- To use the simulator make sure you are connected to the internet.
- Navigate to the Simulations tab using the sidebar on the left.
- Upload the input csv file containing in the specified format.
- Upload the environment configuration file in the specified format.
- Upload the csv file containing the timestamped joint angles in the specified format.
- Individual file upload status will be updated upon successful upload.
- After successful upload of all the files, a message will be shown All Files Uploaded. Simulating..., and after a few seconds the line diagram animation of the robotic arm could be seen.
- Upload File: Input file not uploaded/Upload unsuccessful
- File Uploaded: File Uploaded successfully
- All Files Uploaded. Simulating...: All required files uploaded files and the webapp has started simulating based on the input
- Wall Collision Test: Checks for collision with the wall in YZ plane.
- Obstacle Collision Test: Checks for collision with the spherical objects
- Link collides with: N obstacle(s): The robot collides with N number of obstacles.
- Start point test: Checks whether the planned path has the correct initial position or not.
- Goal point test: Checks whether the planned path reaches to the goal position or not.
- Angle limits test: Checks if angles are in limit specified (-PI/2 to PI/2)
- Velocity limits test: Checks if velocities are in limit specified (-3 to 3) rad/s
- Acceleration limits test: Checks if accelerations are in limit specified (-3 to 3) rad/(s^2)