URDF Tree

The URDF tree is the widget found on the upper-left side of the application. This tree outlines every element making up the current cell, and displays the structure of cell through a series of joints and links , the 2 main elements that will make up the kinematic structure of every workcell and preset you create with Cell Editor.

More information on these elements can be found in the Cell Elements reference page.

URDF Tree Manipulation

The URDF Tree itself will consist of branches of joints and links originating out from a single base link.

URDF Tree of an Example Cell

Elements in the URDF tree can be rearranged by selecting target elements, then dragging and dropping onto the desired location.

Selected elements can also be cut, copied and pasted to different locations in the URDF tree. These options can be selected by right-clicking and choosing the desired option from the context menu.

Note

You will need to consider the top-most element in your selection when attempting to move a selection of elements to a new location, as joints and bodies can only be child elements of a link, and links can only be a child element of a joint. Cell editor will not allow you to place a joint under a joint, or a link under a link.

Filter

Located in the top-right of the URDF Tree widget, the filter tool allows for adjusting which elements are visible in the URDF tree. This only affects the visibility of the elements, and doesn’t remove them from the workcell.

Elements hidden in the urdf tree will still be manipulated or repositioned should a parent element be moved, cut or deleted.

URDF Tree Filter Menu

Elements with their check-box enabled will be visible in the tree. To hide an element, simply uncheck the associated check-box. To reset visibility of URDF elements, click the Reset button located in the bottom right of the menu.

By default, only filter options for basic items will be visible, however click the blue, underlined text labelled All Items… to reveal filter options for all possible elements.

Additional Options/Tools

Search: A search bar is located just above the top of URDF tree. Typing in this search bar will return a drop-down list of all elements matching the search criteria. To navigate to one of the results of the search bar, simply click the desired element from the drop-down list, and the URDF tree will navigate to its location and select the element.

Expand Selected: The button found under the URDF tree expands the branches of the currently selected elements until all child elements are visible in the URDF tree.

Collapse Selected: The button under the URDF tree collapses the branches of the currently selected elements until all child elements are collapsed under their selected parent.