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Fix exporting scaled meshes - add link pose to sdf export #344

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Fix exporting scaled meshes - add link pose to sdf export #344

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fb86732
Fix #338 (2)
AlpenAalAlex Dec 11, 2023
5ff300f
Fix link pose not exported in sdf #338 (1) #339
AlpenAalAlex Jan 9, 2024
a6f6e6d
Fix urdf export
AlpenAalAlex Feb 14, 2024
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7 changes: 7 additions & 0 deletions phobos/blender/io/blender2phobos.py
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Original file line number Diff line number Diff line change
Expand Up @@ -430,11 +430,18 @@ 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

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,
origin=deriveObjectPose(obj, effectiveparent=root),
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# [TODO v2.1.0] Add KCCD support
kccd_hull=None,
**annotations
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8 changes: 5 additions & 3 deletions phobos/io/representation.py
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Expand Up @@ -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}")
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