Collision detection malfunctioning

I have setted the sence model, but when the gripper tries to pick up the workpieces in the corner of the bin, it hits the bin wall.

  1. change the bin to a lower one and make sure it can grab the tilted bearings without collide the bin wall.

  2. Use foam mat to top up the bearings to a height in which gripper can pick without collision

  3. Add an extendsion beam on the gripper to avoid the collision with the bin wall