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Safe bimanual control on ALOHA, powered by mink. Here I'm specifying collision avoidance between 1) left and right arm, 2) each arm and the 80/20 extrusions and 3) each arm and the table. (yes laptop hiccuped a bit due to the sheer amount of collision computation, but I can... show more

Kevin Zakka

18,655 subscribers

15,355 views • 2 years ago •via X (Twitter)

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7 Comments

Kevin Zakka2 years ago

With collision avoidance turned off 😁

Ge Yang2 years ago

This is awesome!! when can I see a live demo? :P

Bryson Jones2 years ago

This is very cool 🙂

Shanning Zhuang2 years ago

Moveit has a collision matrix to remove the collision can never happen.

Tarik Kelestemur2 years ago

Hey Kevin, any plans to port this stuff into mjx for large scale data collection?

Kevin Zakka2 years ago

No plans just yet, we should chat!

Ahilan Palarajah2 years ago

Awesome work Kevin! Does it work with parallel manipulators by any chance?

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