Robot Simulation

Robot Simulation shows a print before it runs. The component draws the toolpath and the printed material, and, when a Robot Definition with an arm is connected, poses the arm along the path and checks that every point can be reached within the joint limits and speeds of the arm. Dragging the sim slider from 0 to 1 plays the print. With the profile none, the component shows the toolpath and the material only.

Panel: 4 Robot. Nickname: Robot Sim. Compute button: no (runs on every change).

Inputs

Name	Type	Default	Description
robot	Text		Robot Definition. Empty or none shows the toolpath and extrusion without a robot model
gcode	Text (list)		G-code as one string or a list of lines
toolpath	Curve (tree)		Toolpath curve tree in Rhino document units, used only when gcode is empty
sim	Number	1	Scrub from 0 to 1 through the accumulated print
showRobot	Boolean	true	Show the selected robot model when available
showExtrusion	Boolean	true	Show deposited material as a continuous extrusion mesh
width	Number	10	Layer width in mm for the extrusion preview
height	Number	0	Extrusion or layer height, mm (0 = infer from the layer metadata)
bed	Text		Print Bed definition text for the plate preview (unwired = no plate)

Outputs

Name	Type	Description
joints	Number (tree)	Joint values, one branch per joint in profile order, with rotary axes in deg and linear axes in mm
arm	Curve	Robot arm curve at the selected simulation position, in Rhino document units
tcp	Curve	Displayed nozzle path in Rhino document units
outline	Curve	Print Bed outline in Rhino document units
reachOK	Boolean	True when all targets pass the selected robot’s reach checks, or when no kinematics are selected
problems	Point (list)	Flagged target positions in Rhino document units
messages	Text (list)	Validation messages
info	Text	Profile and preview diagnostics

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