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Just finished implementing collision avoidance in the diff IK solver as extra constraints in the QP. Really happy with the final result 😀

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Kevin Zakka

18,900 subscribers

41,968 görüntüleme • 2 yıl önce •via X (Twitter)

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Hasan Poonawala profil fotoğrafı
Hasan Poonawala2 yıl önce

Nice! What do you use to solve the QP within mujoco? Is it on the mjctrl repo?

Kevin Zakka profil fotoğrafı
Kevin Zakka2 yıl önce

mju_boxQP initially although for collision avoidance I'm experimenting with qpsolvers.

Raymond A profil fotoğrafı
Raymond A2 yıl önce

Nice dude. Always like to see these kind of robotics progress vids, thanks for sharing

Alvaro profil fotoğrafı
Alvaro2 yıl önce

Great! Is this UR5 and ROS2?

Kevin Zakka profil fotoğrafı
Kevin Zakka2 yıl önce

MuJoCo ( and MuJoCo Menagerie (

Jagdeep Bhatia profil fotoğrafı
Jagdeep Bhatia2 yıl önce

Cool! Is this open source?

Kevin Zakka profil fotoğrafı
Kevin Zakka2 yıl önce

Just need to clean it up and will open source. Collision avoidance was the last item on the feature list.

Rafael Rojas profil fotoğrafı
Rafael Rojas2 yıl önce

Kanou?

Jon Miller Schwartz profil fotoğrafı
Jon Miller Schwartz2 yıl önce

Very cool! How soon to open sourcing it? Would love to try it out

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