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Once safety envelopes are added to joints, you can add them to collision groups for the cell.
In the Cell tree, select Cell.
On the right, in Cell settings, select [+] next to Collision group pairs.
Select the Edit button for the collision group pair.
Enter a name for the collision group. You might enter a name like “Robot safety envelope.”
Select a type for the collision group. For a robot safety envelope, Interference is typically a good choice. Intereference is less strict than Collision in Robotmaster. Interference indicates to the programmer only that other physical objects may be too close to the robot.
Select a color. You may want to pick a different color than other Collision type collision groups, in order to easily differentiate them visually.
Drag the envelope items for J1 – J4 from the Available geometries pane to one side of the Pairs section.
Drag the items you want to flag for interference with safety envelopes to the other side of the Pairs section. For example, you might include cell components like tables and enclosures.
Select OK when you are finished.
Save your changes with the cell.