Collision-Free Trajectory

Example script: examples/collision_free_trajectory.py

This example demonstrates collision-free motion planning using SQP-based trajectory optimization.

Source Code

https://github.com/iory/scikit-robot/blob/main/examples/collision_free_trajectory.py

What This Example Shows

  • SQP-based trajectory planning

  • Swept sphere collision detection

  • Box obstacle avoidance

  • Smooth trajectory generation from start to goal pose

Running the Example

python examples/collision_free_trajectory.py

With trajectory visualization:

python examples/collision_free_trajectory.py --trajectory-visualization

Key Features

  • Creates a box obstacle using SDF (Signed Distance Function)

  • Plans collision-free trajectory for PR2 right arm

  • Optimizes for smoothness while avoiding obstacles

  • Visualizes the planned trajectory