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. Thus 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.

Model editing

Robot Model

Update Robot Model

Name Robot

Define kinematic chain

Toggle Namespaces

Inspect Robot

Measure distance

X-Ray view

Check robot dictionary

Select error containing objects

Selection(s)

Select Root

For each currently selected object, this operator selects the root link of the corresponding robot.

Select by phobostype

Selects all objects of a specified phobostype.

Select Robot

For each currently selected object, this operator selects all objects (including links, visuals, collisions, inertials, sensors and controllers) belonging to the robot the object is part of.

Object editing

Set phobostype

This operator sets the chosen phobostype for all selected objects.

Partial Rename

Set Objects to Layers

This operator sorts the selected objects to their corresponding layers. See Editing a model for more information about layers in phobos.

Edit Custom Property

This operator edits the specified custom property for all selected objects. If the new value is '' it deletes the property. Otherwise it sets it to the new value and even creates it if necessary.

Share meshes

Purpose

The selected objects will share the active objects mesh among each other. The overwritten meshes will be lost forever!

Parameters

shared Meshes Name

This is the new name for the shared mesh to use when exporting it.

Context Requirements

• The active object must not have an already shared mesh
• The active object has to be a visual or collision object
• The number of selected visual/collision objects has to be >= 2

Copy Custom Property

This operator takes the active objects poperties and copies it to all other selected objects. You can choose to purge all other custom properties.

Undo Share meshes

Breaks the bond between the shared meshes. The objects will not get there old meshes back, but the meshes can now be edited and exported individually again. If you undo a sharing on a source object without undoing it on its adherents you may have problems with the mesh export later on!

Rename Custom Property

This operators takes all selected objects and renames a given custom property. You can choose whether you want to override existing properties or not.

Smoothen Surface

This operator takes all selected objects and applies the shade_smooth blender operator to them.

Edit Object Dictionary

Kinematics

Create Link(s)

Define Joint Constraints

Create Inertial Object(s)

Attach Motor

Create Collision Object(s)

Set Geometry Type(s)

This operator takes all selected objects and sets their geometry types. It omits all objects that are no visual or collision objects.

Set Origin to COM

Set Collision Group

Mimic Joint

Masses & Inertia

Show Mass

Sync Masses

Set Mass

This operator iterates over all selected objects and sets the mass specified in the parameters.

Edit Inertia

This operator takes all selected objects and sets their inertia data to the specified one. It omits non inertial objects

Sensors & Controllers

Add/Edit Sensor

Add Controller

Export & Import

Model Export Settings

path

This is were the model's destined export path is specified.

relative path

Selecting this check box will cause the specified export path to be interpreted as a relative path; otherwise the path will be interpreted as an absolute one.

decimal places

structural export

Mesh export

Robot data export

Export Robot Model

Exports the selected robot to the specified path using the export setting selections. Only those parts of the robot that are currently selected will be exported.

Import Robot Model

This operator allows for browsing for either a MARS scene or a URDF file and importing the model specified inside it.

Baking

Bake Robot Model

Create Robot Lib Instance

Import Robot Bake

Export Scene

name

Export SMURF Scene

Settings

Adjust Logging Settings

For a description of individual operators please refer to our source documentation.