Examples

• Arm: UR5
• Flying dual-arm UR3
• Humanoid: Draco 3
• Mobile: Stretch

Arm: UR5

A UR5 arm tracking a moving target:

arm_ur5.mp4

Task	Cost
End-effector	1
Posture	$10^{-3}$

Flying dual-arm UR3

A pair of UR3 arms on a mobile body tracking moving targets:

flying_dual_arm_ur3.mp4

Task	Cost
Mobile base	1
Left end-effector	1
Right end-effector	1
Posture	$10^{-3}$

Humanoid: Draco 3

A Draco 3 humanoid moving its right hand laterally while standing. This model includes a closed kinematic chain, implemented in the example with a JointCouplingTask:

humanoid_draco3.mp4

Task	Cost
Left foot	(1, 1)
Left knee coupling	100
Posture	$10^{-1}$
Right foot	(1, 1)
Right knee coupling	100
Right wrist	(4, 4)
Torso	(1, 0)

Mobile: Stretch

Move a Stretch RE1 with a fixed fingertip target around the origin:

mobile_stretch.mp4

Task	Position cost	Orientation cost
Mobile base	$0.1$	1
Fingertip	1	$10^{-4}$