Can we add AvoidObstacles in inverse kinematics path planner?

[Juzhan]

From current examples, I found that only the OSC-based method uses AvoidObstacles, how to add this part to the path planner?

[p3jawors]

AvoidObstacles is a null space controller, meaning it functions in the redundant space of the encompassing controller, in this case OSC. We have not implemented any way of integrating this into a path planner. You can read about how this obstacle avoidance works from the original paper here.

You should still be able to plan your trajectories and use the obstacle avoidance with the controller. The path planner will set targets that move the arm in a straight line, but it will diverge from that if need be with the avoidance controller.