NEEDS TO BE UPDATED TO PROPER BEHAVIOR OF ENVELOPES VS INTERFERENCE
Envelopes can be generated based on robot joint geometry.
Open the envelope creation tool by right clicking on a robot joint and selecting “create envelope”
The envelope creation tool has 2 settings to adjust:
Extension (mm)
The distance from the underlying joint CAD that the envelope will be extended.
Extension types
Blow-up - Creates an envelope shape that matches the shape each underlying CAD body of the joint.
Box - Creates an envelope in the shape of a box.
Cylinder - Creates an envelope in the shape of a cylinder.
Sphere - Creates an envelope in the shape of a sphere.
Wrap - Creates an envelope shape that wraps around the shape of the underlying group of CAD bodies.
