# Plan the cell layout

> Check which robots reach your target poses and where to mount them before you build the physical cell. Learn how to use Reachability Analysis, Reachability Envelope, and Mounting Assistant.

Three tools answer layout questions with the inverse kinematics of your Wandelbots NOVA instance:

- `Reachability Analysis`: Which robot models reach all target poses from a base position?
- `Reachability Envelope`: Can the connected robot reach one pose and move there? Which points around the pose does the robot reach?
- `Mounting Assistant`: Which mounting position lets the robot reach all target poses?

All three open from `Tools` → `Wandelbots NOVA`.
Target poses are [ghost objects or poses](/simulation/build-scene/scene-from-nova#mark-target-poses).

### Prerequisites

1. [Connect the extension to a Wandelbots NOVA instance](/simulation/installation).
2. Create the target poses as ghost objects or poses.
3. For `Reachability Envelope` and `Mounting Assistant`, add a robot and connect its motion group.

## Compare robot models

`Reachability Analysis` tests the robot models of your instance against the target poses.
It does not need a robot in the scene.

1. Open `Tools` → `Wandelbots NOVA` → `Reachability Analysis`.
2. In `Instance`, select the instance.\\
3. Optional: Select a stored `Collision Setup` to check the poses against.
4. In `Robot Bases`, select one or more prims where the robot could stand, for example `mounting` of the `MIR`.
5. In `Target Poses`, select the poses.
6. Optional: In `Tool`, enter the TCP offset or attach the tool USD file with `Attach Tool…`.
7. Optional: Narrow the models with the search field or the manufacturer filter. Every model needs its own inverse kinematics run, so the full catalog takes minutes.
8. Click `Analyze Reachability`.\
   → Each model shows how many poses it reaches. Reachable models are green.
9. Select a model to preview it at each target pose in the viewport.
10. Optional: Click `Add to Scene` to download the model and add it below the first base prim.

![Screenshot of Reachability Analysis with four reachable KUKA models and a green preview of one model at three poses](/assets/nova/omniservice/cell_layout/reachability-analysis.webp)

With `Live Update` in `Settings`, the analysis runs again when you move a base or a target pose.

## Check a single pose

`Reachability Envelope` checks one pose for the connected robot while you move it.

1. Open `Tools` → `Wandelbots NOVA` → `Reachability Envelope`.
2. In `Target`, select the `Motion group`, the `TCP`, and the `Pose`.\
   Selecting a pose or ghost object in the viewport selects it here, too.\
   → `State` shows whether the robot reaches the pose. `Motion` shows whether Wandelbots NOVA can plan a motion there from the current robot position.
3. Optional: Check `Show envelope` to see where the robot reaches the pose orientation.\
   Green points leave the joints far from their limits. Orange points are close to a joint limit.
4. Click `Snap pose` to find the nearest reachable point if the pose is out of reach.\
   Click `Apply snap` to move the pose there, or `Keep pose` to leave it.

![Screenshot of Reachability Envelope with a reachable pose and the envelope point cloud around the robot](/assets/nova/omniservice/cell_layout/reachability-envelope.webp)

`Density` and `Opacity` change how many points the envelope shows and how transparent they are.

> **Warning:** `Place robot` sets the joints of the virtual controller to the solution and starts the simulation.
> It moves the robot without a planned motion. It works with virtual controllers only.

## Find a mounting position

`Mounting Assistant` tests a grid of base positions around the current robot base.

1. Open `Tools` → `Wandelbots NOVA` → `Mounting Assistant`.
2. Select the `Motion Group`.\
   → The assistant fills in `Robot Base` with the base of the robot.
3. In `Target Poses`, select the poses.
4. Optional: In `Settings`, set `Grid Spacing`, `Grid Range`, and the `Axes` to search.\
   Every grid point needs its own inverse kinematics run. Clear the `Z` axis or reduce the range to shorten the search.
5. Click `Analyze`.\
   → Spheres show the tested positions. Teal spheres reach all poses, red spheres do not.
6. Click a sphere to preview the robot at each pose from that position.\
   → `Candidate Details` lists the position, its offset to the current base, and the joint configuration per pose.
7. Optional: Click `Apply Transform` to move the robot prim to the selected position.

![Screenshot of Mounting Assistant with reachable mounting positions on the MiR and the robot preview at three poses](/assets/nova/omniservice/cell_layout/mounting-assistant.webp)

`Apply Transform` changes the scene only.
To use the new position in Wandelbots NOVA, [send the mounting to Wandelbots NOVA](/simulation/build-scene/scene-from-nova#send-the-mounting-to-wandelbots-nova).