pal-robotics/pal_mjlab

List of task to do

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#33 opened on Dec 16, 2025

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enhancementhelp wanted

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 (Avg merge 6d 12h) (14 merged PRs in 30d)

Description

  • Add a deployment-ready Velocity Tracking task for KANGAROO (simple model y fake forearm) - @louislelay
  • Add a deployment-ready Reaching task for TIAGo Pro - @sofieblankers-wq
  • Make KANGAROO Reaching task inherit from the TIAGo Pro one and make it walking instead of balancing - @louislelay
  • Add the 3 KANGAROO main simple model (4 DoF y fake forearm / 5 DoF y hand / 7 DoF y gripper) and port them for each tasks - @louislelay
  • Verify the Motion Imitation pipeline for Talos but with gripper - @louislelay https://github.com/pal-robotics/pal_mjlab/pull/54
  • Add a Lifting a cube task for TIAGo Pro - @sofieblankers-wq - Abandonned due to end of @sofieblankers-wq's internship
  • Add a Lifting a cube task for KANGAROO - @louislelay - Abandonned due to end of @sofieblankers-wq's internship
  • Motion Imitation pipeline for KANGAROO - @louislelay https://github.com/pal-robotics/pal_mjlab/pull/54
  • Add REEM-C asset and its Velocity Tracking task - @willthibault
  • Reorganize the demo section in README - @louislelay
  • Add pictures of available asset in a robot folder-specific README - @louislelay
  • Improve MJCF inertia and masses identification for KANGAROO - @LorenzoFerriniCodes & Mechanics
  • Add full model asset for KANGAROO - @ManuelActisCassa @SergiMuac #71
  • Add tendon model version for KANGAROO - @LorenzoFerriniCodes
  • AMP Implementation - @louislelay @ManuelActisCassa #74
  • Locomotion task-specific to the new terrains - @louislelay
  • Improve Talos model to use capsules instead of meshes for collisions - @Daniiiil1
  • Add jumping task for Kangaroo - @ManuelActisCassa

Contributor guide

Research direction
This is a meta issue listing multiple tasks. As a first time contributor, you should first read the repository README to understand the project. Then, pick one specific task from the list that interests you and that you understand. Each task may have its own requirements. Start by investigating the codebase related to that task, such as the robot assets or the motion imitation pipeline. Look at existing pull requests or issues referenced in the task description for more context. If the task is not clearly defined, ask for clarification by commenting on the issue.
Tech stack
python
Domain
backend
Issue type
Chore
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Over 1 week
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Unclear
Prerequisites
PythonGitRobotics basics
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
20