Collisions

First set and Second set inputs define two groups of meshes that will be collided with each other. Meshes within one group are not collided among themselves, only with the ones in the other group.

The meshes correspond to the Meshes output of a Simulation component, plus the optional environment mesh, in the same order. They are defined by their index. To check for collisions between the tool and the 3rd or 4th axis, you would input into one set 7 and in the other set 3, 4 (as a list of numbers). The order of the sets does not matter, neither does the order of the meshes within a set.

The Environment plane is used in the case where the environment mesh is moved by one of the joints. For example, an objects attached to a positioner. Like with meshes, the input represents the index of the plane that corresponds to the order of the Planes output of the Simulation component.

Linear step size (in millimeters) works similarly to the Create program component step input. It checks for collisions by advancing the simulation in steps by that distance, checking for a collision on every step. If set too high, it might miss a collision. Angular step size (in radians), is the same as above but using the change in angle between one target to the next. If there are two consecutive target planes with the same origin but a different orientation, there might be need for intermediate steps to not miss a possible collision. Linear step size would not create intermediate steps, as the positions hasn't changed.