Often Collision With Block When test in real UR_10 Robot!!

[KeyPisces]

Hello, Friends. When I train the Network, I meet the problem that the UR10 Robot Gripper(DH gripper) often collision with the Block, what should I set the Gripper's Position avoiding Collision. And in Your Demo have the way to solve it？？I controll My UR10 with ROS！Thanks Very Much!!!

[gab-es21]

What did you change in de simulator and in the code to change from UR5 to UR10?