--- a/policy/direct.py
+++ b/policy/direct.py
@@ -76,6 +76,9 @@
         if prediction_objective == "distance":
             objective_fn = self._make_distance_objective(normalizer)
 
+        import os                                                        # GlobMP as the projector: DIRECT_PROJECTOR=globmp
+        if os.environ.get('DIRECT_PROJECTOR', '') == 'globmp':           # (applications/avoiding/globmp_projector.py)
+            from globmp_projector import GlobMPProjector as IpoptProjector
         self._projector = IpoptProjector(
             circular_obstacles=circular_obs,
             planar_obstacles=planar_obs,