Safety envelopes are geometry that can either be generated or imported onto joints to provide additional options for collision checking.
Safety Envelope Generation
Safety envelopes can be generated based on robot joint geometry.
Open the safety envelope creation tool by right clicking on a robot joint and selecting “create interference shape”
INSERT PICTURE OF SAFEY ENVELOPE RIGHT CLICK HERE
The interference shape creation tool has 2 settings to adjust
INSERT PICTURE OF SAFEY ENVELOPE MENU OPTIONS HERE
Extension (mm)
The distance from the underlying joint CAD that the interference shape will be extended.
Extension types
Blow-up - Creates an interference shape that matches the shape each underlying CAD body of the joint.
Box - Creates an interference in the shape of a box.
Cylinder - Creates an interference in the shape of a cylinder.
Sphere - Creates an interference in the shape of a sphere.
Wrap - Creates an interference shape that wraps around the shape of the underlying group of CAD bodies.
