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personalrobotics

5 indexed repositories · View on GitHub

ssik
Analytical inverse kinematics for 6R and 7R revolute arms. Returns every IK branch at machine-precision FK closure. Ships per-arm build a...

Python · 184 stars
IGHAStar

C++ · 10 stars
tsr
Python Library for using Task Space Regions

Python · 7 stars
pycbirrt
CBiRRT motion planner with Task Space Region (TSR) constraints

Python · 5 stars
mj_manipulator
Generic MuJoCo manipulator control: planning, execution, grasping, and cartesian control for any robot arm

Python · 4 stars

Beginner friendly Everything

Open All

spherical_two_parallel: cached Hypothesis counterexample not recovered (pre-existing, fails on main) Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 50/100

personalrobotics/ssik#566 · 2 comments · Opened Sep 18, 2026
Adopt SSIK as the analytical IK backend and deprecate EAIK Open

Difficulty 5/5 Over a week Newbie friendliness 38/100

personalrobotics/pycbirrt#63 · Opened Sep 18, 2026
TSRConfigurationSet omits 2π aliases of IK solutions on joints with range > 2π Open

enhancement

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/pycbirrt#36 · 1 comment · Opened Sep 17, 2026
Add a public method returning the closest world-frame transform to a TSR Open

Difficulty 2/5 1-3 hours Newbie friendliness 75/100

personalrobotics/tsr#53 · Opened Sep 17, 2026
TSR.sample_xyzrpy uses numpy global RNG; accept a Generator Open

Difficulty 3/5 1-2 days Newbie friendliness 76/100

personalrobotics/tsr#52 · Opened Sep 16, 2026
Trajectory execution ignores timestamps and assumes one waypoint per control tick Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

personalrobotics/mj_manipulator#169 · Opened Sep 11, 2026
[C++ backend] docs-site page for consuming the C++ artifacts (#554 D) Open

Difficulty 3/5 1-2 days Newbie friendliness 72/100

personalrobotics/ssik#561 · 1 comment · Opened Sep 5, 2026
Live spherical_two_parallel: near-double-root seed-recovery drift exceeds 5e-4 at some poses Open

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/ssik#559 · Opened Sep 5, 2026
Native HP: monic-companion eigensolve less complete than LAPACK dggev at degenerate general-6R poses Open

Difficulty 5/5 Over a week Newbie friendliness 45/100

personalrobotics/ssik#544 · Opened Sep 3, 2026
[C++ backend] Generalize degeneracy-triggered emit (no-CSE + coefficient threshold) beyond jointlock Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

personalrobotics/ssik#543 · Opened Sep 1, 2026
force_refine suppresses the T-perturbation rescue at exact rank-deficient ridges (vanished complex-root branch) Open

Difficulty 4/5 3-5 days Newbie friendliness 38/100

personalrobotics/ssik#531 · 1 comment · Opened Aug 9, 2026
Native-path arm onboarding: one-command + bulletproof, at parity-or-better with Python Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

personalrobotics/ssik#529 · Opened Aug 9, 2026
Rescue refiner leaves ~1.2% residual at the hardest near-singular poses (batch vs two-pass) Open

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/ssik#526 · Opened Aug 6, 2026
[C++ backend] MoveIt wrapper + plugin packaging (#554 D) Open

Difficulty 5/5 Over a week Newbie friendliness 42/100

personalrobotics/ssik#493 · 4 comments · Opened Aug 2, 2026
[C++ backend] RoboPlan adapter (native solveInto) Open

Difficulty 4/5 3-5 days Newbie friendliness 52/100

personalrobotics/ssik#492 · 3 comments · Opened Aug 2, 2026
Unify the polished-7R solver tail into refinement.polish_candidates Open

Difficulty 4/5 3-5 days Newbie friendliness 65/100

personalrobotics/ssik#467 · Opened Jul 30, 2026
openarm exact-SRS: FK residual ~2.6e-10 in a microrad near-singular shell (q2≈q5≈π/2) slips past non_singular_q7r Open

Difficulty 4/5 3-5 days Newbie friendliness 45/100

personalrobotics/ssik#466 · 1 comment · Opened Jul 30, 2026
Booster T1 7R: ~5% coverage gap in seven_r.spherical_shoulder_polished on a 70mm-offset wrist Open

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/ssik#460 · 4 comments · Opened Jul 29, 2026
ROBOTERA Star1 7R: respect_limits branch-coverage gap (tier-1 jointlock+HP), raw solver is complete Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

personalrobotics/ssik#459 · 2 comments · Opened Jul 29, 2026
Make arm onboarding one-click: friction log from Wave 1 Open

Difficulty 5/5 Over a week Newbie friendliness 38/100

personalrobotics/ssik#425 · 6 comments · Opened Jul 27, 2026
Harden the arm build/onboarding gate: it can't distinguish a machine-precision arm from a broken one Open

Difficulty 5/5 Over a week Newbie friendliness 38/100

personalrobotics/ssik#423 · 1 comment · Opened Jul 27, 2026
Separation of concerns: move near meet validity check into Environment Open

Difficulty 3/5 1-2 days Newbie friendliness 64/100

personalrobotics/IGHAStar#22 · Opened Jul 10, 2026
README installation command (uv add mj-manipulator) fails: package not found in registry Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 58/100

personalrobotics/mj_manipulator#168 · Opened Jun 26, 2026
Harden or retire the search_1d tier-1 fallback (and: xarm7 Linux cache-key bug — FIXED) Open

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/ssik#350 · 2 comments · Opened Jun 26, 2026
Bulletproof, review, and publish to PyPI as sstsr v2.0.0 Open

Difficulty 5/5 Over a week Newbie friendliness 20/100

personalrobotics/tsr#49 · Opened Jun 15, 2026
ssik build: cached-RR jointlock 7R artifacts take ~5-10 min (serial per-sub-chain sympy derivation); parallelize / cheaper leftvar probe Open

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/ssik#329 · Opened Jun 11, 2026
Arm-onboarding roadmap: prioritized from full URDF scan (2026-07) Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

personalrobotics/ssik#292 · 1 comment · Opened May 20, 2026
test_teleop: MockArm rot — multiple tests fail with AttributeError after teleop API evolution Open

Difficulty 3/5 Half a day Newbie friendliness 68/100

personalrobotics/mj_manipulator#160 · Opened May 18, 2026
q_seed-aware fallback in seven_r.srs_polished for kinematic-singularity poses (follows #223) Open

Difficulty 3/5 1-2 days Newbie friendliness 55/100

personalrobotics/ssik#225 · Opened May 9, 2026
Format coverage: MJCF / USD / SDF parsers \u2192 KinBody Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

personalrobotics/ssik#83 · 1 comment · Opened Apr 27, 2026
Teleop audit: fix critical safety issues from pipeline review Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 42/100

personalrobotics/mj_manipulator#157 · Opened Apr 26, 2026
Physics mode teleop/servo: PD tracking lag limits Cartesian speed to ~1/3 of commanded Open

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/mj_manipulator#152 · Opened Apr 26, 2026
Add reset_state() to ExecutionContext protocol Open

Difficulty 2/5 1-3 hours Newbie friendliness 65/100

personalrobotics/mj_manipulator#147 · Opened Apr 22, 2026
Precomputed trajectory cache for named configuration transitions Open

Difficulty 5/5 Over a week Newbie friendliness 38/100

personalrobotics/mj_manipulator#144 · Opened Apr 21, 2026
Franka hand aperture is tight for 66 mm cans — consider wider-jaw gripper for the demo Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

personalrobotics/mj_manipulator#132 · Opened Apr 17, 2026
EAIK: support arms with small kinematic imperfections (Kinova Gen3) Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

personalrobotics/mj_manipulator#126 · Opened Apr 16, 2026
Release v1.2.0 (or v2.0.0) Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

personalrobotics/tsr#45 · Opened Apr 16, 2026
Better failure messages: distinguish teleop preemption from real failures Open

Difficulty 3/5 1-2 days Newbie friendliness 68/100

personalrobotics/mj_manipulator#117 · 1 comment · Opened Apr 15, 2026
Generalize placement surfaces beyond hardcoded 'worktop' Open

Difficulty 4/5 3-5 days Newbie friendliness 48/100

personalrobotics/mj_manipulator#66 · Opened Apr 8, 2026
Hand model registry for GraspSource Open

Difficulty 2/5 1-3 hours Newbie friendliness 68/100

personalrobotics/mj_manipulator#65 · Opened Apr 8, 2026
Teleop: recording export (HDF5 + Trajectory replay) Open

Difficulty 4/5 3-5 days Newbie friendliness 68/100

personalrobotics/mj_manipulator#45 · Opened Apr 2, 2026
Kinematic gripper close penetrates non-target objects Open

Difficulty 4/5 3-5 days Newbie friendliness 38/100

personalrobotics/mj_manipulator#23 · Opened Mar 23, 2026
[Test] Test the Bidirectional version on the HOUND. Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

personalrobotics/IGHAStar#20 · Opened Mar 13, 2026
Support TSR chains for multi-link pose constraints Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

personalrobotics/pycbirrt#7 · 1 comment · Opened Mar 11, 2026

personalrobotics

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