could you please provide an example code related robot arm motion plan avoid obstalces such as your paper mentionded

[dbdxnuliba]

could you please provide an example code related robot arm motion plan avoid obstalces such as your paper mentionded such as the example code about the above scene

[dbdxnuliba]

@mpetersen94 ,could you please provide the arm example code,many thanks

[RussTedrake]

That example is available in reproduction/prm_comparison. I think this issue can be closed (but I don't have the bits to do it yet).