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Open the safety envelope creation tool by right clicking on a robot joint and selecting “create interference shape”
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The interference shape safety envelope creation tool has 2 settings to adjust
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Extension (mm)
The distance from the underlying joint CAD that the interference shape will be extended.
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Blow-up - Creates an interference shape that matches the shape each underlying CAD body of the joint.
Box - Creates an interference in the shape of a box.
Cylinder - Creates an interference in the shape of a cylinder.
Sphere - Creates an interference in the shape of a sphere.
Wrap - Creates an interference shape that wraps around the shape of the underlying group of CAD bodies.
Safety Envelope CAD Import
If the built in Robotmaster safety envelope generation is not sufficient for user needs, imported CAD can be made a child of a robot joint, and then changed into a safety envelope object type.
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