Interface Introduction

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This section introduces the user interface of the path planning tool, including menu bar, toolbar, project resource tree, 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

Project Resource Tree

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 shows the robot model used in the current project.

Right-click the robot name, and the following option will appear.

Option Description

Open Robot File Directory

Open the folder where the robot model file is stored.

Reload Robot

Usually used after the parameter file of the local robot model is modified. Click this option to update the robot model and its parameters in the software.

Click icon_transparent_open to make the displayed robot semitransparent, and click 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 icon_transparent_close to display the corresponding reference frame, and click icon_transparent_open to hide the reference frame. Click icon_transparent_adjust to enable or disable the “translation” or “rotation” of the manipulator.

Tools

This entry provides the interface for configuring the tools in the project. Please refer to Tools for how to configure the tools.

Click + to open the Tool Configuration window, where you can add tools.

The default tool is used to avoid errors due to unconfigured end 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.

None

Tool Configuration

Open the Tool Configuration window of the current tool.

None

Set As Active Tool

Set the current tool as the active tool.

None

Click icon_transparent_open to make the tool model semitransparent, and click icon_transparent_close_half to restore to the original display setting.

Workobjects

This entry provides the interface for configuring the workobjects in the project. Please refer to Workobjects for how to configure the workobjects.

Click + to open a Workobject Configuration window, where you can add workobjects.

“Default workobject” is the workobject configuration used for vision results without labels.

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.

None

Workobject Configuration

Open the Workobject Configuration window of the current workobject.

None

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 icon_transparent_open to hide the floor and click icon_transparent_close to restore.

Scene Objects

This entry provides the interface for configuring the scene objects in the project. Please refer to Scene Objects for how to configure the scene objects.

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.

None

Scene Object Configuration

Open the Scene Object Configuration window of the current workobject.

None

Click icon_transparent_open to make the scene object semitransparent; click icon_transparent_close_half to make the scene object transparent; and icon_transparent_close 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 custom models to the project. All the custom 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 custom model.

Right-click the imported custom 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.

None

Model Editor

Open the model editor and the current model will be used as the reference model.

None

Open Folder

Open the folder where the model file is stored.

None

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. You can also drag to move the models of scene objects in this area.

alt
No. Description

1

Scene objects

2

Robot

3

Tools

4

Floor

5

Planned path

The 3D simulation area can display the motion path of both the real robot in actual application and the simulated robot in project simulation.
You can use the displayed path as an aid for adjusting the motion of the robot.

6

Vision result

The vision result returned by the vision service will be displayed in the 3D simulation area.
Generally, a vision result includes: workobject point clouds, scene point clouds, workobject poses, workobject ID, and customized pose labels that indicate the characteristics of the workpieces.
alt
No. Description

1

Click this icon to view the menu showing the font size and axis size.

2

Click this icon to view the menu showing the visibility of reference frames.

3

Click this icon to view the menu showing the color legend of vision poses.

4

Click this icon to view the menu showing the visibility of the components in the vision results.

5

The navigation gizmo shows the current view in the workspace.

Click the icon of each axis (X, Y, Z, -X, -Y, -Z) to align the view with the axis. Press and hold the left mouse button and drag the navigation gizmo to rotate the view.

6

Pan the view

Press and hold this icon (or Shift + Scroll wheel), and then drag the icon to pan the view.

7

Zoom in/out

Press and hold this icon, and then drag it upward (or scroll the mouse forward) to zoom in, or drag it downward (or scroll the mouse downward) to zoom out.

8

Fit the view

9

Click this icon to switch to perspective/orthographic view.

10

Show pressed keyboard keys and mouse buttons

Once this icon is selected (highlighted in blue), the keyboard keys and mouse buttons you pressed will be displayed in the lower right corner in the 3D simulation area.

Functional Panels

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

Workflow

You can configure the workflow in this panel.

  • Click Add to create a new workflow.

  • Click Delete to delete the workflow.

  • Click Rename 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 Step name to modify it. (The name of Global Configuration cannot be modified.)

Robot

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

Plan History

On this panel, you can view the plan history of Mech-Viz in detail. You can also use the plan history to troubleshoot problems, and improve the project logic. For details, please refer to Plan History.

You can configure the related settings at the bottom of this functional panel.

Option Description

Minimum animation duration

Upon the selected plan history entry, the corresponding animation of the complete trajectory will be played, and this parameter specifies the minimum duration for the animation playback thereafter.

Clear plan history

Clear all plan history currently displayed in the panel.

Import

Load plan history files from the specified directory.

Export

Export all the current plan history to a specified directory.

Open plan history folder

Open the default folder that stores the plan history.

Right-click on an entry in the plan history, you can see the following options.

Option Description Shortcut

Copy

Copy the selected content.

Ctrl + C

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.

Ctrl+F

Collapse All

Collapse all sub-nodes in the panel and only displays the parent nodes.

N/A

Delete Selected Plan History

Delete the selected plan history item.

N/A

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.

Option Description

D: Debug

Screen out the logs to be displayed according to their levels. Logs under selected levels will be displayed. You can select multiple levels.

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 Mech-Viz installation directory.

Open folder

Click to open the logs folder in Mech-Viz’s installation directory. The logs folder contains log files recorded by date.

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