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Collision detection clearance

#1
Is there an option to have clearance on how far an object is before it's detected as a collision?

I have a few programs that may be in tight spaces and would like to keep the tool at a safe distance from other objects. So that there would be some clearance should the tool or object in real-life ever change/move.
#2
We don't have an option to keep a certain clearance to avoid collisions. As an alternative I recommend you to model your objects slightly bigger.
  




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