feat: Compute the signed distance field and project the configuration into a collision-free state.#92

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WeihangGuo wants to merge 9 commits intoKavrakiLab:mainfrom

WeihangGuo:main

Commits on Feb 26, 2026

collision checking: add functions to return l2 distance between sphere and other primitives, and compute the signed distance between spheres and the environments
WeihangGuo
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sdf: add `sdf_gradient` and `d_collision_d_q` to the robots
WeihangGuo
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sdf: introduce new namespace `vamp::optimization` and `project.hh` to project the robot config to collision-free config
WeihangGuo
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sdf & python: Bind the projection method in python
WeihangGuo
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sdf: add sdf examples
WeihangGuo
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sdf: vibe code for capt-sphere min-distance computation
WeihangGuo
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utils: add function to add multiple robots to Viser GUI.
WeihangGuo
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sdf: add a script to project a configuration in a spherical environment using Viser.
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format: run `yapf` on the script
WeihangGuo
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