Simulate and Debug

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After you finish the above configurations, you can control the simulated robot to test whether there is a collision or other error in the planned path.

When you simulate the project for the first time, you should click Run in the main interface of Mech-Vision to input the poses and point cloud data to the path planning tool.
In the path planning tool window, clicking Simulate will simulate the project based on the poses and point cloud data that result from the last run of the Mech-Vision project.

Click Simulate on the toolbar.
If an error occurs during the simulation, such as a collision or unreachable waypoint occurs, you can check the error messages in Plan History and Log, and therefore you can locate the error quickly. Then you can adjust the project resource configuration, workflow, and collision configuration according to the error messages to debug the project.
If no error occurs in the simulation, click File Save to save the configurations.

After you finish using the path planning tool, click File Exit to close the path planning tool. Then you can select the workflow you created in the drop-down list under Workflow Configuration in the Step Parameters panel of the Path Planning Step.

Simulate and Debug

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