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uwgraphics / relaxed_ik

RelaxedIK Solver
MIT License
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How about enviroment collision avoidance other than self-collision function? #19

Closed Dyson-Ido closed 3 years ago

Dyson-Ido commented 3 years ago

How about enviroment collision avoidance other than self-collision function?

djrakita commented 3 years ago

I see you closed this issue, but I felt it was a really good question, so I thought I'd answer anyway.

Much of our ongoing research is actually working on effectively adding in environment collision avoidance to relaxedIK. In particular, one of our recent papers (currently under review) adds in collision avoidance as one of the objective terms in the objective function, and it works surprisingly well for many applications. We'll be open-sourcing this code very soon!