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

Toolbar

Options	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 collison 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	N/A
Tool Configuration	Open the Tool Configuration window of the current tool	N/A
Set As Active Tool	Set the current tool as the active tool	N/A

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

Hint

“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 the context 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.

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 of the plan history.

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

Search	After clicking Search, two filter buttons will appear 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 in the logs folder in the installation directory of the software.
Open folder	Click to open the logs folder in the installation directory of the software. The logs are arranged by date.