Here we will have the examples of using barriers, please go over this note for more info.

Barrier Examples

• Arm: UR5: with joints and end effector limits
• Quadruped: Go2: Go 2 squatting with floating base position limits
• Dual Arms: Yumi: self-collision avoidance with spheres
• Dual Arms: Iiwa: whole-body self-collision avoidance

Arm UR5

A UR5 arm tracking a moving target while stopping in front of virtual wall:

ur5_example.mp4

Task	Cost
End-effector	(50,1)
Posture	$10^{-3}$

Barrier	Gain
End-effector	$10^{2}$

Go2 squat

Go2 quadruped squating with base position is constrained by z and y coordinates:

Screen.Recording.2024-05-29.at.21.30.19.mov

Task	Cost
Base	(50, 1)
Legs	200
Posture	$10^{-3}$

Barrier	Gain
End-effector	$10^{2}$

Yumi end-effector self-collision avoidance

Yumi two-armed manimpulator with constraint on minimal distance between frames, defined by end-effectors

Screen.Recording.2024-05-29.at.21.27.26.mp4

Task	Cost
End-effector	(50,10)
Posture	$10^{-3}$

Barrier	Gain
Body Spherical	$10^{2}$

Iiwa whole-body collision avoidance

Two iiwas with custom collision geometry with some barely feasible tasks for end-effectors.

Screencast.from.06-25-2024.01.20.45.PM.webm

Task	Cost
End-effector	(50,10)
Posture	$10^{-3}$

Barrier	Gain
Self Collision Avoidance	$10$