent call last):

Steps to Reproduce the Problem

• See https://travis-ci.org/nnadeau/pybotics/jobs/254838889

Specifications

• Pybotics Version: 0.3.2
• Python Version: 3.3
• Other Package Versions: bandit-1.4.0

Expected Behavior

• Typing is simple and clean
• Require only Numpy types in certain locations

Actual Behavior

• Typing is currently using some odd typedefs
• Mixture of standard Python types and Numpy types

• Add flag to Robot that triggers use of analytical solution if certain conditions are met
• When setting the robot_model, property method should check if the model is compatible with analytical solution
• Pieper's Solution is one approach

Hi 👊

This is my first visit to this fine repo, but it seems you have been working hard to keep all dependencies updated so far.

Once you have closed this issue, I'll create seperate pull requests for every update as soon as I find one.

That's it for now!

Happy merging! 🤖

Expected Behavior

• Support as many version of Python as possible

Actual Behavior

• Python 3.3 and 3.7+ builds are failing

Specifications

• Pybotics Version: 0.3.2
• Python Version: 3.3, 3.7+
• Other Package Versions: Trusty CI
• Platform: Linux

Expected Behavior

• Testing is separate from linting and deployment
• pip requirements for testing are separate from runtime requirements

Actual Behavior

• Testing, deployment, and linting are all performed together
• Only Python versions are separate

Custom exceptions should subclass standard builtin exceptions.

Expected Behavior

• Robot.random_joints(inplace=False) -> Iterable much like pandas functions (e.g., https://pandas.pydata.org/pandas-docs/stable/generated/pandas.DataFrame.drop.html)

Expected Behavior

• compute_absolute_errors is faster

Actual Behavior

• Given inputs are naively enumerated

Expected Behavior

• CI tests package on OSX in addition to Linux

Actual Behavior

• No OSX testing

Specifications

• Pybotics Version: 0.3.2

[Distutils] ANNOUNCE: Sunsetting of uploading to the legacy PyPI/TestPyPI

Expected Behavior

• Robot.fk(joints=None)
• If joints are given, don't use current joints

Expected Behavior

• Both source and wheels distributions uploaded to PyPI

Actual Behavior

• Only source is uploaded
• Travis CI Trusty container does not have python-wheel whitelisted
• See travis-ci/apt-package-safelist#4177 for whitelist progress

Expected Behavior

• CI tests package on Windows in addition to Linux

Actual Behavior

• No Windows testing

Specifications

• Pybotics Version: 0.3.2

Allow for specification of desired frame for FK. For instance, get the FK of the 3rd joint frame.

Expected Behavior

• vulture passes

Actual Behavior

• vulture fails

Steps to Reproduce the Problem

1. vulture .

Specifications

Platform: Windows-10-10.0.15063-SP0
Machine: AMD64
Python: 3.6.1 (v3.6.1:69c0db5, Mar 21 2017, 18:41:36) [MSC v.1900 64 bit (AMD64)]
module 'pybotics' has no attribute '__version__'
NumPy: 1.13.0
SciPy: 0.19.1

Given a list of joint configs, compute the FK of all these configs and return an equal length list.

Expected Behavior

• optimization_vector of type ndarray passed to apply_optimization_vector works

Actual Behavior

File "...\pybotics\robot.py", line 216, in apply_optimization_vector
    parameters[i] = optimization_vector.pop(0)
AttributeError: 'numpy.ndarray' object has no attribute 'pop'

Specifications

• Pybotics Version: 0.3.2
• Python Version: 3.6

https://ebertapp.io/

http://numba.pydata.org/

Expected Behavior

• pybotics.__version__ works

Actual Behavior

• module 'pybotics' has no attribute '__version__'

Specifications

Platform: Windows-10-10.0.15063-SP0
Machine: AMD64
Python: 3.6.1 (v3.6.1:69c0db5, Mar 21 2017, 18:41:36) [MSC v.1900 64 bit (AMD64)]
module 'pybotics' has no attribute '__version__'
NumPy: 1.13.0
SciPy: 0.19.1

Robot Model-Specific Parameters (e.g., MDH, joint limits, etc) Should be in External Files (e.g., csv, json, etc). This way, new models and modifications to models are not tied to the codebase. robot_model.py should be deprecated and example models should be saved in a separate example folder in the repo.

Expected Behavior

• More CI builders, example below:

Actual Behavior

• Only Travis

It's deprecated: https://stackoverflow.com/questions/38102317/why-pypi-doesnt-show-download-stats-anymore

Expected Behavior

• All public methods should have informative docstrings with sample usage presented as doctests when appropriate.

Actual Behavior

Steps to Reproduce the Problem

Specifications

• Currently in pybotics/.travis.yml, there is a long list of pip installs for testing
• This can be put into a test_requirements.txt
• Maybe even more modular? E.g., coverage_requirements.txt, etc

Expected Behavior

• FABRIK IK function
• http://www.andreasaristidou.com/FABRIK.html

@article{AristidouFABRIK,
	author    = {Aristidou, Andreas and Lasenby, Joan },
	title     = {\textsc{FABRIK}: \textsc{A} fast, iterative solver for the Inverse Kinematics problem},
	issn 	  = {1524-0703},
	doi 	  = {DOI: 10.1016/j.gmod.2011.05.003},
	journal   = {Graphical Models},
	number    = {5},
	pages     = {243-260},
	publisher = {Elsevier},
	volume    = {73},
	year      = {2011}
}

Self explanatory

Expected Behavior

• fit, score, etc functions

Actual Behavior

• Non-standardized function names

https://app.codeship.com

Expected Behavior

• Simple wrapper classes or namedtuples for calibration inputs
• Not having to call both generate_optimization_mask and generate_optimization_vector, these should be wrapped into a optimization-type class

Actual Behavior

• Functions with several inputs, such as joints, positions, torques, etc
• Calling several functions