Although the core is runnable, it is usually not intended to be run alone. Wrappers are required to connect RelaxedIK to different interfaces. Here are 4 wrappers that we implemented for ROS, CoppeliaSim, Mujoco, and Unity respectively. Each wrapper has detailed instructions on how to work with them in the READMEs in their repo. If you are interested, it is possible to wrap up the core in other interfaces as well.
The links to these github repos are here:
This wrapper allows users to use RelaxedIK in Unity. This is designed to work on Windows and it probably won’t work on a Linux machine. A few commonly used simulated robot arms have already been set up for you to play with. In the simulation, you will be able to disable or enable RelaxedIK as you like. When RelaxedIK is disabled, a joint angle writer panel will show up for you to adjust and visualize the joint angle configuration. When RelaxedIK is enabled, you will be able to have real-time interactions with RelaxedIK by dragging the transform gizmo associated with the gripper of the robot.
RelaxedIK Unity