How to set up collision avoidance between arms？

[SimonQi1]

I want to use a two-arm robot model, but I can't avoid collisions between the two arms during self-collision detection.
Your answer is very important to me, thank you!

[djrakita]

Hi, thanks for the question. The standard way of doing this using the current relaxedIK implementation is:
(1) manually combine the two robots into a single URDF. Make sure that each link and joint have their own name in the combined URDF.
(2) train the bimanual setup as a single "robot" using the combined URDF.

However, we are currently putting together new code that will substantially improve the ease-of-setup and motion quality for multi-arm systems. I'll keep you posted on that when it's available.