About 6 axis robot 3d print simulation

edit

Hello, I am doing my thesis work on how to control a 6 axis robot to do 3d print work. Up to now, I have updated the trajectory and use moveit and simulate the trajectory in Rviz. Now I want to simulate the 3d print object(like strip) . What should I do? In Rviz or gazebo. Futhermore, I need to obtian the depth and RGB image from the camera mounted on the robot arm. Please give me some suggestion to do it.