Creating Safety Geometry

Before defining a workspace, you must create the physical shapes that represent the safety volumes. The add-in provides two primary tools for this:

Add Box

This tool creates a 3D box used to define a volumetric safety zone.

1.Corner Coordinates: Define the zone by entering the Top Corner and Bottom Corner coordinates in X, Y, and Z. These two points define the opposite corners of the 3D box.

2.Visual Setup: The script automatically generates a semi-transparent gray object named "Workspace Box".

Add Plane

This user interface allows you to create a 2D planar boundary within the robot environment.

The following parameters are important:

1.Positioning: Specify a Center Point (X, Y, Z) and the Orientation (EX, EY, EZ) of the plane.

2.Scaling: You can adjust the visual scale (X, Y, Z) to make the plane easier to see in the simulation.