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yimingli1998 / RDF

Learning Robot Geometry as Distance Fields: Applications to Whole-body Manipulation
MIT License
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Request an example of collision avoidance using SDF #3

Closed sm3304love closed 4 months ago

sm3304love commented 5 months ago

I am trying to do motion planning for a panda robot based on optimization. I would also like to implement obstacle avoidance using RDF, but there doesn't seem to be any equations or examples for collision avoidance in the paper or on github. If you don't mind, can you add an example for this?

yimingli1998 commented 5 months ago

Hi, thanks for your interest! I have added a simple example for collision avoidance by using the gradient of RDF with respect to the joint configuration. You can find it at https://github.com/yimingli1998/RDF/blob/master/collision_avoidance_example/collision_avoidance_example.py

Let me know if you have any further questions