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Depending on your robot model, joints 5 and 6 (J5 and J6) may not need safety envelopes. Safety envelopes for J5 and J6 could overlap one another and also extend into toolings mounted at the end of the robot.
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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If the standard safety envelope shape types can’t be used, you can import CAD and assign it as a safety envelope.
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