Documentation or Tutorial for Adding/Subtracting/Modifying Collision Spheres to Assess Performance on Given Datasets

[neelJawale]

I recently came across your paper and am impressed with the work you have done. I am interested in testing the evaluation scripts provided on various collision sphere combinations and modifying collision spheres across all the supported robots.

Could you provide a detailed tutorial on how to achieve this within the scope of your code? If such functionality is not currently supported, any guidance or support to enable me to do this myself would be greatly appreciated.