Euclidian Signed distance field

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hi, I am working on the manipulator in designing the planner to avoid obstacles. Are there any packages someone knows that can help with getting a euclidian signed distance field ( basically I need the shortest distance and direction from each link to the nearby obstacle ) ? I know that move it has this and uses in trajopt /stomp planner, but I am not able to find/understand simple way to use those function. if there are any other packages or any information you know regarding this , I would be very grateful to you . Thanks