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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 Aufrufe • vor 2 Jahren •via X (Twitter)

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9 Kommentare

Profilbild von Hasan Poonawala
Hasan Poonawalavor 2 Jahren

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

Profilbild von Kevin Zakka
Kevin Zakkavor 2 Jahren

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

Profilbild von Raymond A
Raymond Avor 2 Jahren

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

Profilbild von Alvaro
Alvarovor 2 Jahren

Great! Is this UR5 and ROS2?

Profilbild von Kevin Zakka
Kevin Zakkavor 2 Jahren

MuJoCo ( and MuJoCo Menagerie (

Profilbild von Jagdeep Bhatia
Jagdeep Bhatiavor 2 Jahren

Cool! Is this open source?

Profilbild von Kevin Zakka
Kevin Zakkavor 2 Jahren

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

Profilbild von Rafael Rojas
Rafael Rojasvor 2 Jahren

Kanou?

Profilbild von Jon Miller Schwartz
Jon Miller Schwartzvor 2 Jahren

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

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