Simulator, simulation method, and simulation program

A simulation method performed in a simulator comprising a processor configured with a simulation program that causes the processor to reproduce, in a virtual space, a motion of a machine that is controlled by a control program to manipulate an object, wherein

• the method comprises:
• determining, by the processor, a condition of the object from a real space image;
• calculating, by the processor, an initial position of a virtual object in the virtual space corresponding to the determined condition;
• calculating, by the processor, a command value for moving a virtual machine in the virtual space, according to the control program that controls the motion of the machine and based on the position of the virtual object manipulated by the virtual machine in the virtual space, wherein the virtual machine corresponds to the machine;
• and
• creating, by the processor, display data for displaying one of:
• a motion of the virtual machine and a motion of the virtual object that are moved in accordance with the calculated command value.

A non-transitory computer-readable medium having a simulation program stored thereon, the simulation program causing a simulator comprising a processor to reproduce, in a virtual space, a motion of a machine controlled by a control program to manipulate an object, the simulation program, when executed by the processor, causing the processor to perform operations comprising:

• determining a condition of the object from a real space image;
• calculating an initial position of a virtual object in the virtual space corresponding to the determined condition;
• calculating a command value for moving a virtual machine in the virtual space, according to the control program that controls the motion of the machine and based on the position of the virtual object manipulated by the virtual machine in the virtual space, wherein the virtual machine corresponds to the machine;
• and
• creating display data for displaying one of:
• a motion of the virtual machine and a motion of the virtual object that are moved in accordance with the calculated command value.