# Need Help: Check a RsTarget whether it is in Collision or not

**URL:** <https://tech-community.robotics.abb.com/t/need-help-check-a-rstarget-whether-it-is-in-collision-or-not/6480>\
**Category:** RobotStudio\
**Created:** [February 6, 2015, 11:12am UTC](https://tech-community.robotics.abb.com/t/need-help-check-a-rstarget-whether-it-is-in-collision-or-not/6480 "2015-02-06T11:12:17Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![EngineeringStudent11](https://avatars.discourse-cdn.com/v4/letter/e/858c86/32.png) [@EngineeringStudent11](https://tech-community.robotics.abb.com/u/EngineeringStudent11)\
**Post date:** [February 6, 2015, 11:12am UTC](https://tech-community.robotics.abb.com/t/need-help-check-a-rstarget-whether-it-is-in-collision-or-not/6480/1 "2015-02-06T11:12:17Z")

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Hi,

I am a novice to RobotStudio and its Addin development in C#. My Addin should find shortest paths due to the use of a sample-based pathplanning algorithm.

I want to build a probablistic roadmap for the configurationspace of an abb robot. Therefore a graph with vertices and edges is build. When building the graph in configurationspace, a random position is taken. For this position it is necessary to check, whether the joint values in configuration space mean a collision in the workspace. If there is no collision, the vertex is added to the roadmap.

Here is my question: Does the ABB library provide any method to check whether a certain configuration for a certain RsTarget means a collision with an imported CAD model?

Thank you very for your answers!