No way to add obstacles by editing settings.yaml in the ranged-ik branch

[MadCreeper]

In the master branch you can add obstacles like boxes and spheres by editing settings.yaml, but in the ranged-ik branch editing that config file does not add obstacles into the environment. Upon further investigation, there is no logic that reads the "obstacles" part in the yaml. I hope there is some way to add and visualize environment obstacles to test the environment collision avoidance feature offered by RangedIK.

[yepw]

Hi @MadCreeper, the CollisionIK branch builds upon ncollide3d for collision avoidance, which is deprecated and brings compile errors (#7). ncollide3d is superseded by the Parry project. In theory, the collisionik method can be implemented using Parry. That's on our radar, but I probably won't have the availability to implement it in the near future. In the meantime, I encourage you to try some more advanced collision avoidance method, e.g., Proxima.