Personal Robotics Laboratory

CBiRRT motion planner with Task Space Region (TSR) constraints

Robot-neutral grasping and manipulation skills over ssrobot: pick, place, retract, guarded moves, and grasp checks

Bootstrap workspace for MuJoCo manipulation research stack

A small simulator-neutral robot interface for planning, policies, and real-world execution.

MuJoCo models for the ADA robot-assisted feeding system (JACO2, wheelchair, Articutool, human)

BibTeX entries of publications

MuJoCo assets for Geodude

Geodude bimanual robot control library

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-Pieper 6R and non-SRS 7R geometries.