Question about "Differentiable Collision Detection"

[JYChen18]

Hi @lmontaut @jcarpent ,

First of all, thank you for your excellent work in developing this repository!

I recently came across a paper titled "Differentiable Collision Detection: a Randomized Smoothing Approach,". I really like it and want to try it in my research project.

The author mentions that "All these gradient estimation methods have been implemented in the HPP-FCL and Pinocchio ecosystems." However, I have been unable to locate any related code in the repository. Could you please provide some guidance on where to find it?

Thank you!