Example Gallery¶
Basic pose tracking with a single manipulator.
Franka Panda¶
End-effector pose tracking with posture regularization.
UR5e with Collision Avoidance¶
Pose tracking with collision avoidance between the wrist and environment
(floor, walls). Demonstrates CollisionAvoidanceLimit.
Bimanual manipulation with ALOHA¶
Bimanual setup with the ALOHA robot.
Dexterous hand + arm¶
Manipulation with an Allegro hand attached to a IIWA arm.
Mobile Manipulation with TidyBot¶
Mobile manipulation with Stanford’s TidyBot.
Humanoid¶
Whole body control with a Unitree G1.