How to use ikpy together with any other path planning algorithm to achieve obstacles avoidance?

[johnlim00]

How to use ikpy together with any other path planning algorithm to achieve obstacles avoidance?

[gurselturkeri]

Hi, how did you do set goal and arms moving to goal? Also for obstacles avoidance maybe you can use lidar sensor.

[Phylliade]

Hello @johnlim00 !

IKPy's general philosophy is to be a low-level ik library, that can be used in higher levels trajectory/path planning algorithms, so your point makes sense!

The general approach is to cut your trajectory into multiple keypoints, in order to avoid the obstacles, and then use IKPy do the IK for you between the different keypoints

See more info here:
#129