SDFormat -> MJCF: Set mesh scale (#111)

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
gazebosim · Aug 23, 2022 · 6b3fa2c · 6b3fa2c
1 parent b535b80
commit 6b3fa2c
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Showing 2 changed files with 4 additions and 0 deletions.
diff --git a/sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/converters/geometry.py b/sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/converters/geometry.py
@@ -92,6 +92,7 @@ def add_geometry(body, name, pose, sdf_geom):
                                             file=mesh_file_path)
         else:
             geom.mesh = asset_loaded
+        geom.mesh.scale = su.vec3d_to_list(mesh_shape.scale())
     else:
         raise RuntimeError(
             f"Encountered unsupported shape type {sdf_geom.type()}")

diff --git a/sdformat_mjcf/tests/sdformat_to_mjcf/test_add_geometry.py b/sdformat_mjcf/tests/sdformat_to_mjcf/test_add_geometry.py
@@ -123,6 +123,7 @@ def test_mesh(self):
         mesh.set_uri("meshes/box.obj")
         mesh.set_file_path(
             os.path.join(get_resources_dir(), "box_obj", "model.sdf"))
+        mesh.set_scale(Vector3d(0.1, 0.2, 0.3))
 
         geometry = sdf.Geometry()
         geometry.set_mesh_shape(mesh)
@@ -135,6 +136,8 @@ def test_mesh(self):
         self.assertEqual("mesh_shape", mj_geom.name)
         self.assertEqual("mesh", mj_geom.type)
         self.assertEqual(1, len(mujoco.asset.find_all('mesh')))
+        mj_mesh = mujoco.asset.mesh[0]
+        assert_allclose([0.1, 0.2, 0.3], mj_mesh.scale)
 
     def test_plane(self):
         plane = sdf.Plane()