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@personalrobotics Personal Robotics Laboratory

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    243 repositories

    • IGHAStar

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•9•2•0•Updated Aug 13, 2026Aug 13, 2026

    • ssik

      Public
      Analytical inverse kinematics for 6R and 7R revolute arms. Returns every IK branch at machine-precision FK closure. Ships per-arm build artifacts; covers non-Pi…
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •16•181•31•0•Updated Aug 10, 2026Aug 10, 2026

    • Universal_Robots_ROS2_Description

      Public
      ROS2 URDF description for Universal Robots
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •206•0•0•1•Updated Jul 19, 2026Jul 19, 2026

    • robot-code

      Public
      Bootstrap workspace for MuJoCo manipulation research stack
      workspaceuv
      workspaceuv
      Shell
      •
      MIT License
      •1•3•141•0•Updated Jun 4, 2026Jun 4, 2026

    • geodude

      Public
      Geodude bimanual robot control library
      bimanualur5e
      bimanualur5e
      Python
      •
      MIT License
      •0•2•12•0•Updated Jun 4, 2026Jun 4, 2026

    • ada_assets

      Public
      MuJoCo models for the ADA robot-assisted feeding system (JACO2, wheelchair, Articutool, human)
      Python
      •
      MIT License
      •0•1•1•0•Updated Jun 2, 2026Jun 2, 2026

    • ada_mj

      Public
      MuJoCo models and mj_manipulator integration for the ADA robot-assisted feeding system (JACO2 on Permobil wheelchair)
      Python
      •
      MIT License
      •0•0•14•0•Updated Jun 2, 2026Jun 2, 2026

    • mj_manipulator

      Public
      Generic MuJoCo manipulator control: planning, execution, grasping, and cartesian control for any robot arm
      Python
      •
      MIT License
      •1•4•13•0•Updated Jun 2, 2026Jun 2, 2026

    • geodude_assets

      Public
      MuJoCo assets for Geodude
      Python
      •
      MIT License
      •0•1•5•1•Updated May 28, 2026May 28, 2026

    • Universal_Robots_ROS2_Driver

      Public
      Universal Robots ROS2 driver supporting CB3 and e-Series
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •356•0•0•0•Updated May 15, 2026May 15, 2026

    • mushr_ros2

      Public
      Contains necessary submodules for the MuSHR vehicle to work in ROS2 with class code
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated May 15, 2026May 15, 2026

    • prl_assets

      Public
      Reusable manipulation objects for Personal Robotics Lab projects
      Python
      •
      MIT License
      •0•0•4•0•Updated May 15, 2026May 15, 2026

    • ydlidar_ros2

      Public
      a ROS2 lidar package for the MuSHR vehicle
      C++
      •0•0•0•0•Updated May 8, 2026May 8, 2026

    • vesc_ros2

      Public
      A ROS2 implementation of the PRL vesc driver
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •11•0•0•0•Updated May 3, 2026May 3, 2026

    • mj_viser

      Public
      Web-based MuJoCo viewer built on Viser
      visualizationweb-viewer
      visualizationweb-viewer
      Python
      •
      MIT License
      •0•2•8•0•Updated Apr 26, 2026Apr 26, 2026

    • pycbirrt

      Public
      CBiRRT motion planner with Task Space Region (TSR) constraints
      roboticsmotion-planningrrt
      roboticsmotion-planningrrtmanipulationtsrcbirrt
      Python
      •
      MIT License
      •1•5•2•0•Updated Apr 21, 2026Apr 21, 2026

    • flexiv_mj

      Public
      MuJoCo models and mj_manipulator arm factories for Flexiv robots (Rizon 4, Rizon 10)
      MIT License
      •0•0•1•0•Updated Apr 17, 2026Apr 17, 2026

    • tsr

      Public
      Python Library for using Task Space Regions
      motion-planningtask-space-regions
      motion-planningtask-space-regions
      Python
      •
      MIT License
      •1•7•2•0•Updated Apr 17, 2026Apr 17, 2026

    • asset_manager

      Public
      A unified, simulator-agnostic registry for robotics assets
      Python
      •
      MIT License
      •0•0•0•0•Updated Apr 15, 2026Apr 15, 2026

    • mj_environment

      Public
      Python module for managing dynamic objects and full environments in MuJoCo
      Python
      •
      MIT License
      •0•0•2•0•Updated Apr 8, 2026Apr 8, 2026

    • mj_manipulator_ros

      Public
      Generic ROS 2 bridge for mj_manipulator — HardwareContext, mock node, trajectory conversion
      Python
      •
      MIT License
      •1•0•0•0•Updated Apr 8, 2026Apr 8, 2026

    • mellogello

      Public
      Python
      •0•1•0•0•Updated Apr 3, 2026Apr 3, 2026

    • moveit2

      Public
      :robot: MoveIt for ROS 2
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •782•0•0•0•Updated Mar 27, 2026Mar 27, 2026

    • pubs

      Public
      BibTeX entries of publications
      TeX
      •2•2•0•1•Updated Mar 2, 2026Mar 2, 2026

    • feeding_web_interface

      Public
      Web interface for the robot-assisted feeding system
      JavaScript
      •
      BSD 3-Clause "New" or "Revised" License
      •1•1•37•4•Updated Feb 27, 2026Feb 27, 2026

    • manus_ros2

      Public
      C
      •0•2•0•0•Updated Feb 21, 2026Feb 21, 2026

    • mocap4ros2_optitrack

      Public
      C
      •
      Apache License 2.0
      •44•0•0•0•Updated Feb 20, 2026Feb 20, 2026

    • GCULab

      Public
      Python
      •0•4•41•1•Updated Feb 20, 2026Feb 20, 2026

    • CCIL

      Public
      Code release and project site for "CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning"
      roboticsimitation-learningdata-augmentation
      roboticsimitation-learningdata-augmentationrobot-learning
      Python
      •6•23•1•0•Updated Feb 19, 2026Feb 19, 2026

    • ros2_robotiq_gripper

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •131•0•0•0•Updated Feb 18, 2026Feb 18, 2026
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