Skip to main content

Missing collision sets

Error ID: 2104
Platform: Process Simulate

Resolver detected one or more robots that are not included in any active collision set in Process Simulate.
Without collision sets, Resolver cannot determine which objects a robot must avoid or which interactions are allowed, resulting in unreliable collision validation.

What this error means​

Process Simulate uses Collision Sets to define:

  • Robot ↔ World collision rules
  • Robot ↔ Robot collision rules
  • Self-collision rules (robot vs its own links & tools)

If a robot is missing from all collision sets, Resolver falls back to default collision rules, which may:

  • hide real collisions,
  • report false collisions,
  • produce unstable validation behavior.

How to fix it (Step-by-step)

The following procedure always resolves error 2104.

1. Open the Collision Set Manager​

In Process Simulate:

  1. Go to Home → Collision or Tools → Collision (depending on PS version).
  2. Click Collision Sets.

This opens the full list of collision sets.

2. Identify the robots listed in the error​

Example popup:

Robot: R1, R2 are not included in any active collision set

Locate those robots under Resources → Robots.

3. Add each robot to at least one active collision set​

Every robot should belong to:

  1. A Robot–World collision set
  2. A Robot–Robot collision set (if multiple robots exist)
  3. A Self-Collision set

Adding a robot:​

  1. Select an existing collision set (e.g., Robot_to_World).
  2. On the left, click Add Members → choose the robot (R1).
  3. On the right, add world geometry (fixtures, clamps, tools, etc.).
  4. Click Apply.

If no collision set exists:​

  1. Click New Collision Set
  2. Name it R1_to_World
  3. Add robot on the left
  4. Add world objects on the right

4. Ensure the collision set is ACTIVE​

A collision set must have Active enabled.
Inactive sets are ignored by Resolver.

  1. Click New Collision Set → name: R1_self_collision
  2. Add robot links + tool
  3. Keep defaults unless you have specific exceptions

This improves accuracy during optimization.

6. Save the station and retry import/export​

After updating collision sets:

  • Save the PS station
  • Retry the Resolver import/export

The 2104 Missing collision sets error should disappear.

When is it safe to ignore this warning?​

You may click Continue only when:

  • The station is a simplified demo model
  • Collision validation is irrelevant for this scenario
  • You test import/export without optimization

For any real project, this warning should be fixed.

Summary​

  • Every robot must belong to at least one active collision set.
  • Best practice includes:
    • Robot–World
    • Robot–Robot
    • Self-Collision
  • Correct configuration removes the error and ensures stable validation.