I was wondering if anyone has tried to make JD avoid objects. The task seems a bit more cumbersome using a humanoid robot because it would not be so easy to mount the distance sensor. Placing the sensor on JD's head would be ideal because the head servos could be used to direct the scanning. If is on the front of the body, the sensor scanning would have to be done by turning the robot left and right. The script that does the obstacle avoidance seems easy enough to understand. My question is which sensor would you use, and where would you put it?