diff --git a/phobos/blender/io/blender2phobos.py b/phobos/blender/io/blender2phobos.py
index 0cc600dd..ab11134c 100644
--- a/phobos/blender/io/blender2phobos.py
+++ b/phobos/blender/io/blender2phobos.py
@@ -430,11 +430,19 @@ def deriveLink(obj, objectlist=None, logging=True, errors=None):
                     annotations[k1] = {}
                 annotations[k1][k2] = v
 
+    root = obj
+    while sUtils.getEffectiveParent(root) is not None:
+        root = sUtils.getEffectiveParent(root)
+
+    # Exporting pose relative to root link because gazebo 9 ignores relative_to attribute
+    # Remove originRoot in a future update
+
     return representation.Link(
         name=obj.get("link/name", obj.name),  # this is for backwards compatibility normally the linkname should be the object name
         visuals=visuals,
         collisions=collisions,
         inertial=inertial,
+        originRoot=deriveObjectPose(obj, effectiveparent=root),
         # [TODO v2.1.0] Add KCCD support
         kccd_hull=None,
         **annotations
diff --git a/phobos/data/xml_formats.json b/phobos/data/xml_formats.json
index 7e5fcff6..78f62d4c 100644
--- a/phobos/data/xml_formats.json
+++ b/phobos/data/xml_formats.json
@@ -653,7 +653,7 @@
       "children": {
         "pose": {
           "classname": "Pose",
-          "varname": "origin"
+          "varname": "originRoot"
         },
         "inertial": {
           "classname": "Inertial",
diff --git a/phobos/io/representation.py b/phobos/io/representation.py
index 27349ad2..8559ad9c 100644
--- a/phobos/io/representation.py
+++ b/phobos/io/representation.py
@@ -1104,17 +1104,19 @@ def apply_scale(self):
         elif BPY_AVAILABLE and isinstance(self.mesh_object, bpy.types.Mesh):
             from ..blender.utils import blender as bUtils
             objname = "tmp_export_" + self.unique_name
-            tmpobject = bUtils.createPrimitive(objname, 'box', self.scale)
+            tmpobject = bUtils.createPrimitive(objname, 'box', (1,1,1))
+            tmpobject.scale = self.scale
             # copy the mesh here
-            tmpobject.data = self.mesh_object
+            tmpobject.data = self.mesh_object.copy()
             bpy.ops.object.select_all(action='DESELECT')
             tmpobject.select_set(True)
             bpy.ops.object.transform_apply(scale=True)
             bpy.ops.object.select_all(action='DESELECT')
             tmpobject.select_set(True)
+            self.mesh_object = tmpobject.data
             bpy.ops.object.delete()
         else:
-            raise NotImplentedError()
+            raise NotImplementedError()
 
         self._operations.append("apply_scale")
         self.history.append(f"apply_scale {self.scale}")
@@ -1551,11 +1553,12 @@ def from_collision(self, coll, npoints=None, iv_mesh=None, kccd_path=None):
 class Link(Representation, SmurfBase):
     _class_variables = ["name", "visuals", "collisions", "inertial", "kccd_hull", "origin"]
 
-    def __init__(self, name=None, visuals=None, inertial=None, collisions=None, origin=None,
+    def __init__(self, name=None, visuals=None, inertial=None, collisions=None, origin=None, originRoot=None,
                  noDataPackage=None, reducedDataPackage=None, is_human=None, kccd_hull=None, joint=None, **kwargs):
         SmurfBase.__init__(self, **kwargs)
         self.name = name
         self.origin = _singular(origin)
+        self.originRoot = _singular(originRoot)
         self.is_human = is_human
         self.returns += ['name', "is_human"]
         self.visuals = _plural(visuals)