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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

18,900 subscribers

41,968 views • 2 years ago •via X (Twitter)

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9 Comments

Hasan Poonawala2 years ago

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

Kevin Zakka2 years ago

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

Raymond A2 years ago

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

Alvaro2 years ago

Great! Is this UR5 and ROS2?

Kevin Zakka2 years ago

MuJoCo ( and MuJoCo Menagerie (

Jagdeep Bhatia2 years ago

Cool! Is this open source?

Kevin Zakka2 years ago

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

Rafael Rojas2 years ago

Kanou?

Jon Miller Schwartz2 years ago

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

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