Interface Introduction
This section introduces the user interface of the path planning tool, including menu bar, toolbar, resources panel, 3D simulation area, and functional panels.
Menu Bar
| Option | Description | Shortcut |
|---|---|---|
Reset All |
Reset all settings in the path planning tool |
Ctrl + N |
Save |
Save all current settings |
Ctrl + S |
Exit |
Exit the path planning tool |
Ctrl + W |
User Manual |
Open the user manual |
N/A |
Toolbar
| Option | Description |
|---|---|
Simulate |
Run the simulated robot |
Stop |
Stop running the simulated robot |
Initial Pose for Planning |
Set the initial pose of the robot for the simulation |
Collision Configuration |
Configure the collision detection settings |
Model Editor |
Open the model editor |
Simulation Speed |
Set the running speed of the simulated robot |
Resources
The Resources panel provides the interfaces for the robot, tools, workobjects (i.e., the target objects to be picked or processed), scene objects, etc.
Robot
This entry provides the interface for displaying the robot used in the current project.
Right-click the robot name, and the following option will appear.
Open Robot File Directory |
Open the folder where the robot model file is stored |
Click 
to make the robot semitransparent and click 
to restore to the original display setting.
Reference Frames
This entry provides the interface for displaying all reference frames in the 3D simulation area.
Click 
to display the corresponding reference frame and click to hide the reference frame.
Click 
to enable or disable the “translation” or “rotation” of the dragger.
Tools
This entry provides the interface for configuring the tools in the project.
Click + to open the Tool Configuration window, where you can add tools.
Right-click the name of a configured tool, and the following options will appear.
| Option | Description | Shortcut |
|---|---|---|
Copy |
Copy the current tool |
Ctrl + C |
Paste |
Paste the current tool |
Ctrl + V |
Delete |
Delete the current tool |
Delete |
Rename |
Rename the current tool |
Tool Configuration |
Open the Tool Configuration window of the current tool |
Set As Active Tool |
Set the current tool as the active tool |
Click to make the tool semitransparent, and click to restore to the original display setting.
Workobjects
This entry provides the interface for configuring the workobjects in the project.
Click + to open a Workobject Configuration window, where you can add workobjects.
Right-click the name of a configured workobject, and the following options will appear.
| Option | Description | Shortcut |
|---|---|---|
Delete |
Delete the current workobject |
Delete |
Rename |
Rename the current workobject |
N/A |
Workobject Configuration |
Open the Workobject Configuration window of the current workobject |
N/A |
|
“Default” is the workobject configuration used for vision results without labels. |
Floor
This entry provides the interface for modifying the height of the floor and floor display setting.
Right-click the Floor and you can modify the height of it in the pop-up window.
Click to hide the floor and click to restore.
Scene Objects
This entry provides the interface for configuring the scene objects in the project.
Click + to open a Scene Object Configuration window, where you can add scene objects.
Right-click the name of a configured scene object, and the following options will appear.
| Option | Description | Shortcut |
|---|---|---|
Copy |
Copy the current scene object |
Ctrl + C |
Paste |
Paste the scene object |
Ctrl + V |
Cut |
Cut the current scene object |
Ctrl + X |
Delete |
Delete the current scene object |
Delete |
Rename |
Rename the current scene object |
N/A |
Scene Object Configuration |
Open the Scene Object Configuration window of the current workobject |
N/A |
Click to make the scene object semitransparent, click to make the scene object transparent, and click to restore to the original display setting.
You can also drag and drop the scene object name in the Resources panel to make the scene object model a child model or an individual model.
Model Library
This entry provides the interface for importing external models to the project. All the external models imported will be displayed in the Model Library, and the models will be categorized according to their formats.
Click + to open the file selection window to import an external model.
Right-click the imported external model, and the following options will appear.
| Option | Description | Shortcut |
|---|---|---|
Copy |
Copy the current model |
Ctrl + C |
Paste |
Paste the copied model |
Ctrl + V |
Delete |
Delete the current model |
Delete |
Model Configuration |
Open the Model Configuration window of the current model |
N/A |
Model Editor |
Open the model editor and the current model will be used as the reference model |
N/A |
Open Folder |
Open the folder where the model file is stored |
N/A |
3D Simulation Area
The robot, scene objects, tools, workobject models, robot motion path, pick points, and collisions will be displayed in the 3D Simulation Area. Also in this area, you can drag and drop the models of scene objects.
You can take the following mouse actions to adjust your view in the 3D simulation area.
Rotate the view |
Hold left button and drag |
|
Display menu for quick view adjustments |
Right-click |
|
Pan the view |
Hold middle button and drag |
|
Zoom in or out |
Scroll |
|
Functional Panels
The functional panels include Workflow, Robot, Plan History, and Log.
Workflow
You can configure the workflow in this panel.
-
Click
to create a new workflow. -
Click
to delete the workflow. -
Click
to edit the name of the current workflow. -
Click
to switch the workflow. -
Select a step, and its parameters will be displayed on the right panel.
-
Move the mouse cursor to the line connecting the Steps and then click
to insert a Step. -
Double-click the name of the Step to rename it.
Plan History
You can check the detailed planning information and error description in the Plan History panel, which facilitates to debug and optimize the project. For detailed instructions, please refer to Plan History.
You can configure the related settings at the bottom of this functional panel.
Collision display duration |
The display duration time of the collision in the 3D simulation area when you select a failure record caused by the collision. |
Expire after |
The expired time of the plan history. After the expired time, the previous plan history will be overwritten by the current plan history. |
Load plan history |
Load the saved plan history. |
Clear |
Clear all plan history in the panel. |
Help |
A brief introduction to the plan history. |
Right-click on an item in the plan history, you can see the following options.
| Search | After clicking Search, you can see two filter buttons at the bottom of the panel. You can search for the planning item you need according to the plan result type and the collided link index. |
|---|---|
Collapse All |
Collapse all sub-nodes in the panel and only displays the parent nodes. |
Delete Selected Plan History |
Delete the selected plan history item. |
Log
On the log panel, you can view the software log in detail and manage the log settings at the bottom of the panel.
Click one log entry and press Ctrl + C, and the entry will be copied to your clipboard.
D, i, W, E |
Screen out the logs to be displayed according to their levels. Logs under selected levels will be displayed. You can select multiple levels.
|
Clear |
Clear all log messages on the page. |
Export |
Export the log messages to the HTML file. The exported files are located in the logs folder in the software installation directory. |
Open folder |
Click to open the logs folder in the installation directory of the software. The logs are arranged by date. |