Convert Robot Model to Xacro Model in Blender with Phobos Plugin

1. Import Model:

   • Import the robot model from CAD software (preferred format: .obj).

   • Separate the model into individual meshes:

     • Select all (A), go to the “Modelling” tab, right-click, choose Separate > By Loose Parts.

   • Adjust the robot’s origin to the trunk base.

   • Orient the robot: front faces the positive X-axis, left side faces the positive Y-axis.

   • Apply rotation to the entire robot:

     • Select all (A), go to the Object menu, select Apply > Rotation.

   • Remove unnecessary parts (e.g., internal trunk components, screws).

   • Group parts into their respective links:

     • Select the desired parts, right-click, and choose Join. Refer to the example for correct grouping.

2. Phobos Setup:

   • Set the Phobos type for each mesh part to “Visual” in the Phobos menu.

   • Create links:

     • Select the trunk, then click Create New Link in the Phobos menu. A bone will appear.

     • Note: Do not move or rotate the link during creation. Adjustments can be made after defining the joint.

   • Parent meshes to joints:

     • Select the mesh (child) and the bone (parent), then press Ctrl+P and choose Bone Relative.

     • Follow the hierarchical tree structure: trunk (base) has five children (right arm, left arm, right leg, left leg, head). Parent links accordingly.

3. Finalize Skeleton:

   • After completing the skeleton, proceed to define collision and inertial properties.

For additional guidance, refer to the provided YouTube tutorial.