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

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

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

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

Great! Is this UR5 and ROS2?

MuJoCo ( and MuJoCo Menagerie (

Cool! Is this open source?

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

Kanou?

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