[Lakshmi]

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

I activated Tool- Check collisions , in simulation i find that it keeps colliding and need to move back to home position, so that it plans again but still it might result into collision or it might not. I understand you were trying to tell the same thing , so every time the environment changes the robot has to be thought about the surroundings and teach it until it plans without collision right? It means it doesn't consider collision detection while planning ?

Kindly let me know if something is wrong.