For IK, I find the AngleBetweenVectorsConstraint to be very useful, but I have come across a problem which requires a cost rather than a constraint. I was wondering if an AddAngleBetweenVectorsCost could possibly be implemented?
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Zev Minsky-Primus
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1I will implement this later today. – Hongkai Dai Sep 01 '22 at 15:53
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1I filed https://github.com/RobotLocomotion/drake/pull/17821 – Hongkai Dai Sep 02 '22 at 02:05