GetPositionIK get collision free IK position only

asked 2023-03-17 16:39:09 -0500

ThreeForElvenKings gravatar image

How do I get the IK joints configurations given only position (p), and no orientation. i.e. any IK configuration that satisfies the end effector being at position p is valid, for any orientation. However, I'd also like the IK solution to be collision free. Thus, to phrase my question better, how can I get an IK solution for a given end effector position, such that it can be in any orientation that is collision free.

I've looked at GetPositionIK that can do collision aware inverse kinematics, and I've looked at TracIK where I can set bounds/tolerance values, where I can set very high tolerance values for orientations. But I haven't found a way to combine them. Any help would be appreciated.

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