Arm Obstacle Avoidance Using Potential Filed in Isaac Lab
This script demonstrates a potential field based controller for collision-free motion using Isaac Lab 2.0.0. Only repulsive forces are computed for obstacle avoidance. For each joint, the repulsive force is calculated based on its workspace (world) position relative to the obstacle, and then mapped to joint space using the joint’s Jacobian matrix.
Usage:
./isaaclab.sh -p pf_control.py Video: BiliBili