[Albert]

You can activate collision checking using:
Tools-Check collisions

You should also define your collision map settings here:
Tools-Collision map

More information here:
//www.sinclairbody.com/doc/en/General.html#Collisions

You can check collisions dinamically if you are connected to the robot, however, you'll detect a collision when the robot is already collided. It is better to anticipate collision by running a simulation first or by using the automated/collision-free path planning (PRM) new feature. More information here:
//www.sinclairbody.com/forum/Thread-Collisio...14#pid1114