personalrobotics / ssik

每颗 star 和每个 fork 的添加时间，来自 GitHub 并按天汇总。累计增长位于其构成来源——每日新增——的正上方，二者可相互对照：稳定的自然增长与短暂的突增形态截然不同。当这一差别可被衡量时，它会作为增长真实性予以报告。

本报告未能采集到解析后的依赖集合：GitHub dependency-graph SBOM unavailable (404); the dependency graph may be disabled for this repository

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      "description": "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.",
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          "oid": "889c6f239f9793e11abd9a7e1286cf1b92b2c374",
          "body": "… (#478)\n\n3.10 was half-supported (requires-python >=3.10 + tomli/ruff accommodations) but\nshipped no cp310 wheel, listed no 3.10 classifier, ran no 3.10 CI, and warned at\nimport that it was \"best-effort, untested\". ROS2 Humble (Ubuntu 22.04, Python\n3.10, EOL May 2027) needs it, so make it real:\n\n- \n[…]\nImport\nis warning-free on 3.10. ruff + mypy clean. mypy stays python_version=3.11 (the\n3.10 target only adds spurious numpy .copy() no-any-return noise; ruff py310 +\nthe 3.10 CI run gate real compat).",
          "is_bot": false,
          "headline": "Make Python 3.10 a first-class supported version (ROS2 Humble) (#477)…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-31T20:31:16Z",
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        {
          "oid": "68275b40738ac8cd16663c48c49ea678b7c6b25e",
          "body": "arm_coverage.md linked ../tests/test_prebuilt_fixture_parity.py (a source file\noutside the docs tree), which mkdocs --strict rejects as an unresolved doc link\n-- silently red on main since #422 (the Docs workflow is push-triggered, not a\nPR gate). Point at the GitHub blob URL instead; strict build passes.",
          "is_bot": false,
          "headline": "docs: fix broken source-file link that fails mkdocs --strict (#476)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-31T13:24:59Z",
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        },
        {
          "oid": "c955cd535cf038b2aed000693403843119fe9e05",
          "body": "WidowX 250s: 6-DOF spherical-second-two-parallel -> ikgeo.spherical_two_parallel\n(tier 0), 100% coverage, worst FK 6.8e-13, ssik 0.53 ms / 8 sols. EAIK-comparable\nvia the DH path (supported, 6R-SPHERICAL_SECOND_TWO_PARALLEL). Kinematics-only\nMJCF fixture reconstructed by `ssik add-arm`. Source: robot_descriptions /\nwidow_mj_description (MuJoCo Menagerie trossen_wx250s, BSD-3-Clause). Second arm\nunder the trossen vendor.",
          "is_bot": false,
          "headline": "Onboard Trossen WidowX 250s (MJCF-sourced prebuilt) (#475)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-31T13:13:37Z",
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        {
          "oid": "9010f46b8e585163e6a3dc16e95adb7d3210d12f",
          "body": "* Onboard Trossen ViperX 300s as the first MJCF-sourced prebuilt\n\nFirst arm shipped from a MuJoCo MJCF source (via #470/#471). ViperX 300s is a\n6-DOF spherical-second-two-parallel arm -> ikgeo.spherical_two_parallel (tier 0),\n100% coverage, worst FK 3.7e-14, ssik 0.31 ms / 8 sols. Fixture is the\nkin\n[…]\nm -> a real comparison (ViperX:\n  supported, 6R-SPHERICAL_SECOND_TWO_PARALLEL, 8 sols, FK 8.5e-16) instead of a\n  spurious \"No module named\" refusal.\n\n* Add viperx300s_ik perf baseline ratio (ref=ur5)",
          "is_bot": false,
          "headline": "Onboard Trossen ViperX 300s (first MJCF-sourced prebuilt) (#473)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-31T05:22:31Z",
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          "oid": "e4b4ad9b89f96d7fb03e98894a5892810fff2337",
          "body": "…0 follow-up) (#472)\n\n`suggest_base_ee` (URDF + MJCF) backs the end-effector off trailing gripper/tool\nbodies by name. But a body *named* like a gripper can carry a real arm joint:\nTrossen ViperX/WidowX put the 6th DOF (wrist-rotate) in `gripper_link`, so the\nname-only trim returned a 5-DOF chain th\n[…]\n (iiwa14, panda, ur5, gen3) are unchanged.\n\nTests: synthetic 6-DOF-arm-with-gripper-named-6th (URDF) + real ViperX/WidowX\n(MJCF) keep the 6th DOF; the existing 3-DOF-toy trim still lands on the wrist.",
          "is_bot": false,
          "headline": "add-arm auto-detect: don't trim a gripper-named body below 6 DOF (#47…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-31T04:31:42Z",
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          "oid": "640caedb97b1d7068556423cbef3957aee613c6a",
          "body": "…stry (#470) (#471)\n\n`ssik add-arm` (plus `ssik build`/`dispatch`, `regen_artifacts`, and the MANIFEST\nschema) was URDF-specific. This makes source-format ingestion pluggable so an\nMJCF-only arm onboards as a shipped prebuilt, and a future format (USD/SDF, #83)\nis one adapter module -- no edits to t\n[…]\ndispatch to seven_r.srs,\nbuild + coverage-gate at 100% coverage / worst FK 1.9e-12. URDF path is\nbehavior-preserving: artifact snapshots byte-identical, full URDF/manifest/CLI\nsuite (319 tests) green.",
          "is_bot": false,
          "headline": "add-arm: onboard MuJoCo MJCF arms via a pluggable format-adapter regi…",
          "author_name": "Siddhartha Srinivasa",
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          "committed_at": "2026-07-31T04:07:18Z",
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          "oid": "c00c95733b599a978963498084a2b97a16fbf006",
          "body": "… (#469)\n\nThe MJCF->KinBody loader landed in #343/#344 but was only reachable via the\ninternal load_mjcf_kinbody_normalized(path, base, ee). This wires it into the\npublic API so an MJCF-only arm is one call from IK, mirroring from_urdf:\n\n- suggest_base_ee_mjcf(path): auto-detect (base, ee) for the l\n[…]\nwa14 -> seven_r.srs 94 sols @ 1.9e-15; gen3 ->\nsrs_polished 73 sols @ 2.6e-16).\n\nadd-arm MJCF support (vendoring a prebuilt artifact from an MJCF, incl.\n<include>/mesh assets) is a separate follow-up.",
          "is_bot": false,
          "headline": "Add Manipulator.from_mjcf public entry point + MJCF auto-detect (#83)…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-31T02:53:38Z",
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          "oid": "6e3ee568fe99b83f49db2e035155274f2afd2002",
          "body": "…7) (#468)\n\nsrs_polished, spherical_shoulder_polished, and the approximate-SRS in-limits\nresolver each hand-rolled the same tail: build the _fk/_jac closures, batch-\nNewton-polish every seed, keep rows that FK-close (and, for two of them, land\nin-limits), then dedup_by_wrap_close. ~20 lines x 3, and\n[…]\n (j2s7 0, yumi_left 8, yumi_right 3, gen3 0 per 1000).\n\njointlock.seven_r is deliberately out of scope (exact HP per locked-joint\nsample, no polish; its #459 gap is sampling density, a different fix).",
          "is_bot": false,
          "headline": "Unify the polished-7R solver tail into _polish.polish_candidates (#46…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-30T19:15:15Z",
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        {
          "oid": "2fd4952d13a27fe00d68a78e6cf8dd5be55f74e6",
          "body": "…(#465)\n\nThe approximate-SRS in-limits fallback (#370, srs_polished arms) dropped\n~0.5-2% of reachable in-limits poses on the default respect_limits=True\npath. Root cause: seeds came from feasible_in_limits_solutions, which\nfilters swivels by the joint limits evaluated on the *approximate* q(psi)\n*b\n[…]\nndom-restart finds it, which is not a\nprincipled closed-form path, so it stays tracked in #462 and xfailed.\n\nPerf gate unaffected: it benchmarks respect_limits=False, which never enters\nthis fallback.",
          "is_bot": false,
          "headline": "Close approximate-SRS in-limits gap via unfiltered seed union (#462) …",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-30T17:18:04Z",
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        {
          "oid": "b77d8c494bffe4ee6678fd5279c1ac276b1efc76",
          "body": "…(#464)\n\nAnswers 'if someone adds an arm with this issue, do we warn them?' -- previously\nno: add-arm FAILED gross gaps (<90%) but printed a clean VALIDATED for the ~1%\nclass, and sampled only 64 poses (too few to see 1%).\n\nNow the onboarding coverage gate has three bands (_coverage_band):\n- < 90%  \n[…]\ntly clean (its gap is <1%). Band thresholds unit-tested.\n\nComplements the #359 slow guard + the #463 non-slow CI coverage floor: the CI\ngates catch regressions, this warns the contributor at add time.",
          "is_bot": false,
          "headline": "add-arm: warn when a new arm has a >1% in-limits coverage gap (#462) …",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T23:30:28Z",
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        {
          "oid": "a7b64a5d6f639a5e405680b8359e737442c7e52f",
          "body": "…s_polished gaps (#462) (#463)\n\nAuditing the shipped roster for the coverage worry surfaced two things:\n\n1. yumi_left_ik + j2s7s300_ik (both srs_polished) fail the #359 in-limits\n   coverage guard -- ~0.5-1% of reachable in-limits poses return [] on the\n   default respect_limits=True path. Root caus\n[…]\nthe\n   default suite (~15s). Generous enough for the ~1% known sliver, tight enough\n   to catch a Star1-class gap at PR time.\n\nSlow suite: 17 passed, 2 xfailed. Fast smoke: 19 passed. ruff/mypy clean.",
          "is_bot": false,
          "headline": "Harden the default-path in-limits coverage guard; document 2 known sr…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T18:42:54Z",
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        {
          "oid": "e4d3eda7438e6deb6b6c31eab0722299192efc8e",
          "body": "…ling fixes (#292) (#461)\n\nTwo Apache-2.0 Rokae collaborative arms (RokaeRobot/rokae_ros2), non-Pieper\ngeneral_6r (offset wrist) that EAIK can't decompose ('6R-Unknown Kinematic\nClass') -- EAIK-gap showcase like Doosan/HC10. 100% coverage, ~1 ms. Roster\n68 -> 70.\n- rokae.xmatecr7_ik  (xMate CR7)\n- r\n[…]\nr-solver floor); other\n   machine-precision solvers keep their tight smoke-derived value.\n\nGate green (sanity 70/70, uniform_fuzz, manifest/snapshot/perf/scaffolds +\nbaseline + docs); ruff/mypy clean.",
          "is_bot": false,
          "headline": "Rokae xMate CR7 + SR3 cobots (EAIK-gap general_6r) + 2 general_6r cei…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T17:49:38Z",
          "body_truncated": true,
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        },
        {
          "oid": "5a4ad8055b86a24e0eaf74ee30172008ca014816",
          "body": "Standalone Apache-2.0 7R arm (RokaeRobot/rokae_ros2). Unlike RM75 (~1um vendor-URDF\ndrift -> srs_polished), xMate Pro7's URDF hits STRICT seven_r.srs: 100% coverage,\nFK 5.3e-14 (machine precision, no LM polish), 128 sols, 6.7 ms. A rare vendor URDF\nthat is exactly SRS-concurrent. EAIK refuses (7R). Roster 67 -> 68.\n\nGate green (manifest/uniform_fuzz/sanity/snapshot/perf/scaffold + baseline + docs);\nruff/mypy (244 files) clean.",
          "is_bot": false,
          "headline": "Onboard Rokae xMate Pro7 (7R, strict SRS) (#292) (#458)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T05:27:56Z",
          "body_truncated": false,
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        },
        {
          "oid": "ec37d708f9cc0cceabe57dfbbfd419333c15b19d",
          "body": "* Onboard 8 cobot/industrial 6R arms across 6 vendors (#292)\n\nWave 2/4 breadth, all validated 100% via the automated add-arm. Roster 59 -> 67.\n\nPieper spherical-wrist 6R (ikgeo.spherical_two_parallel), EAIK-supported:\n- mitsubishi.rv4fr_ik   (Mitsubishi RV-4FR, Apache-2.0)\n- hyundai.hh020_ik      (H\n[…]\n correctly (1e-4); only\nthe scaffold was wrong. Derive the scaffold ceiling by solver class\n(_scaffold_fk_ceiling): general_6r -> 1e-4, everything else -> 1e-6. Regenerated\nthe 3 general_6r scaffolds.",
          "is_bot": false,
          "headline": "Onboard 8 cobot/industrial 6R arms across 6 vendors (#292) (#457)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T05:02:21Z",
          "body_truncated": true,
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        },
        {
          "oid": "24eec3dc25acd36d6249a534e89ddbaaaa64a6f4",
          "body": "Two Apache-2.0 Realman 7R arms, top 2024-2025 research popularity (Chinese\nhumanoids / RealSource dataset). Roster 57 -> 59.\n\n- realman.rm75_ik  (RM75-B): approximate-SRS 7R (~1um URDF drift), seven_r.srs_polished,\n  10 ms, FK 1e-12, 128 sols, 100% coverage.\n- realman.gen72_ik (GEN72): spherical-sho\n[…]\nectively for spec-authored fixtures (iiwa14).\n\nGate green (manifest/uniform_fuzz/sanity/parity/snapshot + rescue/dispatch/perf\ngates + regenerated baseline); ruff/mypy (235 files) clean; docs in sync.",
          "is_bot": false,
          "headline": "Onboard Realman RM75 + GEN72 (7R research arms) (#292) (#456)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T03:36:23Z",
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        },
        {
          "oid": "61339860888a79af8b3b1842cc272a6f7a92098a",
          "body": "…00iD + R-2000iC, Staubli RX160 (#292) (#455)\n\nFive more industrial spherical-wrist Pieper 6R flagships across five vendors, all\nvia the automated add-arm (#454): class metadata + sample_q auto-derived, only\nfixture_source + display strings hand-filled. Roster 52 -> 57. All dispatch to\nikgeo.spheric\n[…]\nnifest/uniform_fuzz/sanity/parity/snapshot/namespace/scaffolds +\nrescue/dispatch/perf gates + regenerated perf baseline); ruff/format/mypy (233\nfiles) clean; regen_docs --check in sync. Advances #292.",
          "is_bot": false,
          "headline": "Onboard Wave 2 batch 2: Yaskawa GP8, Kawasaki RS007N, FANUC LR Mate 2…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T03:03:46Z",
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        },
        {
          "oid": "2e2db1a2010b84cde1eb295e9b43f900985fc33a",
          "body": "…ifest TODOs) (#425) (#454)\n\nOnboarding the ABB/KUKA Wave 2 batch, I hand-filled kinematic_class /\nshort_class / class_tags for all 5 by copying a same-class neighbour -- pure\nmechanical work that's a function of the dispatched solver (class_tags is one\ndistinct set per solver across the whole roste\n[…]\nprovenance) and the marketing display strings. Reduces ~6 TODOs to ~2.\n\nTest: add-arm on UR5 emits the derived three-parallel class + a non-placeholder\nsample_q + a display_name. CONTRIBUTING updated.",
          "is_bot": false,
          "headline": "add-arm: derive class metadata, sample_q, and display_name (fewer man…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T00:42:28Z",
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        {
          "oid": "8c07e54b44d1ed43b0ffde1efe9d47125fd3e203",
          "body": "… (#292) (#453)\n\nFive industrial spherical-wrist Pieper 6R arms, the first Wave 2 flagships\n(install-base breadth). All dispatch to ikgeo.spherical_two_parallel, validate at\n100% coverage, and EAIK-agree (all supported, ~3us). Roster 47 -> 52.\n\n- abb.irb120_ik / irb1600_ik / irb6700_ik   (ros-indust\n[…]\nind sibling)).\n28-file gate green (manifest, uniform_fuzz, sanity, parity, snapshots, namespace,\nscaffolds, rescue/dispatch/perf gates); ruff/format/mypy (228 files) clean;\nregen_docs --check in sync.",
          "is_bot": false,
          "headline": "Onboard Wave 2 batch 1: ABB IRB 120/1600/6700 + KUKA KR6 R900 / KR210…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-29T00:34:21Z",
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        {
          "oid": "571d45add91a90c27999f2e25bba34bf2f2b2276",
          "body": "…#425) (#452)\n\nIndustrial vendor descriptions (ABB, KUKA, FANUC via ros-industrial) split a\nrobot across sibling ROS packages: irb120_3_58.xacro in abb_irb120_support does\n<xacro:include filename=\"$(find abb_resources)/...\"/> for shared materials.\nxacrodoc couldn't resolve $(find abb_resources) unle\n[…]\nhrough full add-arm: VALIDATED 100%, worst FK 1.2e-13).\n\nSelf-contained two-package test fixture (robot_support includes\n$(find shared_resources)); 3 tests green. Advances #425 (one-click onboarding).",
          "is_bot": false,
          "headline": "Resolve multi-package ROS xacros in ingestion ($(find sibling_pkg)) (…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T22:37:28Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "8f63a47960c0889c1e1ea1d492470c0c034ed16c",
          "body": "…lently (#445) (#451)\n\n--no-validate skips the minutes-long artifact build + coverage gate for\nslow-build (cached-RR 7R) arms -- but it used to skip onboarding validation\nENTIRELY, so the riskiest arms (0 IK / [0,0]-locked limits / wrong ee) could\nscaffold green with no verdict. The onboarding gate \n[…]\nefore shipping. A 0-coverage smoke prints a LIKELY BROKEN diagnosis.\n\nTested: --no-validate now prints the live-smoke verdict + UNVALIDATED reminder\n(new test); full add-arm suite green.\n\nCloses #445.",
          "is_bot": false,
          "headline": "add-arm --no-validate: run a live-solver smoke instead of skipping si…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T21:49:15Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "d66790b2d6441e2da1d013700a58413bd3ce4107",
          "body": "…ine (#436) (#450)\n\nscripts/regen_bench.py measures per-arm solve time and the manifest stores it,\nbut nothing fails CI if a solver change regresses speed. Absolute-ms assertions\ncan't work: the manifest ms_mean was measured on a dev machine and would\nfalse-fail on a Linux runner.\n\nGate on RELATIVE \n[…]\nA coverage-floor test (test_baseline_covers_benched_arms)\nforces a baseline refresh when an arm is onboarded; CONTRIBUTING documents the\nregen step. 50 passed (47 arms + 3 meta) in ~13s.\n\nCloses #436.",
          "is_bot": false,
          "headline": "Add perf-regression gate via machine-independent relative-ratio basel…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T21:46:53Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "da88d26149d46bddb527f24ecb5ee663a9c54abc",
          "body": "…ource prose (#444) (#449)\n\nThe upstream FK-parity test parsed the robot_descriptions module name out of the\nhuman fixture_source prose. Two failure modes hit during the iiwa7/j2s7\nonboarding (#443): a paren-annotated source ('robot_descriptions /\ndifferentiable-robot-model (kuka_iiwa/iiwa7)') parse\n[…]\nken migration or bulk field\nremoval can't quietly gut parity while leaving one arm green.\n\n29 passed; regen_docs --check in sync; test_manifest green; ruff/format/mypy\n(221 files) clean.\n\nCloses #444.",
          "is_bot": false,
          "headline": "Structured upstream_description field: decouple parity from fixture_s…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T21:13:40Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "97f98c88088e8a3d9a8e4cd6f0ce825d294ee3d2",
          "body": "…(#435) (#448)\n\nThe #433 composer canonicalization fix touched all three spherical-wrist\ncomposers (spherical_two_parallel, spherical_two_intersecting, generic\nspherical), but the never-again parity guard only covered spherical_two_parallel.\nGeneralize it: parametrize over all three topologies x (ca\n[…]\n composer/live divergence remains.\n\n6 passed (3 composers x 2 gauges). Closes #435 (items 1-2; item 3, a single\nmerged gauge-fuzz test, is unnecessary -- axis-sign and flange-offset are each\nguarded).",
          "is_bot": false,
          "headline": "Extend flange-offset parity guard to all 3 spherical-wrist composers …",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T21:06:00Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "6dd0bc7f5ef29cf0a3a8e1ba23fb123912fc8cf3",
          "body": "Several tier-0 7R solvers are picked by predicates that can match the same arm\n(the two approximate predicates overlap; strict-SRS is a subset of\napproximate-SRS). Which one wins is pure dispatch order, and nothing validated\nthat the chosen solver maximizes coverage.\n\nj2s7s300 (#440) exposed this: i\n[…]\n_gap_is_real) that measures the\nreal j2s7 gap (srs_polished >> spherical_shoulder_polished) and asserts dispatch\npicks srs_polished -- fails on a #440 revert. 8 passed, 9 skipped in ~9s.\n\nCloses #442.",
          "is_bot": false,
          "headline": "Add dispatch coverage-optimality gate (#442) (#447)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T20:50:17Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "8f0bb431092bb6447fa6b04bf99b44222c8fbaa8",
          "body": "…#441) (#446)\n\nEvery prebuilt solve() has a T-perturbation rescue that backfills when the\nanalytical solver returns nothing. It is legitimate for singular/borderline\nposes but can mask a broken analytical solver: an arm can read 100% coverage on\nthe default path while its native closed-form solver r\n[…]\nss regression (native 0.0) fails.\n\nThe threshold is a pure, unit-tested function (test_gate_has_teeth) so the band\nlogic is verified without needing a live broken arm. 46 passed in ~27s.\n\nCloses #441.",
          "is_bot": false,
          "headline": "Add rescue-dependence gate: no arm may lean on the numerical rescue (…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T20:45:44Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "35feace97c2083d0f7f948bdad6402316ef40d4a",
          "body": "Both arms were the last two blocked on #424, now fixed at the solver/dispatch\nlevel (#439 iiwa7 offset-wrist SRS, #440 j2s7 dispatch precedence). Ship them:\n\n- iiwa7_ik (seven_r.srs, kuka): 5.8ms, 128 sols, worst FK 5.1e-14. Offset-wrist\n  SRS -> general Davenport path. Fixture reused from #439 (kuk\n[…]\n7 matches upstream; j2s7 non-robot_descriptions\nsource so parity-skipped), test_artifact_snapshots, test_prebuilt_namespace all\ngreen for both arms; regen_docs --check in sync; ruff/format/mypy clean.",
          "is_bot": false,
          "headline": "Onboard KUKA iiwa7 + Kinova j2s7s300 as prebuilts (closes #424) (#443)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T20:30:14Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "b4cb4558f5f0947e1231f5df5b2d3f38ade9b54d",
          "body": "…lder (j2s7, #424) (#440)\n\nKinova j2s7s300 has an exact spherical wrist and a near-spherical shoulder\n(1.6mm drift). It matches BOTH is_approximately_spherical_shoulder_7r and\nis_approximately_srs_7r, and the dispatcher checked the spherical-shoulder\npredicate first -- routing j2s7 to seven_r.spheri\n[…]\nolver, correctly retained; Gen3/YuMi\n-> srs_polished; Franka/FR3 -> exact spherical_shoulder). j2s7 now 38% -> 100%.\n\nAdds tests/fixtures/j2s7s300.urdf + routing and 50-pose coverage regression\ntests.",
          "is_bot": false,
          "headline": "Route spherical-wrist near-SRS 7R to srs_polished, not spherical_shou…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T18:37:47Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "23d3630c25faa499a602eb6c73bf43ba9309427d",
          "body": "…439)\n\n* Fix seven_r.srs returning 0 solutions on offset-wrist SRS arms (iiwa7, #424)\n\nThe native SRS solver has two extraction paths: a fast vectorized canonical\nZYZ path (iiwa-class) and a general Davenport path (#354). The canonical path\nuses joint 5's frame origin as the wrist-pivot reference fo\n[…]\n, poisoning downstream arg types),\nimport _classify_srs_7r_geometric from its home module ssik.kinematics.predicates\n(srs re-imports but doesn't re-export it), and narrow the SrsClassification | None.",
          "is_bot": false,
          "headline": "Fix seven_r.srs 0-solutions on offset-wrist SRS arms (iiwa7, #424) (#…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T17:45:13Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "658a77b1881452f63175a9f54a70828669553e5f",
          "body": "…y (#425) (#438)\n\nadd-arm printed a ready-to-paste MANIFEST.toml stanza but you still had to\nhand-copy it into the file. --write-manifest appends the derived stanza to\n<repo-root>/src/ssik/prebuilt/MANIFEST.toml directly. It refuses to clobber an\nexisting [arms.<name>] entry unless --force (which re\n[…]\nk add-arm' and a shipped\nprebuilt (#425 friction log).\n\nTested: append writes valid TOML preserving existing entries; --force replaces\nwithout duplicating; a second add without --force errors cleanly.",
          "is_bot": false,
          "headline": "Add 'ssik add-arm --write-manifest' to append the stanza automaticall…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T16:25:00Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "19d7e21fff2a7cb529ce0dee1e6d3a71413893f4",
          "body": "The onboarding-robustness work (#425/#428/#430) went into the CLI only.\nfrom_urdf, the public library entry point, still loaded the URDF directly:\npackage:// meshes under an xmlns:xacro namespace failed with\nPackageNotFoundError (xacrodoc resolves them during expansion), and base/ee\nwere required.\n\n\n[…]\nads FK-identically to the clean fixture,\nthe non-stripping loader still raises PackageNotFoundError on it (teeth), and\nbase/ee auto-detection yields a solvable arm (FK->IK->FK round-trip).\n\nFixes #434",
          "is_bot": false,
          "headline": "Make Manipulator.from_urdf as robust as ssik add-arm (#434) (#437)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T16:14:44Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "0970de6e22eed17485e4ee2392bcfdb3aaa48a74",
          "body": "…nova j2s6s300 (#424) (#433)\n\nRoot cause of the #424 \"fanuc gauge\" / \"j2s6 [0,0]\" bugs (both were the SAME\nbug, not gauge/limits): the ikgeo spherical-wrist COMPOSERS did not call\n`canonicalize_spherical_wrist(kb)` before baking constants, while their LIVE\nsolvers do (spherical_two_parallel.solve li\n[…]\nund via the new add-arm coverage gate (#427/#432), which flagged the\n0-coverage artifacts at onboarding. Closes the fanuc + j2s6 items in #424.\n\nRefs #424, #292. Unblocks the Wave 2 industrial roster.",
          "is_bot": false,
          "headline": "Fix codegen composer canonicalization gap; onboard FANUC M-710iC + Ki…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T13:16:01Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "77ed1a37aa397e397b4bc7878049c85e0e5faacd",
          "body": "…ete stanza (#425) (#432)\n\nOnboarding's verdict was a CI round-trip away: add-arm scaffolded, and you\nonly learned an arm was broken (0 solutions) after building + pushing. Now\nadd-arm closes the loop locally.\n\n- add-arm builds the emitted artifact in a temp dir and runs the coverage\n  gate (`ssik._\n[…]\n100% coverage, FK 6.7e-13), and emits\nfk_ceiling_fuzz=1e-09 / platform_drift=false. test_cli_add_arm covers both\npaths (fast arms validate; rizon4 uses --no-validate).\n\nRefs #425 (one-click friction).",
          "is_bot": false,
          "headline": "add-arm: build + coverage-validate the artifact locally; emit a compl…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T00:57:05Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "b9355ce7933aa038bc19e55fa5c951f406792a60",
          "body": "…) (#431)\n\nThe bulletproof coverage gate lived only in generated scaffold code, so\nnothing verified it actually rejects a broken arm -- \"bulletproof\" was\nasserted, not tested. Extract it into `ssik._validation.assert_solve_coverage`\n(one tested implementation) and have the `add-arm` scaffold call it\n[…]\ncatches the FANUC/j2s6 (#424) failure mode.\n- The generated scaffold's coverage test now calls the shared helper instead\n  of an inline loop -- one implementation, tested.\n\nRefs #423 (gate hardening).",
          "is_bot": false,
          "headline": "Extract + test the coverage gate: prove it rejects a broken arm (#423…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-28T00:28:28Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "2c117db4d2c4bd5daf207f91665da072bd588025",
          "body": "Onboarding required hand-tracing every URDF's link tree to find the base\nand end-effector links. `suggest_base_ee()` now derives them: base = parent\nof the first actuated joint (leading `world->base` fixed joints fold in),\nee = the actuated flange of the longest chain, backing off gripper fingers\nby\n[…]\n + coverage), so this is convenience, not a\ncorrectness risk. Verified: UR5, iiwa14, FANUC, YuMi (dual-arm -> yumi_body\n/ yumi_link_7_r) resolve to the correct flange.\n\nRefs #425 (one-click friction).",
          "is_bot": false,
          "headline": "add-arm: auto-detect --base/--ee from the URDF (#425) (#430)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-27T22:59:09Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "9187b5d62d5407a325211c5b07254a4aa9bfe723",
          "body": "Re-onboards YuMi, which was deferred in #424 on a phantom failure: the\n0.1 m FK \"corruption\" was the fixture-parity base-frame bug (fixed in\n#428), not a bad fixture. With the package:// ingestion fix (#428),\n`ssik add-arm <raw-yumi.urdf>` vendors it cleanly with no hand-strip.\n\n- ABB YuMi left + ri\n[…]\neam to 1e-9 (the\ntest that falsely failed before), uniform fuzz coverage + FK, the new\ncoverage-gated scaffold, snapshots, respect_limits invariant, manifest.\n\nRefs #292. Closes the YuMi item in #424.",
          "is_bot": false,
          "headline": "Onboard ABB YuMi (IRB 14000) left + right (#292) (#429)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-27T22:34:56Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "6bcb602cbdca6c67dae2ae8b0bdf34fec216292c",
          "body": "…ame bug (#425, #423) (#428)\n\nTwo onboarding-robustness fixes surfaced by Wave 1 (#292):\n\n1. package:// mesh ingestion. Vendor URDFs (ABB YuMi, FANUC) declare\n   xmlns:xacro but reference meshes by ROS `package://`, so `_is_xacro`\n   matched and routed them through the xacro processor, which failed \n[…]\nm(ee, base)`); a no-op for root-based shipped arms.\n\nTogether these unblock YuMi (fixture verified correct to 1.6e-16).\n\nRefs #425 (one-click friction), #423 (gate correctness). Unblocks part of #424.",
          "is_bot": false,
          "headline": "add-arm: load vendor URDFs with package:// meshes; fix parity base-fr…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-27T22:04:31Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "fd36f16ac51e189269dfc2181fe1f0263c061dd7",
          "body": "* Onboard 7 Wave 1 prebuilts: YuMi L/R, Gen3 Lite, UR7e/12e/15/18 (#292)\n\nAdds the zero-friction Wave 1 arms that pass full validation (500-pose\nuniform fuzz: coverage + FK-closure under each arm's ceiling), all sourced\nfrom robot_descriptions:\n\n- ABB YuMi (IRB 14000) left + right (seven_r.srs_polis\n[…]\nt from a hand mesh-strip workaround for its\npackage:// meshes). The onboarding surfaced build-gate holes (#423) and\none-click friction (#425).\n\nRefs #292. Deferred #424. Hardening #423. Friction #425.",
          "is_bot": false,
          "headline": "Onboard 5 Wave 1 prebuilts: Gen3 Lite + UR7e/12e/15/18 (#292) (#426)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-27T22:02:39Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "2cdefea7ce070882ceed8bc6a094255575cb3af4",
          "body": "…e-arm regen (#423, #425) (#427)\n\nThe Wave 1 onboarding (#292) showed a broken arm (0 solutions) could pass\nthe whole default gate, because the scaffold test asserted \"FK <= tol on\nevery retained IK\" -- vacuously true at zero coverage -- against the raw\nsolver in a tiny [-0.8, 0.8] box, all marked @\n[…]\ny pose the default path covers (guards the iiwa7 #424 bug).\n- CONTRIBUTING updated for the single-arm build + coverage gate.\n\nRefs #423 (gate hardening), #425 (one-click friction). Deferred arms #424.",
          "is_bot": false,
          "headline": "Bulletproof + speed up arm onboarding: coverage-gated scaffold, singl…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-27T22:01:48Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "5109a670e041b842439cb74f501bacbb01f95883",
          "body": "* Organize prebuilt artifacts into vendor subpackages (#421)\n\nMove all 36 prebuilt-arm artifacts from the flat `ssik.prebuilt.<arm>_ik`\nlayout into vendor subpackages `ssik.prebuilt.<vendor>.<model>_ik`\n(e.g. `ssik.prebuilt.universal_robots.ur5_ik`,\n`ssik.prebuilt.fanuc.crx10ia_ik`). The redundant v\n[…]\n-table summaries (now a colon), per user preference. Replacements\nare contextual (colon/comma/parens/sentence-split), not a blanket sub; en\ndashes in numeric ranges and compound names are left intact.",
          "is_bot": false,
          "headline": "Organize prebuilt artifacts into vendor subpackages (#421) (#422)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-26T18:00:59Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "42075738c5fac79b2d9a1c97f95ac44e6656fee1",
          "body": "Onboards CRX-3iA / 5iA / 10iA / 10iA/LP / 20iA/L / 30iA as prebuilt tier-2\nRaghavan-Roth artifacts, rendered from the FANUC-CORPORATION/fanuc_description\nxacro macros (Apache-2.0). All six are the same non-Pieper 6R class as the\nalready-shipped CRX-10iA/L, with the skew wrist (joint 6 ⟂ flange) that\n[…]\nhe\nhonest non-Pieper RR guarantee; the 1e-10 scaffold default stalls on rare\nhard poses at ~1.5e-10 -- a valid machine-precision-adjacent solution, the\n#82 algebraic-seed-precision gap).\n\nCloses #301.",
          "is_bot": false,
          "headline": "Add the 6 FANUC CRX sibling prebuilts (#301) (#420)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-25T21:41:28Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "7552b6be5823b3ed6ce7dfce5ea75fab8eaecf0b",
          "body": "The tier-2 Raghavan-Roth path produced FK-wrong candidates (algebraic FK\n~2.0, artifact solve() returning 0 IKs) for 6R arms whose last joint axis\nis not parallel to the flange z -- e.g. the FANUC CRX non-/L siblings\n(joint 6 ⟂ flange). Root cause is NOT the codegen composer (it faithfully\nbakes poe\n[…]\nplus a real-arm regression parametrization over every RR\nfixture, including the concrete CRX-10iA geometry (skew wrist + on-axis\nflange, the projection degeneracy the synthetic sweep can't reproduce).",
          "is_bot": false,
          "headline": "Fix poe_to_dh terminal frame for skew wrists (#418) (#419)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-25T20:39:30Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "cbd333fbed8f519e5acdca2612a14f9b897133d1",
          "body": "The SRS general-Davenport vectorization (#415) sped up the four exact\nnon-canonical concurrent-axis SRS arms; their published bench numbers\npredated it. Re-measured via scripts/regen_bench (compiled extensions,\nmedian-of-5), normalized to the reference machine by the median factor of\nthree unchanged\n[…]\n unchanged (the bench uses respect_limits=False and #415 is\nbehavior-neutral: 0 parity diffs), so only the timing fields moved.\n\nMANIFEST + regen_docs (README) + the srs.py docstring (~13 -> ~4-5 ms).",
          "is_bot": false,
          "headline": "Refresh bench numbers for the general-path SRS arms after #415 (#417)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-24T17:23:23Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "69ea82e242164317f2f1fadf704e109093a2b41b",
          "body": "…f py310\n\n#367 lowered the floor to 3.10 but ssik.prebuilt._manifest hard-imports\ntomllib (3.11+ stdlib), so every prebuilt-arm import crashed on 3.10 with\nModuleNotFoundError -- advertising support that was guaranteed broken.\n\n- _manifest.py: fall back to the tomli backport on Python < 3.11.\n- pypr\n[…]\n (E402).\n\nVerified end-to-end on CPython 3.10.17 + numpy 1.26.4: ssik imports, the\nbest-effort warning fires once, and iiwa14_ik.solve returns 84 IKs at\n2.4e-15 FK (the tomllib->tomli path exercised).",
          "is_bot": false,
          "headline": "Make Python 3.10 support actually work: tomllib->tomli fallback + ruf…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-24T17:05:02Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "7261dc0b53897a847d9570a5a06298731a6c9a1d",
          "body": "Emit a one-time UserWarning when ssik is imported under Python < 3.11,\nthe tested minimum and Scientific Python SPEC 0 support floor. Makes the\nbest-effort, untested status of 3.10 explicit to users. See #366.\n\nCo-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>",
          "is_bot": false,
          "headline": "Warn on best-effort (untested) Python versions",
          "author_name": "Griffin Norris",
          "author_login": "griffin-norris",
          "committed_at": "2026-07-24T17:05:02Z",
          "body_truncated": false,
          "is_coding_agent": true
        },
        {
          "oid": "cf62f35ec25c20e8b5f4049cfd39bcfd66ddaf38",
          "body": "Lower requires-python to >=3.10 and relax the numpy dependency floor\nfrom >=2.0 to >=1.26 to broaden install compatibility.\n\nCo-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>",
          "is_bot": false,
          "headline": "Support Python 3.10 and numpy 1.26",
          "author_name": "Griffin Norris",
          "author_login": "griffin-norris",
          "committed_at": "2026-07-24T17:05:02Z",
          "body_truncated": false,
          "is_coding_agent": true
        },
        {
          "oid": "18ff1e7bd2605ae0ad896aed3addf7c61d2ab8cf",
          "body": "Restore the scalar _sp4_branches alongside _sp4_branches_batch: the exact\nin-limits swivel resolver (_swivel_limits, #369) imports the scalar form\nand it landed on main after this branch forked. Behavior-identical to main\nacross all SRS arms (parity-verified, 0 diffs).",
          "is_bot": false,
          "headline": "Reconcile vectorized general path with #369 swivel-limits resolver",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-24T16:29:57Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "66fbb6f0d62342abc5d6658a0344137236910bd5",
          "body": "The general-path (non-canonical SRS) sweep was a scalar `for i in range(N)`\nloop over the 16 swivels, running the Davenport shoulder/wrist extraction one\nswivel at a time. Restructure it like the canonical ZYZ path: enumerate the\ndiscrete branches (2 elbow x 2 shoulder x 2 wrist) on the outside and \n[…]\nle poses. FK residual unchanged at 2.09e-14.\n\nR1 Pro left: 9.75 -> 5.63 ms/solve; 15.45 -> 5.63 (-64%) vs the pre-series\nbaseline.\n\nCo-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>",
          "is_bot": false,
          "headline": "Vectorize the general Davenport SRS sweep over the swivel batch",
          "author_name": "Griffin Norris",
          "author_login": "griffin-norris",
          "committed_at": "2026-07-24T16:29:57Z",
          "body_truncated": true,
          "is_coding_agent": true
        },
        {
          "oid": "5b6dc85029c8f8bad3a82c6c0e9bdc3d1accdb16",
          "body": "The general Davenport path in seven_r.srs (used by non-canonical SRS\narms like the Galaxea R1 Pro) is a per-swivel scalar loop that called\nnp.cross / np.linalg.norm / np.eye on length-3 vectors hundreds of\ntimes per solve. On 3-vectors those generic entry points are dominated\nby dispatch overhead (a\n[…]\nath.\nMath is identical; FK residual is unchanged at 2.09e-14.\n\nR1 Pro left arm: 15.45 -> 9.75 ms/solve (-37%) at full enumeration.\n\nCo-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>",
          "is_bot": false,
          "headline": "Speed up general-SRS 7R solve: scalar 3-vector ops on the hot path",
          "author_name": "Griffin Norris",
          "author_login": "griffin-norris",
          "committed_at": "2026-07-24T16:29:57Z",
          "body_truncated": true,
          "is_coding_agent": true
        },
        {
          "oid": "7dbcfbd7c3c5ca89507f9bc972311268872e8a3e",
          "body": "test_oracle3/4 asserted HP must match Raghavan-Roth solution counts on\nJACO 2 -- the premise #409 explicitly rejected. #409 established HP and RR\nare complementary, not competing, universal-6R solvers: RR is the tier-2\ngeneral-6R path; HP is the locked-7R backstop. HP returning fewer branches\nthan R\n[…]\nnearest_wrap) and updates the module docstring + oracle2 comment to\nreflect the retirement.\n\nOracle suite after: 5 passed, oracle6 xfail (legit, #183), oracle5 slow;\nno stray XPASS. ruff + mypy clean.",
          "is_bot": false,
          "headline": "Retire stale HP-vs-RR parity oracles (oracle3/4) on JACO 2 (#414)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-24T13:41:33Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "ed53ae3b793db29cd74aeb2a258607417fd2e182",
          "body": "…ntract (#413)\n\ntest_gen3_random_pose_fk_closure (slow) called jointlock.seven_r.solve\ndirectly and asserted a non-empty result on every random reachable pose.\nRaw jointlock+HP legitimately returns nothing at measure-zero near-singular\nridges (near-straight elbow, q_3 ~ 0), so seed 173 failed: q_3 =\n[…]\nn-singular, so it validates the raw path on well-conditioned\ninput. Verified: all 10 fuzz seeds pass (was failing at seed 173); full\nGen3 + srs_polished suites 29 passed incl. slow; ruff + mypy clean.",
          "is_bot": false,
          "headline": "Fix stale Gen3 jointlock slow test: assert the production coverage co…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-24T12:54:40Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "c4a84bc439a05829e65501ea8cbd73b95565b138",
          "body": "…ne) (#412)\n\nAdds two Mermaid flowcharts to the \"Under the hood\" section:\n\n1. Dispatch tree -- how `dispatch()` classifies a POE-normalized chain by\n   topology and picks the fastest matching solver. 7R closed-form is\n   grouped by family (concurrent shoulder -> wrist concurrent = SRS class,\n   or o\n[…]\ny, and manipulator.solve. Mermaid renders natively on GitHub and\nvia the mkdocs superfences already configured, so no binary asset. Both\ndiagrams validated by rendering with mermaid-cli.\n\nCloses #411.",
          "is_bot": false,
          "headline": "README: add solver-selection decision-tree figure (dispatch + lm_refi…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-24T04:20:55Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "be8c4b8ef0626400620be912a6cea0f4c39659c2",
          "body": "…ad of crashing (#410)\n\nHP's interpolation-based elimination hits a singular Cramer/pencil matrix\non a large fraction of poses for general (non-locked) 6R geometries such\nas the FANUC CRX-10iA/L. Two code paths could then raise an unhandled\n`numpy.linalg.LinAlgError` out of `solve()`:\n\n- `eliminate_\n[…]\n Verification showed HP is\nload-bearing for symmetric-DH locked-7R sub-chains (live RR misses q_truth\non 9/20 and is 20-75s), so HP stays; this is the one real robustness bug\nthat evaluation surfaced.",
          "is_bot": false,
          "headline": "Harden Husty-Pfurner: degrade to empty on singular-matrix poses inste…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-24T02:54:43Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "5ad09c1a8550095a71d5dd8fa7de26c2d42fee67",
          "body": "Lever A (#405) replaced the per-candidate tight-then-loose lm_refine rescue with\na single lm_refine_batch call -- but lm_refine_batch defaults to a TIGHT\ndivergence tolerance (2.0 / 2, tuned for srs_polished in #203), whereas the\nper-candidate lm_refine it replaced used the loose default (5.0 / 4). \n[…]\nv3.2.0\ncount comparison shows ZERO differences across the whole roster.\n\nRegression guard: test_batched_rescue_recovers_full_set_piper_ridge pins the\nexact pose + the >=6 distinct FK-closing recovery.",
          "is_bot": false,
          "headline": "Fix rescue completeness regression from the batched refine (#405) (#408)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-23T18:24:29Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "5a222641d139047ba044f0e1722ccaa814904ca9",
          "body": "Gen3 srs_polished dropped from 40.75 to ~13ms with the batched FK+Jacobian\n(#406). Update the number everywhere it appears:\n\n- MANIFEST bench + README EAIK-comparison table: gen3 40.75 -> 12.87 ms.\n- docs/architecture.md: the srs_polished tier row said \"~40 ms full sweep\".\n\nOnly gen3 is updated. A f\n[…]\ne via the median factor of the control arms\n(the ones lever A/C don't touch): 14.79 / 1.15 = 12.87 ms, which matches the\ndirect median measurement. Every other arm keeps its committed reference value.",
          "is_bot": false,
          "headline": "Refresh docs with post-lever-C Gen3 number (~13ms) (#407)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-23T13:21:23Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "94e383bfc708992658ca5190b478d9f890e65556",
          "body": "lm_refine_batch already batches the linalg but called fk_fn / jacobian_fn\nper-candidate -- and those (poe_forward_kinematics + kinbody_jacobian) are\n~50-60% of a Gen3 srs_polished solve. Add kinbody_fk_jacobian_batch: a single\nvectorised chain walk that returns FK (N,4,4) + spatial Jacobian (N,6,dof\n[…]\nsmatic, and test_lm_refine_batch_batched_equals_scalar (same seed\nset converges to the same roots). Full suite 1734 passed.\n\nBench numbers deferred to a roster refresh after the stacked gen3 PRs land.",
          "is_bot": false,
          "headline": "perf: batched FK + Jacobian for the LM-refine inner loop (#406)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-23T12:47:33Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "3296ad0264f8ea743231bb00f818e9652ee33091",
          "body": "* perf: batch the T-perturbation rescue's candidate refinement\n\nThe #319 rescue re-solves at each of 16 perturbed poses and Newton-polished\nEVERY returned candidate back to T_target via a per-candidate tight-then-loose\nlm_refine (2 passes x 20 iters). Most perturbed candidates are swivel solutions\nt\n[…]\nored by 16x the base solve cost -- addressed separately\nby batching the FK+Jacobian in the solve/refine inner loop (lever C).\n\n* Annotate polished as Iterable to satisfy mypy (batched/scalar branches)",
          "is_bot": false,
          "headline": "perf: batch the T-perturbation rescue's candidate refinement (#405)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-23T12:46:52Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "574bc5b22efec8ad979c86f933558f3d488ae834",
          "body": "… numbers (#404)\n\n* Guard against benchmarking uncompiled perf extensions; correct the numbers\n\nRoot cause of the inflated bench numbers: this repo cythonizes both poe_fk and\nrefinement (hatch_build.CYTHON_TARGETS, #248), but a dev checkout that built\nonly poe_fk.so ran the refinement layer in pure \n[…]\nment-heavy arms move (gen3/piper/xarm7 ~-20%);\nnon-refining arms are within measurement noise, confirming the machine is\ncomparable.\n\n* Fix mypy import-not-found for regen_bench in perf-extension test",
          "is_bot": false,
          "headline": "Guard against benchmarking uncompiled Cython extensions + correct the…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-23T04:16:00Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "0564d8b12c8ba581abdddf317ba3000fba96d0c7",
          "body": "The committed bench numbers were a patchwork measured at different points in the\ncodebase's history, so the README no longer reflected reality. Re-benched the\nwhole roster on one quiet machine (per-arm minimum of two runs to drop\ncontention spikes; control arms -- solvers unaffected by recent change\n[…]\n, so neither the Jacobian nor the stagnation change touches it).\n- Everything else within measurement noise of its prior value.\n\nTiming only; EAIK comparison numbers (external, unaffected) left as-is.",
          "is_bot": false,
          "headline": "Refresh stale bench numbers across the prebuilt roster (#403)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-22T20:28:36Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "c66294c531ba8926199777de7ead125e804eb79e",
          "body": "…cobian (#402)\n\n* perf: scalarize the emitted _spatial_jacobian cross product\n\nThe codegen-emitted _spatial_jacobian used np.cross(p_i, z_i) for the linear\nJacobian columns. For 3-vectors np.cross is dominated by moveaxis /\nnormalize_axis_tuple overhead -- ~11x slower than the scalar triple. It runs\n[…]\nue the ungated refiner finds, the guard also\nfinds). SB bench numbers refreshed (thor 8.4->2.6, core 8.4->2.6, spark 7.3->2.5ms).\n\n* Update refinement module docstring for the convergence-abort guards",
          "is_bot": false,
          "headline": "perf: gate wasted LM refinement by convergence + scalarize emitted Ja…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-22T20:18:18Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "04bddae94a0b4992476c1aee2ed3e6b1163332ff",
          "body": "…trio-flip (#399)\n\n* Fix three_parallel codegen trio-flip; dedup sign convention; guard parity\n\nPR #398 fixed the axis-sign gauge bug in the *live* three_parallel solver but\nnot in the codegen composer, which re-implements the candidate construction as\nemitted source. So the baked artifacts users im\n[…]\nand records a correctness verdict instead. thor/spark\nnow render as EAIK 'refuses (returns FK-incorrect solutions)', which is the\nhonest comparison: ssik solves them at machine precision, EAIK cannot.",
          "is_bot": false,
          "headline": "Onboard Standard Bots (thor/core/spark) + fix three_parallel codegen …",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-22T20:05:30Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "5b8e6dc532173c4191ffefa24454f0deffa79780",
          "body": "…ign + length) (#398)\n\n* Fix three_parallel axis-sign gauge bug on anti-parallel trio joints\n\nthree_parallel collapses the parallel trio (joints 1,2,3) onto the single\ndirection axes[1] and uses the signed total theta14 = q1+q2+q3+q4, solving\neach trio angle *about axes[1]*. When a URDF authors a tr\n[…]\nady guarded by each solver re-asserting its predicate on entry.\n\ntest_manipulator_constructors.py: a scaled-axis arm is FK-identical to the\nunit version and self-round-trips; a degenerate axis raises.",
          "is_bot": false,
          "headline": "Bulletproof solver construction against axis representation gauges (s…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-22T05:14:27Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "43b1c3ce0690126ccc4082e7976722333b0c2356",
          "body": "…s #8, #9) (#397)\n\n* Add Manipulator.from_dh / from_axes / from_transforms constructors (closes #8, #9)\n\nThree non-URDF constructors matching EAIK's DhRobot / HPRobot / HomogeneousRobot,\nso callers with DH tables, ik-geo H/P parameters, or per-joint zero-pose\ntransforms can build a Manipulator witho\n[…]\nes to\nikgeo.spherical_two_parallel and solve(fk(q)) roundtrips at 4e-15 (the #8\nbenchmark); shape/length validation + limits pass-through covered. Full suite\n1684 passed.\n\n* ruff format manipulator.py",
          "is_bot": false,
          "headline": "Manipulator.from_dh / from_axes / from_transforms constructors (close…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-22T03:45:42Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "d70d8ddd4057fbf29fb0857d27d68ceffe8523fc",
          "body": "…389) (#396)\n\nTwo per-call hot-path wins from the audit, both behaviour-preserving:\n\n- E2: rotate() (Rodrigues) built the result via ~5 numpy temporaries -- a\n  _cross3 array plus four element-wise product/sum arrays -- every call. It is\n  one of the hottest calls in the SP5/SP6 refine loops. Scalar\n[…]\natched solver accepts. The solver is fixed at\n  __init__, so cache its parameter set there (frozenset) and do a set lookup\n  per call instead of reflecting.\n\nFull suite 1675 passed; ruff + mypy clean.",
          "is_bot": false,
          "headline": "Efficiency: scalarize rotate() + cache the solver signature (E2/E6, #…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-21T21:34:49Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "718e47e6e55f7747d05ef4bbe69950e345851307",
          "body": "…s #388) (#395)\n\n* Factor the axis-intersection geometry + make it scale-relative (U5, closes #388, #389)\n\nThe \"lstsq the first two axis lines, verify the rest by perpendicular drift\"\nkernel was copy-pasted three times (three_consecutive_intersecting,\naxes_meet_at_common_point, _max_axis_drift) -- o\n[…]\ned on a ~1 m arm and accepted on a ~100 m\narm; a real 1 cm offset is rejected at any scale. Full suite 1675 passed.\n\n* Mark test_ik_overhead_under_300us @perf (was flaking under -n auto parallel load)",
          "is_bot": false,
          "headline": "Factor axis-intersection geometry + make it scale-relative (U5, close…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-21T20:44:00Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "63f693cb112e8cfa47639110378473441080428c",
          "body": "…389) (#394)\n\nlm_refine converged and reported on ||se3_log_residual|| while Solution.fk_residual,\nthe exact/algebraic path, lm_refine_batch, and every emitted solve() use the\nFrobenius error ||fk(q) - T||_F. For a rotation-dominated error the two differ by\nup to ~3x, so a candidate accepted at the \n[…]\npins residual == Frobenius and accepted-implies-under-gate.\nFull suite 1672 passed -- the stricter gate costs no coverage (quadratic\nconvergence clears the ~1.4-3x candidates in 1-2 extra iterations).",
          "is_bot": false,
          "headline": "Gate lm_refine on the Frobenius FK residual, not the SE(3) log (D2, #…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-21T19:44:57Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "2ee85aca873e7e4c2aec0b6bb2c774dbc7297304",
          "body": "…2b) (#393)\n\n* Factor the shared post-processing pipeline into finalize_solutions (U2b, #389)\n\nThe limits -> seed -> truncate tail was hand-duplicated in four places that had\nalready drifted: Manipulator.solve and three codegen templates (thin-wrapper,\nspecialised-6R, jointlock-7R, the last with two\n[…]\nms the emitted finalize\n  behaves identically to the live path.\n\nFull suite 1665 passed; parity + snapshot green; ruff + mypy clean.\n\n* Fix mypy: guard Optional __file__ in postprocess structural test",
          "is_bot": false,
          "headline": "Factor the shared post-processing pipeline into finalize_solutions (U…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-21T17:21:00Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "8403b7f369782c620740dab6b2e7859ff0bddeb2",
          "body": "* Add artifact<->live solver parity test (U2 part 1, #389)\n\nThe codegen emitters re-express solver behaviour as generated source (the\nspecialised composers inline the SP1/SP3/SP4 algebra; every emitter re-derives\nthe verify/dedup/postprocess tail). That is behavioural duplication across two\nrepresen\n[…]\ninned\n  by the uniform-fuzz suite.\n\n24 passed, 3 skipped.\n\n* Fix mypy: type the parity helpers + explicit live.solve kwargs\n\n* Use per-arm fk_ceiling_fuzz for parity FK bound (LAPACK-backend variance)",
          "is_bot": false,
          "headline": "Artifact↔live solver parity test (U2 part 1) (#392)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-21T13:07:14Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "b5597b533b5c4cac7ca63ed426a6edbdfbfd4929",
          "body": "…(U1, #389) (#391)\n\nPer-solver metadata lived in six hand-synced name->X tables — dispatcher\nestimates, codegen import paths, manipulator module paths, codegen composers,\nand the fk-atol/force-refine overrides — two of them byte-identical and fully\nderivable (`f\"ssik.solvers.{name}\"`), none keyset-g\n[…]\nnt; every prebuilt's\nSOLVER_NAME is registered. A half-wired solver now turns CI red instead of\nKeyError-ing in the field.\n\nArtifacts byte-identical (snapshot green, no regen). Full suite 1641 passed.",
          "is_bot": false,
          "headline": "Collapse the ~6 parallel solver registries into one SolverSpec table …",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-20T23:48:41Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "2ff2706406f14cd1003219b1adf55e95c7d68ffd",
          "body": "…s (D1, #389) (#390)\n\nThe thin-wrapper codegen hard-coded `from ...seven_r._swivel_limits import\nresolve_in_limits` for every arm. That's the SRS resolver; on a spherical-shoulder\narm (Franka/FR3/xArm7) it classifies as non-SRS and returns [] — a silent no-op.\nSo the respect_limits empty-fallback re\n[…]\nka/FR3/xArm7 recover in-limits solutions (was 0).\n\nRegenerated franka/fr3/xarm7 artifacts (one import line each). hoisted\n`import_module` to a module-level import (was duplicated in two local scopes).",
          "is_bot": false,
          "headline": "Wire the solver-matched in-limits resolver into thin-wrapper artifact…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-20T21:52:48Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "f2f44c3bc9ded18eff32b338d75a839c33a67d74",
          "body": "A spherical-wrist 6R whose last wrist joint's URDF frame sits a fixed distance\nalong its own rotation axis from the wrist-center intersection -- the flange\noffset, standard on industrial arms (ABB IRB 6700 and others) -- was dispatched\nto the ~100x-slower ikgeo.general_6r. The strict three_consecuti\n[…]\nh reporters' actual URDFs (IRB 6700 + a second\nspherical-wrist 6R): both now dispatch spherical_two_parallel and solve 300/300\nrandom poses at ~5e-15. New tests use a self-contained synthetic fixture.",
          "is_bot": false,
          "headline": "Route + solve spherical-wrist 6R arms with a flange offset (#377) (#387)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-19T23:16:51Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "dd5d47d21a5228b6b60502980580e9306008e771",
          "body": "…w-up) (#386)\n\nThe perf gates timed sub-millisecond calls with median/mean and tripped on\nshared CI runners where scheduling noise is additive: iiwa14 max_solutions=1\n(0.23 ms compute) had its median of 20 dragged to 1.00 ms under load, failing a\n< 1 ms gate on an unrelated PR's CI.\n\nAdd one shared \n[…]\n \"best-case cost must stay under X\" -- exactly a\nregression gate's intent. Best-of-N spread on the formerly-flaky gate is\n0.40-0.41 ms across 30 trials (vs the 1.00 ms median spike). Full suite green.",
          "is_bot": false,
          "headline": "Make perf gates noise-robust with shared best-of-N timing (#383 follo…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-17T23:53:19Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "bbfb2cf3849c59a7ac74f65f33bcc2af88cb9aef",
          "body": "…#383)\n\nThe trajectory-tracking idiom `solve(T, q_seed=q, max_solutions=1)` on the\nredundant thin-wrapper 7R arms (spherical-shoulder franka/fr3, polished\nspherical-shoulder xarm7, SRS iiwa14/gen3/openarm/r1pro) resolved the whole\n1-parameter self-motion each call -- several ms -- to then keep one s\n[…]\nn vs\n  L-infinity-ranking gap over the continuous swivel, benign and non-accumulating.\n- Falls through cleanly on far seeds / out-of-limits continuations, verified by\n  spying on the full solver call.",
          "is_bot": false,
          "headline": "Seeded numerical-tracking fast path for thin-wrapper 7R arms (#380) (…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-17T21:17:39Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "3ef3c59b5d0f2759dc99ec5ffe337b211cfd0b01",
          "body": "`rescue_via_T_perturbation` used a single `fk_atol=1e-8` both as lm_refine's\nconvergence target and as the acceptability gate. When a rescue lands off-ridge\n(well-conditioned -- the common case) the polish dipped under 1e-8 on the first\nNewton step and stopped there, returning solutions at ~6e-9 eve\n[…]\nrecovery is unchanged.\n\n- gen3 at the falsifying q*: worst FK 5.79e-9 -> 5.24e-13.\n- Deterministic regression test on that pose.\n- #319 rescue suite + full uniform fuzz: green. Full suite 1589 passed.",
          "is_bot": false,
          "headline": "Polish well-conditioned rescues to machine precision (#384) (#385)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-17T20:37:09Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "80077e6280d9ab7966c704a3362c81a52de8513a",
          "body": "The srs_polished *analytical* path once returned 0 sols at q*=[0.512, 0.512,\n1.020, 0.625, -0.648, -2.75, 0.875] (recovered only by the #358 LM rescue at\n~1e-8, below the strict 1e-9 analytical fuzz bar). The general-Davenport SRS\ngeneralization (#354/#356) -- which srs_polished runs on the best-fit\n[…]\nots --\nclosed it: the pose now returns 13 sols at ~2e-16.\n\nRemove the gen3 known_gaps xfail (the uniform fuzz passes across seeds) and add\nthe q* to the srs_polished hand-picked FK-closure regression.",
          "is_bot": false,
          "headline": "Close #299: gen3 srs_polished analytical coverage gap is fixed (#382)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-17T04:47:08Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "871abc893b0ac1f2aea7e31ab849d2f670345a97",
          "body": "…s) + #288 (z1 genuine) (#381)\n\n* Drop spurious near-singular branch in three_parallel (#362)\n\nAt a near-singular UR pose (e.g. q0=q5=0), an SP3/SP4 argument clipped to\nthe reachability boundary yields a branch that FK-closes to only ~7e-6 --\na least-squares near-miss with no exact IK nearby (damped\n[…]\n(jointlock) keep their machine-precision-or-drop\ncontract. The 1e-7 gate alone still drops the UR spurious near-miss on the\nlive path. jointlock bulletproof + three_parallel + z1/ur16e fuzz all green.",
          "is_bot": false,
          "headline": "Refine near-singular near-misses in three_parallel: fix #362 (spuriou…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-17T04:12:02Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "d153492fc99395996233b87bb9b2b4325c1ace52",
          "body": "…, closes #159) (#379)\n\nxArm7 is nearly the exact spherical-shoulder class -- the closed-form q_i(q6)\nrecipe gives excellent seeds (~1e-8 residual, which was the #159 precision\nfloor) but the exact 1e-10 gate rejects them. New seven_r.spherical_shoulder_\npolished: closed-form seeds over the reachabl\n[…]\now_build 1184 s, platform-drifting) -> 12.7 KB\nthin-wrapper (fast, deterministic); manifest + docs. 22.8 -> ~7 ms, FK 1.5e-6\n-> ~1e-11 (closes #159), 0/150 in-limits coverage misses. Bulletproof test.",
          "is_bot": false,
          "headline": "Approximately-spherical-shoulder polished solver: onboard xArm7 (#373…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-15T22:27:49Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "1d7193ab395990f2a0dadf530f4b9a99c2786c62",
          "body": "…#378)\n\n* Add bounded-domain feasible-interval core for locked-joint redundancy (#373)\n\nThe periodic feasible_arcs (extracted in #372) handles the SRS swivel on\nthe circle [-pi, pi). The spherical-shoulder specialist's redundancy is a\nlocked joint (q6) on its own limits [a, b] with no wrap-around. A\n[…]\nturned sample -- the\n  old 'within one sweep-step on all joints' bound was jointlock-specific).\nPlus the fr3 docstring. Full suite: 1583 passed, 7 xfailed (pre-existing).\n\n* Wrap long line (ruff E501)",
          "is_bot": false,
          "headline": "Spherical-shoulder 7R specialist + auto-routing (Franka/FR3) (#373) (…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-15T21:32:51Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "99f0e5c319ac8a3009876ce38d443eba030ed93c",
          "body": "…4) (#375)\n\n* Fix _lock_joint dropping the locked transform when locking the last joint (#374)\n\nWhen lock_idx == last_idx, the propagation loop skips the locked joint\n(the i == lock_idx continue) and never reaches the last-joint absorption\nbranch, so the locked joint's fixed transform T_left @ Rot(a\n[…]\nil known gap referencing #376 (same\nconvention as the existing _SINGULAR_CONFIGS). No production impact: no\narm dispatches HP on a last-joint lock.\n\n* Type-annotate _locked_config_params return (mypy)",
          "is_bot": false,
          "headline": "Fix _lock_joint dropping the locked transform on last-joint lock (#37…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-14T20:56:26Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "2c72735ae95ca32b5b778d9d95c0327b32d41fb6",
          "body": "* Extract parameter-agnostic feasible-interval core (#148 step 1)\n\nThe feasible-swivel resolver (#359/#369) computes exact in-limits arcs for\nthe SRS elbow swivel by treating each joint as a smooth 1-parameter family\nq_i(psi) and finding the sign-zeros of phi_i(psi) = cos(q_i - c_i) - cos(h_i).\nThat\n[…]\non. The shared\ncore stays dependency-free (scipy-free) to preserve iiwa's lean import chain.\nBacked by the existing SRS feasible-swivel tests and the 7R prebuilt fuzz.\n\n* Format _feasible_param (ruff)",
          "is_bot": false,
          "headline": "Extract parameter-agnostic feasible-interval core (#148 step 1) (#372)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-14T16:43:18Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "b0965d3eb5f03db5f0967c581f3e772dd0e21347",
          "body": "…70) (#371)\n\n#369 closed #359 for exactly-concurrent SRS arms. Kinova Gen3 is only\napproximately SRS (~12 mm axis drift), so the exact resolver no-ops on it and\ngen3 still dropped reachable in-limits poses on the default respect_limits=True\npath.\n\nAdd an approximate path to resolve_in_limits (mirror\n[…]\n #299, is separate and stays\nxfailed -- respect_limits=False; the LM rescue closes it only to ~1e-8.)\n\nFull non-slow suite 1567 passed; new gen3 case in tests/test_swivel_limits.py;\nruff + mypy clean.",
          "is_bot": false,
          "headline": "Extend feasible-swivel limit resolution to approximate-SRS / gen3 (#3…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-13T17:57:27Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "895c0e4123a73e7c3f5c80bdb9123eb39a13d263",
          "body": "…(#369)\n\nThe elbow swivel is the SRS redundancy; the solver sampled it blindly (16\nuniform samples) and then filtered by joint limits, so a reachable in-limits\npose whose in-limits swivel arc was narrower than the sampling returned [].\nDenser sampling doesn't fix it (the arc can be arbitrarily narro\n[…]\nstays gated: the exact resolver needs\nexact concurrency; extending it to relaxed-pivot + LM polish is a follow-up.\n\nFull non-slow suite 1566 passed; new tests/test_swivel_limits.py; ruff + mypy clean.",
          "is_bot": false,
          "headline": "Exact feasible-swivel joint-limit resolution for SRS-class 7R (#359) …",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-12T05:34:53Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "78eff3c491f1c9184535b3facae0297cd7410060",
          "body": "…ath fuzz (#365)\n\n* Release: refuse to publish if built version != tag (#364)\n\nTwo v* tags on one commit (v3.0.0rc1 + v3.0.0) let hatch-vcs resolve the rc,\nso the v3.0.0 run built + published ssik-3.0.0rc1 to real PyPI. Add a guard\nstep to both publish jobs: assert every dist artifact carries the ta\n[…]\nty guarantee; the 5 SRS-family tight-limit arms (gen3, openarm L/R,\nr1pro L/R) are xfailed for #359. Immediately caught gen3 as a gap arm the\nby-hand probing missed (52 sols returned, none in-limits).",
          "is_bot": false,
          "headline": "Harden gaps revealed by the v3.0.0 release: version guard + default-p…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-08T22:53:26Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "1793c4e10808dfe7aeb2805c465f869c13e9a337",
          "body": "…(#363)\n\nThe R1 Pro's y-x-z shoulder / z-y-x wrist (non-Z*Z, tilted/offset elbow) was\nthe motivating arm for the SRS generalization (#356); it now solves natively at\nmachine precision. Vendor both 7-DOF arms as tier-0 seven_r.srs prebuilts:\n\n- Fixtures + test scaffolds via `ssik add-arm` (mesh-strip\n[…]\n_r.srs; worst FK 3e-15 over the bench\nsweep, 0 empty / 300 random poses; 14 per-arm tests + uniform fuzz (500\nexamples each) + snapshot byte-compare + manifest consistency all pass.\nruff + mypy clean.",
          "is_bot": false,
          "headline": "Onboard Galaxea R1 Pro (left + right 7-DOF arms) as prebuilts (#357) …",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-07T17:10:38Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "eb3becf8177c76469ca59fb1e1681e08bf799a89",
          "body": "…358) (#361)\n\nThe #319 bulletproof rescue -- auto-recovers a reachable-but-degenerate pose\nthe analytical path returns [] for -- was wired into the specialised\norchestrators (RR / jointlock / tier-0 ikgeo) but NOT the thin-wrapper\ntemplate, so the SRS family had no safety net: iiwa14, OpenArm L/R\n(s\n[…]\nn-gap kept + reason updated: the\nstrict 1e-9 *analytical* ceiling still gates (LM rescue closes to ~1e-8; the\nsrs_polished gap itself remains #299). Full non-slow suite 1545 passed;\nruff + mypy clean.",
          "is_bot": false,
          "headline": "Wire the T-perturbation rescue into thin-wrapper (SRS-family) arms (#…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-06T01:07:25Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "b0e26ae68083131124562d50dfebd4934222e15b",
          "body": "* Generalize native SRS solver to any concurrent-axis 7R (#354)\n\nThe native seven_r.srs solver was ZYZ-only: its shoulder/wrist angle\nextraction hardcoded z-y-z Euler triples, so the is_srs_7r predicate\ngated on a Z*Z (parallel first/third axis) structure (#307). Concurrent-\naxis arms whose triples \n[…]\nm_constants already computed; check the (unit)\naxes directly instead of normalizing all seven. Canonical iiwa path is back\nto ~0.41 ms median (macOS); correctness unchanged (iiwa 1e-14, R1 Pro 5e-16).",
          "is_bot": false,
          "headline": "Generalize native SRS solver to any concurrent-axis 7R (#354) (#356)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-07-05T23:24:07Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "5d4181e9809ab43a9dee55212d6de0d3b931f420",
          "body": "…r generalized SRS (#354) (#355)\n\n* Add generalized 3-axis (Davenport) rotation decomposition (#354 foundation)\n\ndecompose_3axis(R, n1, n2, n3) solves R = Rot(n1,a) Rot(n2,b) Rot(n3,c) for\narbitrary unit axes (Shuster-Markley 2003) -- the building block for generalizing\nseven_r.srs past its ZYZ-only\n[…]\n-wide (my local check was source-only). Accept ArrayLike for\nthe axis args (the function np.asarrays internally) so list literals type-check,\nand replace *-unpacks in the tests with explicit indexing.",
          "is_bot": false,
          "headline": "Generalized 3-axis (Davenport) rotation decomposition — foundation fo…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-30T12:59:53Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "cd849ffe44a05003e95b39441e5ed21a9c432c5c",
          "body": "…-driven) (#353)\n\n* Automate the EAIK comparison: manifest-driven, folded into regen_bench (#350)\n\nThe README EAIK table was hand-maintained in three places (a _PIEPER_EAIK dict\n+ hardcoded refusal strings in regen_docs, plus a duplicate FIXTURES list in\nexamples/04) and drifted from EAIK's real beh\n[…]\n count makes --check exit non-zero).\n\nRemaining hand-written: outreach/*.md (no live counts) and examples/04's FIXTURES\nlist (a standalone demo; the doc source of truth is now scripts/regen_bench.py).",
          "is_bot": false,
          "headline": "Automate the EAIK comparison + remaining doc counts/rosters (manifest…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-29T17:43:51Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "fdb7b356cfb3049f425a03c56296f4c2726d4286",
          "body": "…48) (#349)\n\n* Speed up CI: cache robot_descriptions + parallelize pytest (closes #348)\n\nCI had crept to 43-68 min with high run-to-run variance. Measured: pytest is\n~100% of wall-clock and the dominant cost is uncached robot_descriptions clones\n(~16 repos, several with mesh files) -- the local suit\n[…]\nnvestigation captured in #350). Add a fast, deterministic regression test that\na sub-chain primed on one BLAS backend is still found under ~1e-12 DH jitter.\n\n* Format conftest after xarm7 hook removal",
          "is_bot": false,
          "headline": "Speed up CI: cache robot_descriptions + parallelize pytest (closes #3…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-29T14:41:05Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "37955798c55a1422697664a54167c8f72c49da8a",
          "body": "The cached-RR caches (_PRIMED_LINEARITY_MAP, _DERIVATION_CACHE) were keyed on\nexact DH float tuples. poe_to_dh produces values differing in the last ~1e-12\nbits across BLAS backends (OpenBLAS vs Accelerate), so the macOS-baked key never\nmatched the Linux-runtime key for 55/176 lock-sample sub-chains\n[…]\ndy matched).\n\nVerified on the Linux/OpenBLAS runner: 176/176 primed, 0 misses, 38 ms/solve.\nRegression test: a sub-chain primed on one BLAS backend stays found under\n~1e-12 DH jitter (fast, no sympy).",
          "is_bot": false,
          "headline": "Quantize cached-RR cache keys to fix ~140x Linux slowdown (#350) (#352)",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-29T13:31:37Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "126090f38a9d7096451e83b3dc90454ee04f7eb8",
          "body": "…es #346) (#347)\n\n* Ship the current Universal Robots lineup: UR3e/5e/10e/16e/20/30 (closes #346)\n\nSix new prebuilt arms covering the entire current UR product line, all added\nvia the one-click flow that #327 (xacro) + #341 (add-arm/regen_bench) enabled:\n`ssik add-arm ur.urdf.xacro --xacro-arg ur_ty\n[…]\nfixture_source and load_robot_description(desc)'d it,\nfailing with ModuleNotFoundError. Point each at its per-arm module; yourdfpy\nprocesses the xacro with the right ur_type and FK matches to 3.5e-16.",
          "is_bot": false,
          "headline": "Ship the current Universal Robots lineup: UR3e/5e/10e/16e/20/30 (clos…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-24T14:06:24Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "52ec000f74db9d2abeb9187aa712a00a637d9bff",
          "body": "…327) (#345)\n\nThe Universal Robots family and many ROS descriptions ship as xacro (macros,\n<xacro:include>, substitution args), not flat URDF -- previously you had to\npre-expand by hand. Now every entry point accepts xacro directly:\nManipulator.from_urdf, `ssik build`, `ssik classify`, `ssik add-arm\n[…]\nnd overridden subargs, FK-correct load at both, and the add-arm\nvendoring path (expand -> strip -> plain FK-equivalent URDF).\n\nDocs: setting_up_your_robot.md gains a Xacro/MJCF format-support section.",
          "is_bot": false,
          "headline": "Xacro / modular-URDF support across all loader entry points (closes #…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-24T01:06:01Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "42362fb61e7e5e6b0f13d8925acb099abfd82e88",
          "body": "…#344)\n\nFirst format beyond URDF (#83): MuJoCo-native arms and Menagerie MJCF-only\nentries. Rather than hand-parse MJCF (rich format -- <default> classes,\n<compiler> angle/coordinate settings, <include>, keyframes), load via\nmujoco.MjModel.from_xml_path (which compiles all of that) and read the\nPOE-\n[…]\nommitted toy 3R fixture\n(varied axes + a non-trivial body quat + a limited joint), limit reading,\nmissing-body + ball-joint errors.\n\nFollow-ups: wiring MJCF into `ssik add-arm`; USD/SDF loaders (#83).",
          "is_bot": false,
          "headline": "MJCF loader: load_mjcf_kinbody_normalized via mujoco MjModel (#343) (…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-23T05:45:53Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "a649db1f05fafcc8d59fe75e077f87bafa301beb",
          "body": "…) (#342)\n\nAdding a prebuilt arm was multi-step with manual benchmarking (this session's\nxArm7 flip needed hand-measured ms/FK/sols + a hand-edited [bench] block). This\nmakes it tooled and mostly one-click.\n\nscripts/regen_bench.py (new): measures each prebuilt's solve() (time / max FK /\nbranch count\n[…]\nFK + raises on broken joints;\nregen_bench's manifest rewrite is surgical; add-arm vendors a stripped,\nFK-identical URDF.\n\nBeyond-URDF ingestion (MJCF/USD/SDF) stays scoped to #83 -- a separate loader.",
          "is_bot": false,
          "headline": "Low-friction arm onboarding: one-click bench + complete add-arm (#341…",
          "author_name": "Siddhartha Srinivasa",
          "author_login": "siddhss5",
          "committed_at": "2026-06-22T18:10:50Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "a03c813653a63b14f3fad5f7ec216ba3ab067b0f",
          "body": "…ify (#337) (#340)\n\nAt near-singular poses the SP5 quartic can develop a near-double root (gap\n~9e-10) whose sign-branch backsolve yields a spurious candidate: a non-zero\nleast-squares point (LM stalls at ~2.6e-6 with a well-conditioned cond(J)~960,\nso it is NOT a true solution), 3 rad from any genu\n[…]\ners below the gate).\n\nRegression: deterministic test that the repro pose yields only\nmachine-precision branches. No regression across sp5 / spherical /\ntwo_intersecting / puma cross-validation suites.",
          "is_bot": false,
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                    "params": {
                      "days": 0
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                  }
                ],
                "max_points": 36
              },
              {
                "key": "commit_cadence",
                "name": "Commit cadence",
                "detail": "14/52 weeks with commits",
                "points": 9.7,
                "status": "partial",
                "details": [
                  {
                    "code": "commit_cadence_weeks",
                    "params": {
                      "weeks": 14
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                  }
                ],
                "max_points": 36
              },
              {
                "key": "commit_volume",
                "name": "Commit volume",
                "detail": "283 commits in the last year",
                "points": 18,
                "status": "met",
                "details": [
                  {
                    "code": "commits_last_year",
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                      "count": 283
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                  }
                ],
                "max_points": 18
              },
              {
                "key": "openssf_scorecard_maintained",
                "name": "OpenSSF Scorecard: Maintained",
                "detail": "30 commit(s) and 29 issue activity found in the last 90 days -- score normalized to 10",
                "points": 10,
                "status": "met",
                "details": [],
                "max_points": 10
              }
            ]
          },
          {
            "key": "release_discipline",
            "band": "exceptional",
            "name": "Release discipline",
            "note": "Excluded from scoring (no data or not applicable): OpenSSF Scorecard: Signed-Releases. Remaining weights renormalized.",
            "notes": [
              {
                "code": "excluded_no_data",
                "params": {
                  "components": [
                    "openssf_scorecard_signed_releases"
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                }
              },
              {
                "code": "weights_renormalized",
                "params": {}
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            ],
            "value": 100,
            "inputs": {
              "releases_count": 20,
              "latest_release_tag": "v4.1.0",
              "releases_from_tags": false,
              "days_since_latest_release": 0,
              "mean_days_between_releases": 5.6
            },
            "components": [
              {
                "key": "ships_releases",
                "name": "Ships releases",
                "detail": "20 releases published",
                "points": 27,
                "status": "met",
                "details": [
                  {
                    "code": "releases_published",
                    "params": {
                      "count": 20
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                  }
                ],
                "max_points": 27
              },
              {
                "key": "release_recency",
                "name": "Release recency",
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                "points": 36,
                "status": "met",
                "details": [
                  {
                    "code": "release_recency",
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                      "days": 0
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                  }
                ],
                "max_points": 36
              },
              {
                "key": "release_cadence",
                "name": "Release cadence",
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                "points": 27,
                "status": "met",
                "details": [
                  {
                    "code": "release_cadence",
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                      "gap": 5.6
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                ],
                "max_points": 27
              },
              {
                "key": "openssf_scorecard_signed_releases",
                "name": "OpenSSF Scorecard: Signed-Releases",
                "detail": "no releases found",
                "points": 0,
                "status": "excluded",
                "details": [
                  {
                    "code": "no_data",
                    "params": {}
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                ],
                "max_points": 10
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            ]
          },
          {
            "key": "abandonment",
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            "name": "Abandonment",
            "note": null,
            "notes": [],
            "value": 100,
            "inputs": {
              "cap": null,
              "state": "unverified",
              "guards": [],
              "signals": [],
              "red_flag": false,
              "multiplier_pct": 100,
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              "days_since_last_human_commit_is_floor": false
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            "components": [
              {
                "key": "project_is_still_maintained",
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                "detail": "maintenance record not established from the collected data",
                "points": 100,
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                "details": [
                  {
                    "code": "abandonment_unverified",
                    "params": {}
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                ],
                "max_points": 100
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            ]
          }
        ],
        "description": "Is the project alive — is code being written and are releases shipping?"
      },
      {
        "key": "community",
        "band": "moderate",
        "name": "Community & Adoption",
        "value": 59,
        "weight": 0.17,
        "metrics": [
          {
            "key": "popularity",
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            "note": null,
            "notes": [],
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            "inputs": {
              "forks": 16,
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              "watchers": 3,
              "growth_state": "unverified",
              "growth_factor_pct": 100,
              "growth_unverified_reason": "no_history"
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            "components": [
              {
                "key": "stars",
                "name": "Stars",
                "detail": "176 stars",
                "points": 36.4,
                "status": "partial",
                "details": [
                  {
                    "code": "stars",
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                      "count": 176
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                  }
                ],
                "max_points": 60
              },
              {
                "key": "forks",
                "name": "Forks",
                "detail": "16 forks",
                "points": 9.8,
                "status": "partial",
                "details": [
                  {
                    "code": "forks",
                    "params": {
                      "count": 16
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                  }
                ],
                "max_points": 25
              },
              {
                "key": "watchers",
                "name": "Watchers",
                "detail": "3 watchers",
                "points": 1.7,
                "status": "partial",
                "details": [
                  {
                    "code": "watchers",
                    "params": {
                      "count": 3
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                  }
                ],
                "max_points": 15
              }
            ]
          },
          {
            "key": "community_health",
            "band": "good",
            "name": "Community health",
            "note": null,
            "notes": [],
            "value": 70,
            "inputs": {
              "has_readme": true,
              "has_license": true,
              "readme_badges": null,
              "has_contributing": true,
              "has_issue_template": false,
              "has_code_of_conduct": false,
              "readme_badge_services": [],
              "has_pull_request_template": false
            },
            "components": [
              {
                "key": "readme",
                "name": "README",
                "detail": null,
                "points": 22.5,
                "status": "met",
                "details": [],
                "max_points": 22.5
              },
              {
                "key": "license",
                "name": "License",
                "detail": "recognized license (BSD-3-Clause)",
                "points": 22.5,
                "status": "met",
                "details": [
                  {
                    "code": "license_standard",
                    "params": {}
                  },
                  {
                    "code": "license_spdx",
                    "params": {
                      "spdx": "BSD-3-Clause"
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                  }
                ],
                "max_points": 22.5
              },
              {
                "key": "contributing_guide",
                "name": "CONTRIBUTING guide",
                "detail": null,
                "points": 18,
                "status": "met",
                "details": [],
                "max_points": 18
              },
              {
                "key": "code_of_conduct",
                "name": "Code of conduct",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 13.5
              },
              {
                "key": "issue_template",
                "name": "Issue template",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 7.2
              },
              {
                "key": "pr_template",
                "name": "PR template",
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                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 6.3
              }
            ]
          },
          {
            "key": "ecosystem_adoption",
            "band": "moderate",
            "name": "Ecosystem adoption (downloads)",
            "note": "Excluded from scoring (no data or not applicable): Registry dependents. Remaining weights renormalized.",
            "notes": [
              {
                "code": "excluded_no_data",
                "params": {
                  "components": [
                    "registry_dependents"
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                }
              },
              {
                "code": "weights_renormalized",
                "params": {}
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            ],
            "value": 62,
            "inputs": {
              "packages": [
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              "dependents": null,
              "ecosystems": "pypi",
              "total_downloads": null,
              "monthly_downloads": 5251
            },
            "components": [
              {
                "key": "monthly_downloads",
                "name": "Monthly downloads",
                "detail": "5,251 downloads/month across pypi",
                "points": 49.6,
                "status": "partial",
                "details": [
                  {
                    "code": "downloads_monthly",
                    "params": {
                      "count": 5251,
                      "ecosystems": "pypi"
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                  }
                ],
                "max_points": 80
              },
              {
                "key": "registry_dependents",
                "name": "Registry dependents",
                "detail": "not reported by this ecosystem",
                "points": 0,
                "status": "excluded",
                "details": [
                  {
                    "code": "not_reported_by_this_ecosystem",
                    "params": {}
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                ],
                "max_points": 20
              }
            ]
          }
        ],
        "description": "Does the project have users, downloads, attention, and a welcoming setup for contributors?"
      },
      {
        "key": "governance",
        "band": "moderate",
        "name": "Sustainability & Governance",
        "value": 61,
        "weight": 0.23,
        "metrics": [
          {
            "key": "maintainer_resilience",
            "band": "critical",
            "name": "Maintainer resilience (bus factor)",
            "note": null,
            "notes": [],
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            "inputs": {
              "bus_factor": 1,
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                "key": "bus_factor",
                "name": "Bus factor",
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                "status": "partial",
                "details": [
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                    "code": "bus_factor",
                    "params": {
                      "count": 1
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                  }
                ],
                "max_points": 54
              },
              {
                "key": "commit_distribution",
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                "status": "partial",
                "details": [
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                    "code": "top_contributor_share",
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                      "share": 99
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                ],
                "max_points": 22.5
              },
              {
                "key": "contributor_breadth",
                "name": "Contributor breadth",
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                "points": 2.7,
                "status": "partial",
                "details": [
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                    "code": "contributors_sampled",
                    "params": {
                      "count": 2
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                  }
                ],
                "max_points": 13.5
              },
              {
                "key": "openssf_scorecard_contributors",
                "name": "OpenSSF Scorecard: Contributors",
                "detail": "project has 1 contributing companies or organizations -- score normalized to 3",
                "points": 3,
                "status": "partial",
                "details": [],
                "max_points": 10
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            ]
          },
          {
            "key": "responsiveness",
            "band": "good",
            "name": "Issue & PR responsiveness",
            "note": "Excluded from scoring (no data or not applicable): Newcomer PR acceptance. Remaining weights renormalized.",
            "notes": [
              {
                "code": "excluded_no_data",
                "params": {
                  "components": [
                    "newcomer_pr_acceptance"
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                }
              },
              {
                "code": "weights_renormalized",
                "params": {}
              }
            ],
            "value": 78,
            "inputs": {
              "merged_prs": 254,
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              "closed_issues": 196,
              "prs_merged_7d": null,
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              "prs_decided_30d": null,
              "issue_closed_ratio": 0.938,
              "closed_unmerged_prs": 16,
              "first_time_authors_30d": null,
              "first_time_prs_merged_30d": null,
              "first_time_prs_decided_30d": null
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            "components": [
              {
                "key": "issue_resolution",
                "name": "Issue resolution",
                "detail": "94% of issues closed",
                "points": 39.4,
                "status": "partial",
                "details": [
                  {
                    "code": "issues_closed_share",
                    "params": {
                      "share": 94
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                  }
                ],
                "max_points": 42
              },
              {
                "key": "pr_acceptance",
                "name": "PR acceptance",
                "detail": "254/270 decided PRs merged",
                "points": 28.2,
                "status": "partial",
                "details": [
                  {
                    "code": "decided_prs_merged",
                    "params": {
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                ],
                "max_points": 30
              },
              {
                "key": "newcomer_pr_acceptance",
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                "detail": "no first-time contributor's PR decided in 30d",
                "points": 0,
                "status": "excluded",
                "details": [
                  {
                    "code": "no_newcomer_prs",
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                  }
                ],
                "max_points": 13
              },
              {
                "key": "openssf_scorecard_code_review",
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                "status": "missed",
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                "max_points": 15
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            ]
          },
          {
            "key": "stewardship",
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            "note": null,
            "notes": [],
            "value": 69,
            "inputs": {
              "followers": 97,
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              "account_age_days": 4794
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            "components": [
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                "key": "ownership_backing",
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                "detail": "organization-owned",
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                "details": [
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                    "code": "owner_organization",
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                ],
                "max_points": 30
              },
              {
                "key": "verified_domain",
                "name": "Verified domain",
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                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 20
              },
              {
                "key": "owner_reach",
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                "detail": "97 followers of personalrobotics",
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                    "code": "owner_followers",
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                      "count": 97,
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                ],
                "max_points": 25
              },
              {
                "key": "track_record",
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                "points": 25,
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                "details": [
                  {
                    "code": "public_repos",
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                      "count": 242
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                  },
                  {
                    "code": "account_age_years",
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                ],
                "max_points": 25
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            ]
          },
          {
            "key": "package_maintenance",
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            "name": "Package maintenance",
            "note": null,
            "notes": [],
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            "inputs": {
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              "ecosystems": "pypi",
              "any_deprecated": false,
              "min_days_since_publish": 0
            },
            "components": [
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                "key": "published_resolvable",
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                "detail": "1 package(s) on pypi",
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                "details": [
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                    "code": "packages_published",
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                  }
                ],
                "max_points": 25
              },
              {
                "key": "publish_recency",
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                ],
                "max_points": 35
              },
              {
                "key": "version_history",
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                "details": [
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                    "code": "published_versions",
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                ],
                "max_points": 20
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              {
                "key": "not_deprecated",
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                "details": [
                  {
                    "code": "package_not_deprecated",
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                "max_points": 20
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            ]
          }
        ],
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      {
        "key": "engineering",
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        "name": "Engineering Quality",
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        "weight": 0.19,
        "metrics": [
          {
            "key": "engineering_practices",
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            "name": "Engineering practices",
            "note": null,
            "notes": [],
            "value": 66,
            "inputs": {
              "has_ci": true,
              "has_tests": true,
              "has_editorconfig": false,
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            "components": [
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                "key": "ci_workflows",
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                "details": [
                  {
                    "code": "ci_workflows",
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                ],
                "max_points": 24
              },
              {
                "key": "tests_present",
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                "details": [],
                "max_points": 24
              },
              {
                "key": "linter_config",
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              },
              {
                "key": "pre_commit_hooks",
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              },
              {
                "key": "editorconfig",
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                "points": 0,
                "status": "missed",
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              },
              {
                "key": "openssf_scorecard_ci_tests",
                "name": "OpenSSF Scorecard: CI-Tests",
                "detail": "29 out of 30 merged PRs checked by a CI test -- score normalized to 9",
                "points": 18,
                "status": "partial",
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            ]
          },
          {
            "key": "documentation",
            "band": "good",
            "name": "Documentation",
            "note": null,
            "notes": [],
            "value": 65,
            "inputs": {
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              "homepage": null,
              "has_readme": true,
              "has_docs_dir": true,
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            "components": [
              {
                "key": "readme",
                "name": "README",
                "detail": null,
                "points": 30,
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                "details": [],
                "max_points": 30
              },
              {
                "key": "documentation_directory",
                "name": "Documentation directory",
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                "points": 25,
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                "max_points": 25
              },
              {
                "key": "documentation_homepage_site",
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              },
              {
                "key": "topics",
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                "status": "missed",
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              {
                "key": "wiki",
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                "points": 0,
                "status": "missed",
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                "max_points": 10
              }
            ]
          }
        ],
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        "name": "Security",
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        "weight": 0.16,
        "metrics": [
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            "key": "security_posture",
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            "notes": [
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                "code": "excluded_no_data",
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                  "components": [
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              },
              {
                "code": "weights_renormalized",
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            ],
            "value": 44,
            "inputs": {
              "source": "openssf_scorecard",
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              "scorecard_version": "v5.5.0",
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              "scorecard_aggregate": 4.4
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            "components": [
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                "key": "binary_artifacts",
                "name": "Binary-Artifacts",
                "detail": "no binaries found in the repo",
                "points": 7.5,
                "status": "met",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "branch_protection",
                "name": "Branch-Protection",
                "detail": "branch protection not enabled on development/release branches",
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                "details": [],
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              },
              {
                "key": "ci_tests",
                "name": "CI-Tests",
                "detail": "29 out of 30 merged PRs checked by a CI test -- score normalized to 9",
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              },
              {
                "key": "cii_best_practices",
                "name": "CII-Best-Practices",
                "detail": "no effort to earn an OpenSSF best practices badge detected",
                "points": 0,
                "status": "missed",
                "details": [],
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              },
              {
                "key": "code_review",
                "name": "Code-Review",
                "detail": "Found 0/30 approved changesets -- score normalized to 0",
                "points": 0,
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                "max_points": 7.5
              },
              {
                "key": "contributors",
                "name": "Contributors",
                "detail": "project has 1 contributing companies or organizations -- score normalized to 3",
                "points": 0.8,
                "status": "partial",
                "details": [],
                "max_points": 2.5
              },
              {
                "key": "dangerous_workflow",
                "name": "Dangerous-Workflow",
                "detail": "no dangerous workflow patterns detected",
                "points": 10,
                "status": "met",
                "details": [],
                "max_points": 10
              },
              {
                "key": "dependency_update_tool",
                "name": "Dependency-Update-Tool",
                "detail": "no update tool detected",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "fuzzing",
                "name": "Fuzzing",
                "detail": "project is not fuzzed",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "license",
                "name": "License",
                "detail": "license file detected",
                "points": 2.5,
                "status": "met",
                "details": [],
                "max_points": 2.5
              },
              {
                "key": "maintained",
                "name": "Maintained",
                "detail": "30 commit(s) and 29 issue activity found in the last 90 days -- score normalized to 10",
                "points": 7.5,
                "status": "met",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "packaging",
                "name": "Packaging",
                "detail": "packaging workflow detected",
                "points": 5,
                "status": "met",
                "details": [],
                "max_points": 5
              },
              {
                "key": "pinned_dependencies",
                "name": "Pinned-Dependencies",
                "detail": "dependency not pinned by hash detected -- score normalized to 0",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "sast",
                "name": "SAST",
                "detail": "SAST tool is not run on all commits -- score normalized to 0",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "security_policy",
                "name": "Security-Policy",
                "detail": "security policy file not detected",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "signed_releases",
                "name": "Signed-Releases",
                "detail": "no releases found",
                "points": 0,
                "status": "excluded",
                "details": [
                  {
                    "code": "no_data",
                    "params": {}
                  }
                ],
                "max_points": 7.5
              },
              {
                "key": "token_permissions",
                "name": "Token-Permissions",
                "detail": "GitHub workflow tokens follow principle of least privilege",
                "points": 7.5,
                "status": "met",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "vulnerabilities",
                "name": "Vulnerabilities",
                "detail": "29 existing vulnerabilities detected",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 7.5
              }
            ]
          },
          {
            "key": "high_risk_jurisdiction_exposure",
            "band": "exceptional",
            "name": "High-Risk Jurisdiction Exposure",
            "note": "Only high-confidence self-published location evidence affects this multiplier. Ambiguous matches are review-only; country evidence is not proof of nationality, citizenship, legal registration, malicious intent, or sanctions status.",
            "notes": [
              {
                "code": "jurisdiction_evidence_limits",
                "params": {}
              }
            ],
            "value": 100,
            "inputs": {
              "meaning": "self-published location evidence; not nationality or citizenship",
              "red_flag": false,
              "exposures": [],
              "policy_countries": [
                "Russia",
                "Iran",
                "North Korea"
              ],
              "commit_weight_rule": {
                "min_commits": 50,
                "min_commit_share": 0.1
              },
              "review_only_matches": 0,
              "below_threshold_exposures": [],
              "assessed_self_published_locations": 2
            },
            "components": [
              {
                "key": "policy_exposure_multiplier",
                "name": "Policy exposure multiplier",
                "detail": "no confirmed policy-scope location match",
                "points": 100,
                "status": "met",
                "details": [
                  {
                    "code": "jurisdiction_no_match",
                    "params": {}
                  }
                ],
                "max_points": 100
              }
            ]
          }
        ],
        "description": "Are visible security and supply-chain practices strong, with no malicious dependency and no unresolved high-risk jurisdiction exposure?"
      },
      {
        "key": "ai_readiness",
        "band": "moderate",
        "name": "AI Readiness",
        "value": 50,
        "weight": 0.04,
        "metrics": [
          {
            "key": "ai_agent_context",
            "band": "weak",
            "name": "Agent context & guidance",
            "note": null,
            "notes": [],
            "value": 40,
            "inputs": {
              "has_llms_txt": false,
              "legible_history_share": 1,
              "agent_instruction_files": [],
              "agent_instruction_max_bytes": null
            },
            "components": [
              {
                "key": "agent_instructions",
                "name": "Agent instructions",
                "detail": "no CLAUDE.md / AGENTS.md / editor rules",
                "points": 0,
                "status": "missed",
                "details": [
                  {
                    "code": "no_agent_instructions",
                    "params": {}
                  }
                ],
                "max_points": 45
              },
              {
                "key": "machine_readable_docs_llms_txt",
                "name": "Machine-readable docs (llms.txt)",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 15
              },
              {
                "key": "legible_commit_history",
                "name": "Legible commit history",
                "detail": "100 of 100 human commits state their intent (structured subject or explanatory body)",
                "points": 40,
                "status": "met",
                "details": [
                  {
                    "code": "legible_history",
                    "params": {
                      "legible": 100,
                      "sampled": 100
                    }
                  }
                ],
                "max_points": 40
              }
            ]
          },
          {
            "key": "ai_verify_loop",
            "band": "moderate",
            "name": "Verify loop (build / test / typecheck)",
            "note": null,
            "notes": [],
            "value": 51,
            "inputs": {
              "has_nix": false,
              "has_tests": true,
              "lockfiles": [
                "uv.lock"
              ],
              "has_dockerfile": false,
              "typed_language": false,
              "bootstrap_files": [],
              "has_devcontainer": false,
              "has_linter_config": false,
              "typecheck_configs": [
                "src/ssik/py.typed"
              ],
              "agent_commit_share": 0.04,
              "toolchain_manifests": [],
              "dependency_bot_commit_share": 0
            },
            "components": [
              {
                "key": "one_command_bootstrap",
                "name": "One-command bootstrap",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 18
              },
              {
                "key": "automated_tests",
                "name": "Automated tests",
                "detail": null,
                "points": 22,
                "status": "met",
                "details": [],
                "max_points": 22
              },
              {
                "key": "lint_format_config",
                "name": "Lint / format config",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 11
              },
              {
                "key": "static_type_checking",
                "name": "Static type checking",
                "detail": "src/ssik/py.typed",
                "points": 11,
                "status": "met",
                "details": [
                  {
                    "code": "file_list",
                    "params": {
                      "files": "src/ssik/py.typed"
                    }
                  }
                ],
                "max_points": 11
              },
              {
                "key": "reproducible_environment",
                "name": "Reproducible environment",
                "detail": "lockfile",
                "points": 10,
                "status": "met",
                "details": [
                  {
                    "code": "file_list",
                    "params": {
                      "files": "lockfile"
                    }
                  }
                ],
                "max_points": 10
              },
              {
                "key": "demonstrated_agent_practice",
                "name": "Demonstrated agent practice",
                "detail": "4 of the last 100 commits agent-authored or agent-credited",
                "points": 8,
                "status": "partial",
                "details": [
                  {
                    "code": "agent_authored_commits",
                    "params": {
                      "count": 4,
                      "sampled": 100
                    }
                  }
                ],
                "max_points": 10
              },
              {
                "key": "automated_maintenance",
                "name": "Automated maintenance",
                "detail": "no automated dependency updates observed",
                "points": 0,
                "status": "missed",
                "details": [
                  {
                    "code": "no_dependency_automation",
                    "params": {}
                  }
                ],
                "max_points": 8
              },
              {
                "key": "openssf_scorecard_pinned_dependencies",
                "name": "OpenSSF Scorecard: Pinned-Dependencies",
                "detail": "dependency not pinned by hash detected -- score normalized to 0",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 10
              }
            ]
          },
          {
            "key": "ai_code_legibility",
            "band": "good",
            "name": "Code legibility for models",
            "note": null,
            "notes": [],
            "value": 79,
            "inputs": {
              "primary_language": "Python",
              "largest_source_bytes": 1081439,
              "source_files_sampled": 380,
              "oversized_source_files": 21
            },
            "components": [
              {
                "key": "type_checkable_code",
                "name": "Type-checkable code",
                "detail": "Python with type-check config (src/ssik/py.typed)",
                "points": 27,
                "status": "partial",
                "details": [
                  {
                    "code": "typecheck_config_language",
                    "params": {
                      "files": "src/ssik/py.typed",
                      "language": "Python"
                    }
                  }
                ],
                "max_points": 45
              },
              {
                "key": "manageable_file_sizes",
                "name": "Manageable file sizes",
                "detail": "21/380 source files over 60KB",
                "points": 52,
                "status": "partial",
                "details": [
                  {
                    "code": "oversized_source_files",
                    "params": {
                      "kb": 60,
                      "sampled": 380,
                      "oversized": 21
                    }
                  }
                ],
                "max_points": 55
              }
            ]
          },
          {
            "key": "ai_interfaces",
            "band": "weak",
            "name": "Machine-readable interfaces",
            "note": null,
            "notes": [],
            "value": 40,
            "inputs": {
              "example_dirs": [
                "examples"
              ],
              "has_mcp_signal": false,
              "api_schema_files": []
            },
            "components": [
              {
                "key": "api_schema_openapi_graphql_proto",
                "name": "API schema (OpenAPI/GraphQL/proto)",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 40
              },
              {
                "key": "mcp_server",
                "name": "MCP server",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 20
              },
              {
                "key": "runnable_examples",
                "name": "Runnable examples",
                "detail": "examples",
                "points": 40,
                "status": "met",
                "details": [
                  {
                    "code": "file_list",
                    "params": {
                      "files": "examples"
                    }
                  }
                ],
                "max_points": 40
              }
            ]
          }
        ],
        "description": "How well is the repo equipped to be developed and maintained with AI coding agents? Carries a deliberately small weight: agent tooling is a real maintenance signal, but its absence must never gate the top of the scale (calibration saturates at raw 91, so 100/100 remains reachable with AI Readiness at zero)."
      }
    ],
    "classification": {
      "labels": [
        "library"
      ],
      "scores": {
        "library": 6
      },
      "primary": "library",
      "evidence": [
        {
          "tier": "distribution",
          "label": "library",
          "source": "registry:pypi",
          "weight": 6
        }
      ],
      "artifacts": [],
      "confidence": "medium",
      "host_extension": false,
      "runs_as_process": false,
      "consumed_by_code": true
    },
    "metrics_version": "2.3.1"
  },
  "warnings": [
    "Star history unavailable: GitHub GraphQL error: Resource not accessible by personal access token",
    "GitHub dependency-graph SBOM unavailable (404); the dependency graph may be disabled for this repository",
    "deps.dev does not index pypi:ssik@4.1.0; advisories assessed against the repository dependency graph instead"
  ],
  "report_type": "repository",
  "generated_at": "2026-08-01T13:44:38.520217Z",
  "schema_version": "0.27.0",
  "badge_url": "https://raw.githubusercontent.com/inspect-software/badges/main/v1/p/personalrobotics/ssik.svg",
  "full_name": "personalrobotics/ssik",
  "license_state": "standard",
  "license_spdx": "BSD-3-Clause"
}