Interface Introduction

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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 path planning menu icon transparent close to make the robot semitransparent and click path planning menu icon transparent close half 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 path planning menu icon transparent open to display the corresponding reference frame and click path planning menu icon transparent close to hide the reference frame.

Click path planning menu icon transparent adjust 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 path planning menu icon transparent close to make the tool semitransparent, and click path planning menu icon transparent close half 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 path planning menu icon transparent close to hide the floor and click path planning menu icon transparent open 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 path planning menu icon transparent close to make the scene object semitransparent, click path planning menu icon transparent close half to make the scene object transparent, and click path planning menu icon transparent open 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

path planning menu mouse icon1

Display menu for quick view adjustments

Right-click

path planning menu mouse icon2

Pan the view

Hold middle button and drag

path planning menu mouse icon3

Zoom in or out

Scroll

path planning menu mouse icon4

Functional Panels

The functional panels include Workflow, Robot, Plan History, and Log.

Workflow

You can configure the workflow in this panel.

  • Click path planning menu icon add to create a new workflow.

  • Click path planning menu icon delete to delete the workflow.

  • Click path planning menu icon edit to edit the name of the current workflow.

  • Click path planning menu icon down 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 path planning menu icon add to insert a Step.

  • Double-click the name of the Step to rename it.

Robot

You can set the joint positions, TCP, and robot home position in this panel.

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.
D: Debug i: Info W: Warning E: Error

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.

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