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uwgraphics / relaxed_ik

RelaxedIK Solver
MIT License
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How to set up collision avoidance between arms？ #33

Open SimonQi1 opened 2 years ago

SimonQi1 commented 2 years ago

I want to use a two-arm robot model, but I can't avoid collisions between the two arms during self-collision detection. Your answer is very important to me, thank you!

djrakita commented 2 years ago

Hi, thanks for the question. The standard way of doing this using the current relaxedIK implementation is: (1) manually combine the two robots into a single URDF. Make sure that each link and joint have their own name in the combined URDF.
(2) train the bimanual setup as a single "robot" using the combined URDF.

However, we are currently putting together new code that will substantially improve the ease-of-setup and motion quality for multi-arm systems. I'll keep you posted on that when it's available.