Simplify a generated program

The Simplify Selected Program option allows the user to reduce the number of instructions in a program while avoiding collisions. In other words, it simplifies an already created program to reduce the number of targets in the path while ensuring the path remains collision-free.

This is helpful in the following aspects:

1.Reduces Program Size: It analyses the path and removes unnecessary targets. This is vital for older robot controllers that have limited memory and can only store a certain number of lines of code.

2.Smoother Motion: By removing redundant points, you prevent the robot from "stuttering". Controllers can sometimes jerk or slow down if they receive too many commands for the same small area; simplifying the path helps the robot maintain a more constant, fluid speed.

3.Faster Execution: A simplified program often results in shorter cycle times because the robot's controller doesn't have to process as many points, allowing it to focus on maintaining the programmed velocity.

4.Cleans Up "Messy" Paths: If the program is created by recording movements or importing a dense CAD path, it might have hundreds of unnecessary points. This tool "cleans" that data while ensuring the new, shorter path still avoids all collisions.

5.Maintains Configuration Safety: Like the rest of the Smart Motion, the simplification process respects the robot's configuration. It ensures that while points are being removed, the robot doesn't accidentally try to switch its configuration (like an elbow flip) in a way that would cause a collision.