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docs(desiderata): bring up to date with the code, and add status markers - #885
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Names: Link and Robot are the ETS-based classes (not ETSLink and ETSRobot), PoELink and PoERobot (not POE...), ets() (not to_ets_robot()), and DHRobot, PoERobot and URDFRobot derive from Robot. The class diagram follows. Corrected: the unique integer link identifier does not exist (links have names, joints have jindex); rendering is Matplotlib and Swift, MeshCat and CoppeliaSim are aspirations; end effectors are leaf links but there is also a tool transform and Gripper objects (see #884); ikine is in Robot. Added: [done]/[partial]/[aspiration] markers, the planar classes, the joint offset and merge/swap/replace of an ETS, analytic IK, the three RNE implementations, the limits of the compiled solvers on "symbolic-agnostic", a section on what is not yet covered, and an invitation to comment. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Up to standards ✅🟢 Issues
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
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What
desiderata.mdstates the design RTB should converge on, but some statements read as current fact and are not. This brings it up to date with the code for 1.5.0 and marks what is done, partial or an aspiration. Documentation only, no code or behavior changes.Corrected
LinkandRobotare the ETS-based classes (there is noETSLinkorETSRobot),PoELinkandPoERobot(notPOE…),ets()(there is noto_ets_robot()), andDHRobot,PoERobotandURDFRobotderive fromRobot. The section 4 table and the class diagram follow.jindex.tooltransform and may carryGripperobjects, which is an open question, Rethink how grippers are modeled, and pause gripper-related changes #884.ikine_XXmethods are inRobot, notBaseRobot.Added
[done],[partial]and[aspiration]markers, and a note of the release it was last checked against.Link2,Robot2,ET2,ETS2), the joint offset,merge/swap/replace, analytic IK for any six-joint arm, the three RNE implementations, and the limits of the compiled solvers on "symbolic-agnostic".Checked
Each statement changed was checked against
main. I did not check the mermaid diagrams render on GitHub.🤖 Generated with Claude Code