VERP中建立集合collection

在verp中，collision detection, collections, IK groups等需要预先建立集合。它们能够用相应的API调用，也能用graph显示一些相应的数据。

建立集合方法：

Open the collection dialog with [Menu bar --> Tools --> Collections] or by clicking the appropriate toolbar button. Select "redundantRobot", then click Add new collection. A new, empty collection was added. We now need to define the collection content: click Add (make sure "redundantRobot" is still selected). Notice how the collection's content changed. Now select newly added collection item, then click Visualize selected collection: