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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.
Safety envelopes 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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