Collision Avoidance in Inverse Kinematics

[LimTurtle]

Hello,

I am using the Robotics Library to generate a collision-free path when a target position is given.

Currently, I have generated a goal based on the target position using NloptInverseKinematics. Additionally, after adding a URDF model and collision objects to the Scene, I successfully created a planning path for the previously generated goal using the PRM algorithm.

However, when examining the process of generating the goal using IK for the target position, it seems that the solve function of IK generates a goal without considering collisions with other objects in the Scene. (Apologies if I misunderstood this.)

I would like the final robot pose obtained through IK for the target position to also avoid collisions with other objects in the Scene. Instead of simply restarting the IK process multiple times to find a collision-free pose, is there a way to obtain IK results that inherently avoid collisions?