Is it possible to check if a shape is in the work envelope of a robot?

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 work envelope, not including the space behind the robot.
What I'm try to do is find the largest sphere that fit in the work envelope, not including the space behind the robot.
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So for you, you have to check each corner of your shape.