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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 次观看 • 1 年前 •via X (Twitter)

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9 条评论

Hasan Poonawala 的头像

Hasan Poonawala1 年前

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

Kevin Zakka 的头像

Kevin Zakka1 年前

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

Raymond A 的头像

Raymond A1 年前

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

Alvaro 的头像

Alvaro1 年前

Great! Is this UR5 and ROS2?

Kevin Zakka 的头像

Kevin Zakka1 年前

MuJoCo ( and MuJoCo Menagerie (

Jagdeep Bhatia 的头像

Jagdeep Bhatia1 年前

Cool! Is this open source?

Kevin Zakka 的头像

Kevin Zakka1 年前

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

Rafael Rojas 的头像

Rafael Rojas1 年前

Kanou?

Jon Miller Schwartz 的头像

Jon Miller Schwartz1 年前

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

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