[StefanoCava]

Hi everyone, I have a doubt about collision free map calculation
In my station, I need to manipulate different pieces which have, obviously, different bounding boxes.
I also need to create different collision-free programs which may handle different pieces
(e.g. in "program1" I need to take "piece1" from "targetA1" to "targetB1", in "program2" I need to take "piece2" from "targetA2" to "targetB2")
During the process, one object in the station may change its bounding box a bit.
My question is: Do I need to calculate the map for every program or can I calculate a big map, save it in the station and simply let the program connect the target? Are collision checked during the map calculation only or also while RoboDK looks for the best path between 2 targets?
Thanks

[Albert]

Yes, you should recalculate the the collision map if you change the bounding box.

One option to prevent having to recalculate the bounding box every time is to activate the most restrictive bounding box (make the biggest object visible), recalculate the collision map and use this map for both scenarios.