Volume Sensor not working after attaching tool to robot (KUKA Sim / Visual Components)

Component Modeling
1

Hi everyone,

I’m working on a measurement strategy using a Renishaw sensor in KUKA Sim (which should behave the same as Visual Components).

To implement this, I created a Volume Sensor in the model and connected it to a Boolean signal. For testing purposes, I used a Python script to print a message when the volume collides with another component in the cell — and that works fine.

When I load the cell with the robot and manually add the sensor tool into the cell, everything still works correctly.

However, once I attach the sensor tool to the robot as a tool, the Volume Sensor stops working — even if I detach it again afterwards. No collisions are detected anymore, and the Boolean signal doesn’t update.

Could it be that something is overwritten in the component when the tool is attached to the robot?

Has anyone experienced something similar or knows what could be causing this behavior?

Thanks in advance!

2

Update:
I also noticed that the detection works the first time I attach the tool to the robot. However, after moving the robot away and bringing the sensor back into “collision” with another object, the Volume Sensor no longer reacts. The same behavior occurs when using a Raycast Sensor instead.

For reference: my version of KUKA Sim is based on the latest Visual Components 4.10 release.