Operators
Operators are constructs in Blender that can be called from the GUI, thus whenever you click a button or menu item, you execute an operator. While you can use lots of Phobos' functions when scripting in Blender, most of the time you will work with the set of operators it provides.
Assign a name to a robot. You have to select at least one object parented to the robots root link.
Sets the models version.
Measure the distance between two selected objects. The distance is provided in the console.
Enable or disable the X-Ray view for a specified set of objects. With X-Ray view you can investigate the inner structure of the robot without hiding objects.
Sorts the selected objects to their corresponding Blender layer (determined by phobostype).
Select the root link of the corresponding robot for each selected object.
Select all objects of a specified phobostype.
Select all objects that name matches the given value.
Select all objects (including links, visuals, collisions, inertials, sensors and controllers) which are part of the robot the currently selected object is part of.
Set a specific phobostype for all selected objects.
Perform a find and replace operation on object names. Be careful using it, because it doesn't respect namespaces and other naming conventions.
Restructures the tree to make the selected link the new model root.
Creates a link at the 3D cursors location or at the selected objects positions. You can choose to parent the newly created links with the selected objects or parent links using the Parent Selection operator.
Takes all selected links and applies the defined joint constraints to them. All URDF joint types are supported.
takes all selected objects and sets their geometry types. All objects that are no visual or collision objects are omitted.
sets all selected objects origins to their centre of mass.
sets the collision groups for all selected collision objects. You can change the groups by just changing the bitmask visible in the operators properties menu.
Parents all selected objects to the active one as Bone Relative.
Defines the current joint as mimic of another.
Sets the objects geometry type.
Takes all selected objects and applies smooth shading to them.
Creates collision objects for all selected visuals. You can choose from a set of different primitives or use visuals mesh. If you use the mesh option you can either copy the mesh for further editing or use the shared mesh.
Places collision object to a group to generate ODE collide bitmasks.
Defines Submechanisms of the robot. As used by HyRoDyn.
Let's you store the pose you have put your robot into using pose mode with the given name
Applies the stored pose with the given name to the robot.
Deletes the pose with the given name.
shows the mass of your selected objects.
Takes all selected objects, sets their mass and creates inertial objects for them
Adds a motor definition to the selected joints.
Adds a sensor object.
Creates an Interface that annotates that the robot has here an interface to connect with another matching interface.
The directory in which the model will be saved. By checking the respective box in the selection dialog it is possible to use a relative path.
This value sets the number of decimal places used for representing floating point values inside the export files.
Fixes problems with inertias at best guess.
Makes almost zero values to zero depending on the information type when exporting.
- translation: 1E-5
- angle (rad): 1E-6
- mass: 1E-4
- inertia: 1E-12
The SMURF will always be exported as it contains almost all information. And will be helpful to reload your model into blender.
You need to select whether SDF or URDF will be used to represent the kinematic structure in smurf.
The XML-format kinematic representation you want to export. Selection will lead to another boy popping up that let's you select which meshes you want to link there and which style of pathes you want to use in that file.
Exports a json file containing the joint limits in ROCK-style.
Will export a PDF showing the kinematic structure of your model. Useful for debugging purposes as it gives an easier in-sight into your models structure.
Selecting this check box causes the model's mesh objects to be exported in .bobj format, if the Export Meshes option was selected as well.
Selecting this check box causes the model's mesh objects to be exported in .obj format, if the Export Meshes option was selected as well.
Selecting this check box causes the model's mesh objects to be exported in .stl format, if the Export Meshes option was selected as well.
Selecting this check box causes the model's mesh objects to be exported in .dae format, if the Export Meshes option was selected as well.
This operator allows for browsing for either a SMURF, SDF or URDF file and importing the model specified.
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