question about the collision check

[rcao-hk]

Could you give me some advice about the collision check implementation?

Best,

[Fang-Haoshu]

Hi, we currently check whether there are scene points in the gripper model's space

[rcao-hk]

Hi, we currently check whether there are scene points in the gripper model's space

Thank you for your reply. Could you detail the process you used for checking the object's point? Which lib or functions you used here? Thank you.

[Fang-Haoshu]

You just simply transform the points to the gripper's frame and check several conditions using numpy. For example, max(points) > gripper_width.

[rcao-hk]

You just simply transform the points to the gripper's frame and check several conditions using numpy. For example, max(points) > gripper_width.

Thank you for your reply.