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Select [+] and then Import CAD file.
Browse to and select the CAD file, then select Open.
In the Cell tree, move the imported envelope so that it is a child of the joint in the hierarchy.
Right-click the envelope item and select Safety envelope.
If needed, use Transform to adjust the position and orientation of the CAD envelope relative to the joint.
Possible note: Safety envelopes around end of arm toolings?can also be added around toolings, if needed. This would be done in an End-of-arm tooling session.
Add safety envelopes in collision groups
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