Cell Elements
Workcells are comprised of a branching tree of cell elements. These different cell elements describe the kinematic structure of the work cell, and also give the workcell its visible bodies.
When selected in the URDF tree or in the 3D viewer, the properties widget, located underneath the URDF tree, will populate with a set of options and parameters relevant to the type of the currently selected cell element.
There are 5 essential cell elements that are required to build a cell that is viable for use in Verbotics Weld:
Links 
Links are parts of the cell that can hold collision and visual models. Links do not define position and orientation alone, and are instead positioned by their parent joints.
Properties
Parent: The current parent joint of the link, changing the parent joint in this box will move the link and its children to be contained under the new parent joint inputted.
Name: Adjust the name of the link.
Links with Collisions Disabled: A list of links that have had their collisions with the current link disabled.
Link Properties
Links can be added to this list using the search bar at the bottom, then selecting the desired link from the search bars results. Links can also be removed from this list by selecting a link from the list, then selecting the Remove button.
Joints 
Joints contain links and define the movement and interactions of their child links. Joint movement can be set to fixed, revolute, or linear. Range and speed constraints are used to define joints.
Properties
Parent: The current parent link of the joint, changing the parent link in this input box will move the joint and its children to be contained under the new parent link inputted.
Name: Adjust the name of the joint.
Type: The motion type of the current joint:
Fixed: The joint“s position is fixed unless moved by a parent joint.
Revolute: The joint can rotate around a specified axis relative to its origin.
Prismatic: The joint can translate along a specified axis relative to its origin.
If either revolute or prismatic are selected as the joint type, the following properties will become visible:
Axis: The axis the joint“s motion is to act around/along. This can be either X, Y, Z or a custom axis defined by a vector formed from given x, y and z values.
Limits: The minimum and maximum values for the range of the joints movement, as well as the maximum velocity of the joint. To enter a value for velocity, uncheck Unlimited located next to the velocity input box.
Joint Properties
Bodies 
Bodies give links their appearance, and also provide links with their collision bounds. Cell editor provides a series of standard shapes that can be applied to a body, or mesh files can be imported and applied to a body for more complex shapes.
Properties
Parent: The current parent link of the body, changing the parent link in this input box will move it to be contained under the new parent link inputted.
Type: Represented by 2 buttons labelled Visual 
and Collision 
, all bodies must be set to one of these 2 types. Visual bodies give links their appearance, while collision bodies define the physical region this link is expected to cover.
Shape: The shape to be applied to the current body. There are 7 options to choose from:
Box
Capsule
Cone
Cylinder
Mesh
(requires a mesh to be imported)Plane
Sphere
Colour: If enabled, clicking the coloured box next to this option will open a menu for selecting a colour to apply to the body.
Shape Parameters: Depending on the shape selecting, a set of parameters will be made visible at the bottom of properties with a label matching the currently selected shape. These parameters control the size and proportions of the body.
Body Properties
Mesh Parameters: If mesh is selected as the shape options for importing and exporting the mesh will be visible:
Path: The location of the currently selected mesh.
Export Mesh: Export the current mesh
Import New: Select a new mesh to apply to the body.
Scale: The scale of the mesh.
Mesh Properties
Groups 
Groups are for categorising a selection of elements together for easy referencing and use in the model configuration. Groups can contain links, joints and other groups, however when used in the model configuration will primarily consist of joints.
Properties
Name: Adjust the name of the group.
Group Parent: If contained within another group, the parent group will appear here.
Group Contents: A list displaying each element currently contained in the group.
Additional cell elements can be added into the group using the search bar located at the bottom of the group properties. Cell elements can also be removed from the group by selecting elements from the list, then clicking the remove button located to the right of the search bar.
Group Properties
Group States 
Group states are an element that can only be added as a child of an existing group. Group states define a set of positions for each revolute and prismatic joint contained within the parent group. This is often used for defining the home position of robots and robot positioners.
Properties
Parent: The current parent group of the group state.
Name: The name of the group state.
Copy From Simulation: Copies the current position of each joint in the viewer and applies its position to the group state.
Joint Values: A list containing each joint in the parent group. Each joint has a slider and input box for adjusting the position of the joint when in this state. Enabling the pin button 
will show the current position of the joint being adjusted in the 3D viewer.
Group State Properties
Additional Cell Elements
In addition to the 5 core elements, there are 3 additional elements that are less commonly used. These additional elements each have a specific use for the cell editor:
Joint Mimic 
Joint mimics are used to control the position of a joint by referring to one or more other joints in the cell. These elements are added as a child of any pre-existing revolute or prismatic joint, and once added, remove the ability to control the joint manually.
Joint mimic require a formula to be applied in their properties in order to function.
Properties
Parent: The parent joint of the joint mimic.
Joint References: A list of joints to be references when calculating the position of the joint. Use the search bar to add joints to this list. Once added, double click the empty box to the right of each joint to assign the joint to a letter, e.g. „x“ or „y“.
Expression: Input a valid expression here for calculating the position of the joint, using the joint references as variables through the letters assigned. For example: sin(x) + 2y
The expression input uses javascript operators.
Joint Mimic Properties
Cell Calibration 
The cell calibration element is used for adding calibration points from the physical robot cell into the cell editor workcell. This element is used in tangent with the Calibration Measurement element.
When adding a cell calibration element into your cell, make sure the origin of its parent link matches the reference point of the robot used to obtain the calibration points. See the Cell Calibration Tutorial for more information on this process.
Properties
Parent: The parent link of the calibration element.
Name: The name of the calibration element.
Measurements: Opens a table which displays each measurement and the measurement“s tranlsation and rotation values. Each value can be adjusted via this table.
Calibration Table
Cell Calibration Properties
Calibration Measurement 
Calibration measurements are used to represent calibration points measured by the physical robot in the 3D viewer. A calibration measurement element will need to be created for each point measured.
Properties
Parent: The parent cell calibration of the current measurement.
Name: The name of the measurement.
Measurement State: A list of joints that can have a position applied to match the state of the physical robot cell when the calibration points were measured. Joints can be added to the list using the search bar, and a position value can be entered to the right of each joint in the list.
For example, a robot positioner carriage may have been positioned at „500mm“ when a calibration point was measured, therefore the carriage joint would be added to this list and have its position set to „500mm“.
Calibration Measurement Properties