Get object at position x,y,z or Depth Camera

[4EverBuilder]

I am simulation engine where multiple objects are operating independently. I need an API where if I give a position (x,y,z), I need to find out if there is any object or something is in that very specific coordinate. Is there such an API?

Alternative, if the camera object acted as depth sense camera??

[4EverBuilder]

Okay, found a solution. Every link has verts which are the vertices of the entity. You can use it to get exact positioning and volume

for entity_id, entity in enumerate(viewer.scene.sim.entities):
                # Skip entities without links
                if not hasattr(entity, 'links') or not entity.links:
                    continue                 
                for link in entity.links:
                    # Get vertices of the link
                    verts = link.get_verts()
                    
                    # Skip if no vertices
                    if len(verts) == 0:
                        continue
                    
                    # Convert CUDA tensor to CPU before processing
                    if hasattr(verts, 'cpu'):
                        verts = verts.cpu()
                    
                    # Convert verts to numpy array if it's not already
                    if not isinstance(verts, np.ndarray):
                        verts = np.array(verts)
                    
                    # Convert vertices to list format
                    verts_list = verts.tolist()