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krishauser / Klampt

Kris' Locomotion and Manipulation Planning Toolkit
BSD 3-Clause "New" or "Revised" License
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RobotPose ignores scale factor parameters for meshes #146

Closed mass2010chromium closed 2 years ago

mass2010chromium commented 2 years ago

example: https://answers.ros.org/question/273434/how-to-resize-meshes-in-urdf/?answer=273436#post-id-273436

krishauser commented 2 years ago

This works for me. You must be doing something wrong in setting the scale? Are you scaling the right geometry (visual vs collision)?

mass2010chromium commented 2 years ago

oh, i see. It looks like the collision geometry scaling is rendered, but visual geometry scaling isn't.

image

krishauser commented 2 years ago

Looks like you should be scaling both. The visual has scaling 1

mass2010chromium commented 2 years ago

Ah, I should've explained what is going on in the image.

Scale 1:1 would make the robot look "correct"; it looks like the 0.1 scaling of the collision geometry is being applied to the "base" link (making it look smaller).

(The robot looks correct when I remove all "scale" tags)

krishauser commented 2 years ago

You need to set use_vis_geom to 0 or 1 in the klampt tag. Klampt doesn’t store separate visualization and collision geometries.