# \#work-space-envelope

**URL:** https://tech-community.robotics.abb.com/tag/work-space-envelope/735.md

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## [Is it possible to check if a shape is in the work envelope of a robot?](https://tech-community.robotics.abb.com/t/is-it-possible-to-check-if-a-shape-is-in-the-work-envelope-of-a-robot/8713)

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**Author:** [@Mechie](https://tech-community.robotics.abb.com/u/Mechie)\
**Replies:** 4\
**Last updated:** [March 14, 2019, 2:03pm UTC](https://tech-community.robotics.abb.com/t/is-it-possible-to-check-if-a-shape-is-in-the-work-envelope-of-a-robot/8713 "2019-03-14T14:03:11Z")

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I know how use the world zone command to create a sphere or a box, but I don’t know how to check if a world volume is within the work envelope of my robot. What I’m try to do is find the largest sphere that fit in the w…