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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 😀

Kevin Zakka

18,655 subscribers

41,956 views • 1 year ago •via X (Twitter)

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9 Comments

Hasan Poonawala1 year ago

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

Kevin Zakka1 year ago

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

Raymond A1 year ago

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

Alvaro1 year ago

Great! Is this UR5 and ROS2?

Kevin Zakka1 year ago

MuJoCo ( and MuJoCo Menagerie (

Jagdeep Bhatia1 year ago

Cool! Is this open source?

Kevin Zakka1 year ago

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

Rafael Rojas1 year ago

Kanou?

Jon Miller Schwartz1 year ago

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

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