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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

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41,956 просмотров • 1 год назад •via X (Twitter)

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Комментарии: 9

Фото профиля Hasan Poonawala
Hasan Poonawala1 год назад

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

Фото профиля Kevin Zakka
Kevin Zakka1 год назад

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

Фото профиля Raymond A
Raymond A1 год назад

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

Фото профиля Alvaro
Alvaro1 год назад

Great! Is this UR5 and ROS2?

Фото профиля Kevin Zakka
Kevin Zakka1 год назад

MuJoCo ( and MuJoCo Menagerie (

Фото профиля Jagdeep Bhatia
Jagdeep Bhatia1 год назад

Cool! Is this open source?

Фото профиля Kevin Zakka
Kevin Zakka1 год назад

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

Фото профиля Rafael Rojas
Rafael Rojas1 год назад

Kanou?

Фото профиля Jon Miller Schwartz
Jon Miller Schwartz1 год назад

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

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