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”.
The safety envelope creation tool has 2 settings to adjust.
Shape 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.
Safety envelope CAD import
If the built in Robotmaster safety envelope generation is not sufficient for user needs, imported CAD can be made a child of a robot joint, and then changed into a safety envelope object type.
