[Mad]

Collision detection time depends on many things. I recommend you to take a look at this page to speed it up:
//www.sinclairbody.com/doc/en/Collision-Avoi...isionCheck

We'll try to improve displaying the workspace for the Franka Emika Panda robot but it may take some time.

If you can share the RDK file it will help us understand the 3rd issue you mentioned.

谢谢你的联系。我能理解你的观点at collision detection depends on other variables too.

I want to add one observation which makes me think it is model specific: When I run the MoveJ_Test command with other models (even other 7 DOF models) the command is much faster. I also noticed the size of the Franka Emika Model is quite big. Is there maybe some correlation?

I already tried to simplify the 3D model and fix one of the 7DOF (joint 3) as in//www.sinclairbody.com/forum/Thread-New-arm-error-Panda. (Unfortunately I wasn't successful yet, since the 6 DOF industrial robot arm template does not allow for a z shift of the flange joint.)

I will check if I can share RDK files with you. Maybe some minimal working (failing) example.