---
title: Scene Editor – building up the robot cell
description: "This document describes how to build up a robot cell from the individual components such as robots, tools, parts and obstacles. Preconditions: obstacles, robots, conveyors/axes, workpieces and tools have been created/imported *The video is embedded by YouTube and only loaded…"
url: "https://convergent-it.com/tutorial/robot-cells-and-equipment/scene-editor-building-up-the-robot-cell/"
updated: "2025-12-13"
category: "Robot cells & equipment - Robot Offline Programming"
---

# Scene Editor – building up the robot cell

This document describes how to build up a robot cell from the individual components such as robots, tools, parts and obstacles.

Preconditions: obstacles, robots, conveyors/axes, workpieces and tools have been created/imported

*The video is embedded by YouTube and only loaded and played from there when you click on the play button. From then on, the [privacy policy of Google](https://policies.google.com/privacy?hl=en) applies.*

Step 1: create a new scene, i.e. commonly a workcell. Alternatives would be to copy one already existing in the same project/database or to import from another project / database. Assign a name to the scene.

![](https://convergent-it.com/wp-content/uploads/2025/11/Bild7-1024x576.jpg)

Step 2: Define one initial safety distance between entities in the scene, such as tools, robots, workpieces, obstacles against each others. Safety distances for specific entities –like tool vs. work-piece, can be changed individually later. Note: collision pairs, that can not collide in the scene, such as joints or bases of the robot against (remote) obstacles, or static obstacles against other ones, are set to [void] automatically.

![](https://convergent-it.com/wp-content/uploads/2025/11/Bild8-1024x576.jpg)

Step 3: Add elements to scene. Such as robots, obstacles etc. In the case of the image below, 2 obstacles have been added.

![](https://convergent-it.com/wp-content/uploads/2025/11/Bild10-1024x576.jpg)

Step 4: Then add robot to the robot cart.

If you select the cart and then add the robot, it is assigned to the cart, and if the cart has a mounting point, the robot might be positioned correct right away. Potentially the robot (its base) must be re-posistioned. The base of the robot is not collison tested against the cart, since it is "connected" in the tree-representation.

If you still have selected the scene, the robot is added in the tree-representation to the scene, not to the cart.

![](https://convergent-it.com/wp-content/uploads/2025/11/Bild11.jpg)

Step 5: Add the tool to the robot in tha same way —from the list of tools in the project. Note: the tool will by default be connected with its Flange-pose (if define) to the robots-flange. You can modify this transformation afterwards. For part-in-hand applications, the part is attached to the robot (with a gripper inbetween) and the tool is attached to an obstacle, table, etc.

![](https://convergent-it.com/wp-content/uploads/2025/11/Bild13-1024x576.jpg)

Step 5b: The orientation of the tool can be changed by edit -> set transformation. The defined transformation will be visualized after “apply” (alternatively after OK).

![](https://convergent-it.com/wp-content/uploads/2025/11/Bild14-1024x576.jpg)

Step 6: Select the work-piece. Note the fist entity selected and added to the scene is initially attached to the scene- graph at the root. Assignments inside the hierarchy can be changed later in the scene graph by drag-and-drop.

![](https://convergent-it.com/wp-content/uploads/2025/11/Bild15-1024x576.jpg)