User Interface

View Control

Cell Editor has several functions available to control the view of the current work cell. Changing the view while working in cell editor allows a greater control over the performed actions.

Left-Click and Drag: This method allows the user to control the view dynamically while working. This allows rotational about the currently selected body, link or joint.

View Cube: The second method is the view cube located in the top right. This tool can be used to quickly and easily set the view orientation and the zoom scale to center on the selected body. To use this tool, select the body, link or joint currently being worked on and click on the intended side of the view cube.

Docks and Toolbars

Within Verbotics Cell Editor, windows, ribbons and toolbars are scalable modular elements within the user-interface. Windows can moved or reordered by dragging the window title. Windows can be popped-out by dragging the window or by clicking the pop-out icon next to the close panel button .

After making changes to the user-interface, docks and toolbars can be reset to the default configuration. To do this, navigate to the View menu in the top ribbon. Select Reset Layout.

Right clicking on the header of any docks on the right side of the application will open a context menu for enabling and disabling different widgets in the viewer.

File Management

New File: The new file tool allows the creation of blank .vbmodel work cells. This is useful when building work cells from the preset library or when importing from STEP files.

Open File: The open file tool allows existing .vbmodel work cells to be edited. This is useful when making changes to an existing work cell or when resuming work on a current work cell project.

Save File: The save file tool allows current work cells to be saved as .vbmodel files. This is useful when finishing a work cell to be used in Verbotics Weld or when saving a cell for further editing.

Import STEP: The import STEP tool allows the importing of CAD .STEP files into work cells. This tool is useful when importing manufacturer CAD files to create elements in the cell editor environment. To learn more about the import STEP feature, visit here

Model Configuration: The model configuration tool allows the cell parameters to be defined. An example of a common case would be defining the flange joint or the tool group.

Open in Weld: Cell Editor allows live integration with Weld to allow work cells to be tested while being edited in Cell editor. When using concurrently ensure to save the cell being edited to update the live cell in Weld.

Manipulation Tools

Linear Transform: Selecting linear transform allows elements or origins to be transformed along a single axis at a time.

Angular Transform: Selecting angular transform allows elements or origins to be rotated about its origin.

Planar Transform: Selecting planar transform allows elements or origins to be transformed along two axis concurrently.

Snap Distance: When toggled, snap distance is the defined position change when transforming by dragging. For example, a snap distance of 1mm only allows a position changes of 1mm allowing positions of 0mm, 1mm, 2mm etc.

Snap Angle: When toggled, snap angle is the defined angular change when transforming by dragging. For example, a snap angle of 45° only allows an angle change of 45° allowing angles of 0°, 45°, 90° etc.

Selection Tools

Select Joint Groups: Selecting joint groups allows the selection of joints, links, or bodies in the model viewer.

Select Links: Selecting links allows the selection of links in the model viewer.

Select Joints: Selecting joints allows the selection of joints in the model viewer.

Select Bodies: Selecting bodies allows the selection of visual and collision bodies in the model viewer.

Visual Tools

Show Collision: Selecting show collision toggles the visual representation of collision bodies and meshes.

Show Visual: Selecting show visual enables toggles bodies and meshes.

Show Kinematics: Selecting show kinematics toggles the kinematics view of joints and links.

Show Grid: Selecting show grid enables a visual 2D grid along the x-y plane at z=0.

Model Tools

Add a Link: Add a link adds an empty link to the current parent joint selected in the model tree. Note that in URDF links cannot be added to other parent links and must be attached to a parent joint.

Add a Joint: Add a joint adds an empty joint to the current parent link selected in the mode tree. Note that in URDF joints cannot be added to other parent joint and must be attached to a parent link.

Add a Joint Group: Add a joint group adds a new group comprising of selected joints.

Add a Group State: Add a group state adds a new state of a current group base on the positions in the jog panel.

Add a Body: Add a body adds a visual or collision mesh with preset options available to define the physical parameters.

Panels

URDF (Model Tree): The URDF panel, also referred to as the model tree, is Verbotics Cell Editors method of managing the model tree hierarchy. This panel manages the links, joints, and bodies in the current cell. To learn more about the cell structure Cell Editor uses, visit the URDF wiki here.

Preset Library: The preset library is a quick and accessible way to build cells from existing presets. Presets can be added to the library under Edit > Preferences > Search Paths > Robot Presets. To get started with presets, visit the Building a Cell Tutorial Building a Cell Tutorial.

Properties: The properties panel shows the configuration and properties of currently selected links, joints, and bodies.

Manipulation: The manipulation panel tracks and allows the fine adjustment of the translation and rotation of links, joints, and bodies. This tool allows the global and local positioning of elements.

Jog: The jog panel allows joint movement of revolute and prismatic joints as defined by the cell or as grouped by joint groups.