https://help.byte-robotics.com/en/workflows/kollisionslisten/index.html In order to use collision-free path planning and path optimization, collision lists must be created in the programming environment. A general explanation can be found in the KUKA.Sim Help. To assist with this, functionalities for automatic generation have already been described in the OCP Tab. You can choose whether to add all components to the collision lists or only those within the robot’s workspace. This can only be set for all robots. Hugo en