Collision issues between robot and tool, but only when using a turntable?

[mjarosz]

So, I've been having some issues with collision detection when using my turntable. I have a custom hot wire cutter mounted, referenced through the "Custom Tool" component. The collision between this tool and the robot arm is detected when I connect the robot directly to the prcCore. But when I run the robot through a turntable (I use the "GLOBAL TT" component), that collision is no longer detected. See attached images.

In both set-ups, the collision between the tool and environment (as fed into the "Collision" input) works just fine. And curiously, the collision between the tool and table also has an issue: a collision is detected between the tool and one mesh in the turntable, but not any of the others.

Any ideas about what I could be doing wrong here, or is this a known issue?

Thanks,
Joel.

[Johannes @ Robots in Architecture]

Hello Joel,

That definitely sounds like a bug, however when I tried to duplicate the behaviour, it seems to be working as intended.
Maybe it's related to your version of KUKA|prc, could you give the attached file a quick try and see if both robots show up as being in collision?
Otherwise please send me your file, ideally as slimmed down as possible with no Grasshopper plugins.

Thanks,
Johannes

[mjarosz]

Thanks for the help Johannes!  A few things. First, I am on the latest build of PRC (20210422). And I did get collisions from both set-ups you provided. But in the one with the turntable the collision was indicated even when the tool was not actually in contact with anything (see attached screenshot, shown at 0.2 in the simulation).

I have attached a stripped-down version of my files. Maybe they can shed some light.

Joel.

[Johannes @ Robots in Architecture]

Hello,
I'll send you a new release via eMail in a few minutes. That should solve the issues - thanks for letting me know, that was an annoying bug!
Best,
Johannes

[mjarosz]

Awesome, works like a charm! Thanks so much for taking care of this so quickly. A huge help.

Best,
Joel.

[Johannes @ Robots in Architecture]

Great! Thanks for the update, we will then put it into the next release, probably sometimes this week!
Best,
Johannes