https://help.byte-robotics.com/en/bedienung/ocp-tab/kollisionspr%C3%BCfung/index.html The window for the settings of the Collision Detectors provides an overview of the available detectors and the respective object groups for collision detection. This window is explained in detail in the official KUKA.Sim documentation. You can find an explanation of how this works from our perspective here. Hugo en