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Dylan-Gallagher merged 1 commit into from
Aug 17, 2026
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Make reproducibility evidence easier to find #3

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4 changes: 4 additions & 0 deletions README.md
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# arm-lab

[![Main CI](https://github.com/Dylan-Gallagher/arm-lab/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/Dylan-Gallagher/arm-lab/actions/workflows/ci.yml?query=branch%3Amain)

A serial-chain manipulator stack written **from scratch in Rust** — no ROS, no MoveIt, no kinematics library, no off-the-shelf planner.

**Evidence index (simulation; sampled where collision claims are involved; no hardware validation):** [multi-scene report](docs/multi_query_results.md) · [planning CSV](docs/multi_query_planning.csv) · [tracking CSV](docs/multi_query_tracking.csv) · attached payload [protocol](docs/attached_payload_protocol.md) / [results](docs/attached_payload_results.md) · [robustness report](docs/robustness_results.md) · [main CI](https://github.com/Dylan-Gallagher/arm-lab/actions/workflows/ci.yml?query=branch%3Amain) · [citation](CITATION.cff)

![Demo 3 — UR5e pick-and-place around a pillar. IK, RRT-Connect, scalar S-curve time law, PD + velocity feedforward](docs/demo3.gif)

The kinematic chain (offsets, joint axes, limits, end-effector site) is **extracted from the compiled MuJoCo model** — never hand-entered as DH parameters — so the geometry used by the algorithms is guaranteed identical to the one the physics simulates. Forward kinematics, geometric Jacobians, damped-least-squares inverse kinematics, RRT-Connect with shortcutting, and a rest-to-rest 7-phase scalar S-curve are implemented in this repo. Robot collision checks call `mj_collision` on interpolated joint-space states; Demo 3 additionally uses explicit, pair-scoped `mj_geomDistance` queries for an EE-attached cube proxy. The independent `k` + `urdf-rs` stack is used **only inside the test suite** as a cross-check of FK.
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7 changes: 7 additions & 0 deletions docs/attached_payload_results.md
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Expand Up @@ -7,6 +7,13 @@ original arm collision predicate and RRT-Connect algorithm, then adds a second,
pair-scoped predicate during the carry only: the 50 mm cube proxy must remain at
least 5 mm from the named `floor`, `table`, and `pillar` geoms at sampled states.

Targeted reproduction (after configuring the MuJoCo shared-library path as
described in the repository README):

```bash
cargo test --release -p arm-lab --test pickplace attached_cube_blocks_straight_carry_and_planned_path_is_sampled_clear -- --exact --nocapture
```

## Fixed-query result

All figures below are deterministic geometry/path fields from seed `20260816`;
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