8.2.5. Tool

In this example, the spot welding gun is tool 0 (T0). It have to be wrapped by a set of spheres. When one or more of the sphere intersect with the protected area or outer side of cell area, SafeSpace will regard the situation as a collision. In this sample, we have set 3 spheres to wrap the T0 and robot wrist body. (Use tool coordinate system.)