COBRA - Control Oriented Bending and Rotational Actuation Model

Project Description

Control Oriented Actuation Model for a Bending and/or Rotational slender soft arms. The package extend the implementation of Cosserat Rod simulation done by PyElastica.

How setup development environment

The detail implementation of the following make commands are in the Makefile. Here is a Makefile tutorial.

Dependency management, installation & packaging

In this project, a Python tool poetry is used for dependency management and packaging. To install, run the following command:

# https://python-poetry.org/docs/#installing-with-the-official-installer
make poetry-download

To remove the poetry, simply run make poetry-remove.

To install the dependencies for development, run the following command:

# https://python-poetry.org/docs/cli/#install
make install

This generates the poetry.lock and requirements.txt and installs packages accordingly.

To install Git hook scripts tool to identify simple issues before submission to code review, run the following command:

# https://pre-commit.com/#install
make pre-commit-install

Unittests

In this project, a Python framework pytest is used for unit testing. To run unit tests, run the following command:

make pytest

Code formatting

This project uses isort to sort and organize imported packages, and black to enforce a consistent code style across the Python codebase. To format the codebase, run the following command:

make formatting

Check type-hinting

A static type checker for Python, mypy, is used to check standard Python programs. To check type hinting, run the following command:

make mypy

Install the cobra as an editable package

To use the cobra as an package, run the following command:

pip install -e .

Related Works

• PyElastica: https://github.com/GazzolaLab/PyElastica