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BenjaminHug8 avatar BenjaminHug8 commented on June 2, 2024 1

However, this scale patch would become obsolete in my case, when #152 was solved.

Yes exactly, I am implementing the scale option of mesh tags for solving this issue.

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astumpf avatar astumpf commented on June 2, 2024 1

Thanks a lot!

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BenjaminHug8 avatar BenjaminHug8 commented on June 2, 2024

Thank you for the report, I will take a look.

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BenjaminHug8 avatar BenjaminHug8 commented on June 2, 2024

I just tested and everything is fine on my side, I can use two links with the same mesh and have to joints with different origins and the results is ok.

The visual object in our tool contains a translation and rotation:

urdf2webots/urdf2webots/parserURDF.py

Lines 159 to 167 in f0a990c

class Visual():
"""Define visual object."""
def __init__(self):
"""Initializatization."""
self.position = [0.0, 0.0, 0.0]
self.rotation = [0.0, 0.0, 1.0, 0.0]
self.geometry = Geometry()
self.material = Material()

and as you can see the geometry is variable of this class.

The line you mentioned is just for reusing the same Mesh node contained in the geometry, but that's all.
Let me know if you still have questions or if your issue is solved or not.

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astumpf avatar astumpf commented on June 2, 2024

Yes, you're right. I overlooked this detail. To give full detail about my concern: I'm working on a patch to consider also scaling of meshes. But the scale is indeed part of the Geometry object

urdf2webots/urdf2webots/parserURDF.py

Line 96 in f0a990c

class Geometry():

that will be overwritten as stated above.

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astumpf avatar astumpf commented on June 2, 2024

However, this scale patch would become obsolete in my case, when #152 was solved.

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BenjaminHug8 avatar BenjaminHug8 commented on June 2, 2024

@astumpf the PR #157 has been merged in the develop branch and should solve your issue. Feel free to reopen this issue if needed.

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