This repository provides a comprehensive tutorial on using the Phobos Blender add-on for robotic modeling. It covers the end-to-end workflow of configuring URDFs, managing geometric models, and preparing assets for robotic simulation and motion planning.
The tutorial guides you through the process of integrating hardware specifications into a cohesive software model. Key topics include:
- Phobos environment setup and configuration.
- Importing and manipulating URDF structures.
- Applying textures and environmental lighting for realistic perception testing.
- Exporting cleaned models for use in external simulators.
Detailed video demonstrations for each step of the process are embedded in the following presentation:
View Video Instructions: Phobos Tutorial Slides
This project utilizes a mix of original assets and curated open-source data. Proper attribution for third-party assets is provided below:
The Franka arm model used in this tutorial is sourced from the URDF Dataset. If you use these assets in your research, please cite the following work:
@ARTICLE{URDFDataset,
author={Tola, Daniella and Corke, Peter},
journal={IEEE Robotics and Automation Letters},
title={Understanding URDF: A Dataset and Analysis},
year={2024},
volume={9},
number={5},
pages={4479-4486},
doi={10.1109/LRA.2024.3381482}
}The HDRI textures utilized for scene rendering are provided by Poly Haven. These assets are published under a CC0 License, permitting use for any purpose, including commercial work, without mandatory attribution.
If you encounter bugs in the Phobos add-on version provided, please reach out:
Maintainer: zsc@umich.edu
Lab: Autonomous Robotic Manipulation (ARM) Lab, University of Michigan