Link pose not exported in SDF
svepe opened this issue · comments
Describe the bug
When an SDF is exported the link pose is no longer set. Previous version of phobos did put a <pose>
tag relative to the parent joint, but this is no longer the case.
To Reproduce
Steps to reproduce the behavior:
-
Export SDF from the attached .blend file which contains a simple example with only 2 links.
excavator_phobos_issue.blend.zip
-
Open the SDF in gazebo
Expected behavior
The second link should be above the first one.
Adding the following line to the second link in the SDF fixes the issue
<link name="cabin_link">
<pose relative_to="cabin_joint">0.00000 0.00000 0.00000 0.00000 0.00000 0.00000</pose>
...
Desktop (please complete the following information):
- OS: Ubuntu 22.04
- Blender version: 3.6.4
- At latest phobos commit 56d46c7
Previous versions of phobos did not have this issue.
Hi @svepe,
please checkout the commit I just pushed and whether it fixes your issue. ;)
@hwiedPro , well, I've applied the changes you've mentioned (ea4b644) to my local Blender Phobos addon setup, and it seems, than it does the trick for me.
Thank you!
PS: The only note that is worth to make - it doesn't work (in some other way - correct position but wrong orientation) IF, let's say, you've added a link (joint), then rotated it for some angle and applied the rotation transformation.
PS: The only note that is worth to make - it doesn't work (in some other way - correct position but wrong orientation) IF, let's say, you've added a link (joint), then rotated it for some angle and applied the rotation transformation.
@skrymets Can you explain this in further detail in a new issue?