Poses

Phobos allows to define, set and export poses of robots, i.e. sets of joint positions resulting in a certain posture of the system. Every robot defined in URDF has a rest pose, i.e. the posture resulting from all joints resting at their origin.

In order to define a pose, follow these steps:

1. Modify a robot's joints into the desired positions.
2. Select the joints whose positions you want to include in the pose.
3. Click the Store Current Pose button in the Model editing panel.

4. Select your robot in the *Robot* drop-down menu. 5. Specify a name for the pose in the *Pose Name* text field.

To set a previously defined pose, do the following:

1. Click the Load Pose button in the Model editing panel.

2. Select your robot in the *Robot* drop-down menu. 3. Select the pose you want to set from the *Pose Name* drop-down menu.