Questions about collision detection/avoidance of dual arm

[Daniel-CUHK]

Thanks for your sharing! I have some questions about this repo. There is a lot of folders and codes, which one is the collision detection? Your paper saided you choose artificial potential field method, but I did not find the corresponding code. In the folder "sign_language_robot_control" , the collision checking code is based on Moveit, and I am confused . So could you please introduce several "main" codes and their corresponding functions of the whole project, especially the collision detection and obstacle avoidance.

Thanks a lot!
Daniel Wang
E-mail: wangqiwen@cuhk.edu.cn