Kinema v0.2.0

Dressing and aiming. A robot can now carry the things that make it a working cell — a gripper, a tool, a cable harness — and the solver can be pointed at any bone in the chain, keyframe included. The tool frame became something you place and offset from the panel rather than something you fight in Edit mode.

Requires Blender 5.2 LTS or newer. Every dependency ships inside the zip.

Attachments

A new Bones list in the sidebar, one row per bone. Pick an object or a collection in a row and a linked copy rides that bone — a gripper on the flange, a harness down the forearm. It shares mesh and materials with the source, so the same model can dress six links and still be edited in one place, and the source may live in any scene in the file.

Offsets are measured from the bone's head, not the tail Blender's own bone parenting uses, so the attachment's plain location/rotation/scale is its offset from the joint — editable in the sidebar or with G/R/S, and keyframable.

Aim IK at any bone, and keyframe which one

The radio button in each row points the solver at that bone. On a redundant robot this is the difference between a working setup and a puzzling one: a Panda imports with its tool frame on a fingertip, leaving both gripper joints in the chain — 9 DoF against a 6-DoF task — so the solver holds the fingertip still while spinning the hand around it. Aim at the flange and the chain is the seven arm joints it should be.

The choice is keyframable, so a shot can hand the goal from the wrist to the elbow part-way through. Baking follows it.

A tool frame you can place

The Tool Centre Point panel gains a parent-bone field and six offset fields — location and roll/pitch/yaw, in the flange's own link frame and in URDF's <origin rpy> convention, so a tool transform copied out of a description goes in unchanged. Mounting a tool 150 mm off the flange no longer means adding a bone by hand in Edit mode. The panel reports the tool's orientation beside its position, and the marker's approach axis is drawn arrowed so you can see which way it faces.

Fixes worth knowing

• Clicking Move TCP to Active Bone raised an AttributeError on a freshly imported rig. It could not work from Object mode at all.
• A mesh file's own units and up-axis were discarded, so a millimetre COLLADA imported a thousand times too large and a Y-up one lay on its side.
• A URDF <mesh scale> was left in the object's scale instead of applied, so modifiers, physics and exporters quietly used the unscaled mesh. <mesh scale="0.001"/> — the single-value shorthand — aborted the import outright.
• A link mesh nudged by accident could not be put back. Rest Pose only returns the joints. There is now a Reset Meshes button beside it, and link meshes are locked.
• Re-placing the TCP no longer flips its orientation.

The full list is in CHANGELOG.md.

Install

Download the zip for your platform below and drag it into Blender, or Edit ▸ Preferences ▸ Add-ons ▸ Install from Disk. See the install guide.

Platform	File	Size
Windows (Intel/AMD 64-bit)	kinema-0.2.0-windows_x64.zip	~119 MB
Linux (Intel/AMD 64-bit)	kinema-0.2.0-linux_x64.zip	~139 MB
macOS (Apple Silicon)	kinema-0.2.0-macos_arm64.zip	~102 MB