Robot Collision Prevention Package: CBF-QP
Real-time safety filter with Control Barrier Functions.
Python
PenPal: VLM-Guided Writing Robot
7-DOF Franka answers questions by writing on hand-held whiteboards
Reactive Control & Obstacle Avoidance
Real-time kinematic control with Artificial Potential Fields
Jack in a Cup: Hybrid Dynamics Simulation
Simulation of rigid body collisions and Lagrangian dynamics