Defining Safety Boundaries

I am using UR3e. I mounted this robot on a table. Also, there are some other stationary objects already mounted on that table. And I want my robot to know there are object on the table of certain shapes at certain locations, and robot should avoid crashing into them. By using safety planes I cannot define the detailed shapes of the objects mounted on that table.

Is there any solution for this problem… ?

Thank you in advance for any help!

Unfortunately as you have seen the safety planes only define an infinite plane the robot cannot pass. The only way I am aware of to avoid fixed object is to add intermediate waypoints in movements to force the robot to follow a path that does not collide with any obstacle.

Did you find any solution or best practices for this problem?

Thank you