Multi-project workspace for Geodude robot manipulation research.
Setup: git clone https://github.com/personalrobotics/robot-code && ./setup.sh
| Directory | Repo | Description |
|---|---|---|
geodude/ |
personalrobotics/geodude | Main robot control, planning, execution |
geodude_assets/ |
personalrobotics/geodude_assets | MuJoCo models for Geodude (UR5e + Robotiq) |
mj_manipulator/ |
personalrobotics/mj_manipulator | Generic arm control: planning, execution, Cartesian control, grasping |
mj_manipulator_ros/ |
personalrobotics/mj_manipulator_ros | Generic ROS 2 bridge: HardwareContext, mock node, trajectory conversion |
mj_environment/ |
personalrobotics/mj_environment | MuJoCo environment wrapper |
mj_viser/ |
personalrobotics/mj_viser | Web-based MuJoCo viewer: textures, sensor plots, HUD, click-to-select |
prl_assets/ |
personalrobotics/prl_assets | Reusable objects (cans, bins, spam cans, pop-tarts) |
pycbirrt/ |
personalrobotics/pycbirrt | CBiRRT motion planner with TSR constraints |
tsr/ |
personalrobotics/tsr | Task Space Regions for grasp/place planning |
asset_manager/ |
personalrobotics/asset_manager | Loads objects from meta.yaml files |
mujoco_menagerie/ |
google-deepmind/mujoco_menagerie | UR5e, Franka base models (cloned by setup.sh, not a Python package) |
- Package manager: Always use
uv(never pip) - Layout:
src/layout withsrc/{package_name}/ - Testing:
uv run pytest tests/ -v - Issues: Use GitHub Issues for bugs, improvements, and tasks. Templates in
.github/ISSUE_TEMPLATE/:bug_report.md,improvement.md,task.md. - CLAUDE.md updates: Ask permission before changing this file.