## View an object hierarchy

Use **Object hierarchy** to understand where a selected simulation node belongs
and what it contains. It can show the full simulation-node hierarchy, including
components attached to nodes inside other components.

![Object hierarchy with Ancestors and Descendants enabled. The selected CR_UGD4_XL_R robot appears beneath the Pick and Place ToyBlocks layout and has an expanded descendant tree with robot links, a mount plate, a brick, and a vacuum gripper.](https://inspector.4111778.xyz/assets/captures/gadgets-object-hierarchy-robot-expanded.png)

* The capture shows the selected robot, its path to the layout root, and its
  expanded descendant tree
* The robot tree includes attached components beneath a mount plate, including
  a brick and a vacuum gripper

## Read the selected hierarchy

The tree is anchored to your selection. **Ancestors** first shows the parent
path from the selected node toward the world root. Enable **Descendants** to
add the complete descendant tree beneath that node.

Component-root simulation nodes are displayed as their components. This keeps
the relationship visible when a component is attached to an arbitrary node in
another component.

For example, a delta robot can have a gripper and a part attached beneath a
robot node, while the robot is mounted to a frame in a sub-layout:

```text
World
  Sub-layout
    Frame
      Delta robot component
        Gripper component
          Held part component
```

In this illustrative model, the frame, robot, gripper, and part may each have
their own component roots, but the hierarchy follows their simulation-node
parent and child relationships. Select the part to follow its ancestors toward
the world; select the robot and enable **Descendants** to inspect its gripper
and the part beneath it.

## Before you start

* Select a simulation node
* Select a node with child nodes when you need descendant context

## Steps

1. [Open Inspector](https://inspector.4111778.xyz/docs/getting-started/open-inspector/) for the selected
   object.
2. In the gadget selector, select **Object hierarchy**.
3. Leave **Ancestors** selected to include the parent chain.
4. Select **Descendants**, then use the expand control to reveal the full child
   tree.
5. Enter a name in **Search** to filter the displayed tree.

## Result

* The selected node remains highlighted in the tree
* **Ancestors** shows the selected node's parent path to the world root
* **Descendants** adds the selected node's complete child hierarchy
* Use the per-node inspect or select actions to continue the investigation

## Related tasks

Use [Object bounds](https://inspector.4111778.xyz/docs/gadgets/object-bounds/) to investigate a selected visual
object's geometry and placement. See [Inspector gadget system](https://inspector.4111778.xyz/docs/overview/gadget-system/)
to choose other available views.