Example Gallery#
The following examples demonstrate inverse-kinematics tasks of increasing complexity, from single-arm pose tracking to whole-body humanoid control.
Franka Panda#
End-effector pose tracking with posture regularization on a 7-DOF manipulator.
UR5e with Collision Avoidance#
Pose tracking with collision avoidance between the wrist and environment
(floor, walls). Demonstrates CollisionAvoidanceLimit.
UR5e wrist camera look-at#
A wrist-mounted camera keeps a moving target centered in its field of view
using LookAtTask.
Panda surface engraving#
A Panda engraves the MuJoCo “M” into a domed block, holding the spindle normal to
the curved surface with AxisAlignTask while a FrameTask drives
the tip along the toolpath.
Bimanual manipulation with ALOHA#
Coordinated bimanual pose tracking with the ALOHA robot.
Dexterous hand + arm#
Combined arm and dexterous-hand control with an Allegro hand mounted on a KUKA IIWA arm.
Mobile Manipulation with TidyBot#
Mobile-base pose tracking with Stanford’s TidyBot platform.
Humanoid#
Whole-body control with a Unitree G1 humanoid.