# Problem with Capsule/Physics Assignment in RobotStudio 8.0 **URL:** \ **Category:** RobotStudio\ **Tags:** safemove\ **Created:** [September 21, 2026, 9:53am UTC](https://tech-community.robotics.abb.com/t/problem-with-capsule-physics-assignment-in-robotstudio-8-0/15153 "2026-09-21T09:53:47Z")\ **Posts on this page:** 1\ **Page:** 1
**Author:** ![Miriam\_Macekovic](https://avatars.discourse-cdn.com/v4/letter/m/e79b87/32.png) [@Miriam\_Macekovic](https://tech-community.robotics.abb.com/u/Miriam_Macekovic)\ **Post date:** [September 21, 2026, 9:53am UTC](https://tech-community.robotics.abb.com/t/problem-with-capsule-physics-assignment-in-robotstudio-8-0/15153/1 "2026-09-21T09:53:47Z")
Hello everyone, I have a problem with a RobotStudio simulation and hope that someone has experienced similar behavior before. I am working with the following ABB robots: - IRB 6740-310/2.80 - IRB 6720-170/3.10 - IRB 6730-240/2.90 The RobotWare version available to me is RobotWare 7.20.0. For creating and configuring the Safe Zones, 1 am using WEST 10.0.3.0. My actual problem occurs with RobotWare/RobotStudio 8.0: When I import the Safe Zones, the capsule, which should actually be assigned to or positioned on Link3, is apparently assigned to Link2 in the simulation. As a result, the capsule falls or moves downward instead of following the movement of Link3. My questions are: - Has the assignment of physics/collision geometries to the robot links changed in RobotWare/RobotStudio 8.0? - Why is the capsule assigned to Link2 instead of Link3? - Is there a specific setting that allows the capsule to be correctly attached to Link3? - Could this behavior be related to the RobotWare version or the SafeMove/Physics configuration? - Is there possibly a difference between the Safe Zone configuration created in WEST 10.0.3.0 and how it is displayed or processed in RobotStudio 8.0? If anyone has an idea which setting I should check, I would really appreciate any advice.