The PlaCo library handles kinematic loop closures 🔄 Frame attachments can be specified in a way compatible with URDF, and a relative position task maintains loop closure during motion. Plus, the documentation is very nice: https://placo.readthedocs.io/en/v0.9.17/kinematics/loop_closures.html

Next Saturday, 𝗔𝗻𝘁𝗼𝗶𝗻𝗲 𝗣𝗶𝗿𝗿𝗼𝗻𝗲 will present Pollen Robotics & Hugging Face's open-source robots, including Reachy Mini, the SO-100 arm, the Amazing Hand and the Open Duck Mini. He will discuss the sim2real challenges of making the Open Duck Mini walk, and how […]

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On September 27, 𝗚𝗿𝗲𝗴𝗼𝗶𝗿𝗲 𝗣𝗮𝘀𝘀𝗮𝘂𝗹𝘁 will present SigmaBan, an open-hardware humanoid robot that has claimed five RoboCup World Championship victories. He will recount the evolution from prototype to champion, covering the integration of ML for perception and […]

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On September 27, 𝗖. 𝗞𝗮𝗿𝗲𝗻 𝗟𝗶𝘂 will share the journey of creating the open-source Stanford ToddlerBot, a fully 3D-printed humanoid robot reproducible for under $6,000. She will dive into key questions on embodied data collection, sim-to-real transfer, and how […]

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On September 27, 𝗞𝗲𝗻𝗻𝗲𝘁𝗵 𝗦𝗵𝗮𝘄 will present current results on democratizing dexterity with the open-source LEAP Hands. He will show how these hands can learn complex, human-like behaviors by leveraging large-scale human motion data and modern simulation […]

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Join us for the 𝗖𝗼𝗥𝗟 𝟮𝟬𝟮𝟱 𝘄𝗼𝗿𝗸𝘀𝗵𝗼𝗽 𝗼𝗻 𝗢𝗽𝗲𝗻-𝗦𝗼𝘂𝗿𝗰𝗲 𝗛𝗮𝗿𝗱𝘄𝗮𝗿𝗲 𝗶𝗻 𝘁𝗵𝗲 𝗘𝗿𝗮 𝗼𝗳 𝗥𝗼𝗯𝗼𝘁 𝗟𝗲𝗮𝗿𝗻𝗶𝗻𝗴! The day will bring together researchers and makers from both academia and the industry to discuss open-source robot design, integration with reinforcement learning […]

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Scenarios can be played/tinkered with independently from the benchmark 🔧 They are packaged in a separate library called "pink bench": https://github.com/stephane-caron/pink_bench

I'm adding a test set of differential IK problems to qpbenchmark: https://github.com/qpsolvers/ik_qpbenchmark

Seen at Humanoids 2024: a new open-source quadruped called MEVIUS. Designed for going outdoors, it is built with T-motor actuators and sheet-metal welded parts that can be ordered on-line. Looking forward to more of those!