Franka robot other obstacle example code

[ChelseaDavidson02]

Hi!

I'm currently developing a 3D surface following algorithm for a franka panda robot and would love to use this code as a base point. I've been looking at your example application of this library in the examples/rmp2/rmp2_franka.py script but noticed that the obstacles are modelled as spheres in the ObstacleAvoidance rmp class. I was just wondering if there was a way to alter the rmp2_frank.py script to avoid other obstacle shapes (boxes or cylinders for example). Thanks!