How to check if the configuration cause collision between robot and floor?

[Hacher]

When I use the function 'sim.checkCollision', it cannot detect the collsion between floor and robot. Even though the configration that input to the function may cause collision with floor obviously. My code is following：

Code: Select all

function sysCall_thread()
robotCollection=sim.createCollection()
sim.addItemToCollection(robotCollection,sim.handle_tree,simBase,0)
end
function configurationValidationCallback(config)
    -- check if a configuration is valid, i.e. doesn't collide
    -- save current config:
    local tmp=getConfig()
    -- apply new config:
    setConfig(config)
    -- does new config collide?
    local res=sim.checkCollision(robotCollection,sim.handle_all)
    -- restore original config:
    setConfig(tmp)
    return res==0
end

[coppelia]

Hello,

make sure that the objects you are testing are collidable.

Cheers