Recently, we have integrated the function to add collision shapes to the robot. In this PR, we change to using the add_shape function in UrdfEnv to allow for arbitrary shapes, such as capsules.
We also provide an example with a good enclosing union of capsules for the franka emika panda robot.
Recently, we have integrated the function to add collision shapes to the robot. In this PR, we change to using the
add_shapefunction in UrdfEnv to allow for arbitrary shapes, such as capsules.We also provide an example with a good enclosing union of capsules for the franka emika panda robot.